version: 66.10
glider: 161
mission: 4
dive: 16
start: 4 16 114 8 0 5
data:
$ID,161
$MISSION,4
$DIVE,16
$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,-2883.2009
$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,38
$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,1
$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
$GPS1,160414,074341,4744.174,-12224.512,3,1.0,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.3
$GPS2,160414,075923,4744.305,-12224.413,4,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.059,-0.222
$KALMAN_X,424.5,-190.6,412.6,-771.8,119.8
$KALMAN_Y,-1240.6,54.1,739.4,3138.9,296.8
$MHEAD_RNG_PITCHd_Wd,178.5,575,-16.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.95,-125.6,0.0,0.0,0,58,0.00,0.00,-41.80,0.000,2,0.000,0.000,140,1857,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.95,-125.6,3.7,-9.1,6,88,11.02,2.17,-9.38,0.000,4,0.259,0.060,2723,456,2437,0,0,0,0,0,0,25.38,25.56,25.67
$GC,92,-0.95,-125.6,14.1,-27.6,11,100,0.00,2.20,0.00,0.000,6,0.000,0.039,2714,1862,2437,0,0,0,0,0,0,28.83,25.59,28.83
$GC,159,-0.95,-125.6,28.3,-16.7,24,166,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1862,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,225,-0.95,-125.6,38.0,-14.3,37,233,0.00,2.25,0.00,0.000,4,0.000,0.052,2714,450,2437,0,0,0,0,0,0,28.83,25.67,28.83
$GC,287,-0.95,-125.6,48.2,-16.7,49,295,0.00,2.20,0.00,0.000,6,0.000,0.039,2703,1866,2439,0,0,0,0,0,0,28.83,25.75,28.83
$GC,354,-0.95,-125.6,58.9,-16.3,57,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1866,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,474,-0.95,-125.6,76.5,-13.9,69,478,0.00,2.22,0.00,0.000,4,0.000,0.050,2704,459,2439,0,0,0,0,0,0,28.83,25.81,28.83
$GC,604,-0.95,-125.6,97.5,-17.5,82,608,0.10,2.17,0.00,0.000,6,0.150,0.039,2724,1866,2439,0,0,0,0,0,0,25.76,25.86,28.83
$GC,729,-0.95,-125.6,114.7,-13.3,91,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1866,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1029,-0.95,-125.6,152.5,-13.0,111,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1866,2437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1136,-0.34,0.0,165.6,-12.9,118,1243,0.62,0.00,103.12,0.566,6,0.141,0.000,2921,1729,1920,0,0,0,0,0,0,25.84,28.83,24.53
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,0.95,125.6,170.7,0.0,125,1353,1.33,2.38,101.12,0.548,4,0.110,0.051,3339,3158,1408,0,0,0,0,0,0,24.94,24.74,24.31
$GC,1389,0.96,136.6,163.4,8.0,135,1407,0.00,2.17,10.23,0.487,6,0.000,0.034,3350,1759,1362,0,0,0,0,0,0,28.83,25.08,24.58
$GC,1704,0.96,136.6,130.9,10.7,156,1708,0.00,2.22,0.00,0.000,4,0.000,0.054,3360,336,1361,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1753,0.96,136.6,126.2,10.6,159,1758,0.00,2.20,0.00,0.000,6,0.000,0.035,3361,1762,1361,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2064,0.96,136.6,93.5,9.7,182,2067,0.00,2.15,0.00,0.000,4,0.000,0.053,3361,3136,1360,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2184,0.96,136.6,81.1,10.6,194,2188,0.00,2.12,0.00,0.000,6,0.000,0.035,3370,1754,1360,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2314,0.96,136.6,68.6,9.0,207,2318,0.00,2.22,0.00,0.000,4,0.000,0.054,3381,349,1360,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2388,0.96,136.6,61.6,10.0,214,2397,0.10,2.15,0.00,0.000,6,0.147,0.035,3350,1759,1360,0,0,0,0,0,0,25.83,25.91,28.83
$GC,2514,0.96,136.6,49.1,8.8,227,2522,0.00,2.22,0.00,0.000,4,0.000,0.054,3359,356,1360,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2656,0.96,136.6,35.8,8.9,255,2664,0.00,2.12,0.00,0.000,6,0.000,0.035,3359,1749,1360,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2723,0.96,136.6,29.9,8.5,268,2731,0.00,2.22,0.00,0.000,4,0.000,0.054,3370,349,1360,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2830,0.96,136.6,20.2,8.9,289,2838,0.00,2.15,0.00,0.000,6,0.000,0.035,3369,1754,1360,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2897,1.03,194.7,15.7,5.8,302,2952,0.00,2.17,46.42,0.475,4,0.000,0.053,3369,3143,1126,0,0,0,0,0,0,28.83,25.47,25.10
$GC,2982,1.07,227.5,10.3,7.0,316,3016,0.00,2.17,27.12,0.460,6,0.000,0.034,3379,1746,992,0,0,0,0,0,0,28.83,25.58,24.96
$GC,3076,1.15,288.6,4.6,5.7,333,3104,0.00,0.00,27.10,0.454,2,0.000,0.000,3379,1745,860,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3105,end climb,SURFACE_DEPTH_REACHED
$STATE,3105,begin surface coast
$FINISH,0.3,1.012536
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3144,begin surface
$SM_CCo,3160,55.95,0.382,2,0,618,320.11
$SM_GC,1.69,8.80,0.17,55.95,0.040,0.075,0.382,136,1867,618,-8.99,-1.19,320.11,0,0,0,0,2,0,25.44,25.42,24.76
$IRIDIUM_FIX,4751.72,-12340.51,160414,070743
$TT8_MAMPS,0.098868,0.098868
$HUMID,34.32
$INTERNAL_PRESSURE,8.75489
$TCM_TEMP,20.00
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,26
$MI_LOG,3.4/516052/498722
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.8/436550/424152
$24V_AH,24.3,1.939
$10V_AH,10.3,1.130
$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,21.975,44.275,315.125,55.950,0.000,35.464,43.964,456.796,0.000,4255.000,40.595,0.000,1811.023,435.817,1729.757,83.007,33.207,823.774,0.000,595.078,0.000,0.000,0.000
$DEVICE_MAMPS,259.335,75.735,566.100,381.735,0.000,61.970,160.000,223.000,0.000,39.869,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,231.951,0.000,0.000,0.000,0.000,0.000,4255.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.163,0.000,0.000,0.000
$MEM,197884
$DATA_FILE_SIZE,10128,345
$CAP_FILE_SIZE,79855,0
$CFSIZE,260034560,257241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,085445,4743.810,-12224.524,3,0.7,37,16.3