version: 66.13
glider: 401
mission: 22
dive: 621
start: 8 7 117 2 1 1
data:
$ID,401
$MISSION,22
$DIVE,621
$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,23
$R_STBD_OVSHOOT,45
$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
$GPS1,070817,010950,6022.4526,-17332.1426,6,0.7,15,7.1,0.0,0.0,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.8
$GPS2,070817,010950,6022.4526,-17332.1426,6,0.7,15,7.1,0.0,0.0,12,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.186990,0.324826
$KALMAN_X,62663.132812,-2186.431641,-745.250122,-236452.781250,5.328247
$KALMAN_Y,43810.328125,2638.678711,1028.649902,76872.859375,-1.904541
$MHEAD_RNG_PITCHd_Wd,323.0,6433,-8.1,-8.333,-12.54,9705
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.56,-548.3,2401,1951,2355,4092,0.0,0.0,0,19,5.80,0.00,-3.30,0.000,20482,0.027,0.000,1839,1951,2722,2722,4095,0,0,0,0,0,0,26.13,28.83,26.17,10.35,51.37
$GC,22,-1.56,-548.3,1838,1951,2722,4095,0.1,0.0,1,32,0.00,0.00,-3.75,0.000,16390,0.000,0.000,1838,1951,3128,3128,4095,0,0,0,0,0,0,26.33,25.63,26.34,10.42,50.74
$GC,67,-1.56,-548.3,1838,1951,3129,4095,3.3,-10.6,7,77,0.00,1.10,0.00,0.000,260,0.000,0.041,1838,2361,3129,3129,4094,0,0,0,0,0,0,26.27,26.03,26.29,10.51,50.90
$GC,152,-1.56,-548.3,1838,2361,3131,4094,13.4,-11.8,19,161,0.00,1.05,0.00,0.000,1030,0.000,0.028,1838,1940,3131,3131,4095,0,0,0,0,0,0,26.13,26.07,26.15,10.52,50.35
$GC,199,-1.56,-548.3,1838,1940,3132,4095,18.7,-11.5,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1940,3132,3132,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.51,50.90
$GC,243,-1.56,-548.3,1838,1940,3133,4094,23.7,-11.0,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1941,3133,3133,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.49,49.84
$GC,288,-1.56,-548.3,1838,1940,3133,4094,28.4,-10.5,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1940,3134,3134,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.47,48.85
$GC,334,-1.56,-548.3,1838,1940,3134,4095,33.0,-10.1,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1940,3134,3134,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.46,48.30
$GC,379,-1.56,-548.3,1838,1940,3135,4095,37.9,-10.5,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3135,3135,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.44,47.63
$GC,424,-1.56,-548.3,1838,1940,3136,4094,42.6,-10.7,55,433,0.00,1.12,0.00,0.000,260,0.000,0.043,1838,2361,3136,3136,4094,0,0,0,0,0,0,26.51,26.22,26.51,10.43,47.55
$GC,469,-1.56,-548.3,1838,2360,3136,4094,47.4,-10.2,61,478,0.00,0.98,0.00,0.000,1030,0.000,0.028,1838,1968,3137,3137,4095,0,0,0,0,0,0,26.31,26.28,26.34,10.42,46.49
$GC,516,-1.56,-548.3,1838,1968,3138,4095,52.5,-11.2,67,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1969,3138,3138,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,46.18
$GC,560,-1.56,-548.3,1838,1968,3139,4095,57.5,-11.4,73,570,0.00,1.12,0.00,0.000,516,0.000,0.049,1839,1520,3139,3139,4095,0,0,0,0,0,0,26.56,26.26,26.57,10.40,46.37
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,591,-0.45,0.0,1838,1944,3139,4095,60.1,-9.5,76,634,3.72,0.00,31.42,1.285,10244,0.050,0.000,2185,1948,2484,2484,4094,0,0,0,0,0,0,26.29,25.08,24.37,10.40,46.18
