version: 66.10
glider: 161
mission: 4
dive: 20
start: 4 16 114 12 43 49
data:
$ID,161
$MISSION,4
$DIVE,20
$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,-2888.585
$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,41
$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
$GPS1,160414,122800,4742.947,-12224.710,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.6
$GPS2,160414,124307,4743.071,-12224.584,4,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.047,0.261
$KALMAN_X,622.0,92.2,-106.5,-945.5,-135.9
$KALMAN_Y,-1481.6,738.2,-505.2,1652.2,-249.5
$MHEAD_RNG_PITCHd_Wd,353.8,1724,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.87,-175.9,0.0,0.0,0,58,0.00,0.00,-41.55,0.000,2,0.000,0.000,141,1869,1791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.87,-175.9,3.3,-8.1,6,95,11.07,2.20,-15.98,0.000,4,0.259,0.074,2741,3252,2642,0,0,0,0,0,0,25.38,25.58,25.69
$GC,115,-0.87,-175.9,16.9,-20.8,15,122,0.00,2.12,0.00,0.000,6,0.000,0.035,2742,1845,2643,0,0,0,0,0,0,28.83,25.64,28.83
$GC,181,-0.87,-175.9,28.4,-15.5,28,189,0.00,2.20,0.00,0.000,4,0.000,0.051,2742,460,2643,0,0,0,0,0,0,28.83,25.65,28.83
$GC,563,-0.87,-175.9,87.0,-13.9,79,567,0.00,2.15,0.00,0.000,6,0.000,0.037,2731,1857,2643,0,0,0,0,0,0,28.83,25.86,28.83
$GC,693,-0.87,-175.9,105.4,-15.5,91,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1857,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.87,-175.9,145.6,-14.5,111,997,0.00,2.20,0.00,0.000,4,0.000,0.051,2731,459,2642,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1042,-0.87,-175.9,152.3,-15.0,114,1047,0.08,2.15,0.00,0.000,6,0.151,0.037,2745,1851,2642,0,0,0,0,0,0,25.80,25.91,28.83
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1142,begin apogee
$GC,1145,-0.34,0.0,165.8,-12.6,121,1296,0.55,0.00,141.70,0.565,6,0.142,0.000,2918,1741,1919,0,0,0,0,0,0,25.84,28.83,24.37
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1298,0.87,175.9,173.0,0.0,131,1446,1.25,0.00,139.85,0.547,6,0.114,0.000,3309,1741,1203,0,0,0,0,0,0,24.82,28.83,24.26
$GC,1743,0.87,175.9,136.9,9.5,161,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1741,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,0.87,175.9,110.0,8.7,181,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1741,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,0.87,175.9,86.4,8.6,207,2347,0.00,2.20,0.00,0.000,4,0.000,0.055,3319,356,1199,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2387,0.87,175.9,82.7,9.1,211,2396,0.00,2.15,0.00,0.000,6,0.000,0.035,3319,1762,1203,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2513,0.87,175.9,71.5,9.5,224,2517,0.00,2.25,0.00,0.000,4,0.000,0.054,3329,350,1200,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2537,0.87,175.9,69.7,9.1,226,2546,0.00,2.15,0.00,0.000,6,0.000,0.035,3330,1757,1200,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2663,0.87,175.9,57.3,9.6,239,2667,0.00,2.22,0.00,0.000,4,0.000,0.054,3340,362,1200,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2773,0.87,175.9,46.1,9.1,254,2781,0.00,2.12,0.00,0.000,6,0.000,0.036,3340,1751,1199,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2840,0.87,175.9,40.1,9.4,267,2848,0.00,2.17,0.00,0.000,4,0.000,0.052,3340,3140,1199,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2917,0.87,175.9,33.1,9.0,282,2925,0.10,2.10,0.00,0.000,6,0.135,0.035,3318,1764,1199,0,0,0,0,0,0,25.84,25.95,28.83
$GC,2985,0.93,228.6,28.3,6.7,295,3033,0.00,2.30,42.28,0.483,4,0.000,0.054,3327,349,988,0,0,0,0,0,0,28.83,25.49,25.11
$GC,3077,0.93,228.6,21.2,8.5,311,3085,0.00,2.17,0.00,0.000,6,0.000,0.035,3327,1752,987,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3144,0.93,228.6,14.4,11.5,324,3152,0.00,2.28,0.00,0.000,4,0.000,0.054,3336,345,987,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3331,1.07,344.1,3.2,4.7,361,3348,0.10,2.15,11.93,0.444,2,0.069,0.035,3379,1750,934,0,0,0,0,0,0,25.77,25.79,28.83
$STATE,3348,end climb,SURFACE_DEPTH_REACHED
$STATE,3348,begin surface coast
$FINISH,0.4,1.012071
$STATE,3417,end surface coast,CONTROL_FINISHED_OK
$STATE,3417,begin surface
$SM_CCo,3433,71.70,0.411,1,0,615,320.11
$SM_GC,1.42,8.77,0.15,71.70,0.047,0.082,0.411,143,1868,615,-8.97,-1.24,320.11,0,0,0,0,1,0,25.75,25.75,24.86
$IRIDIUM_FIX,4751.72,-12340.51,160414,111125
$TT8_MAMPS,0.099617,0.099617
$HUMID,34.80
$INTERNAL_PRESSURE,8.76466
$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,3.4/516052/498712
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.9/436550/423903
$24V_AH,24.3,2.480
$10V_AH,10.3,1.476
$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,21.925,39.600,335.750,71.700,0.000,26.108,36.862,443.920,0.000,4493.900,40.797,0.000,1985.548,465.030,1780.229,83.309,33.207,873.072,0.000,648.678,0.000,0.000,0.000
$DEVICE_MAMPS,258.570,82.620,565.335,410.805,0.000,61.970,160.000,223.000,0.000,39.656,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,254.164,0.000,0.000,0.000,0.000,0.000,4493.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.255,0.000,0.000,0.000
$MEM,197876
$DATA_FILE_SIZE,13463,377
$CAP_FILE_SIZE,79514,0
$CFSIZE,260034560,257085440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,134313,4743.357,-12224.529,3,0.9,37,16.3