version: 66.01
glider: 112
mission: 1
dive: 30
start: 7 22 107 17 2 44
data:
$ID,112
$MISSION,1
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1090
$D_NO_BLEED,50
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51814
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21882.924
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,165602,3630.545,-12211.567,10,1.6,10,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-48.1
$GPS2,170215,3630.404,-12211.609,14,1.9,14,14.7
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,RESCUE
$TGT_LATLONG,3645.000,-12202.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.128,0.261
$KALMAN_X,10230.5,-4251.8,942.3,-15459.8,-901.5
$KALMAN_Y,-28436.5,-116.8,-166.7,125.3,-1889.4
$MHEAD_RNG_PITCHd_Wd,13.1,30562,-18.2,-10.000
$D_GRID,1456
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.08,-194.6,0.0,0.0,0,105,0.00,0.00,-77.72,0.000,2,0.000,0.000,662,2413,2662
$GC,109,-1.08,-194.6,3.4,-5.6,12,149,11.10,3.17,-22.12,0.000,4,0.239,0.068,1992,889,3597
$GC,245,-1.08,-194.6,24.7,-17.3,35,252,0.00,2.70,0.00,0.000,6,0.000,0.037,1992,2293,3599
$GC,590,-1.08,-194.6,76.5,-13.8,96,596,0.00,2.83,0.00,0.000,4,0.000,0.058,1992,887,3594
$GC,670,-1.08,-194.6,88.1,-14.9,110,677,0.00,2.72,0.00,0.000,6,0.000,0.041,1992,2296,3566
$GC,1015,-1.08,-194.6,138.8,-14.1,171,1021,0.00,2.83,0.00,0.000,4,0.000,0.061,1992,897,3550
$GC,1062,-1.08,-194.6,144.6,-12.6,179,1068,0.00,2.72,0.00,0.000,6,0.000,0.043,1992,2304,3448
$GC,1406,-1.08,-194.6,191.0,-14.3,240,1413,0.00,2.85,0.00,0.000,4,0.000,0.061,1993,895,3520
$GC,1459,-1.08,-194.6,198.6,-14.3,249,1465,0.00,2.75,0.00,0.000,6,0.000,0.048,1992,2305,3536
$GC,1792,-1.08,-194.6,247.2,-15.0,281,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2305,3600
$GC,2108,-1.08,-194.6,293.1,-14.4,311,2113,0.00,3.40,0.00,0.000,4,0.000,0.143,1992,3704,3599
$GC,2163,-1.08,-194.6,301.5,-14.0,315,2170,0.00,2.80,0.00,0.000,6,0.000,0.054,1992,2308,3599
$GC,2491,-1.08,-194.6,343.6,-12.4,346,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2308,3598
$GC,2806,-1.08,-194.6,380.7,-11.8,376,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2306,3597
$GC,3127,-1.08,-194.6,419.4,-12.1,406,3132,0.00,3.28,0.00,0.000,4,0.000,0.123,1993,3711,3595
$GC,3182,-1.08,-194.6,426.7,-12.1,410,3189,0.00,2.90,0.00,0.000,6,0.000,0.064,1992,2293,3594
$GC,3507,-1.08,-194.6,466.5,-13.1,441,3512,0.00,3.33,0.00,0.000,4,0.000,0.124,1992,3711,3594
$GC,3562,-1.08,-194.6,474.2,-13.9,445,3569,0.00,2.90,0.00,0.000,6,0.000,0.065,1992,2293,3594
$GC,3884,-1.08,-194.6,516.6,-13.0,470,3889,0.00,3.28,0.00,0.000,4,0.000,0.120,1993,3705,3593
$GC,3928,-1.08,-194.6,522.8,-14.3,472,3932,0.00,2.88,0.00,0.000,6,0.000,0.065,1992,2300,3593
$GC,4249,-1.08,-194.6,565.6,-13.2,488,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2300,3592
$GC,4558,-1.08,-194.6,604.6,-12.3,503,4563,0.00,3.25,0.00,0.000,4,0.000,0.118,1992,3707,3591
$GC,4607,-1.08,-194.6,611.1,-13.0,505,4612,0.00,2.88,0.00,0.000,6,0.000,0.062,1992,2292,3590
$GC,4923,-1.08,-194.6,652.7,-12.9,520,4928,0.00,3.25,0.00,0.000,4,0.000,0.116,1993,3708,3590
$GC,4978,-1.08,-194.6,660.1,-12.9,522,4985,0.00,2.85,0.00,0.000,6,0.000,0.061,1993,2299,3589
$GC,5294,-1.08,-194.6,696.8,-11.3,538,5299,0.00,3.22,0.00,0.000,4,0.000,0.115,1992,3705,3589
$GC,5349,-1.08,-194.6,703.4,-11.4,540,5356,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2296,3588
$GC,5665,-1.08,-194.6,739.9,-11.8,556,5670,0.00,3.25,0.00,0.000,4,0.000,0.114,1993,3708,3587
$GC,5692,-1.08,-194.6,743.3,-12.5,557,5697,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2300,3587
$STATE,5759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5759,begin apogee
$GC,5767,-0.21,0.0,751.1,11.7,560,5950,1.12,0.00,178.60,1.209,6,0.117,0.000,2184,2718,2800
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5954,1.08,194.6,759.5,0.0,569,6146,1.50,2.78,180.85,1.151,4,0.067,0.133,2467,3785,2006
$GC,6264,1.08,194.6,734.7,13.9,583,6271,0.00,2.20,0.00,0.000,6,0.000,0.044,2467,2715,2005
