version: 66.10
glider: 161
mission: 4
dive: 19
start: 4 16 114 11 34 23
data:
$ID,161
$MISSION,4
$DIVE,19
$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,-2887.3298
$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,38
$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
$GPS1,160414,111749,4742.723,-12224.642,3,1.0,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,160414,113341,4742.733,-12224.537,5,0.9,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.035,0.263
$KALMAN_X,656.1,13.5,129.3,-1078.3,-122.2
$KALMAN_Y,-1452.2,675.2,-73.2,626.7,-372.4
$MHEAD_RNG_PITCHd_Wd,351.2,2347,-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,-0.87,-175.9,0.0,0.0,0,59,0.00,0.00,-42.22,0.000,2,0.000,0.000,140,1855,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.87,-175.9,3.9,-9.8,6,89,11.12,2.20,-12.40,0.000,4,0.261,0.063,2746,459,2642,0,0,0,0,0,0,25.37,25.58,25.69
$GC,453,-0.87,-175.9,71.4,-15.6,70,457,0.00,2.15,0.00,0.000,6,0.000,0.038,2737,1848,2642,0,0,0,0,0,0,28.83,25.82,28.83
$GC,583,-0.87,-175.9,91.3,-15.0,83,587,0.00,2.17,0.00,0.000,4,0.000,0.050,2737,468,2642,0,0,0,0,0,0,28.83,25.82,28.83
$GC,627,-0.87,-175.9,96.9,-14.0,87,636,0.00,2.15,0.00,0.000,6,0.000,0.037,2726,1862,2642,0,0,0,0,0,0,28.83,25.86,28.83
$GC,758,-0.87,-175.9,116.4,-14.3,97,762,0.00,2.22,0.00,0.000,4,0.000,0.058,2716,3264,2642,0,0,0,0,0,0,28.83,25.84,28.83
$GC,783,-0.87,-175.9,118.5,-13.9,98,791,0.10,2.12,0.00,0.000,6,0.135,0.034,2749,1858,2642,0,0,0,0,0,0,25.79,25.89,28.83
$GC,1088,-0.87,-175.9,157.3,-12.2,119,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1858,2642,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1165,-0.34,0.0,166.8,-12.7,124,1316,0.55,0.00,141.60,0.564,6,0.139,0.000,2922,1737,1919,0,0,0,0,0,0,25.82,28.83,24.36
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1318,0.87,175.9,174.2,0.0,134,1467,1.25,0.00,140.35,0.549,6,0.112,0.000,3314,1736,1202,0,0,0,0,0,0,24.81,28.83,24.25
$GC,1763,0.87,175.9,137.5,10.4,164,1767,0.00,2.28,0.00,0.000,4,0.000,0.053,3314,3154,1200,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1868,0.87,175.9,124.8,12.4,171,1872,0.00,2.15,0.00,0.000,6,0.000,0.036,3324,1762,1199,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2179,0.87,175.9,88.2,10.4,195,2182,0.00,2.20,0.00,0.000,4,0.000,0.054,3335,346,1199,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2282,0.87,175.9,77.1,11.6,205,2291,0.00,2.17,0.00,0.000,6,0.000,0.036,3335,1763,1199,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2408,0.87,175.9,63.4,11.0,218,2412,0.00,2.28,0.00,0.000,4,0.000,0.054,3346,340,1199,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2553,0.87,175.9,47.9,10.2,234,2561,0.08,2.15,0.00,0.000,6,0.136,0.036,3322,1748,1199,0,0,0,0,0,0,25.81,25.89,28.83
$GC,2621,0.97,256.9,42.9,5.8,247,2696,0.00,2.25,64.80,0.489,4,0.000,0.052,3322,3133,872,0,0,0,0,0,0,28.83,25.28,24.90
$GC,2750,0.97,256.9,30.0,12.0,269,2758,0.00,2.15,0.00,0.000,6,0.000,0.035,3330,1728,871,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2817,0.97,256.9,22.9,10.0,282,2825,0.00,2.22,0.00,0.000,4,0.000,0.055,3340,343,870,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2884,0.97,256.9,15.3,12.1,295,2892,0.00,2.17,0.00,0.000,6,0.000,0.036,3340,1744,870,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2951,1.08,350.1,10.7,5.4,308,3046,0.12,2.33,77.90,0.448,4,0.100,0.055,3389,347,549,0,0,0,0,2,0,25.04,25.15,24.79
$STATE,3055,end climb,SURFACE_DEPTH_REACHED
$STATE,3055,begin surface coast
$FINISH,0.3,1.010507
$STATE,3085,end surface coast,CONTROL_FINISHED_OK
$STATE,3085,begin surface
$SM_CCo,3164,0.00,0.000,0,0,547,337.04
$SM_GC,1.20,8.95,2.40,0.00,0.045,0.036,0.000,142,1862,547,-8.98,-1.22,337.04,0,0,0,0,0,0,25.34,25.34,28.83
$IRIDIUM_FIX,4751.72,-12340.51,160414,111153
$TT8_MAMPS,0.09737,0.09737
$HUMID,34.80
$INTERNAL_PRESSURE,8.75489
$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,26
$MI_LOG,3.4/516052/498715
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.9/436550/423982
$24V_AH,24.2,2.340
$10V_AH,10.3,1.387
$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,22.175,39.925,424.650,0.000,0.000,33.783,48.715,458.873,0.000,4240.600,40.391,0.000,1745.539,448.389,1724.890,81.704,33.211,854.346,0.000,602.150,0.000,0.000,0.000
$DEVICE_MAMPS,260.865,83.385,563.805,0.000,0.000,61.970,160.000,223.000,0.000,39.903,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,220.365,0.000,0.000,0.000,0.000,0.000,4240.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.259,0.000,0.000,0.000
$MEM,197884
$DATA_FILE_SIZE,10159,330
$CAP_FILE_SIZE,75841,0
$CFSIZE,260034560,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,122800,4742.947,-12224.710,3,0.9,38,16.3