version: 66.13
glider: 401
mission: 22
dive: 624
start: 8 7 117 3 25 53
data:
$ID,401
$MISSION,22
$DIVE,624
$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,24
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$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
$GPS1,070817,023527,6023.8838,-17333.2754,5,0.7,14,7.1,0.0,314.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.4
$GPS2,070817,023527,6023.8838,-17333.2754,5,0.7,14,7.1,0.0,314.6,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.276552,0.263618
$KALMAN_X,62622.097656,-2216.029297,-745.398865,-237456.015625,90.224731
$KALMAN_Y,44819.238281,2886.473877,1212.528320,78081.828125,54.327026
$MHEAD_RNG_PITCHd_Wd,306.5,3628,-7.8,-8.333,-12.30,10179
$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,8,-1.58,-576.1,2395,1938,2361,4092,0.0,0.0,0,20,5.70,0.00,-4.00,0.000,20482,0.024,0.000,1839,1938,2808,2808,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.36,50.70
$GC,23,-1.58,-576.1,1839,1938,2807,4094,0.2,0.0,1,32,0.00,1.17,-3.08,0.000,16644,0.000,1.267,1839,2376,3158,3158,4094,0,0,0,0,0,0,26.38,24.98,26.39,10.45,50.55
$GC,70,-1.58,-576.1,1839,2375,3159,4094,4.1,-11.2,7,79,0.00,1.02,0.00,0.000,1030,0.000,0.028,1839,1967,3159,3159,4095,0,0,0,0,0,0,26.13,26.11,26.15,10.54,50.82
$GC,117,-1.58,-576.1,1838,1967,3160,4095,9.7,-12.6,13,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1967,3160,3160,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.54,50.47
$GC,163,-1.58,-576.1,1839,1967,3161,4095,15.4,-12.2,19,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1967,3161,3161,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.55,50.59
$GC,209,-1.58,-576.1,1839,1967,3162,4094,20.9,-11.8,25,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1967,3163,3163,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.52,49.64
$GC,255,-1.58,-576.1,1839,1967,3163,4095,26.0,-11.0,31,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1967,3163,3163,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.50,49.33
$GC,302,-1.58,-576.1,1839,1967,3164,4095,30.9,-10.4,37,311,0.00,1.08,0.00,0.000,260,0.000,0.043,1839,2371,3164,3164,4095,0,0,0,0,0,0,26.48,26.20,26.49,10.48,48.85
$GC,334,-1.58,-576.1,1838,2370,3165,4095,34.3,-9.9,41,344,0.00,1.05,0.00,0.000,1030,0.000,0.028,1839,1946,3165,3165,4095,0,0,0,0,0,0,26.26,26.23,26.29,10.47,47.71
$GC,380,-1.58,-576.1,1839,1946,3166,4095,39.3,-11.2,47,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1947,3166,3166,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,47.48
$GC,425,-1.58,-576.1,1838,1946,3166,4095,44.0,-10.2,53,434,0.00,1.05,0.00,0.000,516,0.000,0.050,1839,1529,3166,3166,4095,0,0,0,0,0,0,26.53,26.28,26.55,10.44,46.73
$GC,470,-1.58,-576.1,1838,1529,3167,4095,48.6,-10.6,59,480,0.00,0.98,0.00,0.000,1030,0.000,0.025,1839,1956,3167,3167,4095,0,0,0,0,0,0,26.36,26.33,26.38,10.43,46.69
$GC,516,-1.58,-576.1,1839,1956,3168,4095,53.7,-11.2,65,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1956,3168,3168,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,46.25
$GC,561,-1.58,-576.1,1838,1958,3169,4094,58.7,-10.7,71,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1958,3169,3169,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,46.49
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,583,-0.45,0.0,1839,1958,3169,4095,60.6,-9.9,73,627,3.70,0.00,32.70,1.297,10244,0.051,0.000,2184,1959,2483,2483,4095,0,0,0,0,0,0,26.32,25.06,24.36,10.41,45.78
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.58,576.1,2184,1959,2483,4095,63.5,0.0,78,675,6.90,0.00,32.65,1.273,11270,0.034,0.000,2830,1960,1813,1813,4094,0,0,0,0,0,0,25.57,25.73,23.89,10.27,45.15
$GC,713,1.58,576.1,2829,1960,1812,4094,58.2,10.0,88,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1961,1813,1813,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.12,43.97
$GC,759,1.58,576.1,2829,1960,1810,4094,53.6,9.8,94,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1810,1810,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.12,44.68
$GC,805,1.58,576.1,2829,1962,1810,4094,49.1,9.8,100,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1810,1810,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.11,44.40
$GC,852,1.58,576.1,2829,1962,1808,4094,44.4,10.8,106,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1962,1808,1808,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.11,44.52
$GC,898,1.58,576.1,2829,1961,1807,4094,39.6,9.8,112,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1807,1807,4095,0,0,0,0,0,0,26.06,26.07,26.06,10.10,45.15
$GC,944,1.58,576.1,2829,1962,1807,4095,34.9,10.2,118,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1806,1806,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.10,45.23
$GC,991,1.58,576.1,2829,1962,1806,4095,30.4,9.6,124,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1806,1806,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,45.82
$GC,1037,1.58,576.1,2829,1962,1804,4094,26.1,8.9,130,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1804,1804,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.12,46.37
$GC,1081,1.58,578.9,2829,1962,1803,4094,22.2,8.3,136,1091,0.00,1.08,0.00,0.000,260,0.000,0.040,2830,2367,1803,1803,4095,0,0,0,0,0,0,26.27,25.99,26.28,10.13,46.88
$GC,1146,1.58,578.9,2829,2367,1802,4095,16.8,8.3,145,1156,0.00,1.05,0.00,0.000,1030,0.000,0.030,2829,1954,1802,1802,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.16,48.14
$GC,1192,1.58,578.9,2829,1953,1801,4094,12.7,9.1,151,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1801,1801,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.18,49.64
$GC,1237,1.58,578.9,2829,1953,1800,4094,8.7,8.6,157,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1800,1800,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.20,49.80
$GC,1282,1.58,578.9,2829,1954,1799,4094,4.8,8.8,163,1292,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2365,1799,1799,4094,0,0,0,0,0,0,26.41,26.15,26.43,10.20,50.15
$STATE,1321,end climb,SURFACE_DEPTH_REACHED
$STATE,1321,begin surface coast
$FINISH,0.7,1.024068
$STATE,1329,end surface coast,CONTROL_FINISHED_OK
$STATE,1329,begin surface
$SM_CCo,1427,0.00,0.000,0,0,1797,590.72
$SM_GC,1.03,26.95,1.10,0.00,0.021,0.028,0.000,238,1937,1797,-6.55,0.96,590.72,0,0,0,0,0,0,26.22,26.20,26.27
$IRIDIUM_FIX,5952.82,-17420.78,070817,022801
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.55
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.89,16.692
$10V_AH,10.20,20.404
$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,43.250,10.675,65.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.606,60.302,176.108,706.775,68.198,33.412,468.007,0.000,409.263,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1266.840,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.530,459.059,363.412,537.989,702.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,17786,169
$CAP_FILE_SIZE,34987,0
$CFSIZE,1024409600,988807168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,035033,6025.200,-17334.107,5,0.7,17,7.1,0.0,0.0,11,4.9