$GC,6580,1.08,194.6,695.6,12.0,599,6585,0.00,3.22,0.00,0.000,4,0.000,0.107,2467,1307,2004
$GC,6612,1.08,194.6,691.5,11.8,600,6619,0.00,3.03,0.00,0.000,6,0.000,0.075,2467,2720,2003
$GC,6928,1.08,194.6,655.3,11.4,616,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2721,2003
$GC,7238,1.08,194.6,619.5,12.0,631,7242,0.00,3.00,0.00,0.000,4,0.000,0.078,2467,1305,2002
$GC,7281,1.08,194.6,614.2,11.4,633,7286,0.00,3.00,0.00,0.000,6,0.000,0.074,2467,2728,2001
$GC,7602,1.08,194.6,578.2,10.9,649,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2728,2001
$GC,7912,1.08,194.6,545.5,10.5,664,7916,0.00,2.97,0.00,0.000,4,0.000,0.076,2467,1311,2001
$GC,7966,1.08,194.6,539.1,12.0,666,7973,0.00,2.95,0.00,0.000,6,0.000,0.072,2468,2728,2001
$GC,8282,1.08,194.6,503.0,11.6,682,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2728,2001
$GC,8600,1.08,194.6,468.0,10.8,710,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2729,2001
$GC,8919,1.08,194.6,430.0,12.4,740,8923,0.00,2.95,0.00,0.000,4,0.000,0.074,2467,1307,2000
$GC,8958,1.08,194.6,425.3,11.8,743,8963,0.00,2.92,0.00,0.000,6,0.000,0.071,2467,2718,2000
$GC,9287,1.08,194.6,389.1,11.1,773,9291,0.00,2.62,0.00,0.000,4,0.000,0.145,2467,3790,2000
$GC,9326,1.08,194.6,384.0,12.3,776,9330,0.00,2.10,0.00,0.000,6,0.000,0.047,2467,2714,2000
$GC,9655,1.08,194.6,349.4,10.2,806,9659,0.00,2.97,0.00,0.000,4,0.000,0.088,2467,1314,2000
$GC,9750,1.08,194.6,339.5,10.2,814,9755,0.00,2.88,0.00,0.000,6,0.000,0.065,2467,2721,2000
$GC,10078,1.08,194.6,307.7,10.6,844,10082,0.00,2.60,0.00,0.000,4,0.000,0.140,2467,3790,2000
$GC,10121,1.08,194.6,302.5,11.2,847,10128,0.00,2.10,0.00,0.000,6,0.000,0.043,2467,2709,2000
$GC,10449,1.08,194.6,267.7,10.1,878,10453,0.00,2.38,0.00,0.000,4,0.000,0.094,2467,3796,2000
$GC,10533,1.08,194.6,258.2,11.1,885,10537,0.00,2.08,0.00,0.000,6,0.000,0.040,2467,2710,2000
$GC,10858,1.08,194.6,224.7,10.3,915,10863,0.00,2.95,0.00,0.000,4,0.000,0.088,2467,1315,2000
$GC,10920,1.08,194.6,218.1,10.5,920,10925,0.00,2.85,0.00,0.000,6,0.000,0.061,2467,2728,2000
$GC,11253,1.08,194.6,182.3,10.7,964,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2728,2000
$GC,11596,1.09,199.1,145.9,9.8,1025,11604,0.00,2.95,2.50,0.956,4,0.000,0.066,2467,1312,1988
$GC,11706,1.10,205.3,134.5,9.8,1044,11718,0.00,2.83,5.30,0.906,6,0.000,0.058,2467,2726,1963
$GC,12056,1.14,227.0,102.2,9.2,1106,12081,0.00,2.97,18.30,0.824,4,0.000,0.067,2467,1312,1874
$GC,12155,1.18,251.4,93.2,9.1,1123,12174,0.12,2.83,12.57,0.815,6,0.058,0.056,2495,2725,1766
$GC,12514,1.19,257.1,54.1,9.8,1186,12521,0.00,2.90,0.00,0.000,4,0.000,0.067,2494,1319,1044
$GC,12751,1.19,257.1,28.8,11.2,1228,12758,0.00,2.83,0.00,0.000,6,0.000,0.055,2495,2728,1071
$STATE,13025,end climb,SURFACE_DEPTH_REACHED
$STATE,13025,begin surface coast
$FINISH,1.7,1.024916
$STATE,13043,end surface coast,CONTROL_FINISHED_OK
$STATE,13043,begin surface
$SM_CCo,13124,0.00,0.000,0,0,1804,417.99
$SM_GC,2.93,7.53,0.00,0.00,0.035,0.000,0.000,913,2288,1804,-5.99,0.76,417.99
$RAFOS_CLK,730
$RAFOS,2,1185135848,20.416666,20.402222,43,43,42,0,0,0,1000,1113,92,0,0,0
$RAFOS,1,1185135244,20.250000,20.234444,43,43,42,0,0,0,181,1039,96,0,0,0
$RAFOS,0,1185134641,20.083334,20.066944,45,45,39,0,0,0,64,750,305,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3618.89,-12209.98,220707,202010
$TT8_MAMPS,0.024544
$HUMID,2281
$INTERNAL_PRESSURE,10.8305
$TCM_TEMP,11.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,20.2,23.024
$10V_AH,9.9,8.358
$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,21.375,145.350,398.125,0.000,0.000,0.000,0.000,0.000,2.500,16.110,2588.532,8441.115,633.196,1289.522,259.039,0.000,1645.426,0.000,1223.880,1440.000,18.848
$DEVICE_MAMPS,238.537,144.963,1208.792,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.440,1047.488,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47225,1280
$CFSIZE,260165632,254681088
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1486.3
$CURRENT,0.119,246.0,1
$GPS,220707,204302,3631.493,-12211.614,52,1.7,52,14.7