version: 66.01
glider: 112
mission: 1
dive: 40
start: 7 23 107 15 48 31
data:
$ID,112
$MISSION,1
$DIVE,40
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,60
$T_MISSION,75
$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,-22660.73
$T_RSLEEP,3
$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,23
$R_STBD_OVSHOOT,9
$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
$GPS1,154244,3627.266,-12212.059,7,1.6,7,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-45.3
$GPS2,154803,3627.150,-12212.059,10,1.6,10,14.7
$SPEED_LIMITS,0.192,0.254
$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,9.6,36272,-20.0,-11.111
$D_GRID,1136
$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,-1.16,-194.6,0.0,0.0,0,112,0.00,0.00,-83.72,0.000,2,0.000,0.000,660,2040,2711
$GC,116,-1.16,-194.6,3.4,-5.9,13,155,10.85,2.38,-20.88,0.000,4,0.236,0.069,1976,897,3522
$GC,224,-1.16,-194.6,20.8,-17.9,31,231,0.00,2.72,-0.62,0.000,6,0.000,0.038,1976,2312,3546
$GC,569,-1.16,-194.6,84.4,-14.9,92,576,0.00,2.85,0.00,0.000,4,0.000,0.060,1976,897,3577
$GC,650,-1.16,-194.6,96.2,-14.2,106,656,0.00,2.70,0.00,0.000,6,0.000,0.041,1976,2299,3603
$GC,994,-1.16,-194.6,148.3,-14.8,167,1001,0.00,2.83,0.00,0.000,4,0.000,0.062,1976,901,3575
$GC,1036,-1.16,-194.6,154.7,-15.4,174,1042,0.00,2.72,0.00,0.000,6,0.000,0.045,1977,2304,3640
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1346,-0.21,0.0,200.1,14.5,228,1527,1.20,0.00,176.32,0.769,6,0.119,0.000,2182,2722,2800
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1531,1.16,194.6,208.7,0.0,246,1713,1.60,2.83,165.80,0.746,4,0.069,0.143,2487,3784,1938
$GC,1967,1.16,194.6,176.3,11.7,302,1973,0.00,2.08,0.00,0.000,6,0.000,0.037,2486,2718,1357
$GC,2311,1.29,276.6,142.7,7.9,363,2387,0.15,2.40,67.07,0.755,4,0.058,0.088,2518,3785,1634
$GC,2478,1.29,276.6,121.1,14.9,392,2484,0.00,2.03,0.00,0.000,6,0.000,0.038,2518,2710,1512
$GC,2822,1.29,276.6,72.8,11.7,453,2829,0.00,2.97,0.00,0.000,4,0.000,0.085,2518,1317,1669
$GC,3077,1.29,276.6,39.2,12.9,498,3083,0.00,2.85,0.00,0.000,6,0.000,0.057,2518,2726,1647
$STATE,3368,end climb,SURFACE_DEPTH_REACHED
$STATE,3368,begin surface coast
$FINISH,1.1,1.024478
$STATE,3386,end surface coast,CONTROL_FINISHED_OK
$STATE,3386,begin surface
$SM_CCo,3467,0.00,0.000,0,0,1239,409.65
$SM_GC,2.17,8.15,0.00,0.00,0.048,0.000,0.000,858,2280,1239,-6.26,0.37,409.65
$RAFOS_CLK,546
$RAFOS,3,1185208445,16.583334,16.568056,43,42,41,0,0,0,94,939,155,0,0,0
$RAFOS,2,1185207844,16.416666,16.401112,41,39,39,0,0,0,601,63,568,0,0,0
$RAFOS,1,1185207246,16.250000,16.235001,49,49,47,0,0,0,617,931,410,0,0,0
$RAFOS,0,1185206645,16.083334,16.068056,43,43,43,0,0,0,63,310,683,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3613.54,-12210.82,230707,191954
$TT8_MAMPS,0.026078
$HUMID,2225
$INTERNAL_PRESSURE,10.85
$TCM_TEMP,11.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,20.8,24.738
$10V_AH,9.9,8.838
$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,21.950,33.150,409.200,0.000,0.000,0.000,0.000,0.000,0.750,12.418,1040.221,1365.821,521.230,513.030,109.434,0.000,941.483,0.000,507.855,1800.000,2.557
$DEVICE_MAMPS,236.236,142.662,769.301,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.008,419.899,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18979,553
$CFSIZE,260165632,254386176
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1489.0
$CURRENT,0.247,222.3,1
$GPS,230707,164729,3627.205,-12212.360,8,6.5,27,14.7