version: 66.02
glider: 22
mission: 2
dive: 69
start: 9 22 107 23 12 14
data:
$ID,22
$MISSION,2
$DIVE,69
$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,-109815.5
$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,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
$GPS1,225047,4739.646,-12251.638,9,4.3,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,231107,4739.633,-12251.505,16,1.4,32,18.3
$SPEED_LIMITS,0.144,0.203
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,0.109
$KALMAN_X,10328.4,31.3,-120.0,-8397.3,100.5
$KALMAN_Y,3004.4,-216.6,-172.3,-2724.3,-0.9
$MHEAD_RNG_PITCHd_Wd,39.0,3512,-19.5,-8.333
$D_GRID,121
$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,-97.8,0.0,0.0,0,93,0.00,0.00,-67.93,0.000,2,0.000,0.000,38,2108,2893
$GC,96,-1.33,-97.8,2.1,-3.0,11,163,13.00,2.97,-45.12,0.000,4,0.199,0.135,2233,683,3884
$GC,386,-1.33,-97.8,29.0,-10.0,49,394,0.00,2.67,0.00,0.000,6,0.000,0.074,2233,2105,3887
$GC,587,-1.33,-97.8,50.4,-11.0,65,591,0.00,2.70,0.00,0.000,4,0.000,0.091,2233,3530,3889
$GC,671,-1.33,-97.8,61.4,-12.5,71,676,0.00,2.70,0.00,0.000,6,0.000,0.077,2233,2093,3889
$GC,873,-1.33,-97.8,84.5,-11.0,87,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2093,3889
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1015,-0.31,0.0,100.4,11.9,98,1098,1.17,0.00,77.22,0.726,6,0.132,0.000,2460,1978,3483
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1101,1.33,97.8,102.9,0.0,105,1182,1.75,0.00,76.35,0.714,6,0.095,0.000,2818,1977,3084
$GC,1371,1.33,97.8,81.2,10.4,127,1375,0.00,2.75,0.00,0.000,4,0.000,0.107,2817,585,3084
$GC,1416,1.33,97.8,76.2,10.9,130,1420,0.00,2.60,0.00,0.000,6,0.000,0.058,2818,2025,3085
$GC,1618,1.33,97.8,54.9,9.9,146,1622,0.00,2.88,0.00,0.000,4,0.000,0.109,2817,584,3085
$GC,1708,1.33,97.8,45.1,10.4,152,1717,0.00,2.60,0.00,0.000,6,0.000,0.057,2818,2012,3085
$GC,1905,1.33,97.8,25.9,9.8,168,1909,0.00,2.55,0.00,0.000,4,0.000,0.070,2818,3406,3085
$GC,1931,1.33,97.8,22.9,11.6,170,1935,0.00,2.60,0.00,0.000,6,0.000,0.062,2818,1987,3085
$GC,2135,1.40,162.5,5.0,4.6,198,2189,0.00,0.00,49.28,0.669,6,0.000,0.000,2818,1986,2820
$STATE,2241,end climb,SURFACE_DEPTH_REACHED
$STATE,2241,begin surface coast
$FINISH,0.5,1.010198
$STATE,2320,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2341,263.27,0.625,0,0,658,693.22
$SM_GC,1.27,0.00,0.00,263.27,0.000,0.000,0.625,39,2107,658,-11.46,0.23,693.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2055
$TCM_TEMP,20.00
$XPDR_PINGS,7
$ALTIM_TOP_PING,9.8,7.8
$ALTIM_BOTTOM_PING,50.4,7.9
$24V_AH,23.8,14.860
$10V_AH,10.2,3.907
$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,28.550,27.475,202.850,263.275,0.000,163.799,278.662,411.136,2.500,0.000,0.000,32.843,413.149,1479.356,580.930,405.668,979.499,33.361,827.798,0.000,389.430,0.000,6.957
$DEVICE_MAMPS,198.653,134.992,725.582,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,148.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,227
$CFSIZE,260034560,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220907,235621,4739.775,-12251.040,9,1.5,9,18.3