version: 66.13
glider: 401
mission: 22
dive: 623
start: 8 7 117 3 0 42
data:
$ID,401
$MISSION,22
$DIVE,623
$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,22
$R_STBD_OVSHOOT,58
$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,0.14
$_SM_ANGLEo,-1.9
$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,-0.274599,0.265484
$KALMAN_X,62295.812500,-2218.158936,-756.949524,-237117.234375,-11.606262
$KALMAN_Y,45182.101562,2846.091553,1193.944702,77779.289062,191.196411
$MHEAD_RNG_PITCHd_Wd,306.9,3628,-7.8,-8.333,-12.31,10171
$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,-575.6,2400,1963,2360,4092,0.0,0.0,0,21,5.82,0.00,-4.62,0.000,20482,0.028,0.000,1836,1963,2883,2883,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.37,50.03
$GC,24,-1.58,-575.6,1836,1963,2883,4094,0.1,0.0,1,34,0.00,1.05,-2.53,0.000,16644,0.000,1.262,1836,2349,3158,3158,4094,0,0,0,0,0,0,26.34,24.95,26.34,10.47,49.84
$GC,89,-1.58,-575.6,1835,2350,3159,4094,5.5,-11.2,10,99,0.00,1.02,0.00,0.000,1030,0.000,0.029,1836,1938,3160,3160,4095,0,0,0,0,0,0,26.06,26.04,26.09,10.54,50.27
$GC,136,-1.58,-575.6,1835,1938,3161,4095,11.0,-12.4,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1938,3161,3161,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.54,49.64
$GC,181,-1.58,-575.6,1836,1938,3162,4095,16.6,-11.9,22,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1938,3162,3162,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.54,49.80
$GC,226,-1.58,-575.6,1836,1938,3163,4095,21.9,-11.7,28,235,0.00,1.08,0.00,0.000,260,0.000,0.041,1837,2342,3163,3163,4095,0,0,0,0,0,0,26.39,26.12,26.40,10.53,48.77
$GC,272,-1.58,-575.6,1836,2341,3163,4095,26.9,-10.6,34,281,0.00,0.98,0.00,0.000,1030,0.000,0.028,1836,1951,3163,3163,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.50,48.85
$GC,319,-1.58,-575.6,1835,1951,3165,4095,31.7,-10.6,40,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1951,3165,3165,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.49,48.38
$GC,364,-1.58,-575.6,1835,1951,3165,4095,36.4,-10.0,46,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1951,3165,3165,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.47,46.96
$GC,408,-1.58,-575.6,1836,1951,3166,4094,41.1,-10.7,52,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1951,3166,3166,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,46.88
$GC,453,-1.58,-575.6,1835,1951,3166,4095,45.7,-10.2,58,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1951,3167,3167,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,46.10
$GC,498,-1.58,-575.6,1835,1951,3168,4095,50.4,-10.0,64,508,0.00,1.08,0.00,0.000,516,0.000,0.051,1836,1521,3168,3168,4095,0,0,0,0,0,0,26.53,26.23,26.55,10.43,45.86
$GC,533,-1.58,-575.6,1836,1521,3169,4095,54.2,-11.1,68,542,0.00,0.95,0.00,0.000,1030,0.000,0.025,1836,1937,3169,3169,4095,0,0,0,0,0,0,26.35,26.33,26.37,10.43,45.47
$GC,579,-1.58,-575.6,1836,1936,3170,4095,59.7,-11.3,74,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1936,3170,3170,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,45.15
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,602,-0.45,0.0,1836,1937,3170,4095,61.8,-11.2,76,646,3.75,0.00,32.78,1.312,10244,0.052,0.000,2185,1940,2484,2484,4094,0,0,0,0,0,0,26.29,25.05,24.35,10.42,45.58
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,649,1.58,575.6,2185,1939,2484,4094,64.4,0.0,81,693,6.93,0.00,32.72,1.280,11270,0.035,0.000,2828,1943,1813,1813,4094,0,0,0,0,0,0,25.53,25.70,23.87,10.27,44.64
