version: 66.07
glider: 179
mission: 5
dive: 10
start: 6 8 110 22 20 18
data:
$ID,179
$MISSION,5
$DIVE,10
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,200
$T_MISSION,250
$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,300
$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,-11900.695
$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,51
$R_STBD_OVSHOOT,35
$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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,221507,2441.189,-7735.986,173,2.0,173,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.6
$GPS2,080610,221936,2441.149,-7735.972,33,1.0,33,-7.1
$SPEED_LIMITS,0.286,0.419
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,-7727.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.419,0.004
$KALMAN_X,-1084.8,308.1,336.1,793.9,-474.1
$KALMAN_Y,-2880.5,-45.9,-190.9,2933.3,32.1
$MHEAD_RNG_PITCHd_Wd,96.5,15099,-18.8,-16.500
$D_GRID,990
$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,-0.88,-292.0,0.0,0.0,0,70,0.00,0.00,-52.97,0.000,2,0.000,0.000,144,2244,2808,0,0,0,0,0,0
$GC,72,-0.88,-292.0,3.1,-4.9,9,114,12.82,2.42,-20.73,0.000,4,0.282,0.047,2848,667,3932,0,0,0,0,0,0
$GC,283,-0.88,-292.0,58.3,-22.9,33,291,0.00,2.45,0.00,0.000,6,0.000,0.034,2838,2250,3934,0,0,0,0,0,0
$GC,485,-0.88,-292.0,108.4,-25.3,51,489,0.00,2.22,0.00,0.000,4,0.000,0.048,2828,3672,3935,0,0,0,0,0,0
$GC,505,-0.88,-292.0,113.5,-24.3,51,510,0.12,2.15,0.00,0.000,6,0.190,0.028,2856,2241,3935,0,0,0,0,0,0
$GC,819,-0.88,-292.0,178.1,-19.9,62,824,0.00,2.22,0.00,0.000,4,0.000,0.048,2847,3669,3936,0,0,0,0,0,0
$GC,872,-0.88,-292.0,188.6,-19.0,63,877,0.00,2.12,0.00,0.000,6,0.000,0.027,2847,2246,3936,0,0,0,0,0,0
$GC,1187,-0.88,-292.0,246.3,-17.9,74,1191,0.00,2.22,0.00,0.000,4,0.000,0.047,2837,3678,3936,0,0,0,0,0,0
$GC,1260,-0.88,-292.0,259.0,-16.5,76,1265,0.00,2.12,0.00,0.000,6,0.000,0.027,2837,2251,3936,0,0,0,0,0,0
$GC,1615,-0.88,-292.0,321.8,-17.5,86,1624,0.00,2.17,0.00,0.000,4,0.000,0.049,2826,3680,3936,0,0,0,0,0,0
$GC,1681,-0.88,-292.0,333.3,-17.6,87,1689,0.12,2.08,0.00,0.000,6,0.174,0.028,2857,2244,3936,0,0,0,0,0,0
$GC,2044,-0.88,-292.0,388.5,-15.0,93,2052,0.00,2.20,0.00,0.000,4,0.000,0.049,2848,3677,3936,0,0,0,0,0,0
$GC,2104,-0.88,-292.0,397.6,-13.9,93,2114,0.00,2.10,0.00,0.000,6,0.000,0.028,2847,2232,3937,0,0,0,0,0,0
$GC,2412,-0.88,-292.0,444.2,-15.2,99,2420,0.00,2.22,0.00,0.000,4,0.000,0.049,2837,3678,3935,0,0,0,0,0,0
$GC,2483,-0.88,-292.0,455.0,-14.6,100,2492,0.00,2.08,0.00,0.000,6,0.000,0.028,2837,2253,3935,0,0,0,0,0,0
$GC,2841,-0.88,-292.0,510.5,-15.5,106,2849,0.00,2.20,0.00,0.000,4,0.000,0.050,2826,3673,3931,0,0,0,0,0,0
$GC,2912,-0.88,-292.0,521.4,-15.0,107,2920,0.10,2.05,0.00,0.000,6,0.182,0.029,2855,2245,3934,0,0,0,0,0,0
$GC,3269,-0.88,-292.0,567.5,-12.9,113,3277,0.00,2.20,0.00,0.000,4,0.000,0.050,2852,3674,3931,0,0,0,0,0,0
$GC,3345,-0.88,-292.0,577.6,-12.8,114,3353,0.00,2.08,0.00,0.000,6,0.000,0.030,2847,2248,3929,0,0,0,0,0,0
