version: 66.13
glider: 401
mission: 22
dive: 317
start: 8 1 117 7 3 25
data:
$ID,401
$MISSION,22
$DIVE,317
$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,27
$R_STBD_OVSHOOT,53
$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
$GPS1,010817,064021,5950.3687,-17137.2227,6,0.7,14,8.1,0.0,232.9,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.2
$GPS2,010817,064021,5950.3687,-17137.2227,6,0.7,14,8.1,0.0,232.9,12,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.318928,0.116744
$KALMAN_X,40817.351562,-1764.953735,-384.507507,-106590.195312,-42.535583
$KALMAN_Y,19039.904297,1583.972168,305.394409,43992.613281,-42.514130
$MHEAD_RNG_PITCHd_Wd,282.0,64447,-11.3,-9.091,-14.99,6428
$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,-390.0,2412,1886,2376,4092,0.0,0.0,0,20,5.90,0.00,-4.50,0.000,20482,0.028,0.000,1845,1886,2871,2871,4095,0,0,0,0,0,0,26.03,28.83,26.07,10.33,49.56
$GC,22,-1.61,-390.0,1845,1886,2871,4095,0.1,0.0,1,32,0.00,2.45,-0.77,0.000,16900,0.000,1.297,1845,1041,2957,2957,4095,0,0,0,0,0,0,26.25,24.91,26.18,10.43,49.96
$GC,172,-1.61,-390.0,1845,1041,2960,4095,16.1,-14.0,23,180,0.00,2.10,0.00,0.000,1030,0.000,0.030,1845,1877,2960,2960,4095,0,0,0,0,0,0,26.05,26.00,26.06,10.46,49.68
$GC,218,-1.61,-390.0,1844,1877,2961,4095,21.4,-11.4,29,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1877,2961,2961,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.44,49.01
$GC,262,-1.61,-390.0,1844,1879,2962,4095,26.1,-10.3,35,271,0.00,2.35,0.00,0.000,260,0.000,0.055,1845,2751,2962,2962,4094,0,0,0,0,0,0,26.32,26.00,26.33,10.42,48.89
$GC,300,-1.61,-390.0,1844,2751,2962,4094,29.9,-9.8,40,309,0.00,2.15,0.00,0.000,1030,0.000,0.031,1845,1912,2963,2963,4094,0,0,0,0,0,0,26.11,26.08,26.15,10.40,47.75
$GC,346,-1.61,-390.0,1844,1912,2964,4094,34.4,-10.0,46,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2964,2964,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,47.12
$GC,391,-1.61,-390.0,1845,1912,2964,4095,39.1,-10.2,52,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2964,2964,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.37,46.10
$GC,435,-1.61,-390.0,1844,1912,2964,4094,43.8,-10.5,58,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2965,2965,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.36,45.90
$GC,478,-1.61,-390.0,1844,1912,2966,4094,48.5,-10.8,64,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2966,2966,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,45.86
$GC,522,-1.61,-390.0,1844,1912,2967,4095,53.2,-10.8,70,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2967,2967,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,44.80
$GC,566,-1.61,-390.0,1845,1912,2968,4095,57.8,-10.7,76,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1912,2968,2968,4095,0,0,0,0,0,0,26.48,26.51,26.51,10.34,44.80
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,595,-0.45,0.0,1845,2044,2968,4095,60.4,-10.8,79,630,3.92,0.00,22.92,1.275,10244,0.059,0.000,2204,2044,2500,2500,4094,0,0,0,0,0,0,26.22,25.26,24.58,10.33,44.68
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.61,390.0,2203,2043,2500,4094,62.8,0.0,83,669,7.00,0.00,22.70,1.250,11270,0.037,0.000,2861,2044,2045,2045,4094,0,0,0,0,0,0,25.71,25.87,24.13,10.23,44.29
$GC,706,1.61,390.0,2860,2043,2044,4094,57.4,11.1,92,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2044,2044,2044,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.13,43.89
$GC,750,1.61,390.0,2860,2043,2043,4094,51.9,12.3,98,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2042,2042,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.13,43.93
$GC,795,1.61,390.0,2861,2043,2042,4094,46.5,12.0,104,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2042,2042,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.12,43.97
$GC,839,1.61,390.0,2860,2043,2041,4094,40.9,12.5,110,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2044,2041,2041,4095,0,0,0,0,0,0,25.98,26.00,26.00,10.11,44.40
$GC,883,1.61,390.0,2860,2043,2040,4095,35.5,12.4,116,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2039,2039,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.11,44.40
$GC,928,1.61,390.0,2860,2043,2038,4094,30.1,12.1,122,937,0.00,2.45,0.00,0.000,516,0.000,0.067,2861,1158,2038,2038,4094,0,0,0,0,0,0,26.11,25.78,26.13,10.11,44.76
$GC,973,1.61,390.0,2861,1158,2037,4094,24.8,11.6,128,982,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1994,2037,2037,4094,0,0,0,0,0,0,25.96,25.92,25.97,10.12,45.55
$GC,1019,1.61,390.0,2860,1994,2036,4094,19.7,11.6,134,1029,0.00,2.42,0.00,0.000,260,0.000,0.060,2861,2882,2036,2036,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.14,45.66
$GC,1086,1.61,390.0,2860,2882,2034,4094,12.6,10.5,143,1095,0.00,2.20,0.00,0.000,1030,0.000,0.030,2861,2027,2034,2034,4094,0,0,0,0,0,0,26.05,26.03,26.06,10.18,48.26
$GC,1131,1.68,436.6,2860,2027,2033,4094,8.3,8.3,149,1142,0.10,2.35,3.70,0.376,10756,0.076,0.066,2878,1147,1990,1990,4094,0,0,0,0,0,0,26.10,25.76,25.32,10.20,48.66
$GC,1197,1.68,436.6,2878,1147,1989,4094,2.2,9.5,158,1206,0.00,2.10,0.00,0.000,1030,0.000,0.029,2879,1990,1988,1988,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.20,49.56
$STATE,1214,end climb,FINISH_DEPTH_REACHED
$STATE,1214,begin subsurface finish
$FINISH1,0.2,1.024073,106
$GC,1220,0.16,106.4,2878,1997,1988,4094,0.2,10.0,160,1231,4.80,0.00,-3.53,0.000,20742,0.030,0.000,2414,1998,2383,2383,4094,0,0,0,0,0,0,26.11,25.22,26.15,10.20,50.35
$FINISH2,0.2
$STATE,1232,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1232,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,051847
$TT8_MAMPS,0.026215,0.217959
$HUMID,50.00
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.13,7.690
$10V_AH,10.27,9.719
$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,21.725,23.375,49.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.165,0.979,128.549,673.263,39.996,33.428,390.471,0.000,243.272,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1296.675,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.533,437.453,0.000,513.378,666.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,14366,161
$CAP_FILE_SIZE,31761,0
$CFSIZE,1024409600,1003929600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,064021,5950.369,-17137.223,6,0.7,14,8.1,0.0,232.9,12,4.7