version: 66.07
glider: 179
mission: 5
dive: 8
start: 6 8 110 12 27 42
data:
$ID,179
$MISSION,5
$DIVE,8
$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,-11831.547
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,55
$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
$GPS1,080610,121632,2440.915,-7730.336,59,1.8,60,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.9
$GPS2,080610,122700,2440.969,-7730.352,42,1.6,47,-7.2
$SPEED_LIMITS,0.236,0.327
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.323,0.055
$KALMAN_X,-1109.2,-133.3,158.4,10891.2,-158.1
$KALMAN_Y,-2602.8,73.3,54.4,1958.9,-483.2
$MHEAD_RNG_PITCHd_Wd,286.9,10924,-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,14,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,-59.10,0.000,2,0.000,0.000,147,2286,3004,0,0,0,0,0,0
$GC,78,-0.79,-194.6,3.9,-7.7,10,109,13.15,2.47,-9.15,0.000,4,0.283,0.046,2878,669,3533,0,0,0,0,0,0
$GC,224,-0.79,-194.6,43.5,-18.5,27,232,0.00,2.42,0.00,0.000,6,0.000,0.033,2869,2237,3535,0,0,0,0,0,0
$GC,417,-0.79,-194.6,81.4,-18.4,46,420,0.00,2.22,0.00,0.000,4,0.000,0.047,2858,3675,3535,0,0,0,0,0,0
$GC,485,-0.79,-194.6,94.5,-18.5,52,494,0.12,2.15,0.00,0.000,6,0.186,0.027,2888,2240,3536,0,0,0,0,0,0
$GC,674,-0.79,-194.6,125.3,-16.1,61,677,0.00,2.22,0.00,0.000,4,0.000,0.047,2879,3669,3536,0,0,0,0,0,0
$GC,710,-0.79,-194.6,131.8,-17.5,62,715,0.00,2.12,0.00,0.000,6,0.000,0.027,2879,2240,3536,0,0,0,0,0,0
$GC,1040,-0.79,-194.6,186.7,-16.8,73,1045,0.00,2.22,0.00,0.000,4,0.000,0.047,2868,3678,3537,0,0,0,0,0,0
$GC,1082,-0.79,-194.6,193.7,-16.3,74,1087,0.00,2.12,0.00,0.000,6,0.000,0.027,2867,2240,3540,0,0,0,0,0,0
$GC,1407,-0.79,-194.6,244.5,-15.0,85,1412,0.00,2.22,0.00,0.000,4,0.000,0.047,2857,3676,3537,0,0,0,0,0,0
$GC,1444,-0.79,-194.6,250.1,-14.7,86,1449,0.10,2.08,0.00,0.000,6,0.165,0.027,2888,2248,3537,0,0,0,0,0,0
$GC,1775,-0.79,-194.6,290.2,-11.7,97,1779,0.00,2.20,0.00,0.000,4,0.000,0.047,2879,3665,3538,0,0,0,0,0,0
$GC,1832,-0.79,-194.6,297.7,-12.9,98,1840,0.00,2.10,0.00,0.000,6,0.000,0.027,2879,2233,3536,0,0,0,0,0,0
$GC,2171,-0.79,-194.6,340.0,-12.6,105,2179,0.00,2.17,0.00,0.000,4,0.000,0.048,2868,3672,3535,0,0,0,0,0,0
$GC,2220,-0.79,-194.6,346.5,-12.5,105,2227,0.00,2.05,0.00,0.000,6,0.000,0.028,2868,2255,3537,0,0,0,0,0,0
$GC,2534,-0.79,-194.6,387.1,-13.0,111,2543,0.00,2.17,0.00,0.000,4,0.000,0.048,2857,3674,3536,0,0,0,0,0,0
$GC,2589,-0.79,-194.6,394.9,-14.3,111,2598,0.12,2.08,0.00,0.000,6,0.176,0.028,2888,2228,3537,0,0,0,0,0,0
