version: 66.02
glider: 22
mission: 2
dive: 35
start: 9 21 107 17 50 18
data:
$ID,22
$MISSION,2
$DIVE,35
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-108932.13
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,174523,4739.216,-12251.290,14,6.6,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.3
$GPS2,174911,4739.240,-12251.257,14,2.2,33,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,0.169
$KALMAN_X,3404.6,416.2,-40.3,-1624.6,-34.2
$KALMAN_Y,2488.9,170.2,-24.8,-3468.9,-86.7
$MHEAD_RNG_PITCHd_Wd,27.7,3656,-15.7,-8.333
$D_GRID,114
$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,23,-1.14,-146.6,0.0,0.0,0,93,0.00,0.00,-67.97,0.000,2,0.000,0.000,34,2110,2923
$GC,96,-1.14,-146.6,2.4,-4.1,11,158,13.38,2.67,-41.20,0.000,4,0.202,0.094,2271,3528,3997
$GC,408,-1.14,-146.6,33.2,-10.9,50,412,0.00,2.72,0.00,0.000,6,0.000,0.083,2271,2103,3999
$GC,610,-1.14,-146.6,53.7,-10.3,66,614,0.00,2.70,0.00,0.000,4,0.000,0.085,2271,3514,4000
$GC,707,-1.14,-146.6,64.1,-10.8,73,715,0.00,2.72,0.00,0.000,6,0.000,0.083,2271,2100,4000
$GC,904,-1.14,-146.6,82.8,-9.4,89,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$GC,1095,-1.14,-146.6,87.6,0.1,104,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$GC,1284,-1.14,-146.6,87.7,-0.0,119,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$GC,1473,-1.14,-146.6,87.6,0.0,134,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2100,4000
$GC,1662,-1.14,-146.6,87.7,0.1,149,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$GC,1852,-1.14,-146.6,87.6,0.2,164,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$GC,2041,-1.14,-146.6,87.8,0.1,179,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2100,4000
$STATE,2114,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2114,begin apogee
$GC,2118,-0.31,0.0,87.7,0.0,185,2225,0.95,0.00,98.43,0.736,6,0.114,0.000,2460,1981,3484
$STATE,2226,end apogee,CONTROL_FINISHED_OK
$STATE,2226,begin climb
$GC,2227,1.14,146.6,87.6,0.0,194,2350,1.58,2.88,113.70,0.716,4,0.107,0.113,2774,591,2885
$GC,2369,1.14,146.6,78.8,11.1,206,2374,0.00,2.62,0.00,0.000,6,0.000,0.061,2774,2018,2885
$GC,2571,1.14,146.6,54.6,11.9,222,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2018,2885
$GC,2763,1.14,146.6,33.4,10.8,237,2768,0.00,2.90,0.00,0.000,4,0.000,0.116,2774,585,2883
$GC,2835,1.14,146.6,25.3,11.2,242,2839,0.00,2.58,0.00,0.000,6,0.000,0.058,2774,2013,2883
$GC,3038,1.23,222.8,6.2,5.4,269,3099,0.10,0.00,58.10,0.677,6,0.073,0.000,2801,2013,2574
$STATE,3143,end climb,SURFACE_DEPTH_REACHED
$STATE,3143,begin surface coast
$FINISH,0.6,1.011813
$STATE,3197,end surface coast,CONTROL_FINISHED_OK
$STATE,3197,begin surface
$SM_CCo,3218,144.52,0.649,0,0,1444,500.17
$SM_GC,1.31,0.00,0.00,144.52,0.000,0.000,0.649,36,2101,1444,-11.47,0.03,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2103
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,8.2
$ALTIM_BOTTOM_PING,51.1,7.8
$24V_AH,23.8,11.609
$10V_AH,10.2,3.150
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.650,22.150,270.225,144.525,0.000,32.577,29.723,73.904,1.000,0.000,0.000,34.718,520.529,1856.518,500.573,510.859,235.746,33.341,806.137,0.000,491.692,0.000,6.953
$DEVICE_MAMPS,202.488,115.817,736.320,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,193.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6439,294
$CFSIZE,260034560,256147456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,184723,4739.306,-12250.978,10,2.4,29,18.3