version: 66.07
glider: 179
mission: 5
dive: 7
start: 6 8 110 8 23 19
data:
$ID,179
$MISSION,5
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$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,220
$T_MISSION,260
$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,200
$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,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11830.288
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3145
$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,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,34
$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,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,081555,2440.995,-7727.851,54,1.7,55,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.4
$GPS2,080610,082237,2441.056,-7727.881,37,0.9,37,-7.2
$SPEED_LIMITS,0.236,0.327
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.327,0.015
$KALMAN_X,-1210.4,-265.8,263.1,15174.6,-346.2
$KALMAN_Y,-2103.5,142.0,-180.6,1784.9,-53.1
$MHEAD_RNG_PITCHd_Wd,279.8,15070,-19.7,-13.636
$D_GRID,900
$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,14,begin dive
$GC,15,-0.79,-194.6,0.0,0.0,0,77,0.00,0.00,-59.50,0.000,2,0.000,0.000,147,2236,3014,0,0,0,0,0,0
$GC,78,-0.79,-194.6,3.9,-7.6,10,109,12.93,2.38,-8.98,0.000,4,0.280,0.047,2876,680,3533,0,0,0,0,0,0
$GC,171,-0.79,-194.6,32.6,-20.5,22,179,0.00,2.42,0.00,0.000,6,0.000,0.034,2867,2246,3538,0,0,0,0,0,0
$GC,362,-0.79,-194.6,71.3,-18.8,41,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2247,3535,0,0,0,0,0,0
$GC,559,-0.79,-194.6,107.2,-18.3,58,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2247,3537,0,0,0,0,0,0
$GC,862,-0.79,-194.6,161.3,-17.5,68,869,0.00,2.20,0.00,0.000,4,0.000,0.047,2856,3681,3537,0,0,0,0,0,0
$GC,910,-0.79,-194.6,170.0,-18.1,69,916,0.12,2.15,0.00,0.000,6,0.183,0.028,2886,2236,3538,0,0,0,0,0,0
$GC,1230,-0.79,-194.6,216.3,-13.8,80,1234,0.00,2.25,0.00,0.000,4,0.000,0.047,2877,3689,3538,0,0,0,0,0,0
$GC,1293,-0.79,-194.6,225.0,-13.6,82,1299,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,2241,3538,0,0,0,0,0,0
$GC,1629,-0.79,-194.6,270.0,-13.3,93,1633,0.00,2.22,0.00,0.000,4,0.000,0.047,2871,3679,3538,0,0,0,0,0,0
$GC,1676,-0.79,-194.6,276.4,-13.5,94,1681,0.00,2.10,0.00,0.000,6,0.000,0.027,2866,2250,3539,0,0,0,0,0,0
$GC,1996,-0.79,-194.6,319.2,-13.3,103,2006,0.00,2.20,0.00,0.000,4,0.000,0.047,2855,3687,3539,0,0,0,0,0,0
$GC,2047,-0.79,-194.6,326.3,-13.9,103,2055,0.12,2.10,0.00,0.000,6,0.177,0.028,2887,2237,3539,0,0,0,0,0,0
