version: 66.10
glider: 161
mission: 4
dive: 5
start: 4 15 114 20 23 13
data:
$ID,161
$MISSION,4
$DIVE,5
$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,290
$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,-2869.0874
$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,25
$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
$GPS1,150414,201524,4743.519,-12224.188,3,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.4
$GPS2,150414,202231,4743.524,-12224.149,4,1.0,39,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,HEADING
$TGT_LATLONG,4747.218,-12239.253
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.102
$KALMAN_X,547.2,254.0,198.4,-795.6,79.4
$KALMAN_Y,184.0,164.0,136.5,762.6,-41.8
$MHEAD_RNG_PITCHd_Wd,274.9,20000,-15.8,-10.000
$D_GRID,98
$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,-175.9,0.0,0.0,0,58,0.00,0.00,-41.28,0.000,2,0.000,0.000,146,1808,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.97,-175.9,3.4,-7.5,6,93,10.73,2.30,-14.40,0.000,4,0.254,0.074,2732,388,2642,0,0,0,0,0,0,25.58,25.79,25.89
$GC,217,-0.97,-175.9,36.4,-17.7,36,225,0.00,2.17,0.00,0.000,6,0.000,0.041,2723,1785,2642,0,0,0,0,0,0,28.83,25.87,28.83
$GC,284,-0.97,-175.9,48.4,-17.9,49,292,0.00,2.25,0.00,0.000,4,0.000,0.061,2712,3201,2642,0,0,0,0,0,0,28.83,25.89,28.83
$GC,316,-0.97,-175.9,53.5,-15.8,53,320,0.00,2.17,0.00,0.000,6,0.000,0.037,2712,1788,2642,0,0,0,0,0,0,28.83,25.94,28.83
$GC,446,-0.97,-175.9,74.1,-16.0,66,450,0.00,2.20,0.00,0.000,4,0.000,0.056,2712,396,2642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,540,-0.97,-175.9,89.4,-17.4,75,549,0.10,2.17,0.00,0.000,6,0.148,0.041,2734,1802,2642,0,0,0,0,0,0,25.89,25.98,28.83
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,597,-0.33,0.0,98.4,-14.6,81,742,0.65,0.00,140.38,0.542,6,0.138,0.000,2938,1802,1921,0,0,0,0,0,0,25.92,28.83,24.60
$STATE,743,end apogee,CONTROL_FINISHED_OK
$STATE,743,begin climb
$GC,744,0.97,175.9,103.7,0.0,91,890,1.30,2.33,137.77,0.523,4,0.102,0.056,3357,3202,1203,0,0,0,0,0,0,25.01,24.87,24.54
$GC,924,0.97,175.9,92.2,11.9,105,932,0.00,2.22,0.00,0.000,6,0.000,0.037,3367,1793,1202,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1049,0.97,175.9,76.5,11.6,118,1053,0.00,2.25,0.00,0.000,4,0.000,0.057,3378,393,1201,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1209,0.97,175.9,56.9,12.7,134,1213,0.00,2.17,0.00,0.000,6,0.000,0.038,3378,1801,1200,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1334,0.97,175.9,42.7,10.7,153,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1802,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1394,0.97,175.9,36.5,11.1,165,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1802,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,0.97,176.0,30.1,10.0,177,1462,0.00,2.22,0.00,0.000,4,0.000,0.057,3371,3210,1200,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1491,0.98,184.3,26.2,9.7,184,1506,0.00,2.17,7.78,0.432,6,0.000,0.037,3379,1794,1169,0,0,0,0,0,0,28.83,25.98,25.46
$GC,1565,0.98,184.3,18.0,11.7,198,1573,0.00,2.22,0.00,0.000,4,0.000,0.057,3390,392,1168,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1617,0.99,190.9,12.6,9.8,208,1631,0.00,2.17,7.03,0.423,6,0.000,0.037,3386,1804,1142,0,0,0,0,0,0,28.83,25.96,25.44
$GC,1690,1.18,346.8,8.9,4.0,222,1778,0.12,0.00,84.28,0.483,2,0.104,0.000,3443,1804,705,0,0,0,0,0,0,25.92,28.83,28.83
$STATE,1778,end climb,SURFACE_DEPTH_REACHED
$STATE,1778,begin surface coast
$FINISH,0.4,1.019957
$STATE,1807,end surface coast,CONTROL_FINISHED_OK
$STATE,1807,begin surface
$SM_CCo,1822,25.95,0.323,1,0,616,320.11
$SM_GC,1.66,9.05,0.00,25.95,0.045,0.000,0.323,148,1808,616,-9.02,0.23,320.11,0,0,0,0,1,0,24.79,28.83,24.96
$IRIDIUM_FIX,4751.72,-12340.51,150414,191917
$TT8_MAMPS,0.096621,0.096621
$HUMID,37.00
$INTERNAL_PRESSURE,8.80372
$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,24
$MI_LOG,3.4/516052/498731
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.5/436550/425654
$24V_AH,24.5,0.815
$10V_AH,10.3,0.476
$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,21.950,31.050,377.225,25.950,0.000,33.785,67.513,123.300,0.000,2382.700,40.988,0.000,758.251,432.819,998.590,28.687,33.198,742.152,0.000,434.195,0.000,0.000,0.000
$DEVICE_MAMPS,253.980,74.205,542.385,322.830,0.000,61.970,160.000,223.000,0.000,38.805,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,159.792,0.000,0.000,0.000,0.000,0.000,2382.710,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.799,0.000,0.000,0.000
$MEM,198028
$DATA_FILE_SIZE,6830,241
$CAP_FILE_SIZE,41098,0
$CFSIZE,260034560,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,205510,4743.434,-12224.526,13,1.1,47,16.3