version: 66.10
glider: 169
mission: 5
dive: 108
start: 11 29 111 19 6 39
data:
$ID,169
$MISSION,5
$DIVE,108
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10413.732
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,291111,185907,2153.533,12329.322,34,1.2,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.7
$GPS2,291111,190613,2153.510,12329.159,11,1.6,16,-2.9
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,349.6,246998,-14.8,-9.167
$D_GRID,4712
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.58,-170.3,0.0,0.0,0,107,0.00,0.00,-86.93,0.000,2,0.000,0.000,118,2675,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.58,-170.3,3.5,-7.4,15,138,6.80,1.85,-12.82,0.000,4,0.235,0.060,1804,3824,3677,0,0,0,0,0,0,25.65,26.10,26.44
$GC,177,-0.41,-170.3,36.2,-45.8,26,184,0.22,1.83,0.00,0.000,6,0.167,0.027,1873,2582,3677,0,0,0,0,0,0,25.85,26.17,28.83
$GC,499,-0.33,-170.3,128.3,-20.4,87,507,0.10,2.03,0.00,0.000,4,0.184,0.029,1908,1184,3677,0,0,0,0,0,0,26.21,26.32,28.83
$GC,545,-0.33,-170.3,135.4,-10.8,95,552,0.00,2.20,0.00,0.000,6,0.000,0.043,1897,2653,3677,0,0,0,0,0,0,28.83,26.29,28.83
$GC,866,-0.30,-170.3,176.9,-13.9,156,875,0.00,1.77,0.00,0.000,4,0.000,0.048,1888,3813,3677,0,0,0,0,0,0,28.83,26.36,28.83
$GC,899,-0.28,-170.3,181.1,-13.0,161,907,0.10,1.80,0.00,0.000,6,0.138,0.026,1918,2556,3677,0,0,0,0,0,0,26.30,26.47,28.83
$GC,1220,-0.30,-170.3,208.1,-5.8,211,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2555,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-0.34,-170.3,219.2,-3.4,241,1530,0.00,1.95,0.00,0.000,4,0.000,0.047,1909,3825,3677,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1553,-0.38,-170.3,220.5,-4.0,244,1556,0.00,1.80,0.00,0.000,6,0.000,0.027,1909,2566,3677,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1864,-0.42,-170.3,246.9,-11.4,275,1866,0.10,0.00,0.00,0.000,6,0.093,0.000,1820,2557,3677,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2164,-0.35,-170.3,315.1,-19.4,305,2166,0.25,0.00,0.00,0.000,6,0.136,0.000,1896,2558,3676,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2464,-0.38,-170.3,338.2,-6.0,335,2473,0.00,1.98,0.00,0.000,4,0.000,0.049,1888,3818,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2520,-0.43,-170.3,341.2,-5.8,340,2526,0.00,1.80,0.00,0.000,6,0.000,0.028,1888,2555,3674,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2826,-0.46,-170.3,367.2,-10.4,371,2837,0.00,1.98,0.00,0.000,4,0.000,0.031,1888,1181,3673,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2861,-0.50,-170.3,370.8,-10.8,374,2870,0.00,2.20,0.00,0.000,6,0.000,0.041,1878,2659,3672,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3170,-0.52,-170.3,403.4,-9.2,405,3180,0.12,1.75,0.00,0.000,4,0.076,0.047,1777,3813,3671,0,0,0,0,0,0,26.68,26.49,28.83
$GC,3235,-0.46,-170.3,413.9,-19.1,411,3245,0.22,1.75,0.00,0.000,6,0.135,0.027,1859,2569,3670,0,0,0,0,0,0,26.29,26.60,28.83
$GC,3544,-0.46,-170.3,438.5,-5.6,442,3548,0.00,2.00,0.00,0.000,4,0.000,0.031,1859,1183,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3590,-0.47,-170.3,440.8,-5.4,446,3599,0.00,2.20,0.00,0.000,6,0.000,0.042,1850,2656,3668,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3897,-0.46,-170.3,468.5,-11.2,477,3906,0.00,2.15,0.00,0.000,4,0.000,0.033,1850,1183,3667,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3940,-0.47,-170.3,473.1,-11.3,481,3948,0.00,2.17,0.00,0.000,6,0.000,0.044,1841,2650,3667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4253,-0.46,-170.3,512.5,-13.0,512,4262,0.00,2.12,0.00,0.000,4,0.000,0.033,1841,1185,3664,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4308,-0.47,-170.3,519.0,-11.3,517,4315,0.00,2.20,0.00,0.000,6,0.000,0.044,1832,2655,3664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4615,-0.45,-170.3,552.3,-10.3,548,4627,0.12,1.75,0.00,0.000,4,0.153,0.047,1867,3824,3662,0,0,0,0,0,0,26.43,26.48,28.83
