version: 66.07
glider: 179
mission: 5
dive: 3
start: 6 7 110 16 47 47
data:
$ID,179
$MISSION,5
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,150
$T_MISSION,175
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51749
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11611.204
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$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,-38.488777
$PRESSURE_SLOPE,0.0001164844
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,61440.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,070610,164256,2440.997,-7735.623,12,1.4,12,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.7
$GPS2,070610,164707,2440.965,-7735.592,10,1.5,15,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,-7727.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.241,0.097
$KALMAN_X,118.8,103.5,99.9,670.8,364.8
$KALMAN_Y,-250.2,-218.2,-210.7,154.8,-766.5
$MHEAD_RNG_PITCHd_Wd,75.1,14471,-17.5,-10.000
$D_GRID,450
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.67,-146.0,0.0,0.0,0,111,0.00,0.00,-92.78,0.000,2,0.000,0.000,146,2156,3203,0,0,0,0,0,0
$GC,112,-0.67,-146.0,3.8,-9.0,16,131,11.88,2.35,-2.35,0.000,4,0.252,0.047,2928,575,3334,0,0,0,0,0,0
$GC,338,-0.67,-146.0,46.0,-12.5,41,343,0.00,2.38,0.00,0.000,6,0.000,0.037,2919,2150,3335,0,0,0,0,0,0
$GC,535,-0.67,-146.0,72.5,-12.7,60,539,0.00,2.33,0.00,0.000,4,0.000,0.047,2907,3669,3334,0,0,0,0,0,0
$GC,577,-0.67,-146.0,78.0,-13.1,64,582,0.00,2.25,0.00,0.000,6,0.000,0.031,2907,2146,3335,0,0,0,0,0,0
$GC,784,-0.67,-146.0,104.7,-12.6,82,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2144,3335,0,0,0,0,0,0
$GC,1088,-0.67,-146.0,143.5,-12.7,92,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2143,3334,0,0,0,0,0,0
$GC,1391,-0.67,-146.0,179.2,-11.4,102,1399,0.00,2.30,0.00,0.000,4,0.000,0.047,2895,3679,3333,0,0,0,0,0,0
$GC,1466,-0.67,-146.0,188.1,-11.8,104,1474,0.15,2.20,0.00,0.000,6,0.148,0.031,2938,2152,3333,0,0,0,0,0,0
$GC,1784,-0.67,-146.0,215.2,-8.4,115,1792,0.00,2.33,0.00,0.000,4,0.000,0.048,2928,3682,3333,0,0,0,0,0,0
$GC,1908,-0.67,-146.0,226.0,-8.1,118,1919,0.00,2.22,0.00,0.000,6,0.000,0.031,2929,2150,3332,0,0,0,0,0,0
$GC,2217,-0.67,-146.0,252.9,-8.6,129,2226,0.00,2.30,0.00,0.000,4,0.000,0.048,2917,3673,3332,0,0,0,0,0,0
$GC,2325,-0.67,-146.0,262.7,-8.7,132,2334,0.00,2.25,0.00,0.000,6,0.000,0.031,2924,2140,3332,0,0,0,0,0,0
$GC,2642,-0.67,-146.0,291.2,-8.6,143,2651,0.00,2.33,0.00,0.000,4,0.000,0.048,2907,3681,3328,0,0,0,0,0,0
$GC,2734,-0.67,-146.0,299.8,-9.1,146,2747,0.00,2.25,0.00,0.000,6,0.000,0.032,2906,2150,3329,0,0,0,0,0,0
$GC,3075,-0.67,-146.0,331.6,-9.4,152,3086,0.00,2.30,0.00,0.000,4,0.000,0.048,2895,3675,3328,0,0,0,0,0,0
$GC,3165,-0.67,-146.0,340.3,-9.8,153,3173,0.12,2.22,0.00,0.000,6,0.155,0.031,2931,2142,3327,0,0,0,0,0,0
$GC,3507,-0.67,-146.0,366.3,-7.5,159,3515,0.00,2.33,0.00,0.000,4,0.000,0.048,2921,3681,3327,0,0,0,0,0,0
$GC,3588,-0.67,-146.0,372.8,-7.6,160,3596,0.00,2.25,0.00,0.000,6,0.000,0.031,2919,2153,3327,0,0,0,0,0,0
$GC,3928,-0.67,-146.0,400.0,-8.1,166,3937,0.00,2.33,0.00,0.000,4,0.000,0.050,2911,3673,3322,0,0,0,0,0,0
$GC,4020,-0.67,-146.0,408.0,-9.2,167,4029,0.00,2.22,0.00,0.000,6,0.000,0.032,2911,2150,3324,0,0,0,0,0,0
$GC,4357,-0.67,-146.0,436.3,-8.5,173,4365,0.00,2.33,0.00,0.000,4,0.000,0.050,2899,3681,3320,0,0,0,0,0,0
$GC,4437,-0.67,-146.0,443.9,-9.8,174,4446,0.12,2.28,0.00,0.000,6,0.153,0.032,2934,2138,3322,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4536,begin apogee
$GC,4539,-0.14,0.0,451.7,7.6,176,4661,0.52,0.00,112.12,0.721,6,0.116,0.000,3108,2137,2737,0,0,0,0,0,0
