version: 66.01
glider: 112
mission: 1
dive: 33
start: 7 23 107 2 10 49
data:
$ID,112
$MISSION,1
$DIVE,33
$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,-22064.791
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,020609,3630.124,-12210.982,8,1.5,8,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-45.2
$GPS2,021021,3629.984,-12210.952,12,1.4,12,14.7
$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,10.8,30820,-18.2,-10.000
$D_GRID,1384
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.08,-194.6,0.0,0.0,0,108,0.00,0.00,-79.80,0.000,2,0.000,0.000,670,1174,2774
$GC,112,-1.08,-194.6,3.4,-6.2,12,145,11.30,0.60,-16.88,0.000,4,0.245,0.110,1992,891,3596
$GC,236,-1.08,-194.6,24.6,-16.4,33,243,0.00,2.72,0.00,0.000,6,0.000,0.039,1992,2293,3559
$GC,581,-1.08,-194.6,79.1,-16.6,94,588,0.00,2.80,0.00,0.000,4,0.000,0.058,1993,898,3599
$GC,667,-1.08,-194.6,92.4,-15.4,109,674,0.00,2.72,0.00,0.000,6,0.000,0.042,1993,2306,3539
$GC,1012,-1.08,-194.6,145.4,-15.5,170,1018,0.00,2.83,0.00,0.000,4,0.000,0.061,1992,901,3599
$GC,1059,-1.08,-194.6,153.0,-15.8,178,1065,0.00,2.72,0.00,0.000,6,0.000,0.044,1992,2300,3599
$GC,1406,-1.08,-194.6,208.4,-15.8,235,1411,0.00,3.30,0.00,0.000,4,0.000,0.128,1993,3707,3586
$GC,1434,-1.08,-194.6,212.8,-15.8,237,1439,0.00,2.72,0.00,0.000,6,0.000,0.041,1992,2302,3598
$GC,1762,-1.08,-194.6,261.6,-14.7,267,1767,0.00,3.17,0.00,0.000,4,0.000,0.107,1993,3713,3597
$GC,1790,-1.08,-194.6,266.4,-15.4,269,1795,0.00,2.78,0.00,0.000,6,0.000,0.049,1993,2306,3598
$GC,2117,-1.08,-194.6,316.3,-16.0,299,2122,0.00,3.17,0.00,0.000,4,0.000,0.110,1992,3708,3597
$GC,2180,-1.08,-194.6,326.7,-15.8,304,2184,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2299,3596
$GC,2507,-1.08,-194.6,374.7,-14.2,334,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2298,3594
$GC,2825,-1.08,-194.6,417.9,-13.3,364,2830,0.00,3.25,0.00,0.000,4,0.000,0.120,1992,3706,3592
$GC,2921,-1.08,-194.6,430.7,-13.1,372,2926,0.00,2.88,0.00,0.000,6,0.000,0.065,1992,2298,3592
$GC,3246,-1.08,-194.6,470.0,-11.8,402,3251,0.00,3.25,0.00,0.000,4,0.000,0.117,1993,3710,3591
$GC,3290,-1.08,-194.6,475.4,-12.1,405,3297,0.00,2.88,0.00,0.000,6,0.000,0.064,1993,2300,3591
$GC,3616,-1.08,-194.6,508.5,-10.1,432,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2299,3590
$GC,3922,-1.08,-194.6,538.7,-10.3,447,3927,0.00,3.25,0.00,0.000,4,0.000,0.117,1992,3709,3588
$GC,3977,-1.08,-194.6,545.0,-11.3,449,3984,0.00,2.85,0.00,0.000,6,0.000,0.061,1992,2300,3588
$GC,4293,-1.08,-194.6,580.5,-11.8,465,4298,0.00,3.22,0.00,0.000,4,0.000,0.116,1992,3708,3586
$GC,4333,-1.08,-194.6,585.2,-12.0,467,4337,0.00,2.85,0.00,0.000,6,0.000,0.060,1993,2300,3586
$GC,4659,-1.08,-194.6,623.9,-11.7,483,4664,0.00,3.22,0.00,0.000,4,0.000,0.115,1993,3708,3585
$GC,4699,-1.08,-194.6,628.6,-11.9,485,4704,0.00,2.85,0.00,0.000,6,0.000,0.058,1993,2297,3585
$GC,5025,-1.08,-194.6,667.5,-12.0,501,5030,0.00,3.25,0.00,0.000,4,0.000,0.116,1992,3706,3584
$GC,5065,-1.08,-194.6,672.2,-12.4,503,5070,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2293,3583
$GC,5392,-1.08,-194.6,712.0,-12.4,519,5397,0.00,3.22,0.00,0.000,4,0.000,0.112,1993,3708,3582
$GC,5455,-1.08,-194.6,719.8,-12.7,522,5459,0.00,2.88,0.00,0.000,6,0.000,0.058,1992,2291,3582
$STATE,5717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5717,begin apogee
$GC,5726,-0.21,0.0,752.4,12.3,535,5906,1.12,0.00,176.70,1.208,6,0.116,0.000,2186,2720,2800
$STATE,5907,end apogee,CONTROL_FINISHED_OK
$STATE,5907,begin climb
$GC,5910,1.08,194.6,761.8,0.0,544,6102,1.50,2.83,179.95,1.151,4,0.064,0.131,2471,3785,2006
$GC,6157,1.08,194.6,745.8,13.8,555,6161,0.00,2.22,0.00,0.000,6,0.000,0.045,2471,2715,2005
$GC,6473,1.08,194.6,701.2,14.6,570,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2715,2004
$GC,6783,1.08,194.6,655.1,14.9,585,6787,0.00,2.47,0.00,0.000,4,0.000,0.110,2470,3784,2003
