version: 66.10
glider: 161
mission: 4
dive: 14
start: 4 16 114 5 38 38
data:
$ID,161
$MISSION,4
$DIVE,14
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,-2880.687
$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,32
$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
$GPS1,160414,052927,4744.228,-12224.525,3,1.1,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.3
$GPS2,160414,053756,4744.381,-12224.416,4,1.1,39,16.3
$SPEED_LIMITS,0.101,0.195
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.081,-0.178
$KALMAN_X,321.5,-262.8,-11.0,-177.9,339.8
$KALMAN_Y,-1227.5,-565.7,111.9,4502.8,860.5
$MHEAD_RNG_PITCHd_Wd,188.1,713,-19.8,-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,-1.08,-88.0,0.0,0.0,0,58,0.00,0.00,-41.45,0.000,2,0.000,0.000,138,1856,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.08,-88.0,3.5,-7.4,6,81,10.73,0.00,-7.00,0.000,6,0.257,0.000,2680,1855,2283,0,0,0,0,0,0,25.42,28.83,25.72
$GC,141,-1.08,-88.0,23.1,-16.7,21,148,0.00,2.20,0.00,0.000,4,0.000,0.057,2671,3260,2287,0,0,0,0,0,0,28.83,25.66,28.83
$GC,157,-1.08,-88.0,26.0,-16.5,24,165,0.00,2.17,0.00,0.000,6,0.000,0.035,2671,1851,2286,0,0,0,0,0,0,28.83,25.70,28.83
$GC,224,-1.08,-88.0,36.4,-15.3,37,232,0.00,2.20,0.00,0.000,4,0.000,0.051,2677,460,2286,0,0,0,0,0,0,28.83,25.71,28.83
$GC,346,-1.08,-88.0,56.0,-15.0,57,350,0.00,2.17,0.00,0.000,6,0.000,0.038,2669,1867,2286,0,0,0,0,0,0,28.83,25.79,28.83
$GC,476,-1.08,-88.0,76.1,-16.1,70,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1867,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-1.08,-88.0,94.4,-14.9,82,600,0.00,2.28,0.00,0.000,4,0.000,0.053,2673,455,2285,0,0,0,0,0,0,28.83,25.77,28.83
$GC,765,-1.08,-88.0,120.2,-15.3,95,770,0.00,2.15,0.00,0.000,6,0.000,0.037,2665,1857,2285,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1078,-0.34,0.0,166.2,-14.2,116,1157,0.82,0.00,74.50,0.568,6,0.149,0.000,2918,1731,1919,0,0,0,0,0,0,25.82,28.83,24.70
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1159,1.08,88.0,170.6,0.0,121,1237,1.42,2.22,72.07,0.555,4,0.113,0.053,3384,358,1560,0,0,0,0,0,0,25.10,24.81,24.39
$GC,1286,1.11,119.3,165.0,6.4,129,1317,0.00,2.20,26.12,0.536,6,0.000,0.035,3384,1752,1434,0,0,0,0,0,0,28.83,25.18,24.56
$GC,1626,1.11,119.3,130.2,9.4,152,1630,0.00,2.22,0.00,0.000,4,0.000,0.054,3383,3154,1431,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1791,1.11,119.3,113.7,10.2,163,1795,0.00,2.15,0.00,0.000,6,0.000,0.035,3392,1759,1431,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2101,1.11,119.3,83.0,9.1,189,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1758,1431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,1.11,119.3,70.9,9.9,201,2225,0.00,2.22,0.00,0.000,4,0.000,0.054,3404,350,1430,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2581,1.16,157.0,41.7,6.0,247,2617,0.00,2.15,30.42,0.492,6,0.000,0.035,3402,1765,1281,0,0,0,0,0,0,28.83,25.95,25.21
$GC,2676,1.20,186.2,35.6,6.6,264,2705,0.00,2.28,24.77,0.479,4,0.000,0.053,3413,351,1160,0,0,0,0,0,0,28.83,25.43,25.05
$GC,2904,1.24,218.4,15.5,6.4,308,2939,0.00,2.15,26.27,0.469,6,0.000,0.035,3414,1749,1029,0,0,0,0,0,0,28.83,25.72,25.08
$GC,2998,1.27,243.9,9.4,6.8,325,3026,0.00,2.20,21.20,0.456,4,0.000,0.050,3414,3150,926,0,0,0,0,0,0,28.83,25.20,25.01
$STATE,3075,end climb,SURFACE_DEPTH_REACHED
$STATE,3075,begin surface coast
$FINISH,0.6,1.020341
$STATE,3105,end surface coast,CONTROL_FINISHED_OK
$STATE,3105,begin surface
$SM_CCo,3123,68.10,0.404,1,0,616,320.11
$SM_GC,1.59,8.90,2.03,68.10,0.044,0.035,0.404,137,1845,616,-8.99,0.90,320.11,0,0,0,0,1,0,25.59,25.25,24.78
$IRIDIUM_FIX,4751.72,-12340.51,160414,050549
$TT8_MAMPS,0.098119,0.098119
$HUMID,34.83
$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,25
$MI_LOG,3.4/516052/498728
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.8/436550/424282
$24V_AH,24.4,1.681
$10V_AH,10.4,0.959
$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,21.875,35.175,275.375,68.100,0.000,33.704,53.437,178.836,0.000,3766.000,40.693,0.000,1796.826,376.379,1399.179,39.051,33.207,764.367,0.000,646.002,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,77.265,568.395,403.920,0.000,61.970,160.000,223.000,0.000,39.867,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,232.945,0.000,0.000,0.000,0.000,0.000,3766.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.166,0.000,0.000,0.000
$MEM,197904
$DATA_FILE_SIZE,10116,345
$CAP_FILE_SIZE,51238,0
$CFSIZE,260034560,257351680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,063248,4744.224,-12224.489,4,0.9,38,16.3