$GC,3696,-0.88,-292.0,625.3,-13.6,120,3708,0.00,2.22,0.00,0.000,4,0.000,0.051,2836,3683,3929,0,0,0,0,0,0
$GC,3786,-0.88,-292.0,637.3,-13.8,121,3794,0.00,2.08,0.00,0.000,6,0.000,0.031,2836,2249,3928,0,0,0,0,0,0
$GC,4127,-0.88,-292.0,684.0,-13.7,127,4138,0.00,2.22,0.00,0.000,4,0.000,0.053,2825,3682,3927,0,0,0,0,0,0
$GC,4184,-0.88,-292.0,691.8,-13.5,127,4192,0.12,2.10,0.00,0.000,6,0.175,0.031,2857,2244,3927,0,0,0,0,0,0
$GC,4492,-0.88,-292.0,726.8,-11.2,132,4501,0.00,2.20,0.00,0.000,4,0.000,0.052,2848,3671,3923,0,0,0,0,0,0
$GC,4569,-0.88,-292.0,735.4,-10.9,133,4577,0.00,2.08,0.00,0.000,6,0.000,0.031,2844,2237,3923,0,0,0,0,0,0
$GC,4920,-0.88,-292.0,777.2,-11.9,139,4929,0.00,2.25,0.00,0.000,4,0.000,0.054,2838,3676,3921,0,0,0,0,0,0
$GC,5013,-0.88,-292.0,788.4,-11.9,140,5021,0.00,2.10,0.00,0.000,6,0.000,0.032,2838,2251,3921,0,0,0,0,0,0
$GC,5354,-0.88,-292.0,831.0,-12.5,146,5363,0.00,2.20,0.00,0.000,4,0.000,0.055,2827,3674,3919,0,0,0,0,0,0
$GC,5431,-0.88,-292.0,840.4,-12.1,147,5439,0.12,2.10,0.00,0.000,6,0.179,0.033,2858,2247,3919,0,0,0,0,0,0
$GC,5783,-0.88,-292.0,877.1,-10.4,153,5792,0.00,2.22,0.00,0.000,4,0.000,0.056,2848,3675,3916,0,0,0,0,0,0
$GC,5838,-0.88,-292.0,882.8,-10.6,153,5846,0.00,2.08,0.00,0.000,6,0.000,0.034,2850,2253,3915,0,0,0,0,0,0
$GC,6146,-0.88,-292.0,918.0,-11.5,158,6155,0.00,2.25,0.00,0.000,4,0.000,0.057,2839,3675,3914,0,0,0,0,0,0
$GC,6239,-0.88,-292.0,929.0,-12.4,159,6247,0.00,2.12,0.00,0.000,6,0.000,0.034,2838,2248,3913,0,0,0,0,0,0
$GC,6574,-0.88,-292.0,968.3,-11.6,165,6585,0.00,2.22,0.00,0.000,4,0.000,0.057,2828,3677,3908,0,0,0,0,0,0
$GC,6647,-0.88,-292.0,977.2,-12.0,166,6655,0.12,2.12,0.00,0.000,6,0.181,0.034,2859,2243,3910,0,0,0,0,0,0
$STATE,6822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6822,begin apogee
$GC,6825,-0.14,0.0,995.0,10.0,169,7075,0.75,0.00,242.82,1.115,6,0.142,0.000,3096,2242,2737,0,0,0,0,0,0
$STATE,7075,end apogee,CONTROL_FINISHED_OK
$STATE,7075,begin climb
$GC,7076,0.88,292.0,1009.6,0.0,173,7344,0.98,2.58,254.75,1.102,4,0.082,0.042,3442,686,1545,0,0,0,0,0,0
$GC,7422,0.88,292.0,971.1,18.8,178,7431,0.00,2.53,0.00,0.000,6,0.000,0.037,3437,2254,1540,0,0,0,0,0,0
$GC,7747,0.88,292.0,904.4,20.5,184,7755,0.00,2.22,0.00,0.000,4,0.000,0.054,3437,3675,1536,0,0,0,0,0,0
$GC,7801,0.88,292.0,892.3,23.2,184,7812,0.00,2.17,0.00,0.000,6,0.000,0.034,3453,2254,1536,0,0,0,0,0,0
$GC,8109,0.88,292.0,824.6,21.8,190,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2253,1535,0,0,0,0,0,0
$GC,8410,0.88,292.0,759.8,21.4,195,8418,0.00,2.22,0.00,0.000,4,0.000,0.053,3447,3676,1534,0,0,0,0,0,0
$GC,8459,0.88,292.0,748.6,22.8,195,8467,0.00,2.15,0.00,0.000,6,0.000,0.034,3458,2238,1535,0,0,0,0,0,0
$GC,8766,0.88,292.0,679.9,22.2,200,8775,0.00,2.22,0.00,0.000,4,0.000,0.053,3459,3675,1536,0,0,0,0,0,0
$GC,8820,0.88,292.0,666.4,26.0,200,8831,0.17,2.12,0.00,0.000,6,0.243,0.034,3432,2241,1536,0,0,0,0,0,0
$GC,9128,0.88,292.0,603.7,20.1,206,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2241,1531,0,0,0,0,0,0
