version: 66.07
glider: 179
mission: 5
dive: 18
start: 6 10 110 16 37 49
data:
$ID,179
$MISSION,5
$DIVE,18
$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,325
$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,250
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11910.768
$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,2415
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,41
$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
$GPS1,100610,162926,2441.836,-7730.054,218,3.6,238,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.3
$GPS2,100610,163707,2441.895,-7730.075,41,1.6,41,-7.2
$SPEED_LIMITS,0.286,0.385
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,-7727.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.361,-0.082
$KALMAN_X,805.5,-221.5,-263.3,9959.1,843.6
$KALMAN_Y,-8549.2,105.1,43.5,9591.0,-116.1
$MHEAD_RNG_PITCHd_Wd,110.0,5291,-21.5,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.87,-223.4,0.0,0.0,0,76,0.00,0.00,-58.30,0.000,2,0.000,0.000,150,2448,2961,0,0,0,0,0,0
$GC,77,-0.90,-243.3,3.6,-6.7,10,109,13.00,1.88,-13.95,0.000,4,0.285,0.063,2839,3669,3730,0,0,0,0,0,0
$GC,219,-0.90,-243.3,47.1,-24.8,27,224,0.00,1.88,0.00,0.000,6,0.000,0.026,2838,2409,3742,0,0,0,0,0,0
$GC,416,-0.90,-243.3,94.8,-23.4,46,421,0.00,2.33,0.00,0.000,4,0.000,0.030,2839,851,3739,0,0,0,0,0,0
$GC,431,-0.90,-243.3,98.6,-23.8,47,439,0.00,2.40,0.00,0.000,6,0.000,0.034,2828,2408,3739,0,0,0,0,0,0
$GC,630,-0.90,-243.3,147.4,-25.2,55,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2409,3740,0,0,0,0,0,0
$GC,934,-0.90,-243.3,219.7,-23.4,65,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2407,3740,0,0,0,0,0,0
$GC,1237,-0.90,-243.3,281.8,-19.8,75,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2407,3740,0,0,0,0,0,0
$GC,1539,-0.90,-243.3,338.1,-18.5,82,1547,0.00,1.90,0.00,0.000,4,0.000,0.049,2818,3684,3738,0,0,0,0,0,0
$GC,1568,-0.90,-243.3,343.2,-18.9,82,1576,0.15,1.85,0.00,0.000,6,0.180,0.029,2855,2403,3740,0,0,0,0,0,0
$GC,1910,-0.90,-243.3,395.7,-15.2,88,1918,0.00,2.25,0.00,0.000,4,0.000,0.031,2856,848,3739,0,0,0,0,0,0
$GC,1943,-0.90,-243.3,400.7,-14.7,88,1951,0.00,2.38,0.00,0.000,6,0.000,0.035,2847,2415,3742,0,0,0,0,0,0
$GC,2280,-0.90,-243.3,451.4,-15.3,94,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2415,3738,0,0,0,0,0,0
$GC,2581,-0.90,-243.3,496.8,-15.0,99,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2418,3736,0,0,0,0,0,0
$GC,2882,-0.90,-243.3,540.4,-14.4,104,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2418,3735,0,0,0,0,0,0
$GC,3184,-0.90,-243.3,583.2,-14.2,109,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2415,3734,0,0,0,0,0,0
$GC,3486,-0.90,-243.3,624.1,-13.5,114,3495,0.00,1.95,0.00,0.000,4,0.000,0.053,2837,3671,3732,0,0,0,0,0,0
$GC,3509,-0.90,-243.3,627.5,-13.6,114,3518,0.00,1.83,0.00,0.000,6,0.000,0.031,2837,2411,3732,0,0,0,0,0,0
$GC,3856,-0.90,-243.3,677.1,-14.2,120,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2412,3730,0,0,0,0,0,0
$GC,4157,-0.90,-243.3,718.8,-13.8,125,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2412,3727,0,0,0,0,0,0
$GC,4460,-0.90,-243.3,759.0,-13.2,130,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2412,3725,0,0,0,0,0,0
$GC,4761,-0.90,-243.3,799.2,-13.2,135,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2413,3723,0,0,0,0,0,0
$GC,5063,-0.90,-243.3,837.8,-12.9,140,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2414,3721,0,0,0,0,0,0
$GC,5365,-0.90,-243.3,875.4,-12.5,145,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2412,3719,0,0,0,0,0,0
$GC,5666,-0.90,-243.3,912.0,-12.1,150,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2413,3716,0,0,0,0,0,0
$GC,5968,-0.90,-243.3,948.2,-11.9,155,5977,0.00,1.98,0.00,0.000,4,0.000,0.057,2828,3686,3716,0,0,0,0,0,0
$GC,6002,-0.90,-243.3,952.5,-13.0,155,6011,0.00,1.88,0.00,0.000,6,0.000,0.035,2828,2425,3711,0,0,0,0,0,0
$STATE,6337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6337,begin apogee
$GC,6339,-0.14,0.0,996.0,12.8,161,6548,0.88,0.00,201.55,1.116,6,0.155,0.000,3093,2426,2737,0,0,0,0,0,0