$GC,2904,-0.79,-194.6,430.6,-11.2,117,2915,0.00,2.20,0.00,0.000,4,0.000,0.049,2879,3677,3535,0,0,0,0,0,0
$GC,2972,-0.79,-194.6,438.8,-12.3,118,2980,0.00,2.08,0.00,0.000,6,0.000,0.028,2879,2241,3534,0,0,0,0,0,0
$GC,3334,-0.79,-194.6,480.6,-11.4,124,3342,0.00,2.20,0.00,0.000,4,0.000,0.049,2868,3674,3534,0,0,0,0,0,0
$GC,3404,-0.79,-194.6,489.0,-11.4,125,3412,0.00,2.05,0.00,0.000,6,0.000,0.029,2868,2243,3533,0,0,0,0,0,0
$GC,3761,-0.79,-194.6,530.3,-11.6,131,3770,0.00,2.20,0.00,0.000,4,0.000,0.050,2858,3672,3530,0,0,0,0,0,0
$GC,3816,-0.79,-194.6,537.1,-12.1,131,3824,0.12,2.05,0.00,0.000,6,0.173,0.029,2889,2244,3532,0,0,0,0,0,0
$GC,4124,-0.79,-194.6,568.4,-10.1,136,4132,0.00,2.17,0.00,0.000,4,0.000,0.050,2880,3673,3530,0,0,0,0,0,0
$GC,4178,-0.79,-194.6,574.5,-11.5,136,4186,0.00,2.08,0.00,0.000,6,0.000,0.030,2880,2247,3530,0,0,0,0,0,0
$GC,4487,-0.79,-194.6,607.5,-10.6,141,4495,0.00,2.17,0.00,0.000,4,0.000,0.050,2870,3669,3531,0,0,0,0,0,0
$GC,4541,-0.79,-194.6,613.8,-11.1,141,4549,0.00,2.08,0.00,0.000,6,0.000,0.030,2869,2245,3528,0,0,0,0,0,0
$GC,4849,-0.79,-194.6,647.5,-11.0,146,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2242,3527,0,0,0,0,0,0
$GC,5151,-0.79,-194.6,680.3,-10.8,151,5160,0.00,2.20,0.00,0.000,4,0.000,0.051,2854,3680,3526,0,0,0,0,0,0
$GC,5254,-0.79,-194.6,692.4,-11.2,152,5263,0.10,2.10,0.00,0.000,6,0.183,0.031,2882,2241,3524,0,0,0,0,0,0
$GC,5580,-0.79,-194.6,724.5,-9.9,158,5589,0.00,2.20,0.00,0.000,4,0.000,0.052,2876,3669,3523,0,0,0,0,0,0
$GC,5641,-0.79,-194.6,730.4,-9.6,158,5652,0.00,2.08,0.00,0.000,6,0.000,0.031,2876,2249,3526,0,0,0,0,0,0
$GC,5949,-0.79,-194.6,761.1,-10.0,164,5959,0.00,2.20,0.00,0.000,4,0.000,0.054,2866,3676,3520,0,0,0,0,0,0
$GC,6005,-0.79,-194.6,766.9,-10.3,164,6013,0.00,2.08,0.00,0.000,6,0.000,0.031,2866,2244,3520,0,0,0,0,0,0
$GC,6313,-0.79,-194.6,798.9,-10.4,169,6322,0.00,2.22,0.00,0.000,4,0.000,0.053,2854,3678,3518,0,0,0,0,0,0
$GC,6368,-0.79,-194.6,804.9,-11.3,169,6376,0.12,2.10,0.00,0.000,6,0.181,0.031,2886,2245,3518,0,0,0,0,0,0
$GC,6683,-0.79,-194.6,833.3,-9.0,175,6691,0.00,2.20,0.00,0.000,4,0.000,0.054,2877,3672,3515,0,0,0,0,0,0
$GC,6737,-0.79,-194.6,838.4,-9.5,175,6747,0.00,2.10,0.00,0.000,6,0.000,0.033,2877,2248,3517,0,0,0,0,0,0
$GC,7045,-0.79,-194.6,868.0,-9.5,181,7053,0.00,2.20,0.00,0.000,4,0.000,0.055,2867,3668,3515,0,0,0,0,0,0
$GC,7115,-0.79,-194.6,874.8,-10.2,182,7126,0.00,2.10,0.00,0.000,6,0.000,0.033,2867,2247,3515,0,0,0,0,0,0