$GC,2362,-0.79,-194.6,363.8,-11.8,109,2370,0.00,2.22,0.00,0.000,4,0.000,0.048,2877,3689,3538,0,0,0,0,0,0
$GC,2411,-0.79,-194.6,369.9,-12.0,109,2419,0.00,2.10,0.00,0.000,6,0.000,0.029,2876,2239,3538,0,0,0,0,0,0
$GC,2731,-0.79,-194.6,408.1,-12.0,115,2741,0.00,2.22,0.00,0.000,4,0.000,0.049,2867,3690,3536,0,0,0,0,0,0
$GC,2766,-0.79,-194.6,412.4,-12.1,115,2773,0.00,2.10,0.00,0.000,6,0.000,0.029,2867,2246,3538,0,0,0,0,0,0
$GC,3096,-0.79,-194.6,453.2,-12.5,121,3105,0.00,2.22,0.00,0.000,4,0.000,0.050,2856,3690,3536,0,0,0,0,0,0
$GC,3156,-0.79,-194.6,461.2,-13.2,121,3167,0.12,2.10,0.00,0.000,6,0.177,0.030,2887,2240,3533,0,0,0,0,0,0
$GC,3464,-0.79,-194.6,493.7,-10.5,127,3475,0.00,2.20,0.00,0.000,4,0.000,0.050,2878,3688,3535,0,0,0,0,0,0
$GC,3521,-0.79,-194.6,499.8,-10.7,127,3530,0.00,2.10,0.00,0.000,6,0.000,0.030,2876,2241,3535,0,0,0,0,0,0
$GC,3836,-0.79,-194.6,533.8,-10.9,133,3845,0.00,2.22,0.00,0.000,4,0.000,0.050,2867,3685,3532,0,0,0,0,0,0
$GC,3864,-0.79,-194.6,537.0,-11.7,133,3872,0.00,2.10,0.00,0.000,6,0.000,0.030,2867,2244,3533,0,0,0,0,0,0
$GC,4199,-0.79,-194.6,576.1,-11.7,139,4208,0.00,2.20,0.00,0.000,4,0.000,0.050,2856,3685,3534,0,0,0,0,0,0
$GC,4286,-0.79,-194.6,586.6,-11.7,140,4294,0.12,2.08,0.00,0.000,6,0.174,0.031,2887,2242,3532,0,0,0,0,0,0
$GC,4633,-0.79,-194.6,619.9,-9.4,146,4642,0.00,2.22,0.00,0.000,4,0.000,0.050,2879,3687,3529,0,0,0,0,0,0
$GC,4688,-0.79,-194.6,625.6,-10.5,146,4696,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,2245,3529,0,0,0,0,0,0
$GC,5002,-0.79,-194.6,657.8,-10.4,152,5010,0.00,2.20,0.00,0.000,4,0.000,0.051,2868,3682,3528,0,0,0,0,0,0
$GC,5068,-0.79,-194.6,665.4,-11.5,153,5075,0.00,2.08,0.00,0.000,6,0.000,0.031,2868,2242,3527,0,0,0,0,0,0
$GC,5430,-0.79,-194.6,705.7,-11.0,159,5439,0.00,2.22,0.00,0.000,4,0.000,0.052,2857,3681,3525,0,0,0,0,0,0
$GC,5491,-0.79,-194.6,712.8,-11.5,159,5502,0.12,2.10,0.00,0.000,6,0.177,0.031,2888,2242,3528,0,0,0,0,0,0
$GC,5799,-0.79,-194.6,742.9,-9.7,165,5808,0.00,2.22,0.00,0.000,4,0.000,0.053,2879,3684,3521,0,0,0,0,0,0
$GC,5854,-0.79,-194.6,748.2,-9.2,165,5862,0.00,2.10,0.00,0.000,6,0.000,0.032,2879,2251,3523,0,0,0,0,0,0
$GC,6162,-0.79,-194.6,777.9,-9.7,170,6171,0.00,2.22,0.00,0.000,4,0.000,0.054,2868,3688,3522,0,0,0,0,0,0
$GC,6234,-0.79,-194.6,785.1,-10.0,171,6242,0.00,2.10,0.00,0.000,6,0.000,0.032,2872,2249,3521,0,0,0,0,0,0
$GC,6596,-0.79,-194.6,822.6,-10.5,177,6605,0.00,2.20,0.00,0.000,4,0.000,0.054,2858,3679,3519,0,0,0,0,0,0
$GC,6640,-0.79,-194.6,827.6,-10.7,177,6648,0.12,2.10,0.00,0.000,6,0.178,0.033,2888,2246,3519,0,0,0,0,0,0
