version: 66.02
glider: 22
mission: 2
dive: 38
start: 9 21 107 20 44 59
data:
$ID,22
$MISSION,2
$DIVE,38
$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,-108999.11
$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,12
$R_STBD_OVSHOOT,14
$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
$GPS1,203605,4739.655,-12250.259,9,2.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.0
$GPS2,204351,4739.710,-12250.132,13,1.2,13,18.3
$SPEED_LIMITS,0.144,0.243
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,0.205
$KALMAN_X,3958.4,270.4,-212.9,-459.9,74.2
$KALMAN_Y,2245.8,29.4,-81.7,-2162.3,-87.4
$MHEAD_RNG_PITCHd_Wd,14.4,2033,-15.7,-8.333
$D_GRID,102
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-66.70,0.000,2,0.000,0.000,39,2114,2880
$GC,95,-1.14,-146.6,2.0,-3.2,11,162,13.35,3.03,-43.90,0.000,4,0.202,0.141,2271,686,3996
$GC,393,-1.14,-146.6,27.9,-10.0,51,397,0.00,2.67,0.00,0.000,6,0.000,0.077,2272,2112,3998
$GC,595,-1.14,-146.6,47.3,-9.6,67,599,0.00,2.65,0.00,0.000,4,0.000,0.087,2272,3518,3999
$GC,641,-1.14,-146.6,52.0,-10.2,70,648,0.00,2.72,0.00,0.000,6,0.000,0.084,2272,2091,4000
$GC,836,-1.14,-146.6,72.7,-10.5,86,840,0.00,2.92,0.00,0.000,4,0.000,0.133,2271,676,3999
$GC,928,-1.14,-146.6,82.4,-10.8,93,932,0.00,2.70,0.00,0.000,6,0.000,0.081,2272,2108,4000
$GC,1130,-1.14,-146.6,96.3,-0.2,109,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2108,4000
$GC,1320,-1.14,-146.6,96.3,0.0,124,1325,0.00,2.95,0.00,0.000,4,0.000,0.126,2271,673,4000
$GC,1579,-1.14,-146.6,96.2,-0.3,143,1584,0.00,2.65,0.00,0.000,6,0.000,0.073,2272,2101,4000
$GC,1774,-1.14,-146.6,96.2,0.1,158,1778,0.00,2.75,0.00,0.000,4,0.000,0.094,2272,673,4000
$GC,2033,-1.14,-146.6,96.2,-0.4,177,2038,0.00,2.65,0.00,0.000,6,0.000,0.073,2272,2105,4000
$STATE,2112,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2112,begin apogee
$GC,2117,-0.31,0.0,96.1,0.1,183,2223,0.90,0.00,98.55,0.740,6,0.100,0.000,2457,1966,3484
$STATE,2224,end apogee,CONTROL_FINISHED_OK
$STATE,2224,begin climb
$GC,2226,1.14,146.6,96.0,0.0,192,2350,1.50,2.78,113.72,0.720,4,0.087,0.077,2774,3415,2886
$GC,2600,1.14,146.6,74.3,11.7,221,2605,0.00,2.62,0.00,0.000,6,0.000,0.065,2774,2018,2885
$GC,2802,1.14,146.6,48.5,12.7,237,2806,0.00,2.88,0.00,0.000,4,0.000,0.116,2773,580,2885
$GC,2854,1.14,146.6,41.9,13.1,241,2859,0.00,2.60,0.00,0.000,6,0.000,0.059,2773,2016,2884
$GC,3056,1.14,146.6,19.4,10.9,257,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2016,2885
$GC,3128,1.14,146.6,12.0,10.1,268,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2016,2885
$GC,3199,1.22,214.8,6.1,5.7,279,3261,0.00,3.05,52.00,0.681,4,0.000,0.123,2773,579,2606
$STATE,3298,end climb,SURFACE_DEPTH_REACHED
$STATE,3298,begin surface coast
$FINISH,0.5,1.014842
$STATE,3352,end surface coast,CONTROL_FINISHED_OK
$STATE,3352,begin surface
$SM_CCo,3375,145.73,0.650,0,0,1445,500.17
$SM_GC,1.28,0.00,0.00,145.73,0.000,0.000,0.650,37,2109,1445,-11.47,0.25,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2108
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.5,8.1
$ALTIM_BOTTOM_PING,50.6,7.8
$24V_AH,23.8,11.889
$10V_AH,10.2,3.221
$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,28.300,44.700,264.275,145.725,0.000,65.166,68.384,192.773,1.250,0.000,0.000,13.653,556.087,1917.310,515.743,592.748,438.166,33.340,877.112,0.000,593.201,0.000,6.959
$DEVICE_MAMPS,202.488,141.128,740.155,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,199.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9595,303
$CFSIZE,260034560,256057344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210907,214437,4739.928,-12249.921,8,1.4,24,18.3