$STATE,7419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7419,begin apogee
$GC,7422,-0.14,0.0,905.1,10.0,187,7589,0.75,0.00,159.90,1.048,6,0.147,0.000,3097,2247,2738,0,0,0,0,0,0
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7590,0.79,194.6,911.2,0.0,189,7770,0.85,2.45,166.50,1.035,4,0.075,0.051,3393,3664,1944,0,0,0,0,0,0
$GC,8008,0.79,194.6,865.5,16.7,195,8017,0.00,2.15,0.00,0.000,6,0.000,0.034,3403,2259,1934,0,0,0,0,0,0
$GC,8327,0.79,194.6,816.1,15.5,201,8335,0.00,2.22,0.00,0.000,4,0.000,0.052,3403,3668,1933,0,0,0,0,0,0
$GC,8392,0.79,194.6,805.0,17.1,202,8400,0.00,2.15,0.00,0.000,6,0.000,0.034,3414,2245,1931,0,0,0,0,0,0
$GC,8754,0.79,194.6,749.0,15.5,208,8762,0.00,2.25,0.00,0.000,4,0.000,0.053,3414,3669,1929,0,0,0,0,0,0
$GC,8797,0.79,194.6,741.7,16.7,208,8804,0.00,2.10,0.00,0.000,6,0.000,0.033,3424,2246,1929,0,0,0,0,0,0
$GC,9115,0.79,194.6,689.8,16.2,214,9123,0.00,2.22,0.00,0.000,4,0.000,0.053,3424,3673,1928,0,0,0,0,0,0
$GC,9164,0.79,194.6,680.9,18.6,214,9172,0.15,2.15,0.00,0.000,6,0.233,0.033,3403,2235,1928,0,0,0,0,0,0
$GC,9472,0.79,194.6,635.3,14.6,219,9480,0.00,2.25,0.00,0.000,4,0.000,0.053,3403,3673,1927,0,0,0,0,0,0
$GC,9515,0.79,194.6,628.2,15.9,219,9523,0.00,2.12,0.00,0.000,6,0.000,0.032,3411,2248,1929,0,0,0,0,0,0
$GC,9829,0.79,194.6,579.5,15.6,225,9837,0.00,2.22,0.00,0.000,4,0.000,0.051,3412,3670,1927,0,0,0,0,0,0
$GC,9893,0.79,194.6,568.5,17.6,226,9901,0.00,2.12,0.00,0.000,6,0.000,0.032,3421,2237,1926,0,0,0,0,0,0
$GC,10255,0.79,194.6,510.8,16.3,232,10263,0.00,2.22,0.00,0.000,4,0.000,0.052,3422,3673,1925,0,0,0,0,0,0
$GC,10335,0.79,194.6,496.4,17.2,233,10344,0.15,2.10,0.00,0.000,6,0.230,0.032,3401,2253,1925,0,0,0,0,0,0
$GC,10681,0.79,194.6,446.8,14.0,239,10689,0.00,2.22,0.00,0.000,4,0.000,0.051,3405,3678,1927,0,0,0,0,0,0
$GC,10725,0.79,194.6,440.0,15.6,239,10732,0.00,2.12,0.00,0.000,6,0.000,0.031,3408,2241,1922,0,0,0,0,0,0
$GC,11038,0.79,194.6,393.8,14.8,245,11046,0.00,2.22,0.00,0.000,4,0.000,0.050,3409,3672,1925,0,0,0,0,0,0
$GC,11092,0.79,194.6,384.7,17.4,245,11103,0.00,2.10,0.00,0.000,6,0.000,0.031,3419,2248,1925,0,0,0,0,0,0
$GC,11400,0.79,194.6,337.3,15.4,251,11408,0.00,2.17,0.00,0.000,4,0.000,0.050,3419,3669,1925,0,0,0,0,0,0
$GC,11443,0.79,194.6,330.0,16.6,251,11452,0.12,2.10,0.00,0.000,6,0.228,0.030,3404,2240,1925,0,0,0,0,0,0
$GC,11757,0.79,194.6,285.7,14.1,258,11762,0.00,2.25,0.00,0.000,4,0.000,0.048,3410,3675,1928,0,0,0,0,0,0