$GC,6960,-0.79,-194.6,856.7,-9.1,183,6968,0.00,2.22,0.00,0.000,4,0.000,0.054,2879,3678,3517,0,0,0,0,0,0
$GC,7041,-0.79,-194.6,864.5,-9.5,184,7049,0.00,2.10,0.00,0.000,6,0.000,0.032,2880,2252,3517,0,0,0,0,0,0
$GC,7388,-0.79,-194.6,896.0,-9.1,190,7399,0.00,2.25,0.00,0.000,4,0.000,0.057,2869,3689,3515,0,0,0,0,0,0
$STATE,7428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7428,begin apogee
$GC,7433,-0.14,0.0,900.4,10.4,190,7599,0.73,0.00,159.70,1.047,6,0.147,0.000,3096,2196,2738,0,0,0,0,0,0
$STATE,7600,end apogee,CONTROL_FINISHED_OK
$STATE,7600,begin climb
$GC,7601,0.79,194.6,908.7,0.0,193,7781,0.88,2.55,166.85,1.036,4,0.072,0.051,3401,3678,1941,0,0,0,0,0,0
$GC,7977,0.79,194.6,866.8,18.4,199,7986,0.00,2.30,0.00,0.000,6,0.000,0.033,3412,2184,1934,0,0,0,0,0,0
$GC,8339,0.79,194.6,808.6,16.0,205,8348,0.00,2.38,0.00,0.000,4,0.000,0.053,3412,3684,1931,0,0,0,0,0,0
$GC,8463,0.79,194.6,786.0,18.6,207,8472,0.00,2.22,0.00,0.000,6,0.000,0.034,3423,2196,1930,0,0,0,0,0,0
$GC,8825,0.79,194.6,726.6,16.3,213,8834,0.00,2.35,0.00,0.000,4,0.000,0.052,3424,3688,1929,0,0,0,0,0,0
$GC,8923,0.79,194.6,708.7,18.5,214,8931,0.15,2.22,0.00,0.000,6,0.234,0.034,3403,2192,1928,0,0,0,0,0,0
$GC,9247,0.79,194.6,658.9,15.3,220,9255,0.00,2.35,0.00,0.000,4,0.000,0.052,3403,3689,1928,0,0,0,0,0,0
$GC,9307,0.79,194.6,649.0,17.1,221,9315,0.00,2.22,0.00,0.000,6,0.000,0.033,3413,2196,1927,0,0,0,0,0,0
$GC,9668,0.79,194.6,593.5,15.3,227,9677,0.00,2.30,0.00,0.000,4,0.000,0.051,3417,3681,1927,0,0,0,0,0,0
$GC,9706,0.79,194.6,587.0,17.4,227,9714,0.00,2.20,0.00,0.000,6,0.000,0.033,3423,2192,1926,0,0,0,0,0,0
$GC,10025,0.79,194.6,537.2,15.5,233,10033,0.00,2.33,0.00,0.000,4,0.000,0.051,3424,3681,1925,0,0,0,0,0,0
$GC,10095,0.79,194.6,524.6,19.6,234,10103,0.15,2.17,0.00,0.000,6,0.230,0.032,3403,2202,1925,0,0,0,0,0,0
$GC,10446,0.79,194.6,473.5,14.1,240,10453,0.00,2.30,0.00,0.000,4,0.000,0.050,3402,3683,1924,0,0,0,0,0,0
$GC,10494,0.79,194.6,466.0,15.6,240,10502,0.00,2.22,0.00,0.000,6,0.000,0.032,3411,2185,1925,0,0,0,0,0,0
$GC,10807,0.79,194.6,420.6,14.4,246,10815,0.00,2.33,0.00,0.000,4,0.000,0.051,3411,3685,1925,0,0,0,0,0,0
$GC,10888,0.79,194.6,407.4,16.4,247,10896,0.00,2.20,0.00,0.000,6,0.000,0.031,3422,2198,1922,0,0,0,0,0,0
$GC,11233,0.79,194.6,357.2,14.3,253,11241,0.00,2.28,0.00,0.000,4,0.000,0.050,3422,3679,1925,0,0,0,0,0,0
$GC,11314,0.79,194.6,343.5,17.7,254,11322,0.15,2.17,0.00,0.000,6,0.223,0.031,3400,2199,1925,0,0,0,0,0,0
$GC,11661,0.79,194.6,295.4,13.8,260,11665,0.00,2.28,0.00,0.000,4,0.000,0.050,3401,3686,1926,0,0,0,0,0,0
$GC,11702,0.79,194.6,289.0,14.8,261,11707,0.00,2.25,0.00,0.000,6,0.000,0.029,3409,2182,1928,0,0,0,0,0,0
