version: 66.02
glider: 22
mission: 2
dive: 66
start: 9 22 107 20 10 58
data:
$ID,22
$MISSION,2
$DIVE,66
$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,100
$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,693.21777
$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,-109713.08
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,195123,4739.412,-12252.756,14,2.2,33,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.1
$GPS2,200951,4739.376,-12252.703,18,2.0,18,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,0.135
$KALMAN_X,9839.1,184.6,-83.5,-9589.2,-89.6
$KALMAN_Y,3196.4,54.7,-207.9,-3624.8,-202.4
$MHEAD_RNG_PITCHd_Wd,29.8,5065,-19.5,-8.333
$D_GRID,124
$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,-1.33,-97.8,0.0,0.0,0,136,0.00,0.00,-109.65,0.000,2,0.000,0.000,39,2103,3005
$GC,139,-1.33,-97.8,2.3,-4.1,18,194,13.02,2.90,-35.50,0.000,4,0.200,0.133,2234,686,3883
$GC,444,-1.33,-97.8,32.1,-11.9,57,452,0.00,2.67,0.00,0.000,6,0.000,0.074,2234,2108,3887
$GC,640,-1.33,-97.8,53.6,-11.5,73,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2108,3888
$GC,830,-1.33,-97.8,76.0,-12.2,88,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2108,3888
$GC,1020,-1.33,-97.8,98.6,-11.6,103,1024,0.00,2.67,0.00,0.000,4,0.000,0.090,2234,3523,3888
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1037,-0.31,0.0,100.2,11.7,103,1118,1.15,0.00,77.38,0.710,6,0.141,0.000,2454,1999,3484
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1121,1.33,97.8,103.5,0.0,110,1207,1.75,2.88,76.70,0.714,4,0.102,0.108,2811,573,3085
$GC,1259,1.33,97.8,94.4,10.7,121,1263,0.00,2.62,0.00,0.000,6,0.000,0.060,2811,2013,3085
$GC,1461,1.33,97.8,72.5,10.9,137,1465,0.00,2.58,0.00,0.000,4,0.000,0.072,2812,3412,3088
$GC,1486,1.33,97.8,69.5,11.7,139,1491,0.00,2.67,0.00,0.000,6,0.000,0.067,2812,1989,3089
$GC,1688,1.33,97.8,48.1,9.9,155,1693,0.00,2.80,0.00,0.000,4,0.000,0.114,2811,582,3089
$GC,1741,1.33,97.8,42.6,10.9,159,1745,0.00,2.58,0.00,0.000,6,0.000,0.059,2811,2006,3089
$GC,1943,1.33,97.8,21.9,10.2,175,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2006,3088
$GC,2140,1.41,178.5,6.3,3.7,203,2209,0.12,2.70,62.10,0.667,4,0.074,0.071,2842,3417,2756
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2241,begin surface coast
$FINISH,0.8,1.020795
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2285,258.98,0.627,0,0,658,693.22
$SM_GC,1.33,0.00,0.00,258.98,0.000,0.000,0.627,41,2089,658,-11.45,-0.31,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2073
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.6,8.0
$ALTIM_BOTTOM_PING,50.8,7.9
$24V_AH,23.8,14.514
$10V_AH,10.2,3.825
$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,28.925,32.550,216.175,258.975,0.000,163.787,284.452,211.079,1.250,0.000,0.000,18.547,392.798,1427.930,598.372,384.673,881.264,33.342,856.018,0.000,381.805,0.000,6.958
$DEVICE_MAMPS,200.187,133.458,714.077,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,144.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6471,222
$CFSIZE,260034560,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,205426,4739.458,-12252.489,14,1.5,31,18.3