version: 66.02
glider: 22
mission: 2
dive: 68
start: 9 22 107 22 7 51
data:
$ID,22
$MISSION,2
$DIVE,68
$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,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,-109782.03
$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,13
$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
$GPS1,220127,4739.517,-12252.077,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.6
$GPS2,220644,4739.510,-12252.051,14,1.3,31,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,0.116
$KALMAN_X,10072.9,66.6,-154.3,-8821.4,41.9
$KALMAN_Y,3032.3,-145.6,-219.7,-3003.6,-65.4
$MHEAD_RNG_PITCHd_Wd,36.9,4223,-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,-97.8,0.0,0.0,0,130,0.00,0.00,-103.78,0.000,2,0.000,0.000,38,2107,2866
$GC,133,-1.33,-97.8,2.2,-2.8,17,201,13.10,2.95,-46.80,0.000,4,0.201,0.139,2234,686,3884
$GC,410,-1.33,-97.8,29.4,-11.6,54,418,0.00,2.67,0.00,0.000,6,0.000,0.074,2234,2098,3889
$GC,607,-1.33,-97.8,52.4,-11.9,70,612,0.00,2.72,0.00,0.000,4,0.000,0.090,2234,3517,3889
$GC,686,-1.33,-97.8,62.2,-12.5,76,690,0.00,2.67,0.00,0.000,6,0.000,0.077,2234,2099,3890
$GC,888,-1.33,-97.8,85.8,-11.8,92,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2099,3890
$STATE,1012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1012,begin apogee
$GC,1017,-0.31,0.0,100.9,11.7,102,1099,1.15,0.00,73.93,0.721,6,0.132,0.000,2455,1986,3484
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1102,1.33,97.8,103.9,0.0,109,1188,1.75,2.88,77.82,0.716,4,0.100,0.107,2813,589,3085
$GC,1232,1.33,97.8,96.9,9.1,119,1240,0.00,2.62,0.00,0.000,6,0.000,0.058,2813,2013,3086
$GC,1429,1.33,97.8,77.3,9.9,135,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,3086
$GC,1619,1.33,97.8,57.3,10.3,150,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,3087
$GC,1808,1.33,97.8,37.9,10.7,165,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,3086
$GC,1997,1.33,97.8,19.7,9.5,180,2004,0.00,2.85,0.00,0.000,4,0.000,0.113,2813,591,3086
$GC,2155,1.36,126.5,5.8,6.7,204,2186,0.00,2.58,21.85,0.683,6,0.000,0.060,2813,2017,2968
$GC,2251,1.52,275.0,3.4,-0.1,219,2338,0.22,0.00,83.32,0.662,2,0.059,0.000,2868,2017,2501
$STATE,2339,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,0.5,1.018379
$STATE,2378,end surface coast,CONTROL_FINISHED_OK
$STATE,2378,begin surface
$SM_CCo,2399,115.40,0.629,0,0,1445,500.17
$SM_GC,1.40,0.00,0.00,115.40,0.000,0.000,0.629,38,2106,1445,-11.46,0.17,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2082
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.7,6.8
$ALTIM_BOTTOM_PING,50.9,7.8
$24V_AH,23.8,14.730
$10V_AH,10.2,3.877
$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,29.250,22.300,256.925,115.400,0.000,32.608,33.752,159.526,1.250,0.000,0.000,31.479,401.266,1238.307,495.274,411.320,317.895,33.345,765.530,0.000,397.958,0.000,6.955
$DEVICE_MAMPS,200.954,138.827,720.980,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,154.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6468,239
$CFSIZE,260034560,255340544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,225047,4739.646,-12251.638,9,4.3,28,18.3