$GC,9430,0.88,292.0,543.6,19.8,211,9438,0.00,2.25,0.00,0.000,4,0.000,0.052,3429,3676,1531,0,0,0,0,0,0
$GC,9484,0.88,292.0,532.2,21.4,211,9494,0.00,2.12,0.00,0.000,6,0.000,0.032,3438,2242,1531,0,0,0,0,0,0
$GC,9791,0.88,292.0,469.5,20.3,217,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2242,1531,0,0,0,0,0,0
$GC,10093,0.88,292.0,407.3,20.5,222,10101,0.00,2.25,0.00,0.000,4,0.000,0.052,3439,3676,1531,0,0,0,0,0,0
$GC,10136,0.88,292.0,397.5,23.9,222,10144,0.00,2.12,0.00,0.000,6,0.000,0.031,3449,2247,1532,0,0,0,0,0,0
$GC,10450,0.88,292.0,331.5,21.0,228,10458,0.00,2.22,0.00,0.000,4,0.000,0.050,3451,3688,1528,0,0,0,0,0,0
$GC,10498,0.88,292.0,320.3,22.9,228,10507,0.12,2.12,0.00,0.000,6,0.236,0.031,3431,2239,1531,0,0,0,0,0,0
$GC,10807,0.88,292.0,260.1,19.2,236,10811,0.00,2.25,0.00,0.000,4,0.000,0.049,3433,3675,1531,0,0,0,0,0,0
$GC,10822,0.88,292.0,256.8,19.7,236,10827,0.00,2.15,0.00,0.000,6,0.000,0.030,3443,2246,1531,0,0,0,0,0,0
$GC,11142,0.88,292.0,196.2,18.4,247,11146,0.00,2.25,0.00,0.000,4,0.000,0.049,3449,3682,1531,0,0,0,0,0,0
$GC,11253,0.88,292.0,173.8,20.1,250,11258,0.00,2.15,0.00,0.000,6,0.000,0.028,3460,2249,1531,0,0,0,0,0,0
$GC,11573,0.88,292.0,113.2,19.1,261,11578,0.00,2.22,0.00,0.000,4,0.000,0.047,3455,3676,1531,0,0,0,0,0,0
$GC,11626,0.88,292.0,102.3,21.2,262,11631,0.12,2.15,0.00,0.000,6,0.222,0.028,3435,2239,1530,0,0,0,0,0,0
$GC,11946,0.92,320.3,47.4,15.4,291,11973,0.00,2.28,21.73,0.477,4,0.000,0.047,3435,3678,1430,0,0,0,0,0,0
$GC,11989,0.92,320.3,40.2,17.7,295,11994,0.00,2.15,0.00,0.000,6,0.000,0.028,3444,2242,1430,0,0,0,0,0,0
$GC,12183,0.99,376.7,9.5,14.4,320,12231,0.00,0.00,45.42,0.455,6,0.000,0.000,3444,2240,1200,0,0,0,0,0,0
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FINISH,0.7,0.996253
$STATE,12255,end surface coast,CONTROL_FINISHED_OK
$STATE,12255,begin surface
$SM_CCo,12270,126.55,0.444,0,0,494,550.21
$SM_GC,1.47,0.00,0.00,126.55,0.000,0.000,0.444,150,2236,494,-9.36,-0.40,550.21
$IRIDIUM_FIX,2429.95,-7734.44,021211,111148
$TT8_MAMPS,0.110852
$HUMID,1078078055
$INTERNAL_PRESSURE,8.77302
$TCM_TEMP,24.70
$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,12.2/482055/423118
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.5/298663/285086
$PA_DATA1,22.6/7837685/6067701
$PA_DATA0,36.5/7836665/4975445
$24V_AH,23.8,8.244
$10V_AH,10.3,6.318
$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,24.975,122.825,564.725,126.550,0.000,27.986,25.244,117.010,45.750,0.000,34.071,0.000,9786.959,782.937,2004.323,74.071,33.321,1676.790,0.000,1123.431,0.000,282.911,0.000
$DEVICE_MAMPS,281.520,57.375,1114.605,443.700,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,221.787,0.000,0.000,0.000,0.000,0.000,12807.061,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,76.647,0.000,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,10164,333
$CAP_FILE_SIZE,126033,0
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,014821,2440.819,-7733.467,49,2.1,69,-7.1