version: 66.13
glider: 401
mission: 22
dive: 815
start: 8 10 117 12 24 9
data:
$ID,401
$MISSION,22
$DIVE,815
$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,20
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2105
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,39
$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
$GPS1,100817,120131,6100.9243,-17345.7871,10,0.9,36,7.1,0.3,230.2,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.5
$GPS2,100817,120131,6100.9243,-17345.7871,10,0.9,36,7.1,0.3,230.2,10,4.6
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.149844,0.362279
$KALMAN_X,77516.882812,-723.281921,-280.794861,-266149.781250,-20.591553
$KALMAN_Y,-28002.261719,2924.584229,815.445374,219856.140625,-133.702576
$MHEAD_RNG_PITCHd_Wd,330.4,6645,-10.7,-10.000,-14.31,7557
$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,-1.70,-487.5,2391,1938,2369,4092,0.0,0.0,0,18,5.90,0.00,-1.50,0.000,20482,0.024,0.000,1812,1938,2537,2537,4094,0,0,0,0,0,0,26.13,28.83,26.18,10.38,51.96
$GC,22,-1.70,-487.5,1810,1938,2537,4094,0.2,0.0,1,29,0.00,0.00,-4.55,0.000,16646,0.000,0.000,1811,1938,3058,3058,4094,0,0,0,0,0,0,26.35,25.13,26.36,10.42,50.98
$GC,61,-1.70,-487.5,1810,1938,3058,4094,3.6,-12.3,7,66,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1938,3059,3059,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.53,51.14
$GC,99,-1.70,-487.5,1811,1938,3059,4095,8.7,-13.6,13,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1938,3060,3060,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.54,50.90
$GC,136,-1.70,-487.5,1811,1938,3061,4095,14.2,-14.2,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,1938,3061,3061,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.54,51.06
$GC,174,-1.70,-487.5,1811,1938,3061,4094,19.5,-13.7,25,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1938,3062,3062,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.52,50.66
$GC,212,-1.70,-487.5,1810,1938,3062,4095,24.2,-12.0,31,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1938,3062,3062,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.52,50.35
$GC,250,-1.70,-487.5,1811,1938,3063,4095,28.7,-11.6,37,257,0.00,1.42,0.00,0.000,260,0.000,0.045,1811,2471,3064,3064,4094,0,0,0,0,0,0,26.50,26.20,26.51,10.49,50.43
$GC,295,-1.70,-487.5,1810,2470,3064,4094,33.7,-11.1,44,302,0.00,1.25,0.00,0.000,1030,0.000,0.027,1811,1966,3064,3064,4095,0,0,0,0,0,0,26.29,26.26,26.32,10.46,49.13
$GC,334,-1.70,-487.5,1811,1966,3065,4095,38.0,-11.4,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3065,3065,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,48.26
$GC,372,-1.70,-487.5,1810,1966,3066,4095,42.3,-11.6,56,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.43,47.91
$GC,410,-1.70,-487.5,1810,1966,3067,4095,46.7,-11.7,62,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1965,3067,3067,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,47.63
$GC,448,-1.70,-487.5,1811,1966,3067,4094,51.1,-11.9,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3068,3068,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.40,46.53
$GC,486,-1.70,-487.5,1810,1966,3068,4094,55.6,-11.9,74,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.40,46.96
$GC,524,-1.70,-487.5,1810,1966,3068,4095,60.0,-11.8,80,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3069,3069,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.40,46.92
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,534,begin apogee
$GC,542,-0.45,0.0,1811,2108,3070,4094,61.4,-11.4,82,578,3.97,0.00,27.90,1.287,10244,0.055,0.000,2186,2109,2484,2484,4094,0,0,0,0,0,0,26.32,25.46,24.46,10.39,46.06
$STATE,579,end apogee,CONTROL_FINISHED_OK
$STATE,579,begin climb
$GC,582,1.70,487.5,2186,2108,2484,4094,63.6,0.0,88,624,7.10,1.38,27.73,1.258,10500,0.032,0.052,2875,2623,1915,1915,4094,0,0,0,0,0,0,25.63,25.58,24.03,10.27,45.62
$GC,688,1.70,487.5,2874,2623,1914,4094,53.9,12.5,105,694,0.00,1.30,0.00,0.000,1030,0.000,0.025,2876,2107,1914,1914,4094,0,0,0,0,0,0,25.59,25.56,25.60,10.13,45.03
$GC,727,1.70,487.5,2874,2107,1912,4094,48.9,12.0,111,733,0.00,1.40,0.00,0.000,516,0.000,0.049,2875,1576,1913,1913,4094,0,0,0,0,0,0,25.90,25.61,25.91,10.13,45.43
$GC,801,1.70,487.5,2875,1576,1910,4094,39.9,12.1,123,808,0.00,1.23,0.00,0.000,1030,0.000,0.026,2875,2079,1910,1910,4094,0,0,0,0,0,0,25.85,25.82,25.88,10.12,45.74
$GC,841,1.70,487.5,2875,2078,1910,4094,35.3,11.7,129,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2079,1910,1910,4095,0,0,0,0,0,0,26.12,26.14,26.14,10.12,46.49
$GC,879,1.70,487.5,2874,2078,1908,4095,30.7,11.8,135,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2079,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.13,46.61
$GC,917,1.70,487.5,2874,2079,1907,4094,26.3,11.3,141,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2079,1907,1907,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,47.44
$GC,955,1.71,494.1,2875,2078,1907,4094,22.5,9.9,147,961,0.00,1.35,0.00,0.000,516,0.000,0.049,2875,1570,1906,1906,4094,0,0,0,0,0,0,26.26,25.96,26.27,10.16,48.58
$GC,1018,1.75,516.1,2874,1569,1905,4094,16.1,9.7,157,1026,0.00,1.25,2.95,0.297,9222,0.000,0.027,2875,2086,1881,1881,4095,0,0,0,0,0,0,26.10,26.08,25.18,10.19,50.27
$GC,1058,1.75,516.1,2875,2085,1880,4095,11.9,10.6,163,1064,0.00,1.48,0.00,0.000,260,0.000,0.054,2875,2635,1879,1879,4094,0,0,0,0,0,0,26.34,26.02,26.34,10.20,50.51
$GC,1115,1.75,516.1,2874,2635,1878,4094,6.1,10.2,172,1121,0.00,1.33,0.00,0.000,1030,0.000,0.027,2875,2101,1878,1878,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.22,51.29
$STATE,1151,end climb,FINISH_DEPTH_REACHED
$STATE,1151,begin subsurface finish
$FINISH1,1.9,1.024152,101
$GC,1159,0.15,100.9,2875,2101,1877,4094,1.9,10.8,178,1173,5.25,1.42,-4.20,0.000,20996,0.070,1.280,2397,1571,2372,2372,4094,0,0,0,0,0,0,26.11,24.91,26.20,10.24,52.36
$FINISH2,0.1
$STATE,1174,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1174,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,104542
$TT8_MAMPS,0.024717,0.103362
$HUMID,52.75
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.03,21.981
$10V_AH,10.45,25.537
$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,22.225,15.400,58.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.417,274.401,159.637,262.400,67.405,33.431,358.774,0.000,269.676,0.000,0.543,0.000
$DEVICE_MAMPS,69.615,1279.845,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,14316,180
$CAP_FILE_SIZE,33362,0
$CFSIZE,1024409600,979435520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,120131,6100.924,-17345.787,10,0.9,36,7.1,0.3,230.2,10,4.6