version: 66.10
glider: 161
mission: 4
dive: 10
start: 4 16 114 1 20 18
data:
$ID,161
$MISSION,4
$DIVE,10
$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,-2875.4678
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,160414,011301,4743.354,-12225.364,3,1.4,50,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.8
$GPS2,160414,011936,4743.402,-12225.250,4,1.0,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.145,0.222
$KALMAN_X,-291.0,122.8,-246.4,-754.8,-394.7
$KALMAN_Y,-2672.8,-267.4,-321.7,4276.7,-661.6
$MHEAD_RNG_PITCHd_Wd,16.9,1448,-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,-34.85,0.000,2,0.000,0.000,143,1853,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.87,-175.9,3.4,-9.4,6,84,10.85,2.28,-18.88,0.000,4,0.253,0.067,2747,445,2642,0,0,0,0,0,0,25.49,25.66,25.79
$GC,572,-0.87,-175.9,85.6,-14.4,85,580,0.00,2.20,0.00,0.000,6,0.000,0.041,2738,1865,2643,0,0,0,0,0,0,28.83,25.97,28.83
$GC,708,-0.87,-175.9,104.4,-13.4,98,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1866,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-0.87,-175.9,142.5,-11.8,118,1012,0.00,2.22,0.00,0.000,4,0.000,0.052,2738,454,2642,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1107,-0.87,-175.9,154.0,-13.0,124,1115,0.00,2.15,0.00,0.000,6,0.000,0.039,2728,1857,2642,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1190,-0.34,0.0,166.3,-13.9,130,1340,0.60,0.00,141.93,0.584,6,0.140,0.000,2916,1726,1920,0,0,0,0,0,0,25.96,28.83,24.43
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1341,0.87,175.9,174.2,0.0,140,1491,1.25,2.22,139.65,0.568,4,0.111,0.057,3320,368,1203,0,0,0,0,0,0,24.88,24.75,24.32
$GC,1529,0.88,186.5,166.2,8.1,152,1544,0.00,2.20,10.15,0.498,6,0.000,0.037,3320,1758,1159,0,0,0,0,0,0,28.83,25.14,24.63
$GC,1850,0.88,186.5,132.5,10.9,174,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1759,1158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,0.88,186.5,102.8,9.7,194,2154,0.00,2.22,0.00,0.000,4,0.000,0.056,3331,364,1158,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2320,0.88,186.5,83.5,11.1,210,2324,0.00,2.12,0.00,0.000,6,0.000,0.037,3331,1752,1157,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2450,0.88,186.5,68.7,10.6,223,2454,0.00,2.20,0.00,0.000,4,0.000,0.056,3341,368,1157,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2470,0.88,186.5,66.5,11.1,225,2474,0.00,2.12,0.00,0.000,6,0.000,0.037,3341,1753,1157,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2600,0.88,186.5,51.7,11.4,238,2604,0.00,2.17,0.00,0.000,4,0.000,0.054,3341,3150,1157,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2670,0.88,186.5,43.6,11.1,250,2677,0.10,2.10,0.00,0.000,6,0.138,0.036,3319,1774,1157,0,0,0,0,0,0,25.94,26.03,28.83
$GC,2736,0.88,186.5,37.0,9.8,263,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1774,1157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2796,0.88,186.5,30.9,9.5,275,2803,0.00,2.25,0.00,0.000,4,0.000,0.055,3328,351,1157,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2947,0.88,186.5,16.2,9.0,305,2954,0.00,2.15,0.00,0.000,6,0.000,0.037,3328,1756,1157,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3013,0.94,235.7,10.9,6.9,318,3059,0.00,2.17,39.72,0.490,4,0.000,0.052,3328,3154,959,0,0,0,0,0,0,28.83,25.63,25.25
$GC,3078,0.97,262.5,6.5,7.6,330,3107,0.00,2.17,22.48,0.471,6,0.000,0.036,3337,1746,849,0,0,0,0,0,0,28.83,25.70,25.10
$STATE,3140,end climb,SURFACE_DEPTH_REACHED
$STATE,3140,begin surface coast
$FINISH,0.4,1.008800
$STATE,3210,end surface coast,CONTROL_FINISHED_OK
$STATE,3210,begin surface
$SM_CCo,3223,53.38,0.405,1,0,615,320.11
$SM_GC,1.77,8.68,0.17,53.38,0.046,0.073,0.405,139,1866,615,-8.98,-1.02,320.11,0,0,0,0,1,0,25.70,25.72,24.94
$IRIDIUM_FIX,4751.72,-12340.51,160414,010115
$TT8_MAMPS,0.053179,0.053179
$HUMID,35.54
$INTERNAL_PRESSURE,8.76466
$TCM_TEMP,20.00
$24V_AH,24.3,1.332
$10V_AH,10.5,0.761
$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,21.475,35.325,353.925,53.375,0.000,29.194,33.378,154.892,0.000,0.000,40.165,0.000,2009.756,440.908,1104.349,35.402,33.211,838.072,0.000,664.085,0.000,0.000,0.000
$DEVICE_MAMPS,253.215,76.500,583.695,405.450,0.000,61.970,160.000,223.000,0.000,0.000,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,239.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,197916
$DATA_FILE_SIZE,10121,356
$CAP_FILE_SIZE,50489,0
$CFSIZE,260034560,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,021553,4743.630,-12225.029,3,0.8,38,16.3