version: 66.10
glider: 161
mission: 4
dive: 13
start: 4 16 114 4 28 35
data:
$ID,161
$MISSION,4
$DIVE,13
$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,-2879.4292
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.5
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,160414,042041,4744.222,-12224.385,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.8
$GPS2,160414,042753,4744.322,-12224.300,5,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.115,-0.239
$KALMAN_X,198.9,-236.2,-224.0,272.7,260.4
$KALMAN_Y,-1979.0,-637.9,-114.6,5441.5,479.1
$MHEAD_RNG_PITCHd_Wd,189.5,647,-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,15,-0.87,-175.9,0.0,0.0,0,51,0.00,0.00,-35.00,0.000,2,0.000,0.000,144,1855,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.87,-175.9,3.1,-8.0,5,87,10.90,0.00,-18.25,0.000,6,0.255,0.000,2746,1853,2642,0,0,0,0,0,0,25.43,28.83,25.75
$GC,146,-0.87,-175.9,23.8,-17.2,22,147,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1853,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,206,-0.87,-175.9,33.8,-15.4,34,214,0.00,2.22,0.00,0.000,4,0.000,0.052,2746,452,2642,0,0,0,0,0,0,28.83,25.72,28.83
$GC,283,-0.87,-175.9,46.7,-16.9,49,291,0.00,2.15,0.00,0.000,6,0.000,0.038,2737,1842,2642,0,0,0,0,0,0,28.83,25.78,28.83
$GC,355,-0.87,-175.9,57.3,-14.5,58,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1842,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.87,-175.9,75.9,-15.9,70,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1842,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,595,-0.87,-175.9,94.3,-15.3,82,599,0.00,2.20,0.00,0.000,4,0.000,0.053,2737,453,2642,0,0,0,0,0,0,28.83,25.86,28.83
$GC,619,-0.87,-175.9,97.7,-15.6,84,628,0.00,2.17,0.00,0.000,6,0.000,0.039,2727,1863,2642,0,0,0,0,0,0,28.83,25.86,28.83
$GC,755,-0.87,-175.9,117.9,-14.4,94,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1863,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1055,-0.87,-175.9,162.5,-14.8,114,1059,0.00,2.22,0.00,0.000,4,0.000,0.053,2727,450,2642,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,1084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1084,begin apogee
$GC,1089,-0.34,0.0,167.0,-14.9,116,1238,0.65,0.00,141.43,0.568,6,0.142,0.000,2919,1768,1920,0,0,0,0,0,0,25.83,28.83,24.38
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1240,0.87,175.9,174.3,0.0,126,1388,1.20,0.00,140.07,0.550,6,0.109,0.000,3305,1770,1202,0,0,0,0,0,0,24.83,28.83,24.30
$GC,1685,0.87,175.9,138.1,9.0,156,1689,0.00,2.30,0.00,0.000,4,0.000,0.057,3315,344,1200,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1730,0.87,175.9,133.8,9.5,159,1734,0.00,2.17,0.00,0.000,6,0.000,0.037,3315,1750,1200,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2045,0.87,175.9,105.5,9.5,180,2049,0.00,2.20,0.00,0.000,4,0.000,0.054,3315,3147,1200,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2105,0.87,175.9,100.1,8.9,184,2109,0.00,2.15,0.00,0.000,6,0.000,0.037,3326,1749,1200,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2410,0.87,175.9,75.1,8.8,214,2414,0.00,2.22,0.00,0.000,4,0.000,0.056,3336,348,1200,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2545,0.87,175.9,61.7,11.4,227,2553,0.00,2.15,0.00,0.000,6,0.000,0.037,3336,1750,1200,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2670,0.87,175.9,47.4,11.7,242,2678,0.00,2.17,0.00,0.000,4,0.000,0.052,3336,3145,1199,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2697,0.87,175.9,44.3,11.6,247,2705,0.10,2.15,0.00,0.000,6,0.133,0.036,3316,1748,1199,0,0,0,0,0,0,25.22,25.39,28.83
$GC,2765,0.88,189.8,38.4,8.0,260,2786,0.00,2.22,12.15,0.464,4,0.000,0.053,3321,3144,1147,0,0,0,0,0,0,28.83,25.80,25.39
$GC,2850,0.88,189.8,30.5,10.3,276,2858,0.00,2.15,0.00,0.000,6,0.000,0.036,3324,1751,1146,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2917,0.88,189.8,24.2,9.4,289,2925,0.00,2.25,0.00,0.000,4,0.000,0.056,3334,342,1146,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3399,1.00,282.0,6.3,5.5,385,3480,0.00,2.15,73.38,0.472,6,0.000,0.036,3334,1753,770,0,0,0,0,0,0,28.83,25.97,24.91
$STATE,3483,end climb,SURFACE_DEPTH_REACHED
$STATE,3483,begin surface coast
$FINISH,0.4,1.009750
$STATE,3539,end surface coast,CONTROL_FINISHED_OK
$STATE,3539,begin surface
$SM_CCo,3555,37.53,0.361,1,0,616,320.11
$SM_GC,1.77,8.70,0.15,37.53,0.044,0.089,0.361,139,1853,616,-8.98,-1.24,320.11,0,0,0,0,1,0,25.50,25.47,24.90
$IRIDIUM_FIX,4751.72,-12340.51,160414,040458
$TT8_MAMPS,0.098868,0.098868
$HUMID,35.35
$INTERNAL_PRESSURE,8.77442
$TCM_TEMP,20.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,25
$MI_LOG,3.4/516052/498728
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.8/436550/424513
$24V_AH,24.3,1.576
$10V_AH,10.3,0.886
$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,21.550,39.450,367.025,37.525,0.000,31.343,38.934,162.000,0.000,3620.920,40.375,0.000,2051.420,451.508,1399.654,38.983,33.207,878.169,0.000,679.947,0.000,0.000,0.000
$DEVICE_MAMPS,254.745,88.740,567.630,361.080,0.000,61.970,160.000,223.000,0.000,40.276,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,275.505,0.000,0.000,0.000,0.000,0.000,3621.010,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.302,0.000,0.000,0.000
$MEM,197960
$DATA_FILE_SIZE,13434,409
$CAP_FILE_SIZE,54704,0
$CFSIZE,260034560,257368064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,052927,4744.228,-12224.525,3,1.1,38,16.3