version: 66.07
glider: 179
mission: 5
dive: 21
start: 6 11 110 7 44 14
data:
$ID,179
$MISSION,5
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,180
$T_MISSION,225
$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,-11914.641
$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,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,64
$R_STBD_OVSHOOT,38
$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
$GPS1,110610,073236,2441.052,-7733.198,57,1.3,68,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.1
$GPS2,110610,074332,2441.053,-7733.259,11,1.6,11,-7.1
$SPEED_LIMITS,0.212,0.349
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.342,0.069
$KALMAN_X,1475.8,113.3,-98.6,3426.1,160.2
$KALMAN_Y,-10779.8,-95.4,223.8,10287.6,-480.5
$MHEAD_RNG_PITCHd_Wd,288.6,6033,-15.9,-12.222
$D_GRID,660
$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,-0.74,-243.3,0.0,0.0,0,71,0.00,0.00,-53.70,0.000,2,0.000,0.000,145,2428,2823,0,0,0,0,0,0
$GC,73,-0.74,-243.3,3.1,-4.3,9,109,13.40,2.38,-16.85,0.000,4,0.285,0.041,2893,847,3734,0,0,0,0,0,0
$GC,134,-0.74,-243.3,23.0,-26.3,19,139,0.00,2.42,0.00,0.000,6,0.000,0.034,2884,2405,3737,0,0,0,0,0,0
$GC,331,-0.74,-243.3,64.7,-20.1,38,335,0.00,1.98,0.00,0.000,4,0.000,0.047,2874,3684,3737,0,0,0,0,0,0
$GC,368,-0.74,-243.3,71.5,-17.9,41,376,0.12,1.90,0.00,0.000,6,0.184,0.027,2904,2399,3738,0,0,0,0,0,0
$GC,580,-0.74,-243.3,106.2,-16.3,60,584,0.00,2.30,0.00,0.000,4,0.000,0.030,2904,854,3738,0,0,0,0,0,0
$GC,611,-0.74,-243.3,111.2,-15.3,61,616,0.00,2.40,0.00,0.000,6,0.000,0.034,2895,2415,3739,0,0,0,0,0,0
$GC,947,-0.74,-243.3,168.0,-16.9,72,954,0.00,1.90,0.00,0.000,4,0.000,0.048,2886,3677,3737,0,0,0,0,0,0
$GC,984,-0.74,-243.3,174.3,-16.8,73,991,0.00,1.83,0.00,0.000,6,0.000,0.028,2885,2402,3739,0,0,0,0,0,0
$GC,1315,-0.74,-243.3,226.5,-14.8,84,1323,0.00,2.25,0.00,0.000,4,0.000,0.030,2886,859,3739,0,0,0,0,0,0
$GC,1375,-0.74,-243.3,234.8,-12.4,86,1383,0.12,2.35,0.00,0.000,6,0.171,0.034,2908,2419,3739,0,0,0,0,0,0
$GC,1713,-0.74,-243.3,271.7,-10.4,97,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2421,3739,0,0,0,0,0,0
$GC,2046,-0.74,-243.3,306.7,-10.4,107,2054,0.00,1.90,0.00,0.000,4,0.000,0.050,2900,3683,3739,0,0,0,0,0,0
$GC,2079,-0.74,-243.3,310.3,-10.8,107,2087,0.00,1.83,0.00,0.000,6,0.000,0.030,2899,2414,3738,0,0,0,0,0,0
$GC,2415,-0.74,-243.3,347.3,-11.0,113,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2413,3739,0,0,0,0,0,0
$GC,2716,-0.74,-243.3,380.3,-10.9,118,2724,0.00,1.92,0.00,0.000,4,0.000,0.049,2891,3675,3736,0,0,0,0,0,0
$GC,2744,-0.74,-243.3,383.4,-10.8,118,2751,0.00,1.83,0.00,0.000,6,0.000,0.029,2891,2421,3736,0,0,0,0,0,0
