version: 66.10
glider: 161
mission: 4
dive: 11
start: 4 16 114 2 23 30
data:
$ID,161
$MISSION,4
$DIVE,11
$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,-2876.8179
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,160414,021553,4743.630,-12225.029,3,0.8,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.8
$GPS2,160414,022248,4743.684,-12224.897,5,0.8,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.147,0.221
$KALMAN_X,-161.1,-29.9,-360.1,-181.7,-133.6
$KALMAN_Y,-2855.2,-410.5,-349.6,5149.9,-345.3
$MHEAD_RNG_PITCHd_Wd,17.2,766,-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,-34.95,0.000,2,0.000,0.000,139,1870,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-0.87,-175.9,3.2,-7.9,6,84,11.02,2.30,-19.75,0.000,4,0.257,0.067,2748,448,2641,0,0,0,0,0,0,25.44,25.64,25.77
$GC,468,-0.87,-175.9,72.8,-15.7,75,475,0.00,2.17,0.00,0.000,6,0.000,0.040,2739,1858,2642,0,0,0,0,0,0,28.83,25.92,28.83
$GC,593,-0.87,-175.9,92.3,-14.5,88,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1858,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.87,-175.9,109.0,-13.9,98,717,0.00,2.22,0.00,0.000,4,0.000,0.052,2739,450,2642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,743,-0.87,-175.9,113.4,-14.3,100,747,0.00,2.17,0.00,0.000,6,0.000,0.039,2729,1860,2642,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1058,-0.87,-175.9,159.7,-14.6,121,1062,0.00,2.22,0.00,0.000,4,0.000,0.052,2729,447,2642,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1088,-0.87,-175.9,164.0,-14.3,123,1093,0.10,2.17,0.00,0.000,6,0.142,0.038,2751,1863,2642,0,0,0,0,0,0,25.94,26.03,28.83
$STATE,1102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1105,-0.34,0.0,166.2,-14.3,124,1255,0.52,0.00,141.85,0.579,6,0.138,0.000,2917,1732,1920,0,0,0,0,0,0,25.94,28.83,24.43
$STATE,1256,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1257,0.87,175.9,172.5,0.0,134,1405,1.23,0.00,139.57,0.555,6,0.121,0.000,3302,1733,1201,0,0,0,0,0,0,24.87,28.83,24.33
$GC,1703,0.87,175.9,137.4,10.8,164,1707,0.00,2.28,0.00,0.000,4,0.000,0.055,3302,3152,1199,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1743,0.87,175.9,134.0,11.2,166,1750,0.00,2.15,0.00,0.000,6,0.000,0.036,3312,1765,1199,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2049,0.87,181.9,103.2,8.3,187,2058,0.00,2.22,5.85,0.428,4,0.000,0.057,3323,346,1179,0,0,0,0,0,0,28.83,25.84,25.39
$GC,2169,0.88,188.7,94.7,8.2,196,2180,0.00,2.17,7.38,0.454,6,0.000,0.037,3323,1763,1151,0,0,0,0,0,0,28.83,25.92,25.37
$GC,2298,0.88,188.7,80.9,11.3,209,2302,0.00,2.28,0.00,0.000,4,0.000,0.056,3333,337,1150,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2368,0.88,188.7,72.0,13.1,216,2373,0.00,2.17,0.00,0.000,6,0.000,0.037,3333,1752,1150,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2498,0.88,188.7,56.3,11.3,229,2502,0.00,2.17,0.00,0.000,4,0.000,0.053,3333,3146,1150,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2578,0.88,188.7,48.2,9.4,238,2585,0.00,2.15,0.00,0.000,6,0.000,0.036,3343,1743,1149,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2644,0.91,209.8,42.5,7.8,251,2668,0.00,2.20,18.35,0.487,4,0.000,0.054,3353,334,1063,0,0,0,0,0,0,28.83,25.77,25.37
$GC,2816,0.91,209.8,24.5,12.8,285,2824,0.00,2.17,0.00,0.000,6,0.000,0.036,3353,1750,1062,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2882,0.91,209.8,15.7,12.1,298,2890,0.00,2.17,0.00,0.000,4,0.000,0.053,3353,3141,1063,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3053,1.11,370.8,6.5,3.2,332,3144,0.00,2.12,85.78,0.476,2,0.000,0.036,3362,1748,626,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,3144,end climb,SURFACE_DEPTH_REACHED
$STATE,3144,begin surface coast
$FINISH,0.4,1.009469
$STATE,3187,end surface coast,CONTROL_FINISHED_OK
$STATE,3187,begin surface
$SM_CCo,3200,3.72,0.069,0,0,616,320.11
$SM_GC,2.59,8.85,0.17,3.72,0.046,0.080,0.069,138,1851,616,-8.99,-1.13,320.11,0,0,0,0,0,0,25.43,25.39,25.41
$IRIDIUM_FIX,4751.72,-12340.51,160414,010128
$TT8_MAMPS,0.053179,0.053179
$HUMID,36.13
$INTERNAL_PRESSURE,8.77442
$TCM_TEMP,19.90
$24V_AH,24.3,1.406
$10V_AH,10.5,0.787
$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,21.725,39.900,398.775,3.725,0.000,34.044,48.047,154.342,0.000,0.000,40.631,0.000,1958.590,412.446,1125.507,35.665,33.208,825.165,0.000,662.780,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,80.325,579.105,68.850,0.000,61.970,160.000,223.000,0.000,0.000,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,239.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,197908
$DATA_FILE_SIZE,10128,357
$CAP_FILE_SIZE,51368,0
$CFSIZE,260034560,257437696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,031801,4744.117,-12224.541,18,0.8,52,16.3