version: 66.10
glider: 161
mission: 4
dive: 22
start: 4 16 114 15 15 42
data:
$ID,161
$MISSION,4
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$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,335
$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,-2891.1931
$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,45
$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
$GPS1,160414,145924,4743.399,-12224.522,3,0.8,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.0
$GPS2,160414,151500,4743.742,-12224.573,4,1.1,39,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.042,-0.279
$KALMAN_X,891.8,185.5,-407.5,-992.4,89.1
$KALMAN_Y,163.8,557.8,-787.8,1692.3,199.6
$MHEAD_RNG_PITCHd_Wd,172.2,1932,-15.8,-10.000
$D_GRID,90
$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,-0.99,-175.9,0.0,0.0,0,52,0.00,0.00,-35.03,0.000,2,0.000,0.000,140,1880,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.99,-175.9,3.0,-8.6,5,88,10.98,2.25,-20.17,0.000,4,0.262,0.063,2709,446,2639,0,0,0,0,0,0,25.39,25.58,25.70
$GC,158,-0.99,-175.9,23.6,-21.0,24,165,0.00,2.17,0.00,0.000,6,0.000,0.040,2701,1844,2639,0,0,0,0,0,0,28.83,25.68,28.83
$GC,225,-0.99,-175.9,36.1,-19.2,37,232,0.00,2.20,0.00,0.000,4,0.000,0.048,2701,454,2639,0,0,0,0,0,0,28.83,25.70,28.83
$GC,247,-0.99,-175.9,40.5,-19.8,41,254,0.00,2.17,0.00,0.000,6,0.000,0.038,2690,1861,2639,0,0,0,0,0,0,28.83,25.72,28.83
$GC,314,-0.99,-175.9,52.5,-17.7,53,317,0.00,2.22,0.00,0.000,4,0.000,0.057,2679,3264,2639,0,0,0,0,0,0,28.83,25.74,28.83
$GC,344,-0.99,-175.9,57.9,-17.9,56,348,0.10,2.15,0.00,0.000,6,0.150,0.034,2711,1853,2639,0,0,0,0,0,0,25.67,25.79,28.83
$GC,474,-0.99,-175.9,79.4,-16.1,69,477,0.00,2.17,0.00,0.000,4,0.000,0.049,2711,465,2639,0,0,0,0,0,0,28.83,25.82,28.83
$GC,518,-0.99,-175.9,86.0,-16.8,73,527,0.00,2.15,0.00,0.000,6,0.000,0.037,2702,1863,2639,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,545,-0.34,0.0,91.1,-16.8,76,690,0.70,0.00,139.57,0.514,6,0.145,0.000,2917,1726,1920,0,0,0,0,0,0,25.78,28.83,24.45
$STATE,691,end apogee,CONTROL_FINISHED_OK
$STATE,691,begin climb
$GC,692,0.99,175.9,99.8,0.0,90,838,1.38,2.22,138.18,0.499,4,0.116,0.053,3355,372,1202,0,0,0,0,0,0,24.82,24.71,24.33
$GC,867,1.03,211.1,91.6,8.6,107,901,0.00,2.17,29.10,0.479,6,0.000,0.035,3354,1769,1060,0,0,0,0,0,0,28.83,25.01,24.49
$GC,1017,1.03,211.1,74.1,12.3,122,1020,0.00,2.25,0.00,0.000,4,0.000,0.053,3365,376,1058,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1057,1.03,211.1,68.7,13.5,126,1061,0.00,2.15,0.00,0.000,6,0.000,0.035,3365,1752,1058,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1187,1.03,211.1,51.7,13.1,139,1190,0.00,2.20,0.00,0.000,4,0.000,0.052,3375,376,1057,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1252,1.03,211.1,43.0,12.8,150,1260,0.00,2.12,0.00,0.000,6,0.000,0.035,3375,1751,1057,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1319,1.03,211.1,34.5,12.0,163,1327,0.00,2.20,0.00,0.000,4,0.000,0.051,3371,3153,1057,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1376,1.03,211.1,27.8,11.8,174,1384,0.00,2.12,0.00,0.000,6,0.000,0.034,3380,1769,1057,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1444,1.03,211.1,19.8,13.0,187,1451,0.00,2.22,0.00,0.000,4,0.000,0.053,3390,340,1057,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,1709,end climb,SURFACE_DEPTH_REACHED
$STATE,1709,begin surface coast
$FINISH,0.3,1.020199
$STATE,1824,end surface coast,CONTROL_FINISHED_OK
$STATE,1824,begin surface
$SM_CCo,1843,114.90,0.409,4,0,554,335.07
$SM_GC,1.04,8.73,2.35,114.90,0.047,0.036,0.409,140,1858,554,-8.98,-1.30,335.07,0,0,0,0,4,0,25.92,25.95,24.82
$IRIDIUM_FIX,4751.72,-12340.51,160414,131321
$TT8_MAMPS,0.099617,0.099617
$HUMID,33.18
$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,3.4/516052/498707
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.9/436550/423836
$24V_AH,24.3,2.740
$10V_AH,10.3,1.632
$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,21.875,39.700,306.850,114.900,0.000,23.764,36.749,461.015,0.000,2979.300,40.922,0.000,770.546,473.719,1478.175,79.672,33.212,785.561,0.000,439.574,0.000,0.000,0.000
$DEVICE_MAMPS,261.630,71.910,514.080,408.510,0.000,61.970,160.000,223.000,0.000,34.521,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,175.434,0.000,0.000,0.000,0.000,0.000,2979.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.368,0.000,0.000,0.000
$MEM,197900
$DATA_FILE_SIZE,6822,263
$CAP_FILE_SIZE,69307,0
$CFSIZE,260034560,257028096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,160414,154934,4743.790,-12224.611,3,0.8,37,16.3