version: 66.01
glider: 112
mission: 1
dive: 31
start: 7 22 107 21 22 8
data:
$ID,112
$MISSION,1
$DIVE,31
$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,-21944.25
$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,28
$R_STBD_OVSHOOT,17
$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
$GPS1,211451,3630.975,-12211.812,8,1.7,8,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-46.1
$GPS2,212139,3630.876,-12211.808,10,1.9,10,14.7
$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,14.4,29934,-18.2,-10.000
$D_GRID,1510
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-75.80,0.000,2,0.000,0.000,667,2416,2549
$GC,107,-1.08,-194.6,3.0,-4.5,12,158,11.10,3.17,-28.45,0.000,4,0.239,0.073,1992,903,3539
$GC,243,-1.08,-194.6,22.5,-18.1,35,249,0.00,2.72,0.00,0.000,6,0.000,0.038,1992,2307,3596
$GC,587,-1.08,-194.6,85.6,-17.0,96,594,0.00,2.83,0.00,0.000,4,0.000,0.058,1992,906,3516
$GC,696,-1.08,-194.6,102.5,-14.8,115,703,0.00,2.70,0.00,0.000,6,0.000,0.041,1992,2301,3548
$GC,1041,-1.08,-194.6,150.8,-14.3,176,1047,0.00,2.83,0.00,0.000,4,0.000,0.062,1992,901,3598
$GC,1104,-1.08,-194.6,160.6,-14.9,187,1111,0.00,2.72,0.00,0.000,6,0.000,0.046,1992,2298,3598
$GC,1448,-1.08,-194.6,215.5,-16.3,240,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2298,3598
$GC,1767,-1.08,-194.6,263.9,-13.8,270,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2298,3598
$GC,2086,-1.08,-194.6,305.8,-12.7,300,2091,0.00,3.45,0.00,0.000,4,0.000,0.146,1992,3706,3597
$GC,2126,-1.08,-194.6,311.0,-12.9,303,2131,0.00,2.78,0.00,0.000,6,0.000,0.054,1992,2320,3597
$GC,2454,-1.08,-194.6,349.9,-11.2,333,2459,0.00,3.20,0.00,0.000,4,0.000,0.117,1992,3708,3595
$GC,2509,-1.08,-194.6,356.4,-10.7,337,2515,0.00,2.88,0.00,0.000,6,0.000,0.061,1992,2293,3595
$GC,2836,-1.08,-194.6,393.2,-12.2,368,2841,0.00,3.30,0.00,0.000,4,0.000,0.120,1991,3709,3594
$GC,2865,-1.08,-194.6,397.0,-12.9,370,2870,0.00,2.88,0.00,0.000,6,0.000,0.064,1992,2298,3594
$GC,3190,-1.08,-194.6,439.5,-13.1,400,3195,0.00,3.28,0.00,0.000,4,0.000,0.120,1992,3709,3592
$GC,3233,-1.08,-194.6,445.3,-12.8,403,3240,0.00,2.88,0.00,0.000,6,0.000,0.064,1992,2302,3593
$GC,3559,-1.08,-194.6,484.5,-11.7,434,3564,0.00,3.25,0.00,0.000,4,0.000,0.119,1992,3705,3592
$GC,3602,-1.08,-194.6,490.1,-12.2,437,3609,0.00,2.90,0.00,0.000,6,0.000,0.065,1992,2293,3592
$GC,3921,-1.08,-194.6,531.2,-13.4,457,3926,0.00,3.25,0.00,0.000,4,0.000,0.117,1992,3705,3590
$GC,3983,-1.08,-194.6,539.9,-13.8,460,3988,0.00,2.88,0.00,0.000,6,0.000,0.061,1992,2293,3590
$GC,4310,-1.08,-194.6,584.8,-13.6,476,4315,0.00,3.28,0.00,0.000,4,0.000,0.118,1991,3707,3589