$GC,3084,-0.74,-243.3,421.7,-11.3,124,3093,0.00,2.30,0.00,0.000,4,0.000,0.031,2890,845,3734,0,0,0,0,0,0
$GC,3118,-0.74,-243.3,425.8,-11.6,124,3126,0.00,2.38,0.00,0.000,6,0.000,0.035,2880,2421,3734,0,0,0,0,0,0
$GC,3448,-0.74,-243.3,464.6,-11.9,130,3457,0.00,1.90,0.00,0.000,4,0.000,0.050,2871,3683,3733,0,0,0,0,0,0
$GC,3481,-0.74,-243.3,468.9,-13.1,130,3489,0.12,1.83,0.00,0.000,6,0.171,0.030,2903,2415,3733,0,0,0,0,0,0
$GC,3817,-0.74,-243.3,500.8,-9.3,136,3828,0.00,2.30,0.00,0.000,4,0.000,0.032,2903,850,3729,0,0,0,0,0,0
$GC,3841,-0.74,-243.3,503.5,-9.9,136,3849,0.00,2.38,0.00,0.000,6,0.000,0.036,2896,2416,3732,0,0,0,0,0,0
$GC,4183,-0.74,-243.3,537.0,-9.9,142,4193,0.00,1.90,0.00,0.000,4,0.000,0.051,2887,3674,3729,0,0,0,0,0,0
$GC,4239,-0.74,-243.3,542.7,-9.8,142,4246,0.00,1.83,0.00,0.000,6,0.000,0.031,2886,2414,3729,0,0,0,0,0,0
$GC,4552,-0.74,-243.3,575.9,-10.7,148,4561,0.00,2.30,0.00,0.000,4,0.000,0.033,2886,846,3727,0,0,0,0,0,0
$GC,4581,-0.74,-243.3,578.8,-10.8,148,4588,0.00,2.38,0.00,0.000,6,0.000,0.035,2873,2414,3727,0,0,0,0,0,0
$GC,4916,-0.74,-243.3,615.8,-11.3,154,4924,0.00,1.92,0.00,0.000,4,0.000,0.053,2867,3684,3726,0,0,0,0,0,0
$GC,4944,-0.74,-243.3,619.1,-11.5,154,4952,0.15,1.85,0.00,0.000,6,0.168,0.031,2906,2411,3725,0,0,0,0,0,0
$GC,5285,-0.74,-243.3,648.9,-8.7,160,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2408,3724,0,0,0,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5465,begin apogee
$GC,5467,-0.14,0.0,664.3,8.5,163,5667,0.60,0.00,193.20,0.887,6,0.132,0.000,3099,2410,2738,0,0,0,0,0,0
$STATE,5668,end apogee,CONTROL_FINISHED_OK
$STATE,5668,begin climb
$GC,5669,0.74,243.3,675.0,0.0,166,5880,0.82,2.10,199.88,0.874,4,0.076,0.049,3384,3672,1746,0,0,0,0,0,0
$GC,6012,0.74,243.3,639.7,17.4,171,6020,0.00,1.85,0.00,0.000,6,0.000,0.030,3399,2429,1740,0,0,0,0,0,0
$GC,6346,0.74,243.3,584.5,16.5,177,6354,0.00,2.35,0.00,0.000,4,0.000,0.036,3405,857,1737,0,0,0,0,0,0
$GC,6395,0.74,243.3,576.4,17.0,177,6403,0.00,2.42,0.00,0.000,6,0.000,0.035,3405,2431,1739,0,0,0,0,0,0
$GC,6702,0.74,243.3,524.4,16.9,182,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2430,1736,0,0,0,0,0,0
$GC,7004,0.74,243.3,474.3,16.7,187,7012,0.00,2.40,0.00,0.000,4,0.000,0.037,3416,848,1735,0,0,0,0,0,0
$GC,7036,0.74,243.3,468.8,16.3,187,7045,0.12,2.42,0.00,0.000,6,0.200,0.035,3389,2434,1735,0,0,0,0,0,0
$GC,7361,0.74,243.3,418.6,15.3,193,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2434,1733,0,0,0,0,0,0
$GC,7663,0.74,243.3,371.8,15.6,198,7672,0.00,2.38,0.00,0.000,4,0.000,0.036,3398,864,1733,0,0,0,0,0,0
