version: 66.10
glider: 161
mission: 4
dive: 2
start: 4 15 114 18 30 54
data:
$ID,161
$MISSION,4
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$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,-7
$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,-2786.9331
$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,3052
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,37
$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
$GPS1,150414,181232,4743.184,-12224.006,2,0.9,36,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.3
$GPS2,150414,182948,4743.265,-12223.865,4,1.4,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.277,0.051
$KALMAN_X,142.2,142.2,142.2,116.6,186.9
$KALMAN_Y,129.2,129.2,129.2,361.8,169.8
$MHEAD_RNG_PITCHd_Wd,264.2,1575,-15.8,-10.000
$D_GRID,57
$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,-0.97,-175.9,0.0,0.0,0,64,0.00,0.00,-46.88,0.000,2,0.000,0.000,143,1818,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.97,-175.9,3.1,-6.0,7,99,10.57,2.30,-13.35,0.000,4,0.250,0.074,2732,386,2643,0,0,0,0,0,0,25.70,25.89,26.06
$GC,163,-0.97,-175.9,23.9,-17.6,25,171,0.00,2.17,0.00,0.000,6,0.000,0.041,2722,1787,2642,0,0,0,0,0,0,28.83,25.94,28.83
$GC,230,-0.97,-175.9,34.2,-15.4,38,237,0.00,2.22,0.00,0.000,4,0.000,0.058,2723,393,2642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,286,-0.97,-175.9,43.4,-16.5,49,294,0.00,2.17,0.00,0.000,6,0.000,0.041,2713,1797,2641,0,0,0,0,0,0,28.83,26.00,28.83
$GC,358,-0.97,-175.9,55.8,-17.9,60,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1797,2642,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,367,begin apogee
$GC,370,-0.33,0.0,57.5,-17.8,61,514,0.73,0.00,138.70,0.528,6,0.139,0.000,2939,1797,1921,0,0,0,0,0,0,25.91,28.83,24.73
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,516,0.97,175.9,66.0,0.0,75,661,1.27,0.00,135.75,0.505,6,0.103,0.000,3357,1797,1203,0,0,0,0,0,0,25.18,28.83,24.68
$GC,778,0.97,175.9,45.3,10.8,106,785,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1797,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,0.97,175.9,38.2,10.7,119,844,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1798,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,0.97,175.9,31.9,10.3,131,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1798,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,964,0.97,175.9,25.8,10.6,143,971,0.00,2.25,0.00,0.000,4,0.000,0.060,3368,395,1201,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1135,1.07,262.3,9.5,6.7,177,1208,0.00,2.17,67.05,0.485,6,0.000,0.038,3367,1804,852,0,0,0,0,0,0,28.83,25.99,25.05
$STATE,1246,end climb,SURFACE_DEPTH_REACHED
$STATE,1246,begin surface coast
$FINISH,0.4,1.010983
$STATE,1281,end surface coast,CONTROL_FINISHED_OK
$STATE,1281,begin surface
$SM_CCo,1298,50.85,0.405,1,0,616,320.11
$SM_GC,1.84,8.73,0.00,50.85,0.045,0.000,0.405,148,1807,616,-9.02,0.20,320.11,0,0,0,0,1,0,25.70,28.83,25.01
$IRIDIUM_FIX,4751.72,-12340.51,150414,181808
$TT8_MAMPS,0.09737,0.09737
$HUMID,35.82
$INTERNAL_PRESSURE,8.82325
$TCM_TEMP,20.30
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,24
$MI_LOG,3.4/516052/498733
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.2/436550/426762
$24V_AH,24.7,0.521
$10V_AH,10.5,0.319
$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,21.300,13.300,341.500,50.850,0.000,0.000,0.000,0.000,0.000,1462.500,39.281,0.000,451.078,394.961,568.372,36.330,30.062,656.865,0.000,339.679,0.000,0.000,0.000
$DEVICE_MAMPS,250.155,74.205,527.850,404.685,0.000,0.000,0.000,0.000,0.000,39.488,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,133.327,0.000,0.000,0.000,0.000,0.000,1462.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.899,0.000,0.000,0.000
$MEM,198124
$DATA_FILE_SIZE,6817,203
$CAP_FILE_SIZE,179323,0
$CFSIZE,260034560,257581056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,185420,4743.334,-12224.026,2,1.5,36,16.3