$GC,4663,-0.47,-170.3,556.0,-8.2,552,4672,0.00,1.80,0.00,0.000,6,0.000,0.028,1867,2555,3662,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4971,-0.50,-170.3,578.4,-7.7,583,4980,0.00,1.98,0.00,0.000,4,0.000,0.033,1867,1169,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5015,-0.55,-170.3,581.6,-7.4,587,5024,0.00,2.25,0.00,0.000,6,0.000,0.044,1859,2659,3659,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5336,-0.57,-170.3,603.8,-6.0,616,5339,0.00,1.73,0.00,0.000,4,0.000,0.050,1850,3813,3657,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5382,-0.59,-170.3,606.6,-6.2,618,5385,0.00,1.77,0.00,0.000,6,0.000,0.029,1850,2575,3657,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5698,-0.61,-170.3,625.6,-6.2,634,5705,0.12,2.03,0.00,0.000,4,0.080,0.031,1765,1179,3655,0,0,0,0,0,0,26.66,26.52,28.83
$GC,5726,-0.61,-170.3,627.4,-6.9,635,5731,0.20,2.22,0.00,0.000,6,0.140,0.044,1814,2655,3655,0,0,0,0,0,0,26.26,26.48,28.83
$GC,6034,-0.58,-170.3,668.9,-13.9,650,6038,0.00,2.15,0.00,0.000,4,0.000,0.034,1814,1183,3653,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6077,-0.57,-170.3,674.5,-13.4,652,6082,0.00,2.17,0.00,0.000,6,0.000,0.045,1806,2648,3653,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6397,-0.54,-170.3,711.4,-9.5,668,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2649,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6696,-0.51,-170.3,738.6,-9.2,683,6702,0.12,2.12,0.00,0.000,4,0.151,0.034,1850,1195,3648,0,0,0,0,0,0,26.41,26.49,28.83
$GC,6739,-0.51,-170.3,741.3,-8.1,685,6743,0.00,2.22,0.00,0.000,6,0.000,0.047,1841,2657,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7053,-0.52,-170.3,762.8,-8.1,701,7058,0.00,2.15,0.00,0.000,4,0.000,0.034,1841,1183,3645,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7093,-0.54,-170.3,766.1,-8.2,703,7098,0.00,2.22,0.00,0.000,6,0.000,0.046,1833,2657,3645,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7414,-0.54,-170.3,794.6,-8.6,719,7418,0.00,1.75,0.00,0.000,4,0.000,0.052,1824,3818,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7438,-0.54,-170.3,796.5,-8.5,720,7442,0.00,1.77,0.00,0.000,6,0.000,0.029,1824,2574,3643,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7756,-0.54,-170.3,820.3,-6.4,736,7761,0.00,2.03,0.00,0.000,4,0.000,0.035,1824,1181,3641,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7799,-0.54,-170.3,822.7,-6.1,738,7803,0.00,2.22,0.00,0.000,6,0.000,0.046,1814,2658,3640,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8111,-0.53,-170.3,845.8,-8.0,754,8115,0.00,1.75,0.00,0.000,4,0.000,0.052,1805,3816,3639,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8148,-0.52,-170.3,847.6,-8.1,755,8155,0.12,1.80,0.00,0.000,6,0.131,0.029,1843,2563,3639,0,0,0,0,0,0,26.33,26.55,28.83
