version: 66.02
glider: 22
mission: 2
dive: 67
start: 9 22 107 21 17 12
data:
$ID,22
$MISSION,2
$DIVE,67
$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,-109749.92
$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,8
$R_STBD_OVSHOOT,21
$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
$GPS1,205426,4739.458,-12252.489,14,1.5,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.6
$GPS2,211605,4739.420,-12252.396,15,3.1,34,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,0.125
$KALMAN_X,9959.9,125.8,-138.9,-9214.6,-40.5
$KALMAN_Y,3082.0,-47.7,-231.6,-3305.1,-140.0
$MHEAD_RNG_PITCHd_Wd,33.5,4684,-19.5,-8.333
$D_GRID,125
$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,-97.8,0.0,0.0,0,137,0.00,0.00,-109.93,0.000,2,0.000,0.000,41,2090,2996
$GC,139,-1.33,-97.8,2.4,-4.4,18,200,13.00,2.92,-37.67,0.000,4,0.200,0.130,2233,676,3883
$GC,450,-1.33,-97.8,32.9,-11.5,58,455,0.00,2.65,0.00,0.000,6,0.000,0.071,2232,2107,3887
$GC,652,-1.33,-97.8,55.4,-10.9,74,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2106,3888
$GC,843,-1.33,-97.8,78.0,-11.9,89,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2107,3889
$STATE,1030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1031,begin apogee
$GC,1035,-0.31,0.0,101.0,12.5,104,1116,1.17,0.00,74.60,0.717,6,0.133,0.000,2459,1981,3484
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1119,1.33,97.8,104.3,0.0,111,1205,1.73,2.80,77.00,0.711,4,0.099,0.105,2812,588,3084
$GC,1270,1.33,97.8,93.7,10.8,123,1275,0.00,2.60,0.00,0.000,6,0.000,0.058,2813,2023,3087
$GC,1472,1.33,97.8,70.6,11.1,139,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2023,3088
$GC,1663,1.33,97.8,50.6,10.5,154,1667,0.00,2.88,0.00,0.000,4,0.000,0.111,2812,586,3087
$GC,1726,1.33,97.8,43.2,11.6,158,1734,0.00,2.58,0.00,0.000,6,0.000,0.056,2812,2001,3088
$GC,1923,1.33,97.8,23.8,9.4,174,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2001,3088
$GC,2119,1.37,134.3,6.4,6.2,200,2150,0.00,0.00,28.20,0.673,6,0.000,0.000,2813,2001,2936
$GC,2216,1.50,261.9,2.7,1.1,215,2272,0.17,0.00,52.83,0.658,2,0.063,0.000,2860,2001,2644
$STATE,2273,end climb,SURFACE_DEPTH_REACHED
$STATE,2273,begin surface coast
$FINISH,0.6,1.020488
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2357,begin surface
$SM_CCo,2378,229.85,0.623,0,0,658,693.22
$SM_GC,1.30,0.00,0.00,229.85,0.000,0.000,0.623,37,2106,658,-11.46,0.17,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2088
$TCM_TEMP,19.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,10.0,8.0
$ALTIM_BOTTOM_PING,51.2,7.9
$24V_AH,23.8,14.646
$10V_AH,10.2,3.856
$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,29.150,16.850,232.625,229.850,0.000,163.829,374.397,394.198,2.250,0.000,0.000,36.220,407.151,1479.641,578.341,418.820,1057.091,33.343,842.736,0.000,401.210,0.000,7.879
$DEVICE_MAMPS,200.187,130.390,717.145,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6443,237
$CFSIZE,260034560,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,220127,4739.517,-12252.077,13,1.6,13,18.3