$STATE,6549,end apogee,CONTROL_FINISHED_OK
$STATE,6549,begin climb
$GC,6550,0.90,243.3,1005.6,0.0,164,6772,1.00,2.12,210.98,1.104,4,0.079,0.052,3435,3683,1746,0,0,0,0,0,0
$GC,6824,0.90,243.3,977.2,22.4,168,6832,0.00,1.95,0.00,0.000,6,0.000,0.034,3444,2435,1743,0,0,0,0,0,0
$GC,7159,0.90,243.3,907.4,20.8,174,7167,0.00,2.42,0.00,0.000,4,0.000,0.040,3456,854,1738,0,0,0,0,0,0
$GC,7197,0.90,243.3,899.2,21.0,174,7205,0.00,2.47,0.00,0.000,6,0.000,0.040,3456,2437,1737,0,0,0,0,0,0
$GC,7516,0.90,243.3,832.8,20.7,180,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2440,1735,0,0,0,0,0,0
$GC,7818,0.90,243.3,768.9,21.3,185,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2437,1731,0,0,0,0,0,0
$GC,8120,0.90,243.3,706.1,20.8,190,8128,0.00,2.45,0.00,0.000,4,0.000,0.041,3464,844,1733,0,0,0,0,0,0
$GC,8152,0.90,243.3,699.2,20.8,190,8161,0.12,2.45,0.00,0.000,6,0.230,0.040,3441,2431,1733,0,0,0,0,0,0
$GC,8477,0.90,243.3,636.1,19.5,196,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2432,1732,0,0,0,0,0,0
$GC,8779,0.90,243.3,577.0,19.5,201,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2431,1731,0,0,0,0,0,0
$GC,9081,0.90,243.3,519.3,19.0,206,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2432,1731,0,0,0,0,0,0
$GC,9383,0.90,243.3,461.1,19.4,211,9391,0.00,2.42,0.00,0.000,4,0.000,0.040,3451,841,1728,0,0,0,0,0,0
$GC,9431,0.90,243.3,452.0,18.7,211,9440,0.00,2.42,0.00,0.000,6,0.000,0.037,3450,2438,1730,0,0,0,0,0,0
$GC,9739,0.90,243.3,390.6,20.2,216,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2438,1730,0,0,0,0,0,0
$GC,10041,0.90,243.3,329.2,20.4,221,10049,0.00,1.90,0.00,0.000,4,0.000,0.052,3451,3681,1729,0,0,0,0,0,0
$GC,10084,0.90,243.3,319.8,22.2,221,10092,0.00,1.85,0.00,0.000,6,0.000,0.032,3459,2419,1730,0,0,0,0,0,0
$GC,10409,0.90,243.3,253.4,20.2,230,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2416,1730,0,0,0,0,0,0
$GC,10712,0.90,243.3,195.6,18.3,240,10718,0.10,0.00,0.00,0.000,6,0.238,0.000,3441,2416,1730,0,0,0,0,0,0
$GC,11016,0.90,243.3,145.0,16.6,250,11020,0.00,1.95,0.00,0.000,4,0.000,0.048,3440,3672,1730,0,0,0,0,0,0
$GC,11047,0.90,243.3,139.4,17.9,251,11052,0.00,1.85,0.00,0.000,6,0.000,0.029,3445,2424,1730,0,0,0,0,0,0
$GC,11364,0.90,243.3,86.2,17.4,266,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2422,1730,0,0,0,0,0,0
$GC,11550,0.93,272.9,56.4,15.0,284,11577,0.00,1.92,22.80,0.487,4,0.000,0.048,3448,3678,1625,0,0,0,0,0,0
$GC,11609,0.93,272.9,46.6,18.0,289,11617,0.00,1.88,0.00,0.000,6,0.000,0.028,3457,2420,1622,0,0,0,0,0,0
$GC,11801,0.96,296.0,15.3,15.4,310,11827,0.00,1.95,19.35,0.454,4,0.000,0.045,3457,3675,1529,0,0,0,0,0,0
$GC,11884,1.03,355.1,3.3,13.6,325,11904,0.00,1.85,16.65,0.439,2,0.000,0.027,3466,2420,1437,0,0,0,0,0,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.7,1.009219
$STATE,11918,end surface coast,CONTROL_FINISHED_OK
$STATE,11918,begin surface
$SM_CCo,11932,22.73,0.442,0,0,1309,350.04
$SM_GC,1.18,0.00,0.00,22.73,0.000,0.000,0.442,151,2420,1309,-9.36,0.14,350.04
$IRIDIUM_FIX,2429.95,-7732.13,041211,050514
$TT8_MAMPS,0.110103
$HUMID,1078119345
$INTERNAL_PRESSURE,8.84138
$TCM_TEMP,24.80
$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,12.7/482055/420766
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.5/298663/282305
$PA_DATA1,51.1/7837685/3831813
$PA_DATA0,95.3/7836665/370912
$24V_AH,23.9,9.402
$10V_AH,10.4,10.294
$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,24.550,58.350,471.325,22.725,0.000,29.079,29.843,236.512,40.000,0.000,42.516,0.000,10070.829,551.895,1705.133,77.466,33.346,1199.606,0.000,713.250,0.000,246.686,0.000
$DEVICE_MAMPS,285.345,62.730,1116.135,442.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,221.123,0.000,0.000,0.000,0.000,0.000,12712.340,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.198,0.000,0.000,0.000
$MEM,355016
$DATA_FILE_SIZE,10151,331
$CAP_FILE_SIZE,101642,0
$CFSIZE,260165632,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,195807,2440.954,-7727.340,46,1.2,47,-7.2