version: 66.10
glider: 161
mission: 4
dive: 18
start: 4 16 114 10 21 26
data:
$ID,161
$MISSION,4
$DIVE,18
$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,-2886.074
$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,39
$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
$GPS1,160414,100516,4743.208,-12224.580,11,1.0,45,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.5
$GPS2,160414,102044,4743.202,-12224.471,5,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.004,-0.156
$KALMAN_X,641.8,-70.8,323.2,-1091.4,-51.2
$KALMAN_Y,-1497.2,538.5,375.0,1231.5,-324.3
$MHEAD_RNG_PITCHd_Wd,162.3,929,-25.4,-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,14,begin dive
$GC,15,-1.31,-55.2,0.0,0.0,0,59,0.00,0.00,-42.08,0.000,2,0.000,0.000,137,1871,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.31,-55.2,3.9,-9.5,6,81,10.57,2.17,-3.67,0.000,4,0.262,0.063,2598,3264,2151,0,0,0,0,0,0,25.38,25.56,25.69
$GC,196,-1.31,-55.2,32.6,-14.6,32,204,0.00,2.17,0.00,0.000,6,0.000,0.034,2598,1846,2152,0,0,0,0,0,0,28.83,25.71,28.83
$GC,263,-1.31,-55.2,43.5,-17.6,45,271,0.00,2.17,0.00,0.000,4,0.000,0.050,2598,465,2151,0,0,0,0,0,0,28.83,25.73,28.83
$GC,339,-1.31,-55.2,55.5,-15.5,56,348,0.00,2.15,0.00,0.000,6,0.000,0.037,2588,1857,2151,0,0,0,0,0,0,28.83,25.76,28.83
$GC,465,-1.31,-55.2,76.7,-15.7,69,468,0.00,2.20,0.00,0.000,4,0.000,0.050,2587,463,2151,0,0,0,0,0,0,28.83,25.80,28.83
$GC,485,-1.31,-55.2,80.3,-16.6,71,489,0.10,2.15,0.00,0.000,6,0.175,0.037,2606,1855,2150,0,0,0,0,0,0,25.70,25.81,28.83
$GC,615,-1.31,-55.2,100.4,-14.9,84,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1856,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-1.31,-55.2,149.6,-16.4,104,918,0.00,2.20,0.00,0.000,4,0.000,0.051,2606,462,2150,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,1019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1019,begin apogee
$GC,1023,-0.34,0.0,166.1,-16.0,111,1075,1.05,0.00,48.25,0.564,6,0.160,0.000,2914,1768,1921,0,0,0,0,0,0,25.79,28.83,24.90
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1076,1.31,55.2,169.5,0.0,114,1129,1.62,2.20,46.22,0.552,4,0.112,0.050,3445,3146,1696,0,0,0,0,0,0,25.32,25.01,24.56
$GC,1319,1.36,100.3,161.6,3.8,130,1363,0.00,2.15,37.22,0.549,6,0.000,0.034,3456,1754,1510,0,0,0,0,0,0,28.83,25.58,24.74
$GC,1660,1.36,100.3,129.6,10.4,153,1663,0.00,2.22,0.00,0.000,4,0.000,0.053,3467,356,1508,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1944,1.36,100.3,98.5,11.5,172,1953,0.00,2.15,0.00,0.000,6,0.000,0.034,3467,1751,1507,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2070,1.36,100.3,85.0,10.2,185,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1751,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2190,1.36,100.3,73.5,8.8,197,2193,0.00,2.17,0.00,0.000,4,0.000,0.053,3467,3143,1507,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2200,1.36,100.3,72.6,8.9,198,2203,0.00,2.12,0.00,0.000,6,0.000,0.034,3476,1754,1507,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2330,1.37,104.3,61.1,8.1,211,2335,0.00,0.00,4.32,0.369,6,0.000,0.000,3476,1754,1495,0,0,0,0,0,0,28.83,28.83,25.39
$GC,2450,1.37,108.5,51.9,8.0,223,2463,0.00,2.20,5.28,0.399,4,0.000,0.053,3476,3153,1480,0,0,0,0,0,0,28.83,25.81,25.37
$GC,2632,1.40,126.2,35.9,6.6,257,2654,0.00,2.15,15.55,0.476,6,0.000,0.034,3486,1750,1405,0,0,0,0,0,0,28.83,25.91,25.29
$GC,2713,1.40,126.2,28.9,10.1,272,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1750,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2780,1.40,126.2,21.4,11.5,285,2787,0.00,2.17,0.00,0.000,4,0.000,0.052,3497,340,1403,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2801,1.40,126.2,18.8,11.5,289,2809,0.00,2.17,0.00,0.000,6,0.000,0.035,3496,1756,1404,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2868,1.41,136.9,13.3,7.4,302,2884,0.00,2.20,9.73,0.444,4,0.000,0.052,3495,3144,1362,0,0,0,0,0,0,28.83,25.71,25.29
$GC,2913,1.43,153.3,10.4,6.8,310,2934,0.00,2.15,14.65,0.455,6,0.000,0.034,3503,1739,1295,0,0,0,0,0,0,28.83,25.74,25.20
$GC,2994,1.53,235.2,7.1,0.0,325,3069,0.00,2.30,65.68,0.467,4,0.000,0.050,3503,3143,960,0,0,0,0,0,0,28.83,25.15,24.78
$STATE,3172,end climb,SURFACE_DEPTH_REACHED
$STATE,3172,begin surface coast
$FINISH,0.4,1.009268
$STATE,3218,end surface coast,CONTROL_FINISHED_OK
$STATE,3218,begin surface
$SM_CCo,3236,81.95,0.405,2,0,616,320.11
$SM_GC,1.18,9.23,2.00,81.95,0.047,0.034,0.405,140,1857,616,-8.99,1.02,320.11,0,0,0,0,2,0,25.56,25.56,24.71
$IRIDIUM_FIX,4751.72,-12340.51,160414,101011
$TT8_MAMPS,0.096621,0.096621
$HUMID,35.15
$INTERNAL_PRESSURE,8.77442
$TCM_TEMP,20.10
$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,3.4/516052/498717
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.9/436550/424028
$24V_AH,24.6,2.198
$10V_AH,10.3,1.302
$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,22.575,47.600,246.900,81.950,0.000,28.331,38.640,456.085,0.000,4293.700,40.485,0.000,1832.952,397.812,1833.219,82.916,33.209,815.470,0.000,684.114,0.000,0.000,0.000
$DEVICE_MAMPS,261.630,63.495,563.805,404.685,0.000,61.970,160.000,223.000,0.000,39.885,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,247.036,0.000,0.000,0.000,0.000,0.000,4293.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.208,0.000,0.000,0.000
$MEM,197908
$DATA_FILE_SIZE,10131,366
$CAP_FILE_SIZE,84441,0
$CFSIZE,260034560,257159168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,111749,4742.723,-12224.642,3,1.0,38,16.3