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4663,0.67,146.0,456.0,0.0,178,4791,0.68,0.00,116.38,0.712,6,0.055,0.000,3371,2137,2142,0,0,0,0,0,0
$GC,5087,0.67,146.0,422.4,11.3,185,5096,0.00,2.35,0.00,0.000,4,0.000,0.047,3371,3673,2135,0,0,0,0,0,0
$GC,5195,0.67,146.0,408.3,13.4,186,5203,0.00,2.28,0.00,0.000,6,0.000,0.031,3382,2141,2135,0,0,0,0,0,0
$GC,5509,0.67,146.0,372.1,11.4,192,5517,0.00,2.35,0.00,0.000,4,0.000,0.047,3383,3682,2134,0,0,0,0,0,0
$GC,5649,0.67,146.0,354.3,12.7,194,5656,0.00,2.25,0.00,0.000,6,0.000,0.031,3394,2144,2132,0,0,0,0,0,0
$GC,5999,0.67,146.0,313.2,11.7,200,6007,0.00,2.35,0.00,0.000,4,0.000,0.047,3394,3678,2131,0,0,0,0,0,0
$GC,6064,0.67,146.0,304.7,12.9,201,6072,0.15,2.22,0.00,0.000,6,0.194,0.030,3370,2145,2131,0,0,0,0,0,0
$GC,6392,0.67,148.0,271.0,9.9,211,6400,0.00,2.33,0.00,0.000,4,0.000,0.046,3370,3680,2130,0,0,0,0,0,0
$GC,6521,0.67,148.0,256.8,11.0,215,6529,0.00,2.22,0.00,0.000,6,0.000,0.030,3385,2149,2128,0,0,0,0,0,0
$GC,6847,0.68,154.9,225.0,9.7,226,6862,0.00,2.33,6.47,0.483,4,0.000,0.044,3380,3678,2105,0,0,0,0,0,0
$GC,6998,0.68,154.9,208.2,10.7,230,7009,0.00,2.22,0.00,0.000,6,0.000,0.028,3391,2138,2104,0,0,0,0,0,0
$GC,7308,0.70,176.9,179.4,9.0,241,7335,0.00,2.40,18.83,0.539,4,0.000,0.045,3394,3670,2014,0,0,0,0,0,0
$GC,7510,0.70,176.9,157.0,11.2,247,7518,0.00,2.22,0.00,0.000,6,0.000,0.028,3401,2147,2011,0,0,0,0,0,0
$GC,7830,0.70,176.9,123.1,10.2,258,7838,0.00,2.33,0.00,0.000,4,0.000,0.044,3401,3675,2012,0,0,0,0,0,0
$GC,7862,0.70,176.9,119.5,11.1,259,7870,0.12,2.20,0.00,0.000,6,0.186,0.028,3383,2146,2010,0,0,0,0,0,0
$GC,8181,0.73,201.3,89.3,8.9,277,8205,0.00,2.35,18.80,0.480,4,0.000,0.036,3398,570,1917,0,0,0,0,0,0
$GC,8224,0.75,214.4,85.3,9.4,281,8240,0.00,2.40,11.82,0.453,6,0.000,0.031,3393,2158,1863,0,0,0,0,0,0
$GC,8432,0.75,214.4,62.8,10.6,301,8436,0.00,2.30,0.00,0.000,4,0.000,0.044,3393,3669,1860,0,0,0,0,0,0
$GC,8576,0.75,214.4,45.7,11.8,314,8584,0.00,2.28,0.00,0.000,6,0.000,0.027,3404,2134,1859,0,0,0,0,0,0
$GC,8768,0.75,214.4,26.4,10.1,333,8772,0.00,2.30,0.00,0.000,4,0.000,0.035,3415,583,1859,0,0,0,0,0,0
$GC,8799,0.75,214.4,23.2,10.1,336,8804,0.00,2.35,0.00,0.000,6,0.000,0.030,3415,2161,1859,0,0,0,0,0,0
$GC,8995,0.80,258.0,6.1,8.0,369,9038,0.00,2.42,34.15,0.433,4,0.000,0.034,3427,576,1684,0,0,0,0,0,0
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9046,begin surface coast
$FINISH,0.5,1.012093
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9068,begin surface
$SM_CCo,9084,189.80,0.424,0,0,494,550.45
$SM_GC,1.31,0.00,0.00,189.80,0.000,0.000,0.424,147,2152,494,-9.39,0.06,550.45
$IRIDIUM_FIX,2429.95,-7729.81,011211,101004
$TT8_MAMPS,0.122087
$HUMID,1078099990
$INTERNAL_PRESSURE,8.88045
$TCM_TEMP,25.40
$XPDR_PINGS,0
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,15
$PA_DFQS,0/0
$PA_CMQS,0/118
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,11.9/482055/424750
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.0/298663/286767
$PA_DATA1,2.0/7837685/7681296
$PA_DATA0,4.8/7836665/7462071
$24V_AH,24.7,7.103
$10V_AH,10.6,3.514
$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,22.625,96.575,318.575,189.800,0.000,0.000,0.000,0.000,18.750,0.000,16.066,0.000,6976.502,628.989,1657.467,58.183,31.396,1407.311,0.000,1092.233,0.000,116.268,0.000
$DEVICE_MAMPS,252.450,49.725,720.630,423.810,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,253.347,0.000,0.000,0.000,0.000,0.000,9194.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.476,0.000,0.000,0.000
$MEM,355120
$DATA_FILE_SIZE,13440,382
$CAP_FILE_SIZE,110947,0
$CFSIZE,260165632,257110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,192308,2441.306,-7734.447,30,1.6,30,-7.1