version: 66.10
glider: 161
mission: 4
dive: 12
start: 4 16 114 3 25 22
data:
$ID,161
$MISSION,4
$DIVE,12
$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,-2878.1724
$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,33
$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
$GPS1,160414,031801,4744.117,-12224.541,18,0.8,52,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.0
$GPS2,160414,032440,4744.216,-12224.466,4,0.9,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.029,-0.144
$KALMAN_X,-118.6,-131.4,-332.6,390.0,36.2
$KALMAN_Y,-2704.6,-538.3,-251.9,6012.7,-10.1
$MHEAD_RNG_PITCHd_Wd,175.1,403,-27.0,-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,-1.38,-49.1,0.0,0.0,0,48,0.00,0.00,-34.95,0.000,2,0.000,0.000,138,1853,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.38,-55.2,3.1,-7.8,6,73,10.35,2.30,-9.62,0.000,4,0.258,0.070,2571,3266,2151,0,0,0,0,0,0,25.44,25.61,25.75
$GC,117,-1.38,-55.2,22.4,-33.7,19,124,0.00,2.17,0.00,0.000,6,0.000,0.035,2571,1851,2153,0,0,0,0,0,0,28.83,25.72,28.83
$GC,183,-1.38,-55.2,35.6,-18.4,32,190,0.00,2.20,0.00,0.000,4,0.000,0.050,2571,458,2152,0,0,0,0,0,0,28.83,25.75,28.83
$GC,289,-1.38,-55.2,58.2,-21.6,49,296,0.00,2.17,0.00,0.000,6,0.000,0.037,2561,1866,2152,0,0,0,0,0,0,28.83,25.82,28.83
$GC,414,-1.38,-55.2,81.3,-17.7,62,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1867,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,539,-1.38,-55.2,103.6,-17.7,74,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1867,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,839,-1.38,-55.2,154.4,-14.6,94,843,0.00,2.20,0.00,0.000,4,0.000,0.050,2561,465,2151,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,917,-0.34,0.0,167.0,-17.1,99,969,1.23,0.00,48.33,0.570,6,0.167,0.000,2916,1775,1921,0,0,0,0,0,0,25.86,28.83,24.98
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,970,1.38,55.2,169.3,0.0,102,1024,1.73,2.22,46.25,0.555,4,0.118,0.050,3471,3138,1694,0,0,0,0,0,0,25.37,25.08,24.62
$GC,1239,1.41,77.9,152.5,5.8,120,1264,0.00,2.15,19.20,0.539,6,0.000,0.034,3481,1747,1603,0,0,0,0,0,0,28.83,25.60,24.99
$GC,1569,1.42,85.8,125.1,7.6,142,1580,0.00,2.20,7.80,0.477,4,0.000,0.052,3492,338,1570,0,0,0,0,0,0,28.83,25.72,25.26
$GC,1649,1.43,95.7,120.0,7.3,146,1663,0.00,2.17,9.65,0.493,6,0.000,0.034,3492,1753,1528,0,0,0,0,0,0,28.83,25.81,25.23
$GC,1969,1.46,114.6,97.4,6.3,169,1992,0.00,2.22,16.45,0.514,4,0.000,0.052,3503,340,1452,0,0,0,0,0,0,28.83,25.70,25.26
$GC,2025,1.46,114.6,93.3,8.5,174,2033,0.00,2.17,0.00,0.000,6,0.000,0.035,3497,1750,1451,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2150,1.46,114.6,80.8,9.9,187,2154,0.00,2.20,0.00,0.000,4,0.000,0.053,3495,3152,1451,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2315,1.46,114.6,63.3,11.3,203,2323,0.00,2.15,0.00,0.000,6,0.000,0.034,3503,1755,1450,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2440,1.46,114.6,49.4,11.3,216,2448,0.00,2.25,0.00,0.000,4,0.000,0.054,3515,334,1450,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2851,1.55,185.6,19.4,0.3,298,2914,0.00,2.15,56.72,0.489,6,0.000,0.034,3515,1753,1163,0,0,0,0,0,0,28.83,26.03,25.05
$GC,2973,1.63,250.6,17.3,1.0,321,3030,0.12,2.28,52.25,0.473,4,0.096,0.052,3563,3142,898,0,0,0,0,0,0,25.58,25.18,24.79
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3158,begin surface coast
$FINISH,0.3,1.011439
$STATE,3183,end surface coast,CONTROL_FINISHED_OK
$STATE,3183,begin surface
$SM_CCo,3198,61.92,0.402,1,0,615,320.11
$SM_GC,1.72,9.35,2.03,61.92,0.047,0.037,0.402,145,1856,615,-8.96,0.74,320.11,0,0,0,0,1,0,25.60,25.56,24.83
$IRIDIUM_FIX,4751.72,-12340.51,160414,030316
$TT8_MAMPS,0.05243,0.05243
$HUMID,35.23
$INTERNAL_PRESSURE,8.77442
$TCM_TEMP,20.10
$24V_AH,24.6,1.463
$10V_AH,10.5,0.813
$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,22.775,39.250,256.650,61.925,0.000,29.495,34.552,154.727,0.000,0.000,40.936,0.000,2064.631,367.360,1111.391,33.918,33.210,747.315,0.000,664.249,0.000,0.000,0.000
$DEVICE_MAMPS,257.805,69.615,569.925,402.390,0.000,61.970,160.000,223.000,0.000,0.000,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,244.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,197968
$DATA_FILE_SIZE,10121,362
$CAP_FILE_SIZE,51306,0
$CFSIZE,260034560,257409024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,042041,4744.222,-12224.385,3,0.9,38,16.3