$GC,4359,-1.08,-194.6,591.9,-13.9,478,4364,0.00,2.85,0.00,0.000,6,0.000,0.059,1992,2297,3589
$GC,4675,-1.08,-194.6,636.7,-14.1,493,4680,0.00,3.25,0.00,0.000,4,0.000,0.116,1992,3708,3588
$GC,4715,-1.08,-194.6,642.5,-14.2,495,4720,0.00,2.85,0.00,0.000,6,0.000,0.058,1991,2298,3588
$GC,5041,-1.08,-194.6,685.1,-12.6,511,5046,0.00,3.25,0.00,0.000,4,0.000,0.116,1992,3710,3587
$GC,5085,-1.08,-194.6,690.8,-12.3,513,5090,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2298,3587
$GC,5407,-1.08,-194.6,728.3,-11.2,529,5412,0.00,3.22,0.00,0.000,4,0.000,0.114,1992,3706,3585
$GC,5446,-1.08,-194.6,732.7,-11.0,531,5451,0.00,2.85,0.00,0.000,6,0.000,0.058,1992,2295,3585
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5614,-0.21,0.0,750.1,10.8,539,5796,1.12,0.00,177.85,1.210,6,0.119,0.000,2183,2723,2800
$STATE,5797,end apogee,CONTROL_FINISHED_OK
$STATE,5797,begin climb
$GC,5800,1.08,194.6,756.6,0.0,548,5993,1.52,2.83,180.68,1.155,4,0.067,0.132,2470,3784,2005
$GC,6077,1.08,194.6,733.1,15.0,560,6084,0.00,2.25,0.00,0.000,6,0.000,0.047,2470,2713,2005
$GC,6393,1.08,194.6,692.2,12.6,576,6398,0.00,3.15,0.00,0.000,4,0.000,0.100,2470,1309,2004
$GC,6455,1.08,194.6,684.1,13.0,579,6460,0.00,3.05,0.00,0.000,6,0.000,0.079,2470,2720,2003
$GC,6782,1.08,194.6,645.2,12.2,595,6786,0.00,2.62,0.00,0.000,4,0.000,0.141,2470,3786,2003
$GC,6837,1.08,194.6,637.7,14.1,597,6843,0.00,2.17,0.00,0.000,6,0.000,0.050,2470,2716,2002
$GC,7153,1.08,194.6,598.0,12.7,613,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2716,2001
$GC,7462,1.08,194.6,559.3,12.2,628,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2716,2001
$GC,7771,1.08,194.6,524.2,11.5,643,7776,0.00,2.47,0.00,0.000,4,0.000,0.114,2470,3790,2001
$GC,7894,1.08,194.6,509.2,12.4,648,7901,0.00,2.12,0.00,0.000,6,0.000,0.049,2470,2719,2000
$GC,8217,1.08,194.6,473.0,11.1,675,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2719,2000
$GC,8536,1.08,194.6,436.6,12.0,705,8540,0.00,2.47,0.00,0.000,4,0.000,0.116,2470,3791,2000
$GC,8590,1.08,194.6,429.3,13.1,709,8597,0.00,2.12,0.00,0.000,6,0.000,0.048,2470,2715,2000
$GC,8918,1.08,194.6,391.5,11.3,740,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2715,1999
$GC,9234,1.08,194.6,353.8,11.6,770,9238,0.00,2.45,0.00,0.000,4,0.000,0.112,2470,3787,1999
$GC,9273,1.08,194.6,349.1,12.0,773,9277,0.00,2.10,0.00,0.000,6,0.000,0.045,2470,2716,1999
$GC,9601,1.08,194.6,312.2,11.3,803,9605,0.00,3.03,0.00,0.000,4,0.000,0.094,2470,1308,1999
$GC,9633,1.08,194.6,308.0,11.9,805,9640,0.00,2.90,0.00,0.000,6,0.000,0.067,2470,2723,1999
