version: 66.01
glider: 112
mission: 1
dive: 16
start: 7 21 107 19 14 17
data:
$ID,112
$MISSION,1
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038775599
$HD_B,0.0138418
$HD_C,4.7289599e-05
$HEADING,-1
$ESCAPE_HEADING,145
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21332.945
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2235
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,486
$VBD_MAX,3897
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,75
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-3.6470764
$PRESSURE_SLOPE,9.129227e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,49
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,190523,3636.192,-12205.096,8,3.0,27,14.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-50.3
$GPS2,191309,3636.012,-12205.087,10,1.9,10,14.7
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,RESCUE
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.077,0.208
$KALMAN_X,-1099.0,12120.6,383.3,-20263.6,-1736.3
$KALMAN_Y,-9051.8,-6794.0,162.2,-4085.0,-533.4
$MHEAD_RNG_PITCHd_Wd,5.6,17265,-20.5,-10.000
$D_GRID,301
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.12,-155.7,0.0,0.0,0,75,0.00,0.00,-44.42,0.000,2,0.000,0.000,672,2309,2564
$GC,78,-1.12,-155.7,3.3,-5.6,9,120,10.85,2.90,-24.52,0.000,4,0.236,0.069,1984,894,3435
$GC,205,-1.12,-155.7,19.4,-15.6,32,211,0.00,2.75,0.00,0.000,6,0.000,0.040,1984,2308,3437
$GC,548,-1.12,-155.7,72.1,-13.7,93,554,0.00,2.85,0.00,0.000,4,0.000,0.059,1983,896,3438
$GC,622,-1.12,-155.7,82.9,-14.9,106,627,0.00,2.72,0.00,0.000,6,0.000,0.041,1983,2305,3438
$GC,965,-1.12,-155.7,131.5,-13.8,167,970,0.00,3.12,0.00,0.000,4,0.000,0.106,1984,3707,3438
$GC,1027,-1.12,-155.7,140.8,-14.7,178,1032,0.00,2.70,0.00,0.000,6,0.000,0.038,1984,2300,3438
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1100,-0.21,0.0,150.4,14.0,190,1237,1.17,0.00,131.85,0.739,6,0.123,0.000,2183,2730,2800
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1243,1.12,155.7,156.8,0.0,217,1385,1.55,2.50,131.75,0.717,4,0.074,0.107,2478,3778,2164
$GC,1478,1.12,155.7,145.6,10.5,261,1485,0.00,2.08,0.00,0.000,6,0.000,0.037,2478,2717,2164
$GC,1822,1.15,174.6,111.6,9.2,322,1842,0.00,0.00,15.50,0.742,6,0.000,0.000,2478,2717,2087
$GC,2179,1.19,200.8,78.8,8.8,386,2206,0.00,2.42,21.27,0.731,4,0.000,0.088,2478,3779,1980
$GC,2353,1.19,200.8,60.9,10.5,417,2358,0.00,2.05,0.00,0.000,6,0.000,0.037,2478,2715,1979
$GC,2696,1.29,260.9,31.6,7.3,478,2752,0.15,3.08,48.80,0.699,4,0.057,0.087,2515,1314,1735
$STATE,2946,end climb,SURFACE_DEPTH_REACHED
$STATE,2946,begin surface coast
$FINISH,1.2,1.022218
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2987,54.03,0.645,0,0,1373,350.04
$SM_GC,1.86,0.00,0.00,54.03,0.000,0.000,0.645,677,2311,1373,-7.16,0.34,350.04
$RAFOS_CLK,139
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3624.24,-12206.87,210707,222205
$TT8_MAMPS,0.024544
$HUMID,2222
$INTERNAL_PRESSURE,10.8012
$TCM_TEMP,10.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,20.7,21.134
$10V_AH,9.9,7.752
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.950,32.050,349.175,54.025,0.000,41.041,30.717,230.680,0.500,11.736,746.955,1347.442,462.952,471.154,504.675,33.327,859.382,0.000,463.812,0.000,2.560
$DEVICE_MAMPS,236.236,107.380,741.689,645.047,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.562,387.466,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19007,527
$CFSIZE,260165632,255328256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1489.0
$GPS,210707,200608,3635.668,-12205.004,24,1.8,24,14.7