version: 66.10
glider: 161
mission: 4
dive: 7
start: 4 15 114 22 0 47
data:
$ID,161
$MISSION,4
$DIVE,7
$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,-2871.6018
$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,3045
$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,1860
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,36
$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
$GPS1,150414,214902,4743.361,-12225.117,2,1.0,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.5
$GPS2,150414,220005,4743.324,-12225.095,5,0.9,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.077,0.254
$KALMAN_X,608.8,279.2,120.8,-1982.3,-69.3
$KALMAN_Y,-594.4,20.5,1.9,1451.4,-598.6
$MHEAD_RNG_PITCHd_Wd,0.7,1454,-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,13,begin dive
$GC,14,-0.85,-175.9,0.0,0.0,0,51,0.00,0.00,-35.00,0.000,2,0.000,0.000,144,1796,1700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.85,-175.9,3.2,-8.3,5,87,10.93,2.12,-19.33,0.000,4,0.255,0.071,2766,456,2641,0,0,0,0,0,0,25.51,25.70,25.83
$GC,536,-0.85,-175.9,72.5,-14.3,84,540,0.00,2.15,0.00,0.000,6,0.000,0.041,2757,1848,2641,0,0,0,0,0,0,28.83,25.96,28.83
$GC,666,-0.85,-175.9,89.3,-12.7,97,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1849,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-0.85,-175.9,105.1,-12.9,109,800,0.00,2.20,0.00,0.000,4,0.000,0.054,2757,456,2642,0,0,0,0,0,0,28.83,25.96,28.83
$GC,866,-0.85,-175.9,113.3,-13.6,113,874,0.00,2.15,0.00,0.000,6,0.000,0.037,2747,1863,2642,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1171,-0.85,-175.9,154.0,-13.8,134,1175,0.00,2.20,0.00,0.000,4,0.000,0.060,2736,3251,2642,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1196,-0.85,-175.9,156.0,-14.0,135,1204,0.10,2.12,0.00,0.000,6,0.142,0.036,2767,1848,2642,0,0,0,0,0,0,25.84,26.04,28.83
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1263,-0.33,0.0,165.6,-12.5,140,1414,0.50,0.00,141.50,0.585,6,0.133,0.000,2928,1745,1925,0,0,0,0,0,0,25.93,28.83,24.46
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,0.85,175.9,171.2,0.0,150,1564,1.20,0.00,140.15,0.567,6,0.111,0.000,3315,1745,1201,0,0,0,0,0,0,24.94,28.83,24.39
$GC,1861,0.85,175.9,130.9,10.7,180,1865,0.00,2.25,0.00,0.000,4,0.000,0.055,3315,3150,1199,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1895,0.85,175.9,127.9,10.2,182,1900,0.00,2.15,0.00,0.000,6,0.000,0.037,3326,1762,1199,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2206,0.85,175.9,99.1,9.5,203,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1762,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,0.85,175.9,87.0,9.7,215,2330,0.00,2.25,0.00,0.000,4,0.000,0.057,3336,344,1198,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2486,0.85,175.9,67.5,12.7,231,2490,0.00,2.17,0.00,0.000,6,0.000,0.037,3337,1760,1198,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2616,0.85,175.9,53.7,9.8,244,2620,0.00,2.28,0.00,0.000,4,0.000,0.057,3347,333,1198,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2661,0.85,175.9,49.4,9.8,249,2669,0.00,2.17,0.00,0.000,6,0.000,0.037,3347,1753,1198,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2728,0.85,175.9,42.4,10.5,262,2736,0.00,2.20,0.00,0.000,4,0.000,0.056,3345,3151,1198,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2770,0.85,175.9,37.6,11.3,270,2778,0.10,2.15,0.00,0.000,6,0.140,0.037,3325,1750,1198,0,0,0,0,0,0,25.91,26.01,28.83
$GC,2838,0.85,175.9,31.1,9.0,283,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1750,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,0.85,175.9,25.3,9.1,296,2911,0.00,2.20,0.00,0.000,4,0.000,0.055,3325,3146,1198,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2935,0.85,175.9,22.4,9.3,302,2943,0.00,2.15,0.00,0.000,6,0.000,0.037,3333,1744,1198,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3002,0.85,177.0,16.7,8.4,315,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1744,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,0.85,177.0,11.5,9.2,327,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1744,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,1.06,342.9,8.0,3.1,340,3248,0.15,0.00,116.78,0.489,2,0.092,0.000,3383,1744,597,0,0,0,0,0,0,26.00,28.83,28.83
$STATE,3249,end climb,SURFACE_DEPTH_REACHED
$STATE,3249,begin surface coast
$FINISH,0.5,1.019841
$STATE,3287,end surface coast,CONTROL_FINISHED_OK
$STATE,3287,begin surface
$SM_CCo,3363,0.00,0.000,0,0,595,325.26
$SM_GC,1.47,8.88,0.17,0.00,0.044,0.082,0.000,148,1856,595,-9.00,-1.30,325.26,0,0,0,0,0,0,25.37,25.34,28.83
$IRIDIUM_FIX,4751.72,-12340.51,150414,212142
$TT8_MAMPS,0.098868,0.098868
$HUMID,36.37
$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,24
$MI_LOG,3.4/516052/498730
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.6/436550/425199
$24V_AH,24.4,1.048
$10V_AH,10.4,0.619
$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,21.850,35.250,398.425,0.000,0.000,67.771,88.808,209.315,0.000,4113.300,40.466,0.000,1991.473,431.236,1479.861,40.326,33.211,846.179,0.000,645.785,0.000,0.000,0.000
$DEVICE_MAMPS,254.745,88.740,585.225,0.000,0.000,61.970,160.000,223.000,0.000,39.579,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,245.801,0.000,0.000,0.000,0.000,0.000,4113.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.935,0.000,0.000,0.000
$MEM,197944
$DATA_FILE_SIZE,10125,366
$CAP_FILE_SIZE,54767,0
$CFSIZE,260034560,257552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150414,225742,4743.290,-12225.361,2,0.9,37,16.3