$GC,7712,0.74,243.3,363.9,15.7,198,7721,0.00,2.40,0.00,0.000,6,0.000,0.035,3397,2436,1733,0,0,0,0,0,0
$GC,8026,0.74,243.3,313.8,16.0,204,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2437,1733,0,0,0,0,0,0
$GC,8329,0.74,243.3,265.9,15.6,212,8337,0.00,2.35,0.00,0.000,4,0.000,0.035,3408,856,1732,0,0,0,0,0,0
$GC,8350,0.74,243.3,262.5,15.3,212,8361,0.00,2.40,0.00,0.000,6,0.000,0.035,3408,2437,1732,0,0,0,0,0,0
$GC,8660,0.74,243.3,214.2,15.2,223,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2436,1731,0,0,0,0,0,0
$GC,8963,0.74,243.3,169.8,14.3,233,8971,0.00,2.35,0.00,0.000,4,0.000,0.035,3419,849,1731,0,0,0,0,0,0
$GC,9038,0.74,243.3,158.9,13.8,235,9047,0.12,2.38,0.00,0.000,6,0.193,0.034,3389,2431,1731,0,0,0,0,0,0
$GC,9354,0.74,243.3,119.5,12.5,246,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2431,1731,0,0,0,0,0,0
$GC,9660,0.74,243.3,80.6,12.4,264,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2430,1731,0,0,0,0,0,0
$GC,9846,0.77,267.7,57.8,11.4,282,9869,0.00,0.00,18.88,0.472,6,0.000,0.000,3389,2430,1643,0,0,0,0,0,0
$GC,10052,0.82,309.0,34.3,10.8,302,10090,0.00,1.95,33.10,0.464,4,0.000,0.047,3389,3676,1477,0,0,0,0,0,0
$GC,10117,0.82,310.5,26.9,12.2,308,10121,0.00,1.88,0.00,0.000,6,0.000,0.026,3396,2427,1475,0,0,0,0,0,0
$GC,10312,0.95,411.0,4.5,8.8,339,10345,0.15,0.00,30.20,0.439,2,0.106,0.000,3450,2425,1310,0,0,0,0,0,0
$STATE,10345,end climb,SURFACE_DEPTH_REACHED
$STATE,10345,begin surface coast
$FINISH,0.7,1.002690
$STATE,10358,end surface coast,CONTROL_FINISHED_OK
$STATE,10358,begin surface
$SM_CCo,10433,0.00,0.000,0,0,1303,351.51
$SM_GC,1.79,9.20,0.00,0.00,0.066,0.000,0.000,146,2425,1303,-9.34,0.28,351.51
$IRIDIUM_FIX,2429.95,-7734.44,051211,010126
$TT8_MAMPS,0.110852
$HUMID,1078084506
$INTERNAL_PRESSURE,8.87068
$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,12.9/482055/419910
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.8/298663/281329
$PA_DATA1,81.8/7837685/1424893
$PA_DATA0,95.3/7836665/370912
$24V_AH,24.2,9.810
$10V_AH,10.4,11.675
$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,24.950,86.050,475.250,0.000,0.000,55.920,53.342,338.239,29.250,0.000,12.676,0.000,8498.812,541.834,1953.851,80.462,33.345,1256.206,0.000,847.805,0.000,181.145,0.000
$DEVICE_MAMPS,285.345,52.785,886.635,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,230.699,0.000,0.000,0.000,0.000,0.000,11187.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,77.910,0.000,0.000,0.000
$MEM,355032
$DATA_FILE_SIZE,10150,347
$CAP_FILE_SIZE,106899,0
$CFSIZE,260165632,255500288
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,103936,2441.287,-7735.096,67,1.3,73,-7.1