version: 66.10
glider: 161
mission: 4
dive: 21
start: 4 16 114 14 1 22
data:
$ID,161
$MISSION,4
$DIVE,21
$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,-2889.8406
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,160414,134313,4743.357,-12224.529,3,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,160414,140040,4743.534,-12224.297,5,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.059,-0.259
$KALMAN_X,984.0,122.6,-334.8,-756.9,66.0
$KALMAN_Y,-1392.6,732.7,-753.5,2672.8,-21.0
$MHEAD_RNG_PITCHd_Wd,176.7,1564,-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,14,begin dive
$GC,15,-0.87,-175.9,0.0,0.0,0,58,0.00,0.00,-41.70,0.000,2,0.000,0.000,143,1872,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.87,-175.9,3.5,-8.2,6,88,11.12,0.00,-13.65,0.000,6,0.262,0.000,2748,1871,2640,0,0,0,0,0,0,25.38,28.83,25.70
$GC,147,-0.87,-175.9,21.8,-15.2,22,155,0.00,2.20,0.00,0.000,4,0.000,0.057,2739,3246,2641,0,0,0,0,0,0,28.83,25.61,28.83
$GC,225,-0.87,-175.9,32.2,-12.7,37,232,0.00,2.10,0.00,0.000,6,0.000,0.034,2735,1842,2641,0,0,0,0,0,0,28.83,25.72,28.83
$GC,291,-0.87,-175.9,41.6,-13.7,50,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1842,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,362,-0.87,-175.9,51.5,-14.3,63,366,0.00,2.17,0.00,0.000,4,0.000,0.050,2739,464,2641,0,0,0,0,0,0,28.83,25.76,28.83
$GC,412,-0.87,-175.9,59.0,-15.3,68,416,0.00,2.15,0.00,0.000,6,0.000,0.038,2729,1850,2641,0,0,0,0,0,0,28.83,25.80,28.83
$GC,542,-0.87,-175.9,78.2,-14.7,81,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1851,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,662,-0.87,-175.9,98.1,-17.4,93,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1850,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,787,-0.87,-175.9,117.2,-14.5,102,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1851,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1087,-0.87,-175.9,158.5,-13.4,122,1091,0.00,2.20,0.00,0.000,4,0.000,0.050,2728,459,2641,0,0,0,0,0,0,28.83,25.87,28.83
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1136,-0.34,0.0,165.3,-14.7,125,1285,0.65,0.00,141.35,0.565,6,0.142,0.000,2921,1774,1920,0,0,0,0,0,0,25.79,28.83,24.37
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1287,0.87,175.9,172.2,0.0,135,1436,1.20,2.30,139.27,0.547,4,0.110,0.050,3304,3151,1202,0,0,0,0,0,0,24.80,24.68,24.27
$GC,1466,0.87,175.9,162.7,9.0,147,1469,0.00,2.20,0.00,0.000,6,0.000,0.034,3314,1763,1201,0,0,0,0,0,0,28.83,24.99,28.83
$GC,1781,0.87,175.9,131.7,11.0,168,1784,0.00,2.30,0.00,0.000,4,0.000,0.054,3325,343,1200,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1790,0.87,175.9,131.7,11.0,168,1799,0.00,2.20,0.00,0.000,6,0.000,0.035,3325,1766,1200,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2101,0.87,175.9,94.9,9.5,191,2104,0.00,2.28,0.00,0.000,4,0.000,0.054,3337,344,1200,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2195,0.87,175.9,86.4,9.5,200,2204,0.00,2.15,0.00,0.000,6,0.000,0.035,3336,1748,1198,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2321,0.89,192.6,75.1,7.9,213,2343,0.00,0.00,14.73,0.485,6,0.000,0.000,3337,1749,1134,0,0,0,0,0,0,28.83,28.83,25.28
$GC,2461,0.89,192.6,62.2,9.8,227,2464,0.00,2.25,0.00,0.000,4,0.000,0.054,3347,346,1134,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2591,0.89,192.6,47.5,12.7,241,2599,0.00,2.17,0.00,0.000,6,0.000,0.036,3347,1759,1134,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2658,0.89,192.6,39.5,12.2,254,2666,0.00,2.17,0.00,0.000,4,0.000,0.052,3347,3149,1133,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2790,0.89,192.6,23.7,11.7,280,2798,0.10,2.15,0.00,0.000,6,0.135,0.035,3324,1742,1133,0,0,0,0,0,0,25.78,25.86,28.83
$GC,2857,0.91,209.5,17.3,7.9,293,2879,0.00,2.17,14.57,0.459,4,0.000,0.053,3333,350,1066,0,0,0,0,0,0,28.83,25.70,25.32
$STATE,3217,end climb,SURFACE_DEPTH_REACHED
$STATE,3217,begin surface coast
$FINISH,1.4,1.020277
$STATE,3302,end surface coast,CONTROL_FINISHED_OK
$STATE,3302,begin surface
$SM_CCo,3321,96.50,0.418,2,0,618,320.11
$SM_GC,1.45,8.85,2.35,96.50,0.063,0.034,0.418,140,1873,618,-8.99,-1.02,320.11,0,0,0,0,2,0,25.85,25.88,24.82
$IRIDIUM_FIX,4751.72,-12340.51,160414,131322
$TT8_MAMPS,0.098868,0.098868
$HUMID,33.89
$INTERNAL_PRESSURE,8.76466
$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,26
$MI_LOG,3.4/516052/498709
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.9/436550/423823
$24V_AH,24.3,2.623
$10V_AH,10.3,1.567
$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,21.925,39.550,309.925,96.500,0.000,51.009,65.774,453.726,0.000,4534.700,40.152,0.000,1947.261,448.986,1874.221,94.433,33.258,872.958,0.000,667.206,0.000,0.000,0.000
$DEVICE_MAMPS,261.630,56.610,564.570,417.690,0.000,61.970,160.000,223.000,0.000,41.346,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,257.547,0.000,0.000,0.000,0.000,0.000,4534.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.274,0.000,0.000,0.000
$MEM,198044
$DATA_FILE_SIZE,13476,381
$CAP_FILE_SIZE,82358,0
$CFSIZE,260034560,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,145924,4743.399,-12224.522,3,0.8,37,16.3