version: 66.13
glider: 401
mission: 22
dive: 1067
start: 8 15 117 1 5 50
data:
$ID,401
$MISSION,22
$DIVE,1067
$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,39
$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
$GPS1,150817,004401,6143.2188,-17351.4121,7,0.7,13,7.0,0.0,94.5,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-5.1
$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,-0.356319,0.166502
$KALMAN_X,57861.320312,-440.616455,91.950241,-252477.796875,129.877426
$KALMAN_Y,-75228.085938,2956.378906,1186.744019,345007.656250,47.561279
$MHEAD_RNG_PITCHd_Wd,288.0,36261,-11.6,-10.526,-14.98,6897
$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,-483.7,2396,1950,2349,4092,0.0,0.0,0,18,6.40,0.00,-0.70,0.000,20482,0.023,0.000,1773,1951,2424,2424,4094,0,0,0,0,0,0,26.07,28.83,26.11,10.31,52.40
$GC,22,-1.78,-483.7,1772,1951,2424,4094,0.1,0.0,1,35,0.00,1.12,-5.88,0.000,16644,0.000,1.266,1772,2366,3052,3052,4095,0,0,0,0,0,0,26.27,24.69,26.29,10.32,52.36
$GC,184,-1.78,-483.7,1772,2367,3057,4095,22.0,-17.4,27,190,0.00,1.05,0.00,0.000,1030,0.000,0.030,1772,1950,3057,3057,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.47,51.92
$GC,223,-1.78,-483.7,1772,1950,3057,4095,28.0,-12.8,33,230,0.00,1.08,0.00,0.000,516,0.000,0.050,1772,1521,3058,3058,4095,0,0,0,0,0,0,26.36,26.06,26.37,10.42,51.89
$GC,292,-1.78,-483.7,1772,1521,3060,4095,36.4,-11.6,44,299,0.00,0.98,0.00,0.000,1030,0.000,0.026,1772,1941,3060,3060,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.38,50.23
$GC,331,-1.78,-483.7,1772,1941,3060,4095,41.1,-12.2,50,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1941,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,49.76
$GC,370,-1.78,-483.7,1772,1941,3062,4095,46.0,-12.8,56,377,0.00,1.12,0.00,0.000,260,0.000,0.046,1772,2370,3062,3062,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.36,49.37
$GC,409,-1.78,-483.7,1771,2369,3063,4095,51.0,-12.8,62,416,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1940,3062,3062,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.35,48.03
$GC,448,-1.78,-483.7,1771,1939,3063,4094,56.0,-13.3,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1939,3064,3064,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,48.18
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1772,2136,3064,4094,60.2,-13.4,73,522,4.43,0.00,28.08,1.302,10244,0.055,0.000,2184,2136,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.33,47.55
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,526,1.78,483.7,2184,2136,2484,4094,63.2,0.0,79,568,7.50,1.15,27.75,1.279,10500,0.031,0.052,2891,2565,1920,1920,4095,0,0,0,0,0,0,25.51,25.45,23.86,10.20,47.04
$GC,634,1.78,483.7,2890,2565,1918,4095,53.1,13.6,96,641,0.00,1.08,0.00,0.000,1030,0.000,0.025,2890,2136,1918,1918,4094,0,0,0,0,0,0,25.51,25.48,25.53,10.07,46.14
$GC,673,1.78,483.7,2890,2136,1917,4094,47.5,13.4,102,680,0.00,1.08,0.00,0.000,516,0.000,0.047,2891,1725,1917,1917,4095,0,0,0,0,0,0,25.82,25.54,25.84,10.07,46.06
$GC,766,1.78,483.7,2890,1725,1914,4095,35.3,13.0,117,773,0.00,0.93,0.00,0.000,1030,0.000,0.029,2891,2104,1914,1914,4094,0,0,0,0,0,0,25.81,25.77,25.83,10.05,46.81
$GC,806,1.78,483.7,2890,2103,1913,4094,30.1,13.3,123,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2103,1913,1913,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.05,46.69
$GC,844,1.78,483.7,2890,2103,1912,4094,25.1,12.4,129,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2104,1911,1911,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.05,47.59
$GC,883,1.89,561.9,2890,2103,1911,4095,21.2,9.4,135,896,0.35,0.00,5.57,0.613,10246,0.041,0.000,2932,2103,1827,1827,4094,0,0,0,0,0,0,25.98,25.42,24.87,10.09,47.91
$GC,929,2.00,633.6,2932,2103,1827,4094,17.0,9.5,142,942,0.25,0.00,5.40,0.571,10246,0.044,0.000,2968,2104,1744,1744,4094,0,0,0,0,0,0,25.95,25.44,24.89,10.11,49.56
$GC,974,2.00,633.6,2968,2103,1743,4094,11.9,11.3,149,981,0.00,1.02,0.00,0.000,516,0.000,0.046,2968,1717,1743,1743,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.11,51.73
$GC,1038,2.00,633.6,2968,1716,1741,4094,4.3,11.7,159,1044,0.00,0.88,0.00,0.000,1030,0.000,0.028,2969,2085,1740,1740,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.13,52.48
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,1.7,1.023870,121
$GC,1065,0.18,120.6,2969,2160,1739,4094,1.7,12.2,162,1084,5.88,1.20,-5.10,0.000,20996,0.026,1.271,2397,1721,2350,2350,4094,0,0,0,0,0,0,26.04,24.65,26.06,10.13,53.30
$FINISH2,0.6
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,232759
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.86,29.677
$10V_AH,10.39,32.021
$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,24.800,14.900,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,427.354,259.496,149.189,240.212,68.741,33.434,326.644,0.000,248.424,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1271.430,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.574,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,10818,165
$CAP_FILE_SIZE,28977,0
$CFSIZE,1024409600,967065600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,004401,6143.219,-17351.412,7,0.7,13,7.0,0.0,94.5,12,5.0