$GC,731,1.58,575.6,2827,1942,1812,4094,58.8,10.5,91,740,0.00,1.12,0.00,0.000,260,0.000,0.039,2828,2355,1812,1812,4094,0,0,0,0,0,0,25.53,25.27,25.54,10.13,44.52
$GC,783,1.58,575.6,2828,2355,1811,4094,53.9,9.9,98,792,0.00,0.93,0.00,0.000,1030,0.000,0.028,2828,1992,1811,1811,4094,0,0,0,0,0,0,25.58,25.53,25.58,10.12,43.97
$GC,830,1.58,575.6,2828,1992,1810,4094,49.3,9.4,104,839,0.00,1.23,0.00,0.000,516,0.000,0.054,2828,1528,1810,1810,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.12,44.09
$GC,896,1.58,575.6,2828,1527,1809,4094,42.8,9.5,113,906,0.00,1.10,0.00,0.000,1030,0.000,0.024,2828,1994,1808,1808,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.11,45.03
$GC,942,1.58,575.6,2828,1996,1807,4094,38.4,9.5,119,952,0.00,0.98,0.00,0.000,260,0.000,0.037,2828,2372,1807,1807,4094,0,0,0,0,0,0,26.08,25.83,26.10,10.11,44.88
$GC,988,1.58,575.6,2828,2371,1807,4094,34.1,9.5,125,997,0.00,0.93,0.00,0.000,1030,0.000,0.028,2828,2002,1806,1806,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.11,46.06
$GC,1033,1.58,575.6,2828,2001,1805,4094,29.6,9.8,131,1043,0.00,1.25,0.00,0.000,516,0.000,0.053,2828,1524,1805,1805,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.11,45.62
$GC,1092,1.58,575.6,2827,1523,1804,4094,24.2,9.0,139,1101,0.00,1.12,0.00,0.000,1030,0.000,0.024,2828,2005,1804,1804,4094,0,0,0,0,0,0,26.06,26.03,26.07,10.13,46.73
$GC,1137,1.58,575.6,2827,2005,1803,4094,20.2,9.0,145,1147,0.00,0.95,0.00,0.000,260,0.000,0.043,2828,2370,1803,1803,4094,0,0,0,0,0,0,26.29,26.02,26.30,10.15,47.08
$GC,1211,1.58,575.6,2828,2369,1802,4094,14.0,8.6,155,1220,0.00,0.90,0.00,0.000,1030,0.000,0.029,2828,2008,1801,1801,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.17,49.01
$GC,1256,1.58,575.6,2828,2008,1800,4094,9.8,8.9,161,1266,0.00,1.25,0.00,0.000,516,0.000,0.054,2828,1527,1800,1800,4094,0,0,0,0,0,0,26.38,26.08,26.39,10.19,49.37
$GC,1296,1.58,575.6,2828,1526,1800,4094,6.4,8.6,166,1304,0.00,1.12,0.00,0.000,1030,0.000,0.025,2828,2008,1799,1799,4094,0,0,0,0,0,0,26.21,26.18,26.25,10.20,50.15
$GC,1341,1.58,577.2,2828,2008,1798,4094,2.6,8.3,172,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2009,1798,1798,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.21,50.11
$STATE,1358,end climb,FINISH_DEPTH_REACHED
$STATE,1359,begin subsurface finish
$FINISH1,1.1,1.024012,111
$GC,1366,0.17,110.7,2828,1938,1798,4094,1.1,8.2,174,1384,4.43,0.00,-4.88,0.000,20742,0.025,0.000,2395,1938,2361,2361,4094,0,0,0,0,0,0,26.22,25.67,26.26,10.22,50.27
$FINISH2,0.1
$STATE,1385,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1385,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,022801
$TT8_MAMPS,0.025466,0.203728
$HUMID,51.02
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.87,16.668
$10V_AH,10.26,20.365
$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,20.925,19.175,65.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.245,0.000,154.994,739.453,62.250,33.427,457.731,0.000,264.489,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1262.250,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.848,478.232,0.000,560.474,732.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,17741,176
$CAP_FILE_SIZE,36077,0
$CFSIZE,1024409600,988856320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,023527,6023.884,-17333.275,5,0.7,14,7.1,0.0,314.6,11,4.9