version: 66.10
glider: 161
mission: 4
dive: 8
start: 4 15 114 23 8 12
data:
$ID,161
$MISSION,4
$DIVE,8
$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,-2872.8616
$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,28
$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
$GPS1,150414,225742,4743.290,-12225.361,2,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.9
$GPS2,150414,230730,4743.278,-12225.289,5,0.9,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.107,0.243
$KALMAN_X,204.6,226.2,48.1,-1688.5,-316.7
$KALMAN_Y,-1467.0,-89.9,-81.8,2433.2,-812.7
$MHEAD_RNG_PITCHd_Wd,7.4,1660,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-175.9,0.0,0.0,0,52,0.00,0.00,-35.67,0.000,2,0.000,0.000,147,1858,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.85,-175.9,3.3,-8.5,5,89,10.93,2.22,-19.02,0.000,4,0.256,0.071,2763,451,2641,0,0,0,0,0,0,25.50,25.67,25.81
$GC,618,-0.85,-175.9,88.5,-13.7,89,621,0.00,2.17,0.00,0.000,6,0.000,0.041,2754,1859,2642,0,0,0,0,0,0,28.83,25.95,28.83
$GC,748,-0.85,-175.9,104.4,-12.0,101,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1860,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1048,-0.85,-175.9,139.8,-11.8,121,1051,0.00,2.22,0.00,0.000,4,0.000,0.055,2754,456,2641,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1108,-0.85,-175.9,146.9,-11.8,125,1112,0.00,2.15,0.00,0.000,6,0.000,0.040,2744,1858,2642,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,1257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1257,begin apogee
$GC,1259,-0.33,0.0,165.0,-12.2,135,1411,0.60,0.00,142.12,0.584,6,0.138,0.000,2931,1721,1919,0,0,0,0,0,0,25.89,28.83,24.43
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1413,0.85,175.9,171.2,0.0,145,1562,1.20,2.25,139.48,0.567,4,0.107,0.055,3324,360,1202,0,0,0,0,0,0,24.91,24.77,24.37
$GC,1621,0.85,175.9,157.8,11.5,159,1625,0.00,2.20,0.00,0.000,6,0.000,0.037,3324,1751,1202,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1936,0.85,175.9,125.3,9.5,180,1940,0.00,2.20,0.00,0.000,4,0.000,0.056,3323,3141,1200,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1975,0.85,175.9,122.1,10.2,182,1984,0.00,2.12,0.00,0.000,6,0.000,0.037,3334,1769,1199,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2286,0.85,175.9,88.0,10.8,207,2290,0.00,2.28,0.00,0.000,4,0.000,0.057,3345,312,1200,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2476,0.85,175.9,64.6,12.6,226,2480,0.00,2.20,0.00,0.000,6,0.000,0.038,3345,1745,1199,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2606,0.85,175.9,49.8,10.5,239,2614,0.00,2.25,0.00,0.000,4,0.000,0.057,3355,337,1199,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2633,0.85,175.9,47.0,10.6,244,2641,0.10,2.17,0.00,0.000,6,0.135,0.037,3324,1757,1199,0,0,0,0,0,0,25.88,25.98,28.83
$GC,2700,0.86,183.6,41.3,8.2,257,2715,0.00,2.17,7.30,0.440,4,0.000,0.056,3324,3145,1172,0,0,0,0,0,0,28.83,25.90,25.48
$GC,2749,0.86,183.6,37.4,8.8,266,2757,0.00,2.15,0.00,0.000,6,0.000,0.037,3332,1749,1171,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2816,0.86,183.6,31.3,9.0,279,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1749,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,0.86,184.2,26.2,8.4,291,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1749,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,0.88,202.3,20.9,7.9,304,2964,0.00,2.22,16.42,0.484,4,0.000,0.055,3332,3137,1095,0,0,0,0,0,0,28.83,25.78,25.38
$GC,2998,0.88,202.3,15.6,10.4,314,3006,0.00,2.15,0.00,0.000,6,0.000,0.037,3342,1751,1095,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3066,0.94,248.1,10.1,7.0,327,3113,0.00,2.30,37.17,0.490,4,0.000,0.057,3353,338,908,0,0,0,0,0,0,28.83,25.47,25.09
$STATE,3166,end climb,SURFACE_DEPTH_REACHED
$STATE,3166,begin surface coast
$FINISH,1.0,1.020184
$STATE,3201,end surface coast,CONTROL_FINISHED_OK
$STATE,3201,begin surface
$SM_CCo,3219,64.43,0.422,1,0,617,320.11
$SM_GC,1.98,8.82,2.40,64.43,0.054,0.040,0.422,144,1865,617,-9.01,-1.10,320.11,0,0,0,0,1,0,25.67,25.67,24.86
$IRIDIUM_FIX,4751.72,-12340.51,150414,232355
$TT8_MAMPS,0.09737,0.09737
$HUMID,36.10
$INTERNAL_PRESSURE,8.77442
$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,2.7/436550/424870
$24V_AH,24.4,1.168
$10V_AH,10.4,0.696
$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,21.650,40.050,342.500,64.425,0.000,62.232,69.674,161.368,0.000,3955.300,40.532,0.000,1889.687,443.318,1413.861,38.464,33.208,857.976,0.000,660.070,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,72.675,584.460,422.280,0.000,61.970,160.000,223.000,0.000,39.562,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,237.233,0.000,0.000,0.000,0.000,0.000,3955.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.947,0.000,0.000,0.000
$MEM,197884
$DATA_FILE_SIZE,10107,352
$CAP_FILE_SIZE,53156,0
$CFSIZE,260034560,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,000353,4743.238,-12225.497,2,1.1,36,16.3