version: 66.13
glider: 401
mission: 22
dive: 311
start: 8 1 117 4 29 4
data:
$ID,401
$MISSION,22
$DIVE,311
$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,22
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,2360
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$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
$GPS1,010817,040249,5950.2549,-17134.8887,10,0.8,36,8.1,0.5,189.1,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.3
$GPS2,010817,040249,5950.2549,-17134.8887,10,0.8,36,8.1,0.5,189.1,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.314495,0.127983
$KALMAN_X,40590.742188,-1742.079224,-281.434326,-104275.984375,92.436951
$KALMAN_Y,19470.107422,1795.316528,516.800293,42928.039062,-92.816864
$MHEAD_RNG_PITCHd_Wd,284.0,66598,-11.3,-9.091,-14.99,6425
$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,7,-1.61,-390.0,2419,1899,2382,4092,0.0,0.0,0,21,5.95,0.00,-4.97,0.000,20482,0.028,0.000,1846,1900,2933,2933,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.34,50.43
$GC,23,-1.61,-390.0,1846,1899,2933,4094,0.1,0.0,1,33,0.00,2.42,-0.20,0.000,16644,0.000,1.274,1846,2763,2959,2959,4094,0,0,0,0,0,0,26.27,24.94,26.11,10.45,49.96
$GC,114,-1.61,-390.0,1846,2763,2960,4094,8.9,-11.1,14,123,0.00,2.22,0.00,0.000,1030,0.000,0.031,1846,1900,2961,2961,4094,0,0,0,0,0,0,25.98,25.94,26.03,10.47,49.60
$GC,158,-1.61,-390.0,1846,1900,2961,4094,14.3,-12.1,20,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1900,2962,2962,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.46,50.11
$GC,203,-1.61,-390.0,1846,1900,2962,4094,18.9,-9.8,26,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1900,2962,2962,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.46,49.88
$GC,247,-1.61,-390.0,1846,1900,2963,4094,22.9,-9.3,32,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1900,2963,2963,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.44,48.93
$GC,291,-1.61,-390.0,1846,1900,2964,4095,27.0,-9.2,38,301,0.00,2.33,0.00,0.000,260,0.000,0.054,1846,2762,2963,2963,4095,0,0,0,0,0,0,26.35,26.04,26.36,10.42,48.81
$GC,330,-1.61,-390.0,1846,2762,2964,4095,30.7,-9.4,43,340,0.00,2.22,0.00,0.000,1030,0.000,0.031,1846,1892,2964,2964,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.40,47.51
$GC,376,-1.61,-390.0,1846,1892,2965,4095,34.8,-9.0,49,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1892,2965,2965,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.38,46.53
$GC,420,-1.61,-390.0,1846,1892,2966,4095,38.9,-9.1,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1892,2966,2966,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,45.94
$GC,467,-1.61,-390.0,1846,1892,2966,4095,42.9,-9.0,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1892,2967,2967,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,45.31
$GC,511,-1.61,-390.0,1846,1892,2968,4094,47.0,-8.8,67,520,0.00,2.35,0.00,0.000,260,0.000,0.054,1847,2763,2968,2968,4094,0,0,0,0,0,0,26.48,26.16,26.49,10.36,45.39
$GC,556,-1.61,-390.0,1846,2762,2969,4094,51.3,-9.7,73,565,0.00,2.22,0.00,0.000,1030,0.000,0.031,1846,1889,2968,2968,4094,0,0,0,0,0,0,26.28,26.22,26.29,10.35,44.60
$GC,601,-1.61,-390.0,1846,1889,2969,4094,55.6,-9.6,79,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1890,2969,2969,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.35,44.95
$GC,644,-1.61,-390.0,1846,1889,2969,4094,59.8,-9.9,85,653,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1889,2970,2970,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.34,44.36
