version: 66.13
glider: 401
mission: 22
dive: 1066
start: 8 15 117 0 45 11
data:
$ID,401
$MISSION,22
$DIVE,1066
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,150817,003644,6143.2021,-17351.4414,5,0.7,13,7.0,0.0,77.5,12,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-42.2
$GPS2,150817,004401,6143.2188,-17351.4121,7,0.7,13,7.0,0.0,94.5,12,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348575,0.180510
$KALMAN_X,57683.218750,-533.656982,10.808430,-252129.140625,142.549423
$KALMAN_Y,-75177.093750,2989.476562,1250.637939,344839.343750,13.315552
$MHEAD_RNG_PITCHd_Wd,290.4,36261,-11.6,-10.526,-15.01,6865
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-481.4,229,1982,1765,4092,0.0,0.0,0,21,9.90,0.00,0.00,0.000,2049,0.094,0.000,1069,1982,1765,1765,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.21,52.59
$GC,24,-1.78,-481.4,1069,1982,1765,4094,0.6,0.0,1,52,7.43,1.02,-11.98,0.000,18692,0.042,1.268,1764,2350,3048,3048,4095,0,0,0,0,0,0,25.94,24.62,26.02,10.21,52.52
$GC,248,-1.78,-481.4,1763,2350,3054,4095,29.8,-13.2,33,257,0.00,1.00,0.00,0.000,1030,0.000,0.030,1764,1955,3053,3053,4094,0,0,0,0,0,0,26.10,26.08,26.14,10.43,50.07
$GC,294,-1.78,-481.4,1763,1955,3055,4094,35.3,-11.8,39,303,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1521,3055,3055,4095,0,0,0,0,0,0,26.36,26.06,26.38,10.40,49.05
$GC,342,-1.78,-481.4,1762,1521,3056,4095,41.3,-13.2,45,351,0.00,0.93,0.00,0.000,1030,0.000,0.026,1764,1922,3056,3056,4094,0,0,0,0,0,0,26.19,26.17,26.17,10.38,48.46
$GC,390,-1.78,-481.4,1763,1922,3057,4094,47.5,-13.0,51,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1922,3057,3057,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.28
$GC,436,-1.78,-481.4,1763,1922,3058,4095,53.8,-13.9,57,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1922,3058,3058,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.37,46.22
$STATE,481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,481,begin apogee
$GC,489,-0.45,0.0,1764,2140,3059,4094,60.2,-13.3,63,525,4.53,0.00,27.98,1.306,10244,0.055,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.17,25.29,24.24,10.36,46.06
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,529,1.78,481.4,2185,2140,2484,4094,63.5,0.0,67,569,7.53,0.00,27.70,1.280,11270,0.032,0.000,2892,2140,1922,1922,4094,0,0,0,0,0,0,25.57,25.71,23.84,10.22,45.74
$GC,608,1.78,481.4,2891,2140,1921,4094,57.4,12.5,76,617,0.00,1.12,0.00,0.000,260,0.000,0.051,2892,2554,1920,1920,4094,0,0,0,0,0,0,25.58,25.29,25.59,10.10,45.07
$GC,641,1.78,481.4,2892,2553,1920,4094,52.6,13.5,80,651,0.00,1.10,0.00,0.000,1030,0.000,0.026,2893,2117,1920,1920,4094,0,0,0,0,0,0,25.51,25.50,25.57,10.09,44.84
$GC,688,1.78,481.4,2892,2117,1919,4094,46.6,12.9,86,697,0.00,1.02,0.00,0.000,516,0.000,0.047,2893,1722,1919,1919,4094,0,0,0,0,0,0,25.85,25.57,25.86,10.09,44.76
$GC,786,1.78,481.4,2892,1722,1916,4094,34.1,12.3,100,796,0.00,0.90,0.00,0.000,1030,0.000,0.028,2893,2093,1916,1916,4094,0,0,0,0,0,0,25.83,25.81,25.85,10.08,45.51
$GC,833,1.78,481.4,2892,2093,1915,4094,28.3,12.6,106,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2093,1914,1914,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.08,46.69
$GC,879,1.82,512.1,2892,2093,1914,4094,23.3,10.1,112,888,0.00,0.00,3.10,0.360,8198,0.000,0.000,2893,2093,1887,1887,4095,0,0,0,0,0,0,26.17,25.44,24.85,10.10,47.12
$GC,927,2.06,671.4,2892,2093,1885,4095,19.7,8.1,118,945,0.85,0.00,9.82,0.732,10246,0.028,0.000,2983,2094,1702,1702,4094,0,0,0,0,0,0,26.00,25.41,24.84,10.14,48.58
$GC,984,2.06,671.4,2982,2093,1701,4094,13.6,11.6,125,993,0.00,0.98,0.00,0.000,516,0.000,0.046,2983,1721,1700,1700,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.12,50.03
$GC,1043,2.06,671.4,2983,1721,1699,4094,6.1,12.1,133,1053,0.00,0.90,0.00,0.000,1030,0.000,0.028,2983,2096,1699,1699,4094,0,0,0,0,0,0,25.98,25.98,26.01,10.14,51.02
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.9,1.023870,121
$GC,1083,0.18,120.6,2983,2155,1697,4094,1.9,12.6,137,1102,5.97,0.00,-5.50,0.000,20486,0.019,0.000,2396,2156,2349,2349,4094,0,0,0,0,0,0,26.03,25.44,26.07,10.15,51.85
$FINISH2,0.5
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,232759
$TT8_MAMPS,0.025466,0.252413
$HUMID,51.89
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.84,29.654
$10V_AH,10.13,32.011
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,36.200,10.700,68.600,0.000,0.000,26.146,19.274,222.714,0.000,0.000,14.534,399.977,0.000,120.742,839.814,196.435,33.457,359.030,0.000,341.075,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1267.605,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.963,377.713,298.888,443.275,578.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,14298,139
$CAP_FILE_SIZE,31104,0
$CFSIZE,1024409600,967114752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,530.25,0x236164,1,24
$GPS,150817,004401,6143.219,-17351.412,7,0.7,13,7.0,0.0,94.5,12,5.0