$GC,11816,0.79,194.6,276.6,15.3,259,11824,0.00,2.15,0.00,0.000,6,0.000,0.029,3410,2236,1925,0,0,0,0,0,0
$GC,12125,0.79,196.5,233.0,13.6,270,12129,0.00,2.22,0.00,0.000,4,0.000,0.047,3413,3662,1925,0,0,0,0,0,0
$GC,12194,0.79,196.5,222.5,16.1,272,12198,0.00,2.10,0.00,0.000,6,0.000,0.028,3424,2244,1925,0,0,0,0,0,0
$GC,12524,0.83,228.9,180.4,12.1,283,12556,0.00,0.00,26.45,0.569,6,0.000,0.000,3424,2242,1802,0,0,0,0,0,0
$GC,12857,0.83,228.9,134.4,13.9,294,12862,0.00,2.22,0.00,0.000,4,0.000,0.047,3424,3663,1800,0,0,0,0,0,0
$GC,12883,0.83,228.9,130.2,15.3,294,12891,0.00,2.12,0.00,0.000,6,0.000,0.028,3434,2238,1799,0,0,0,0,0,0
$GC,13194,0.83,228.9,84.1,14.7,311,13199,0.00,2.22,0.00,0.000,4,0.000,0.046,3435,3670,1800,0,0,0,0,0,0
$GC,13280,0.83,228.9,70.2,15.9,319,13284,0.10,2.08,0.00,0.000,6,0.190,0.028,3418,2266,1799,0,0,0,0,0,0
$GC,13477,0.92,302.9,46.8,10.2,338,13540,0.00,2.22,58.47,0.480,4,0.000,0.045,3417,3673,1501,0,0,0,0,0,0
$GC,13570,0.92,302.9,35.6,14.0,347,13575,0.00,2.15,0.00,0.000,6,0.000,0.026,3426,2250,1499,0,0,0,0,0,0
$GC,13764,0.98,352.7,10.6,11.3,372,13813,0.10,2.28,39.10,0.445,4,0.125,0.045,3462,3662,1298,0,0,0,0,0,0
$STATE,13826,end climb,SURFACE_DEPTH_REACHED
$STATE,13826,begin surface coast
$FINISH,0.7,1.023531
$STATE,13837,end surface coast,CONTROL_FINISHED_OK
$STATE,13837,begin surface
$SM_CCo,13913,0.00,0.000,0,0,1291,354.70
$SM_GC,1.75,9.32,0.00,0.00,0.067,0.000,0.000,151,2252,1291,-9.32,0.06,354.70
$IRIDIUM_FIX,2432.32,-7729.30,021211,020211
$TT8_MAMPS,0.126581
$HUMID,1078107732
$INTERNAL_PRESSURE,8.85115
$TCM_TEMP,25.00
$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,12.1/482055/423699
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.4/298663/285598
$PA_DATA1,22.6/7837685/6067701
$PA_DATA0,20.7/7836665/6215639
$24V_AH,24.0,7.878
$10V_AH,10.4,5.467
$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,25.400,151.975,450.425,0.000,0.000,30.434,24.712,371.925,41.250,0.000,48.451,0.000,11317.040,600.217,2492.860,106.227,33.334,1566.056,0.000,1233.870,0.000,255.412,0.000
$DEVICE_MAMPS,283.050,55.080,1048.050,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,256.275,0.000,0.000,0.000,0.000,0.000,14617.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,75.710,0.000,0.000,0.000
$MEM,355040
$DATA_FILE_SIZE,13468,385
$CAP_FILE_SIZE,148520,0
$CFSIZE,260165632,256663552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,162307,2441.424,-7732.843,195,1.9,196,-7.2