version: 66.10
glider: 161
mission: 4
dive: 9
start: 4 16 114 0 16 17
data:
$ID,161
$MISSION,4
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,300
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51957
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,4743.1001
$TGT_DEFAULT_LON,12223.6
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2874.1187
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,1860
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1921
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.543966
$PRESSURE_SLOPE,0.00011628441
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.63999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043775463
$SEABIRD_T_H,0.00063860236
$SEABIRD_T_I,2.5706517e-05
$SEABIRD_T_J,2.822896e-06
$SEABIRD_C_G,-9.9098063
$SEABIRD_C_H,1.1132913
$SEABIRD_C_I,-0.00039731048
$SEABIRD_C_J,0.00011278767
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,160414,000353,4743.238,-12225.497,2,1.1,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.0
$GPS2,160414,001535,4743.270,-12225.366,4,1.2,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.134,0.229
$KALMAN_X,-165.1,206.1,-70.1,-1280.9,-462.7
$KALMAN_Y,-2237.5,-162.7,-199.7,3374.7,-819.3
$MHEAD_RNG_PITCHd_Wd,14.0,1729,-13.3,-8.462
$D_GRID,165
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.87,-175.9,0.0,0.0,0,48,0.00,0.00,-35.05,0.000,2,0.000,0.000,144,1871,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.87,-175.9,3.1,-8.2,6,89,10.93,2.28,-20.70,0.000,4,0.255,0.068,2747,452,2640,0,0,0,0,0,0,25.48,25.67,25.79
$GC,543,-0.87,-175.9,80.5,-15.0,83,550,0.00,2.17,0.00,0.000,6,0.000,0.041,2738,1859,2641,0,0,0,0,0,0,28.83,25.96,28.83
$GC,668,-0.87,-175.9,98.2,-13.3,96,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1860,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-0.87,-175.9,114.1,-12.4,105,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1860,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1093,-0.87,-175.9,152.3,-12.6,125,1097,0.00,2.22,0.00,0.000,4,0.000,0.054,2738,445,2641,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1186,-0.34,0.0,165.3,-14.8,131,1335,0.60,0.00,142.20,0.582,6,0.141,0.000,2917,1761,1919,0,0,0,0,0,0,25.98,28.83,24.43
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1337,0.87,175.9,174.5,0.0,141,1485,1.25,0.00,140.45,0.566,6,0.112,0.000,3311,1762,1202,0,0,0,0,0,0,24.89,28.83,24.34
$GC,1783,0.87,175.9,138.8,10.3,171,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1762,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,0.87,177.6,112.0,8.4,191,2087,0.00,2.28,0.00,0.000,4,0.000,0.057,3322,336,1199,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2313,0.87,177.6,89.7,11.1,210,2317,0.00,2.17,0.00,0.000,6,0.000,0.037,3322,1760,1199,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2443,0.87,177.6,76.6,9.5,223,2447,0.00,2.28,0.00,0.000,4,0.000,0.057,3332,334,1199,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2487,0.87,177.6,72.7,9.6,227,2495,0.00,2.17,0.00,0.000,6,0.000,0.037,3333,1760,1199,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2613,0.92,219.2,61.8,7.1,240,2654,0.00,0.00,35.25,0.516,6,0.000,0.000,3332,1761,1026,0,0,0,0,0,0,28.83,28.83,25.25
$GC,2773,0.92,219.2,48.8,8.5,257,2780,0.00,2.17,0.00,0.000,4,0.000,0.054,3332,3139,1025,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2839,0.92,219.2,41.9,11.2,270,2846,0.00,2.15,0.00,0.000,6,0.000,0.037,3343,1740,1025,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2905,0.92,219.2,34.6,10.9,283,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1740,1025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,0.94,236.3,29.1,7.9,295,2984,0.00,2.28,14.68,0.483,4,0.000,0.057,3353,339,956,0,0,0,0,0,0,28.83,25.75,25.36
$GC,3107,0.94,236.3,12.6,14.9,323,3115,0.00,2.17,0.00,0.000,6,0.000,0.037,3353,1749,955,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3173,1.04,313.3,6.3,6.0,336,3241,0.00,2.25,61.85,0.486,4,0.000,0.054,3363,349,641,0,0,0,0,0,0,28.83,25.34,24.97
$STATE,3259,end climb,SURFACE_DEPTH_REACHED
$STATE,3259,begin surface coast
$FINISH,0.4,1.011005
$STATE,3304,end surface coast,CONTROL_FINISHED_OK
$STATE,3304,begin surface
$SM_CCo,3319,13.85,0.179,1,0,615,320.11
$SM_GC,3.51,8.75,2.40,13.85,0.044,0.041,0.179,143,1847,615,-8.98,-1.22,320.11,0,0,0,0,1,0,25.56,25.54,25.10
$IRIDIUM_FIX,4751.72,-12340.51,160414,000024
$TT8_MAMPS,0.050932,0.050932
$HUMID,35.86
$INTERNAL_PRESSURE,8.75489
$TCM_TEMP,20.00
$24V_AH,24.3,1.258
$10V_AH,10.5,0.734
$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,21.525,31.025,394.425,13.850,0.000,63.620,83.821,240.752,0.000,773.400,40.883,0.000,2132.808,459.307,1320.275,36.782,33.209,835.911,0.000,644.299,0.000,0.000,0.000
$DEVICE_MAMPS,254.745,68.085,582.165,179.010,0.000,61.970,160.000,223.000,0.000,37.113,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,242.375,0.000,0.000,0.000,0.000,0.000,773.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.761,0.000,0.000,0.000
$MEM,197956
$DATA_FILE_SIZE,10122,361
$CAP_FILE_SIZE,50988,0
$CFSIZE,260034560,257495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,011301,4743.354,-12225.364,3,1.4,50,16.3