$GC,8456,-0.54,-170.3,868.3,-7.2,771,8461,0.00,2.00,0.00,0.000,4,0.000,0.036,1843,1188,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8497,-0.57,-170.3,871.3,-7.4,773,8501,0.00,2.20,0.00,0.000,6,0.000,0.047,1836,2652,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8811,-0.58,-170.3,899.1,-9.3,789,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2652,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9109,-0.60,-170.3,928.7,-9.4,804,9115,0.00,2.17,0.00,0.000,4,0.000,0.036,1836,1185,3635,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9142,-0.61,-170.3,930.6,-9.4,805,9151,0.00,2.25,0.00,0.000,6,0.000,0.047,1826,2657,3634,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9449,-0.61,-170.3,958.9,-8.3,821,9454,0.00,2.17,0.00,0.000,4,0.000,0.035,1827,1185,3633,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9478,-0.62,-170.3,960.5,-8.1,822,9482,0.00,2.22,0.00,0.000,6,0.000,0.047,1822,2656,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9785,-0.62,-170.3,984.9,-7.6,837,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2656,3632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9862,begin apogee
$GC,9868,-0.20,0.0,990.8,-7.4,841,10019,0.32,0.10,144.18,1.174,6,0.103,0.100,1940,2527,2977,0,0,0,0,0,0,26.24,24.82,24.10
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10022,0.58,170.3,995.7,0.0,848,10192,0.68,2.15,160.23,1.171,4,0.045,0.051,2202,3810,2272,0,0,0,0,0,0,25.02,24.58,23.84
$GC,10295,0.46,170.3,964.8,21.4,862,10300,0.20,2.10,0.00,0.000,6,0.186,0.038,2163,2464,2255,0,0,0,0,0,0,25.14,25.36,28.83
$GC,10601,0.40,170.3,918.0,14.2,877,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2462,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10902,0.34,170.3,873.6,15.0,892,10908,0.12,2.10,0.00,0.000,4,0.194,0.050,2127,3813,2248,0,0,0,0,0,0,25.86,26.03,28.83
$GC,10962,0.28,170.3,864.9,14.7,895,10968,0.10,2.03,0.00,0.000,6,0.156,0.034,2106,2463,2247,0,0,0,0,0,0,25.85,26.11,28.83
$GC,11284,0.27,173.3,833.7,9.1,911,11289,0.00,2.10,0.00,0.000,4,0.000,0.051,2105,3808,2245,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11336,0.25,173.3,829.5,9.6,913,11342,0.00,2.03,0.00,0.000,6,0.000,0.034,2116,2460,2245,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11642,0.22,173.3,796.1,10.4,929,11649,0.12,2.10,0.00,0.000,4,0.176,0.049,2078,3815,2244,0,0,0,0,0,0,26.07,26.19,28.83
$GC,11736,0.23,178.6,788.9,9.0,933,11743,0.00,2.03,0.00,0.000,6,0.000,0.034,2088,2461,2243,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12043,0.37,289.8,769.6,5.1,949,12151,0.12,2.28,95.32,1.278,4,0.080,0.052,2157,3800,1801,0,0,0,0,1,0,26.44,24.87,24.03
$GC,12198,0.32,289.8,754.9,11.1,956,12206,0.20,2.10,1.58,0.187,6,0.146,0.033,2114,2462,1794,0,0,0,0,0,0,25.23,25.35,25.20
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$GC,17197,0.80,526.9,91.3,6.2,1444,17287,0.10,2.20,83.68,0.307,6,0.100,0.040,2299,2522,833,0,0,0,0,0,0,26.37,26.39,25.55
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$STATE,17656,end climb,SURFACE_DEPTH_REACHED
$STATE,17656,begin surface coast
$FINISH,0.4,1.022513
$STATE,17673,end surface coast,CONTROL_FINISHED_OK
$STATE,17675,begin surface
$SM_CCo,17749,0.00,0.000,0,0,844,523.72
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$IRIDIUM_FIX,2143.45,12334.32,291111,131323
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.98
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.8,24.384
$10V_AH,10.2,18.296
$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
$DEVICE_SECS,17.125,160.725,641.000,0.000,0.000,31.404,23.872,231.820,0.000,0.000,17.351,4142.470,9782.729,789.351,3079.723,355.134,0.000,2283.048,0.000,2626.385,0.000,0.543,0.000
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$SENSOR_SECS,1039.792,2019.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330440
$DATA_FILE_SIZE,100357,1532
$CAP_FILE_SIZE,195540,0
$CFSIZE,260165632,212967424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.292,203.4,1
$GPS,301111,000337,2156.069,12326.510,41,1.1,41,-2.9