version: 66.10
glider: 163
mission: 3
dive: 9
start: 4 15 114 23 50 3
data:
$ID,163
$MISSION,3
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,1090
$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,720
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51722
$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,1942
$TGT_DEFAULT_LON,11848
$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,-1396720.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1906
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-20.808033
$PRESSURE_SLOPE,0.00011605668
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$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,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,150414,233842,4743.343,-12224.872,2,0.9,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-66.7
$GPS2,150414,234921,4743.350,-12224.768,3,0.8,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.122,0.236
$KALMAN_X,-66.1,236.5,-41.2,-751.2,-411.2
$KALMAN_Y,-1630.9,-134.5,-157.1,2782.6,-685.0
$MHEAD_RNG_PITCHd_Wd,11.1,1249,-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,-0.90,-175.9,0.0,0.0,0,43,0.00,0.00,-29.48,0.000,2,0.000,0.000,128,1793,1468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44,-0.90,-175.9,3.1,-6.4,5,89,10.10,1.98,-28.67,0.000,4,0.247,0.066,2552,534,2624,0,0,0,0,0,0,25.39,25.58,25.68
$GC,427,-0.90,-175.9,59.0,-13.9,74,435,0.00,2.20,0.00,0.000,6,0.000,0.037,2544,1957,2624,0,0,0,0,0,0,28.83,25.81,28.83
$GC,553,-0.90,-175.9,75.8,-13.4,87,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1957,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-0.90,-175.9,94.2,-16.3,99,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1957,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.90,-175.9,111.2,-13.3,109,802,0.00,2.25,0.00,0.000,4,0.000,0.053,2544,541,2624,0,0,0,0,0,0,28.83,25.88,28.83
$GC,872,-0.90,-175.9,121.2,-13.1,114,877,0.00,2.17,0.00,0.000,6,0.000,0.037,2535,1943,2624,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1188,-0.90,-175.9,162.8,-12.6,135,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1943,2624,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1219,-0.26,0.0,167.0,-13.6,137,1363,0.70,0.00,139.55,0.623,6,0.124,0.000,2758,1791,1906,0,0,0,0,0,0,25.86,28.83,24.29
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1364,0.90,175.9,173.2,0.0,146,1514,1.15,2.38,139.15,0.603,4,0.073,0.046,3143,3201,1186,0,0,0,0,0,0,24.75,24.62,24.16
$GC,1543,0.90,175.9,164.1,8.9,158,1547,0.00,2.25,0.00,0.000,6,0.000,0.033,3153,1802,1185,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1858,0.90,175.9,129.5,10.5,179,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1802,1183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,0.90,175.9,102.6,8.5,199,2162,0.00,2.22,0.00,0.000,4,0.000,0.055,3164,402,1183,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2333,0.90,175.9,87.1,9.3,215,2340,0.00,2.17,0.00,0.000,6,0.000,0.035,3164,1809,1182,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2458,0.90,175.9,74.5,11.3,228,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1809,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2578,0.90,175.9,59.5,11.5,240,2582,0.00,2.28,0.00,0.000,4,0.000,0.055,3175,388,1182,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2613,0.90,175.9,56.0,11.8,243,2621,0.10,2.17,0.00,0.000,6,0.149,0.035,3145,1803,1182,0,0,0,0,0,0,25.80,25.91,28.83
$GC,2738,0.90,175.9,42.7,9.3,263,2745,0.00,2.17,0.00,0.000,4,0.000,0.048,3144,3194,1182,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2844,0.94,212.2,33.1,7.3,284,2879,0.00,2.15,28.95,0.540,6,0.000,0.032,3153,1795,1038,0,0,0,0,0,0,28.83,25.96,25.18
$GC,2938,1.02,270.4,26.4,6.6,302,2990,0.00,2.33,46.28,0.529,4,0.000,0.055,3163,389,801,0,0,0,0,0,0,28.83,25.22,24.83
$GC,3038,1.02,270.4,16.3,11.7,321,3045,0.00,2.22,0.00,0.000,6,0.000,0.036,3164,1801,800,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3104,1.21,432.2,11.4,3.2,334,3161,0.22,2.30,50.95,0.516,4,0.062,0.055,3267,386,548,0,0,0,0,0,0,25.53,25.08,24.70
$STATE,3194,end climb,SURFACE_DEPTH_REACHED
$STATE,3195,begin surface coast
$FINISH,1.0,1.012340
$STATE,3219,end surface coast,CONTROL_FINISHED_OK
$STATE,3219,begin surface
$SM_CCo,3294,0.00,0.000,0,0,546,333.60
$SM_GC,2.06,8.62,2.47,0.00,0.037,0.037,0.000,131,1951,546,-8.44,-1.30,333.60,0,0,0,0,0,0,25.35,25.32,28.83
$IRIDIUM_FIX,4751.72,-12340.51,150414,232312
$TT8_MAMPS,0.050183,0.050183
$HUMID,32.87
$INTERNAL_PRESSURE,8.85996
$TCM_TEMP,18.80
$24V_AH,24.2,1.226
$10V_AH,10.5,0.711
$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,20.900,35.950,404.875,0.000,0.000,29.438,34.898,183.772,0.000,665.500,40.009,0.000,2077.561,430.260,1155.244,30.301,33.208,815.235,0.000,626.111,0.000,0.000,0.000
$DEVICE_MAMPS,247.095,68.850,622.710,0.000,0.000,60.440,160.000,223.000,0.000,41.393,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,238.085,0.000,0.000,0.000,0.000,0.000,665.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.363,0.000,0.000,0.000
$MEM,197928
$DATA_FILE_SIZE,10141,356
$CAP_FILE_SIZE,51089,0
$CFSIZE,260034560,257699840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,004547,4743.475,-12224.735,2,1.0,36,16.3