$GC,12027,0.80,202.5,244.3,13.3,272,12037,0.00,2.35,4.93,0.471,4,0.000,0.049,3410,3674,1911,0,0,0,0,0,0
$GC,12138,0.80,202.5,227.4,14.7,275,12143,0.00,2.20,0.00,0.000,6,0.000,0.028,3420,2199,1909,0,0,0,0,0,0
$GC,12458,0.83,226.4,187.1,12.5,286,12483,0.00,2.35,21.00,0.569,4,0.000,0.048,3420,3692,1814,0,0,0,0,0,0
$GC,12589,0.83,226.4,167.6,15.4,290,12595,0.00,2.25,0.00,0.000,6,0.000,0.028,3432,2198,1812,0,0,0,0,0,0
$GC,12920,0.83,226.4,121.0,13.8,301,12924,0.00,2.30,0.00,0.000,4,0.000,0.046,3433,3677,1810,0,0,0,0,0,0
$GC,12951,0.83,226.4,116.4,14.3,302,12956,0.10,2.20,0.00,0.000,6,0.192,0.028,3416,2197,1811,0,0,0,0,0,0
$GC,13270,0.86,257.1,75.3,12.2,323,13305,0.00,2.38,25.48,0.493,4,0.000,0.045,3415,3685,1689,0,0,0,0,0,0
$GC,13378,0.86,257.1,60.7,14.2,333,13382,0.00,2.22,0.00,0.000,6,0.000,0.028,3425,2197,1687,0,0,0,0,0,0
$GC,13574,0.87,261.4,35.2,13.4,352,13587,0.00,2.35,4.68,0.355,4,0.000,0.045,3426,3686,1671,0,0,0,0,0,0
$GC,13628,0.87,261.4,27.8,15.1,357,13633,0.00,2.22,0.00,0.000,6,0.000,0.028,3436,2193,1671,0,0,0,0,0,0
$GC,13824,0.96,335.5,4.9,10.1,387,13855,0.00,0.00,30.10,0.444,2,0.000,0.000,3437,2192,1512,0,0,0,0,0,0
$STATE,13856,end climb,SURFACE_DEPTH_REACHED
$STATE,13856,begin surface coast
$FINISH,0.7,0.998495
$STATE,13869,end surface coast,CONTROL_FINISHED_OK
$STATE,13869,begin surface
$SM_CCo,13883,32.33,0.437,0,0,1310,350.29
$SM_GC,2.04,0.00,0.00,32.33,0.000,0.000,0.437,147,2286,1310,-9.37,1.02,350.29
$IRIDIUM_FIX,2429.95,-7732.13,011211,222222
$TT8_MAMPS,0.126581
$HUMID,1078097410
$INTERNAL_PRESSURE,8.85115
$TCM_TEMP,25.10
$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,0/0
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,12.1/482055/423864
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.3/298663/285817
$PA_DATA1,22.6/7837685/6067701
$PA_DATA0,13.9/7836665/6751170
$24V_AH,24.0,7.734
$10V_AH,10.4,5.103
$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,24.950,151.275,412.725,32.325,0.000,28.498,29.454,225.356,41.250,0.000,38.185,0.000,11223.532,568.705,2408.956,90.874,33.324,1591.609,0.000,1352.681,0.000,254.808,0.000
$DEVICE_MAMPS,279.990,84.915,1046.520,436.815,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,264.196,0.000,0.000,0.000,0.000,0.000,14427.860,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,76.012,0.000,0.000,0.000
$MEM,355064
$DATA_FILE_SIZE,13439,395
$CAP_FILE_SIZE,145621,0
$CFSIZE,260165632,256761856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,121632,2440.915,-7730.336,59,1.8,60,-7.2