$GC,9960,1.08,194.6,273.7,10.9,836,9965,0.00,2.50,0.00,0.000,4,0.000,0.131,2470,3786,1999
$GC,10049,1.08,194.6,263.1,11.7,843,10056,0.00,2.05,0.00,0.000,6,0.000,0.039,2470,2711,2000
$GC,10375,1.13,223.6,231.5,9.0,874,10400,0.00,0.00,23.35,0.923,6,0.000,0.000,2470,2711,1888
$GC,10717,1.13,223.6,195.2,11.0,909,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2711,1887
$GC,11061,1.13,223.6,156.5,11.3,970,11068,0.00,2.92,0.00,0.000,4,0.000,0.083,2470,1318,1887
$GC,11108,1.13,223.6,151.2,11.5,978,11115,0.00,2.85,0.00,0.000,6,0.000,0.061,2470,2724,1887
$GC,11453,1.13,223.6,115.0,10.0,1039,11460,0.00,2.88,0.00,0.000,4,0.000,0.066,2470,1316,1887
$GC,11506,1.15,233.8,109.9,9.6,1048,11520,0.00,2.88,8.38,0.855,6,0.000,0.061,2470,2728,1846
$GC,11858,1.18,253.1,77.3,9.3,1110,11883,0.12,2.92,16.00,0.806,4,0.063,0.066,2498,1311,1767
$GC,12019,1.20,263.4,60.3,9.6,1138,12032,0.00,2.85,8.27,0.802,6,0.000,0.055,2498,2726,1725
$GC,12371,1.26,300.5,27.8,8.7,1200,12377,0.00,2.90,0.00,0.000,4,0.000,0.064,2498,1312,1013
$GC,12631,1.31,329.3,6.2,9.0,1246,12638,0.10,2.83,0.00,0.000,6,0.061,0.051,2520,2724,1040
$STATE,12670,end climb,SURFACE_DEPTH_REACHED
$STATE,12671,begin surface coast
$FINISH,1.4,1.006374
$STATE,12688,end surface coast,CONTROL_FINISHED_OK
$STATE,12688,begin surface
$SM_CCo,12769,0.00,0.000,0,0,1722,431.73
$SM_GC,2.77,7.93,0.00,0.00,0.061,0.000,0.000,943,2289,1722,-5.85,0.62,431.73
$RAFOS_CLK,711
$RAFOS,4,1185151442,0.750000,0.733889,54,42,42,0,0,0,913,97,1141,0,0,0
$RAFOS,3,1185150843,0.583333,0.567500,42,41,39,0,0,0,350,1047,171,0,0,0
$RAFOS,2,1185150244,0.416667,0.401111,41,40,40,0,0,0,64,819,1024,0,0,0
$RAFOS,1,1185149646,0.250000,0.235000,43,41,40,0,0,0,227,63,1020,0,0,0
$RAFOS,0,1185149049,0.083333,0.069167,42,40,40,0,0,0,826,63,404,0,0,0
$RAFOS,3,1185136445,20.583334,20.568056,48,46,45,0,0,0,522,845,932,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,3618.89,-12211.41,230707,010103
$TT8_MAMPS,0.024544
$HUMID,2290
$INTERNAL_PRESSURE,10.85
$TCM_TEMP,12.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,20.2,23.236
$10V_AH,9.9,8.443
$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,21.900,143.400,414.525,0.000,0.000,0.000,0.000,0.000,2.500,11.683,2532.933,8138.647,658.853,1267.826,255.789,0.000,1658.979,0.000,1210.354,1800.000,18.850
$DEVICE_MAMPS,238.537,145.730,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.760,1017.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44168,1256
$CFSIZE,260165632,254615552
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
$SOUNDSPEED,1487.3
$CURRENT,0.106,242.9,1
$GPS,230707,005637,3631.980,-12211.637,57,1.3,57,14.7