version: 66.10
glider: 161
mission: 4
dive: 6
start: 4 15 114 21 2 48
data:
$ID,161
$MISSION,4
$DIVE,6
$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,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,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,-2870.3442
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,150414,205510,4743.434,-12224.526,13,1.1,47,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.2
$GPS2,150414,210206,4743.417,-12224.506,4,1.0,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,HEADING
$TGT_LATLONG,4747.110,-12239.609
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.224,0.172
$KALMAN_X,599.6,281.4,189.3,-1311.3,11.9
$KALMAN_Y,-69.3,104.2,77.8,938.4,-276.3
$MHEAD_RNG_PITCHd_Wd,291.2,20000,-15.8,-10.000
$D_GRID,150
$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,14,-0.97,-175.9,0.0,0.0,0,57,0.00,0.00,-41.28,0.000,2,0.000,0.000,147,1809,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.97,-175.9,3.2,-6.2,6,93,10.75,2.25,-14.98,0.000,4,0.254,0.073,2736,392,2642,0,0,0,0,0,0,25.53,25.72,25.85
$GC,222,-0.97,-175.9,34.2,-16.9,37,230,0.00,2.20,0.00,0.000,6,0.000,0.041,2726,1802,2642,0,0,0,0,0,0,28.83,25.85,28.83
$GC,289,-0.97,-175.9,44.9,-17.0,50,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1802,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,354,-0.97,-175.9,55.6,-16.3,60,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1802,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,474,-0.97,-175.9,73.8,-15.1,72,478,0.00,2.22,0.00,0.000,4,0.000,0.054,2727,397,2643,0,0,0,0,0,0,28.83,25.94,28.83
$GC,498,-0.97,-175.9,77.0,-15.4,74,507,0.00,2.17,0.00,0.000,6,0.000,0.040,2716,1804,2642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,624,-0.97,-175.9,95.9,-14.6,87,628,0.00,2.22,0.00,0.000,4,0.000,0.054,2716,396,2642,0,0,0,0,0,0,28.83,25.98,28.83
$GC,648,-0.97,-175.9,99.0,-15.0,89,657,0.10,2.17,0.00,0.000,6,0.145,0.038,2738,1806,2642,0,0,0,0,0,0,25.88,25.97,28.83
$GC,774,-0.97,-175.9,116.9,-13.5,98,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1806,2642,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1031,-0.33,0.0,152.0,-13.0,115,1182,0.62,0.00,141.43,0.578,6,0.138,0.000,2936,1807,1920,0,0,0,0,0,0,25.94,28.83,24.51
$STATE,1183,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1184,0.97,175.9,158.2,0.0,125,1333,1.27,2.33,138.27,0.558,4,0.100,0.056,3366,391,1203,0,0,0,0,0,0,25.01,24.87,24.46
$GC,1381,0.97,175.9,143.2,13.1,138,1386,0.00,2.22,0.00,0.000,6,0.000,0.037,3365,1801,1202,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1692,0.97,175.9,106.1,10.6,159,1696,0.00,2.22,0.00,0.000,4,0.000,0.057,3366,3206,1201,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1792,0.97,175.9,93.8,13.2,167,1796,0.00,2.17,0.00,0.000,6,0.000,0.037,3376,1793,1201,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1922,0.97,175.9,77.7,12.2,180,1926,0.00,2.20,0.00,0.000,4,0.000,0.056,3386,400,1200,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1966,0.97,175.9,72.2,13.6,184,1975,0.00,2.15,0.00,0.000,6,0.000,0.037,3385,1798,1200,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2092,0.97,175.9,54.6,13.6,197,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1798,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,0.97,175.9,39.4,11.0,217,2220,0.00,2.22,0.00,0.000,4,0.000,0.056,3394,398,1201,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2349,0.97,175.9,24.3,12.7,244,2357,0.08,2.15,0.00,0.000,6,0.152,0.037,3370,1810,1200,0,0,0,0,0,0,25.91,26.02,28.83
$GC,2416,1.00,200.3,17.5,9.1,257,2444,0.00,2.17,20.08,0.486,4,0.000,0.057,3370,3203,1105,0,0,0,0,0,0,28.83,25.79,25.40
$GC,2493,1.05,240.8,10.5,8.4,271,2534,0.00,2.15,33.40,0.487,6,0.000,0.037,3379,1798,938,0,0,0,0,0,0,28.83,25.85,25.13
$GC,2593,1.14,313.8,4.2,7.2,289,2616,0.12,0.00,20.12,0.470,2,0.111,0.000,3434,1798,840,0,0,0,0,0,0,25.67,28.83,28.83
$STATE,2616,end climb,SURFACE_DEPTH_REACHED
$STATE,2616,begin surface coast
$FINISH,0.5,1.019929
$STATE,2649,end surface coast,CONTROL_FINISHED_OK
$STATE,2649,begin surface
$SM_CCo,2665,50.88,0.405,1,0,617,320.36
$SM_GC,2.17,8.95,0.00,50.88,0.045,0.000,0.405,144,1797,617,-9.03,-0.08,320.36,0,0,0,0,1,0,25.59,28.83,24.90
$IRIDIUM_FIX,4751.72,-12340.51,150414,202058
$TT8_MAMPS,0.09737,0.09737
$HUMID,36.61
$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,24
$MI_LOG,3.4/516052/498731
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.5/436550/425484
$24V_AH,24.5,0.923
$10V_AH,10.4,0.540
$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,21.900,35.250,353.300,50.875,0.000,33.019,34.446,136.790,0.000,3214.400,40.196,0.000,1465.962,430.625,1136.596,31.550,33.205,800.088,0.000,537.451,0.000,0.000,0.000
$DEVICE_MAMPS,253.980,72.675,577.575,405.450,0.000,61.970,160.000,223.000,0.000,39.943,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,200.406,0.000,0.000,0.000,0.000,0.000,3214.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.929,0.000,0.000,0.000
$MEM,198008
$DATA_FILE_SIZE,10144,299
$CAP_FILE_SIZE,48301,0
$CFSIZE,260034560,257585152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,214902,4743.361,-12225.117,2,1.0,37,16.3