version: 66.13
glider: 401
mission: 22
dive: 469
start: 8 4 117 3 15 30
data:
$ID,401
$MISSION,22
$DIVE,469
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,040817,030650,6000.8926,-17235.8984,3,0.7,35,7.6,0.7,84.1,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.5
$GPS2,040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.372488,-0.090473
$KALMAN_X,54484.468750,-3145.055420,-1146.044312,-173532.765625,328.425232
$KALMAN_Y,40876.953125,1129.569336,300.747223,42151.906250,29.006378
$MHEAD_RNG_PITCHd_Wd,248.7,9311,-7.8,-8.333,-12.27,10262
$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,-1.58,-581.0,230,1955,1652,4092,0.0,0.0,0,19,10.43,0.00,0.00,0.000,2049,0.096,0.000,1106,1956,1652,1652,4094,0,0,0,0,0,0,26.14,28.83,28.83,10.20,50.31
$GC,22,-1.58,-581.0,1106,1955,1652,4094,0.7,0.0,1,50,7.72,1.17,-14.15,0.000,18692,0.042,1.281,1828,2370,3166,3166,4095,0,0,0,0,0,0,25.88,24.76,25.94,10.19,49.84
$GC,186,-1.58,-581.0,1827,2370,3169,4095,15.7,-12.8,24,196,0.00,1.08,0.00,0.000,1030,0.000,0.028,1828,1940,3169,3169,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.48,48.30
$GC,232,-1.58,-581.0,1828,1940,3170,4095,21.1,-11.2,30,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3170,3170,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.45,48.58
$GC,276,-1.58,-581.0,1828,1941,3170,4095,26.3,-11.9,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3171,3171,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.43,46.69
$GC,321,-1.58,-581.0,1827,1940,3171,4095,31.4,-11.5,42,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3171,3171,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.42,46.33
$GC,365,-1.58,-581.0,1828,1940,3172,4094,36.2,-10.6,48,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3172,3172,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.40,45.74
$GC,409,-1.58,-581.0,1828,1940,3173,4095,41.0,-11.2,54,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3173,3173,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.39,45.86
$GC,454,-1.58,-581.0,1827,1940,3174,4095,46.1,-11.5,60,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3174,3174,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,44.64
$GC,500,-1.58,-581.0,1828,1939,3175,4095,51.0,-11.6,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1939,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,44.95
$GC,545,-1.58,-581.0,1828,1940,3175,4095,55.9,-10.7,72,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3176,3176,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.38,44.84
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1828,1939,3176,4094,60.1,-10.8,77,629,3.83,0.00,33.20,1.297,10244,0.053,0.000,2183,1940,2484,2484,4095,0,0,0,0,0,0,26.20,25.20,24.26,10.38,44.80
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.58,581.0,2183,1939,2484,4095,62.4,0.0,82,676,6.97,0.00,33.17,1.270,11270,0.036,0.000,2830,1940,1807,1807,4094,0,0,0,0,0,0,25.44,25.60,23.79,10.23,44.48
$GC,713,1.58,581.0,2829,1939,1806,4094,56.8,9.6,92,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1806,1806,4094,0,0,0,0,0,0,25.43,25.44,25.44,10.08,43.97
$GC,758,1.58,581.0,2829,1939,1805,4094,52.1,9.5,98,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1940,1805,1805,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.07,43.50
$GC,803,1.58,581.0,2829,1939,1803,4094,47.4,10.7,104,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1804,1804,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.07,43.81
$GC,847,1.58,581.0,2829,1939,1803,4094,42.9,10.0,110,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1940,1802,1802,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.07,44.44
$GC,893,1.58,581.0,2829,1939,1802,4094,38.6,9.7,116,903,0.00,1.15,0.00,0.000,260,0.000,0.041,2830,2363,1802,1802,4094,0,0,0,0,0,0,25.96,25.69,25.97,10.06,45.07
$GC,971,1.58,581.0,2829,2362,1799,4094,30.8,10.2,127,981,0.00,1.02,0.00,0.000,1030,0.000,0.030,2830,1962,1800,1800,4094,0,0,0,0,0,0,25.84,25.83,25.88,10.05,45.82
$GC,1016,1.58,581.0,2829,1962,1799,4094,26.4,9.7,133,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1798,1798,4095,0,0,0,0,0,0,26.13,26.13,26.13,10.05,45.51
$GC,1061,1.58,581.0,2829,1962,1797,4095,22.1,9.6,139,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1963,1797,1797,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.05,45.47
$GC,1107,1.58,581.0,2829,1962,1796,4094,17.9,9.2,145,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1796,1796,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.05,45.55
$GC,1152,1.58,581.0,2829,1962,1796,4094,13.4,9.5,151,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1796,1796,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.06,45.90
$GC,1196,1.66,633.7,2829,1962,1795,4095,9.8,7.8,157,1207,0.15,0.00,4.05,0.424,10246,0.058,0.000,2855,1962,1742,1742,4094,0,0,0,0,0,0,26.09,25.70,25.27,10.08,46.96
$GC,1244,1.76,698.6,2854,1962,1741,4094,6.3,7.7,163,1254,0.22,0.00,5.00,0.471,10246,0.044,0.000,2885,1962,1668,1668,4094,0,0,0,0,0,0,26.08,25.86,25.28,10.10,48.07
$GC,1291,1.78,714.1,2885,1962,1666,4094,2.4,8.2,169,1300,0.00,0.00,2.42,0.146,8198,0.000,0.000,2885,1962,1654,1654,4094,0,0,0,0,0,0,26.26,25.73,25.34,10.11,48.97
$STATE,1307,end climb,FINISH_DEPTH_REACHED
$STATE,1308,begin subsurface finish
$FINISH1,0.8,1.023978,113
$GC,1314,0.17,113.0,2885,1962,1654,4094,0.8,7.9,171,1332,5.03,0.00,-6.20,0.000,20486,0.025,0.000,2397,1962,2354,2354,4094,0,0,0,0,0,0,26.04,25.53,26.09,10.12,49.52
$FINISH2,0.2
$STATE,1333,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,014702
$TT8_MAMPS,0.026215,0.212716
$HUMID,50.39
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.79,11.726
$10V_AH,10.23,14.914
$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,34.350,4.425,77.850,0.000,0.000,23.751,17.991,290.330,0.000,0.000,16.132,471.890,0.966,153.757,1065.381,114.730,33.461,451.363,0.000,261.761,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1280.610,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.639,469.978,0.000,551.005,716.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,17809,173
$CAP_FILE_SIZE,37154,0
$CFSIZE,1024409600,996425728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,031423,6000.920,-17235.764,3,0.8,14,7.6,0.0,61.1,10,4.6