$STATE,662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,662,begin apogee
$GC,668,-0.45,0.0,1846,2045,2970,4095,61.5,-9.7,87,703,3.92,0.00,22.98,1.278,10244,0.059,0.000,2205,2045,2500,2500,4094,0,0,0,0,0,0,26.25,25.29,24.60,10.33,44.88
$STATE,704,end apogee,CONTROL_FINISHED_OK
$STATE,704,begin climb
$GC,706,1.61,390.0,2205,2045,2501,4094,63.8,0.0,91,742,6.97,0.00,22.73,1.255,11270,0.035,0.000,2862,2045,2046,2046,4094,0,0,0,0,0,0,25.73,25.91,24.16,10.24,44.88
$GC,779,1.61,390.0,2862,2045,2045,4094,59.2,10.0,100,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2045,2045,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.13,43.69
$GC,822,1.61,390.0,2862,2045,2044,4094,54.5,10.6,106,831,0.00,2.22,0.00,0.000,260,0.000,0.055,2863,2853,2044,2044,4094,0,0,0,0,0,0,25.80,25.50,25.82,10.13,43.85
$GC,919,1.61,390.0,2862,2852,2041,4094,43.4,11.0,120,929,0.00,2.12,0.00,0.000,1030,0.000,0.031,2863,2036,2041,2041,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.12,44.88
$GC,964,1.61,390.0,2862,2036,2041,4094,38.4,11.0,126,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2036,2040,2040,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.12,45.15
$GC,1009,1.61,390.0,2862,2036,2039,4094,34.1,10.3,132,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2036,2039,2039,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,44.92
$GC,1053,1.61,390.0,2862,2036,2038,4094,29.2,11.1,138,1063,0.00,2.42,0.00,0.000,516,0.000,0.068,2863,1149,2038,2038,4094,0,0,0,0,0,0,26.18,25.84,26.20,10.11,45.11
$GC,1085,1.61,390.0,2862,1149,2037,4094,25.8,10.4,142,1095,0.00,2.20,0.00,0.000,1030,0.000,0.029,2863,2026,2037,2037,4094,0,0,0,0,0,0,26.03,25.97,26.03,10.12,45.86
$GC,1132,1.61,390.0,2862,2025,2037,4094,21.5,9.2,148,1141,0.00,2.30,0.00,0.000,260,0.000,0.058,2863,2873,2036,2036,4094,0,0,0,0,0,0,26.25,25.93,26.27,10.14,46.02
$GC,1222,1.61,390.0,2862,2873,2034,4094,11.7,9.8,161,1232,0.00,2.10,0.00,0.000,1030,0.000,0.030,2863,2052,2035,2035,4094,0,0,0,0,0,0,26.11,26.07,26.13,10.18,47.95
$GC,1268,1.72,462.8,2862,2052,2033,4094,7.9,7.9,167,1278,0.28,0.00,4.95,0.483,10246,0.046,0.000,2893,2052,1959,1959,4094,0,0,0,0,0,0,26.13,25.94,25.37,10.20,49.05
$GC,1316,1.72,462.8,2892,2052,1958,4094,3.7,9.5,173,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2052,1958,1958,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.20,49.56
$STATE,1333,end climb,FINISH_DEPTH_REACHED
$STATE,1333,begin subsurface finish
$FINISH1,1.9,1.024081,106
$GC,1339,0.16,105.9,2893,2002,1958,4094,1.9,9.7,175,1358,5.35,0.00,-3.70,0.000,20486,0.076,0.000,2418,2002,2385,2385,4095,0,0,0,0,0,0,26.05,25.62,26.14,10.20,50.15
$FINISH2,0.3
$STATE,1359,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1359,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,023750
$TT8_MAMPS,0.026215,0.203728
$HUMID,50.43
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.16,7.548
$10V_AH,10.28,9.527
$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,22.475,27.800,50.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.686,0.000,143.267,742.496,44.350,33.425,434.209,0.000,265.794,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1274.490,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.362,480.891,0.000,564.358,734.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17824,177
$CAP_FILE_SIZE,35403,0
$CFSIZE,1024409600,1004191744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,040249,5950.255,-17134.889,10,0.8,36,8.1,0.5,189.1,11,5.0