$GC,6849,1.08,194.6,644.5,16.2,588,6853,0.00,2.15,0.00,0.000,6,0.000,0.046,2471,2712,2002
$GC,7171,1.08,194.6,599.3,13.6,604,7176,0.00,3.15,0.00,0.000,4,0.000,0.107,2471,1302,2002
$GC,7204,1.08,194.6,594.7,13.1,605,7211,0.00,3.00,0.00,0.000,6,0.000,0.076,2471,2722,2002
$GC,7520,1.08,194.6,550.5,15.8,621,7524,0.00,2.60,0.00,0.000,4,0.000,0.140,2470,3793,2001
$GC,7597,1.08,194.6,538.2,15.7,624,7603,0.00,2.15,0.00,0.000,6,0.000,0.048,2471,2719,2001
$GC,7913,1.08,194.6,497.7,11.8,640,7917,0.00,2.42,0.00,0.000,4,0.000,0.107,2471,3789,2001
$GC,7979,1.08,194.6,489.1,12.6,645,7986,0.00,2.12,0.00,0.000,6,0.000,0.048,2471,2718,2001
$GC,8307,1.10,205.7,455.1,9.6,676,8325,0.00,3.17,8.27,1.124,4,0.000,0.104,2471,1307,1961
$GC,8353,1.11,212.3,450.3,9.8,680,8364,0.00,3.00,5.70,1.123,6,0.000,0.080,2471,2722,1934
$GC,8683,1.11,212.3,414.5,11.1,711,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2723,1933
$GC,9002,1.11,212.3,379.9,11.1,741,9007,0.00,2.97,0.00,0.000,4,0.000,0.077,2471,1305,1933
$GC,9068,1.11,212.3,371.8,12.1,746,9075,0.00,3.00,0.00,0.000,6,0.000,0.076,2471,2725,1933
$GC,9396,1.11,212.3,335.1,11.3,777,9400,0.00,2.60,0.00,0.000,4,0.000,0.143,2471,3793,1933
$GC,9514,1.11,212.3,320.5,12.0,787,9518,0.00,2.12,0.00,0.000,6,0.000,0.044,2471,2709,1933
$GC,9839,1.11,212.3,281.9,12.1,817,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2709,1933
$GC,10157,1.11,212.3,239.7,14.6,847,10162,0.00,2.90,0.00,0.000,4,0.000,0.084,2471,1308,1933
$GC,10201,1.11,212.3,232.9,15.6,850,10208,0.00,2.85,0.00,0.000,6,0.000,0.060,2471,2723,1933
$GC,10530,1.11,212.3,188.6,12.7,888,10537,0.00,2.50,0.00,0.000,4,0.000,0.128,2471,3787,1933
$GC,10616,1.11,212.3,176.6,14.0,903,10623,0.00,2.05,0.00,0.000,6,0.000,0.038,2471,2708,1933
$GC,10961,1.11,212.3,134.4,11.4,964,10967,0.00,2.92,0.00,0.000,4,0.000,0.085,2471,1317,1933
$GC,11052,1.11,212.3,123.2,12.7,980,11059,0.00,2.83,0.00,0.000,6,0.000,0.059,2471,2724,1854
$GC,11398,1.11,212.3,81.9,12.2,1041,11404,0.00,2.88,0.00,0.000,4,0.000,0.065,2471,1314,1120
$GC,11489,1.11,212.3,71.0,12.4,1057,11496,0.00,2.80,0.00,0.000,6,0.000,0.057,2471,2720,1148
$GC,11834,1.24,288.9,38.2,7.2,1118,11841,0.15,2.85,0.00,0.000,4,0.057,0.066,2508,1319,1170
$GC,12094,1.24,288.9,16.1,10.4,1164,12101,0.00,2.80,0.00,0.000,6,0.000,0.054,2508,2729,1189
$STATE,12265,end climb,SURFACE_DEPTH_REACHED
$STATE,12265,begin surface coast
$FINISH,1.4,1.020999
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12367,0.00,0.000,0,0,1920,395.91
$SM_GC,2.02,8.00,0.00,0.00,0.055,0.000,0.000,890,2287,1920,-6.11,0.76,395.91
$RAFOS_CLK,777
$RAFOS,5,1185166442,4.916667,4.900556,46,43,43,0,0,0,64,428,623,0,0,0
$RAFOS,4,1185165848,4.750000,4.735556,45,43,39,0,0,0,789,1062,454,0,0,0
$RAFOS,3,1185165244,4.583333,4.567778,43,40,40,0,0,0,514,383,747,0,0,0
$RAFOS,2,1185164642,4.416667,4.400556,45,43,41,0,0,0,221,63,659,0,0,0
$RAFOS,1,1185164041,4.250000,4.233611,50,46,43,0,0,0,551,63,259,0,0,0
$RAFOS,0,1185163445,4.083333,4.068056,45,44,43,0,0,0,63,254,233,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3613.54,-12253.12,230707,050548
$TT8_MAMPS,0.024544
$HUMID,2290
$INTERNAL_PRESSURE,10.8403
$TCM_TEMP,11.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,20.3,23.565
$10V_AH,9.9,8.543
$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,22.075,146.275,370.625,0.000,0.000,0.000,0.000,0.000,2.750,13.741,2482.893,7883.313,609.811,1222.514,253.148,0.000,1574.978,0.000,1164.955,2160.000,18.850
$DEVICE_MAMPS,245.440,142.662,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,830.055,977.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44114,1198
$CFSIZE,260165632,254554112
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1486.5
$CURRENT,0.157,237.6,1
$GPS,230707,054043,3630.883,-12211.136,185,1.5,185,14.7