version: 66.10
glider: 161
mission: 4
dive: 15
start: 4 16 114 6 48 51
data:
$ID,161
$MISSION,4
$DIVE,15
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-2881.9446
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,160414,063248,4744.224,-12224.489,4,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.9
$GPS2,160414,064810,4744.401,-12224.409,5,1.1,39,16.3
$SPEED_LIMITS,0.085,0.185
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.071,-0.170
$KALMAN_X,377.3,-241.1,235.8,-492.8,288.3
$KALMAN_Y,-1145.0,-279.6,484.7,3809.2,728.3
$MHEAD_RNG_PITCHd_Wd,186.4,752,-21.1,-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,14,begin dive
$GC,15,-1.13,-78.2,0.0,0.0,0,59,0.00,0.00,-42.12,0.000,2,0.000,0.000,137,1843,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.13,-78.2,3.8,-8.8,6,81,10.70,0.00,-5.53,0.000,6,0.259,0.000,2663,1841,2244,0,0,0,0,0,0,25.39,28.83,25.70
$GC,140,-1.13,-78.2,25.7,-17.7,21,147,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1842,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,206,-1.13,-78.2,36.9,-18.5,34,214,0.00,2.17,0.00,0.000,4,0.000,0.052,2665,471,2247,0,0,0,0,0,0,28.83,25.70,28.83
$GC,342,-1.13,-78.2,60.6,-17.7,55,351,0.00,2.12,0.00,0.000,6,0.000,0.038,2656,1846,2247,0,0,0,0,0,0,28.83,25.78,28.83
$GC,468,-1.13,-78.2,81.4,-14.7,68,472,0.00,2.17,0.00,0.000,4,0.000,0.050,2656,467,2246,0,0,0,0,0,0,28.83,25.81,28.83
$GC,687,-1.13,-78.2,117.2,-16.4,86,696,0.00,2.15,0.00,0.000,6,0.000,0.038,2645,1864,2246,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,980,-0.34,0.0,165.9,-14.9,106,1056,0.88,0.00,66.82,0.567,6,0.150,0.000,2915,1736,1920,0,0,0,0,0,0,25.82,28.83,24.74
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1058,1.13,78.2,170.1,0.0,111,1132,1.48,2.22,64.30,0.554,4,0.115,0.052,3398,360,1601,0,0,0,0,0,0,25.13,24.86,24.43
$GC,1200,1.18,120.7,165.5,5.4,120,1240,0.00,2.20,35.33,0.542,6,0.000,0.034,3398,1761,1427,0,0,0,0,0,0,28.83,25.27,24.56
$GC,1536,1.18,121.3,135.6,8.4,143,1539,0.00,2.17,0.00,0.000,4,0.000,0.053,3398,3136,1424,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1930,1.18,121.3,95.4,10.0,171,1939,0.00,2.12,0.00,0.000,6,0.000,0.035,3408,1764,1423,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2056,1.18,121.3,83.1,9.8,184,2060,0.00,2.25,0.00,0.000,4,0.000,0.054,3419,340,1423,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2441,1.18,121.3,46.8,9.5,225,2449,0.00,2.15,0.00,0.000,6,0.000,0.035,3419,1749,1423,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2508,1.20,138.9,41.2,7.2,238,2529,0.00,0.00,15.27,0.477,6,0.000,0.000,3419,1750,1353,0,0,0,0,0,0,28.83,28.83,25.36
$GC,2589,1.22,157.5,34.9,7.1,253,2611,0.00,2.28,16.42,0.473,4,0.000,0.054,3430,350,1277,0,0,0,0,0,0,28.83,25.63,25.22
$GC,2995,1.36,265.6,8.6,0.6,333,3090,0.08,2.15,85.62,0.469,6,0.067,0.035,3470,1758,836,0,0,0,0,0,0,25.86,25.86,24.78
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,0.4,1.020256
$STATE,3159,end surface coast,CONTROL_FINISHED_OK
$STATE,3159,begin surface
$SM_CCo,3177,53.75,0.386,1,0,617,320.36
$SM_GC,2.26,9.12,0.12,53.75,0.045,0.086,0.386,139,1852,617,-8.98,-1.47,320.36,0,0,0,0,1,0,25.43,25.41,24.77
$IRIDIUM_FIX,4751.72,-12340.51,160414,060614
$TT8_MAMPS,0.098868,0.098868
$HUMID,34.72
$INTERNAL_PRESSURE,8.76466
$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,26
$MI_LOG,3.4/516052/498725
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.8/436550/424211
$24V_AH,24.4,1.808
$10V_AH,10.3,1.045
$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,22.250,26.475,283.775,53.750,0.000,29.321,37.787,478.637,0.000,4221.320,40.224,0.000,1733.755,369.488,1870.374,94.496,33.254,807.858,0.000,739.302,0.000,0.000,0.000
$DEVICE_MAMPS,258.570,85.680,566.865,386.325,0.000,61.970,160.000,223.000,0.000,40.218,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,243.156,0.000,0.000,0.000,0.000,0.000,4221.320,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.150,0.000,0.000,0.000
$MEM,198004
$DATA_FILE_SIZE,10112,361
$CAP_FILE_SIZE,77109,0
$CFSIZE,260034560,257286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,074341,4744.174,-12224.512,3,1.0,38,16.3