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,637,1.56,548.3,2185,1948,2483,4094,62.2,0.0,81,682,6.88,0.00,31.23,1.260,11270,0.036,0.000,2826,1949,1844,1844,4094,0,0,0,0,0,0,25.58,25.75,23.91,10.26,45.27
$GC,720,1.56,548.3,2825,1948,1844,4094,56.5,9.9,91,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1949,1844,1844,4095,0,0,0,0,0,0,25.56,25.57,25.57,10.12,44.52
$GC,765,1.56,548.3,2825,1948,1843,4095,51.9,10.5,97,774,0.00,1.12,0.00,0.000,260,0.000,0.039,2826,2371,1843,1843,4095,0,0,0,0,0,0,25.75,25.48,25.76,10.12,44.48
$GC,818,1.56,548.3,2825,2370,1842,4095,46.6,10.3,104,828,0.00,1.10,0.00,0.000,1030,0.000,0.031,2826,1948,1842,1842,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.11,45.70
$GC,864,1.56,548.3,2825,1947,1841,4094,42.0,9.9,110,873,0.00,1.12,0.00,0.000,516,0.000,0.055,2826,1519,1841,1841,4094,0,0,0,0,0,0,25.98,25.69,26.00,10.11,44.92
$GC,909,1.56,548.3,2825,1518,1840,4094,37.4,10.1,116,919,0.00,1.00,0.00,0.000,1030,0.000,0.024,2826,1958,1840,1840,4094,0,0,0,0,0,0,25.87,25.85,25.89,10.11,45.27
$GC,955,1.56,548.3,2825,1958,1839,4094,33.1,9.4,122,964,0.00,1.02,0.00,0.000,260,0.000,0.042,2826,2348,1839,1839,4094,0,0,0,0,0,0,26.12,25.84,26.13,10.11,45.35
$GC,1034,1.56,548.3,2825,2347,1837,4094,25.3,10.0,133,1043,0.00,1.00,0.00,0.000,1030,0.000,0.031,2826,1954,1837,1837,4094,0,0,0,0,0,0,25.98,25.94,26.02,10.12,46.25
$GC,1079,1.56,548.3,2825,1954,1836,4094,21.0,8.8,139,1088,0.00,1.12,0.00,0.000,516,0.000,0.056,2826,1518,1836,1836,4094,0,0,0,0,0,0,26.25,25.93,26.26,10.13,47.67
$GC,1124,1.56,548.3,2825,1517,1835,4094,17.0,8.8,145,1133,0.00,1.05,0.00,0.000,1030,0.000,0.024,2826,1974,1835,1835,4094,0,0,0,0,0,0,26.10,26.09,26.11,10.15,48.34
$GC,1170,1.56,548.3,2825,1974,1834,4094,13.1,8.7,151,1178,0.00,1.00,0.00,0.000,260,0.000,0.041,2826,2358,1834,1834,4094,0,0,0,0,0,0,26.32,26.05,26.34,10.17,49.13
$GC,1273,1.56,548.3,2825,2358,1832,4094,3.6,9.0,166,1283,0.00,0.95,0.00,0.000,1030,0.000,0.031,2826,1980,1831,1831,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.19,50.03
$STATE,1297,end climb,SURFACE_DEPTH_REACHED
$STATE,1297,begin surface coast
$FINISH,0.2,1.023983
$STATE,1325,end surface coast,CONTROL_FINISHED_OK
$STATE,1325,begin surface
$SM_CCo,1421,0.00,0.000,0,0,1830,561.52
$SM_GC,1.14,27.10,0.00,0.00,0.022,0.000,0.000,231,1980,1830,-6.59,1.37,561.52,0,0,0,0,0,0,26.08,26.44,26.19
$IRIDIUM_FIX,5952.82,-17420.78,060817,234103
$TT8_MAMPS,0.025466,0.20972
$HUMID,50.63
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.91,16.599
$10V_AH,10.22,20.293
$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,43.500,17.975,62.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.488,59.613,164.214,723.279,59.947,33.417,441.282,0.000,260.177,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,55.845,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.420,470.044,0.000,550.935,716.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,17896,173
$CAP_FILE_SIZE,34959,0
$CFSIZE,1024409600,988954624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,022559,6023.826,-17333.197,6,0.9,42,7.1,0.4,326.7,9,3.6