version: 66.07
glider: 179
mission: 5
dive: 22
start: 6 11 110 10 46 32
data:
$ID,179
$MISSION,5
$DIVE,22
$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,-11915.899
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,110610,103936,2441.287,-7735.096,67,1.3,73,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.9
$GPS2,110610,104550,2441.310,-7735.124,14,1.3,14,-7.1
$SPEED_LIMITS,0.212,0.349
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.273,0.028
$KALMAN_X,1866.9,-28.6,186.1,-246.9,76.9
$KALMAN_Y,-11027.4,156.7,-66.1,11046.8,-321.4
$MHEAD_RNG_PITCHd_Wd,283.0,2877,-21.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-143.6,0.0,0.0,0,70,0.00,0.00,-53.22,0.000,2,0.000,0.000,146,2422,2792,0,0,0,0,0,0
$GC,72,-0.88,-243.3,3.1,-4.2,9,109,12.60,2.38,-18.30,0.000,4,0.278,0.044,2844,844,3737,0,0,0,0,0,0
$GC,213,-0.88,-243.3,42.1,-24.5,27,218,0.00,2.42,0.00,0.000,6,0.000,0.034,2836,2410,3736,0,0,0,0,0,0
$GC,411,-0.88,-243.3,91.3,-24.7,46,415,0.00,1.95,0.00,0.000,4,0.000,0.047,2826,3680,3739,0,0,0,0,0,0
$GC,452,-0.88,-243.3,102.6,-26.5,50,458,0.12,1.88,0.00,0.000,6,0.197,0.026,2853,2406,3739,0,0,0,0,0,0
$GC,778,-0.88,-243.3,176.3,-22.0,61,789,0.00,2.28,0.00,0.000,4,0.000,0.029,2853,845,3740,0,0,0,0,0,0
$GC,809,-0.88,-243.3,182.9,-20.9,61,820,0.00,2.40,0.00,0.000,6,0.000,0.034,2844,2430,3740,0,0,0,0,0,0
$GC,1120,-0.88,-243.3,245.2,-19.7,72,1128,0.00,2.33,0.00,0.000,4,0.000,0.030,2845,844,3740,0,0,0,0,0,0
$GC,1158,-0.88,-243.3,252.7,-17.7,73,1166,0.00,2.38,0.00,0.000,6,0.000,0.034,2833,2417,3741,0,0,0,0,0,0
$GC,1484,-0.88,-243.3,312.6,-18.4,83,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2418,3741,0,0,0,0,0,0
$GC,1786,-0.88,-243.3,368.7,-18.6,88,1795,0.00,2.33,0.00,0.000,4,0.000,0.029,2833,843,3739,0,0,0,0,0,0
$GC,1825,-0.88,-243.3,375.5,-16.4,88,1836,0.12,2.35,0.00,0.000,6,0.174,0.034,2859,2422,3741,0,0,0,0,0,0
$GC,2158,-0.88,-243.3,424.5,-14.7,94,2167,0.00,1.88,0.00,0.000,4,0.000,0.050,2852,3670,3739,0,0,0,0,0,0
$GC,2186,-0.88,-243.3,429.0,-15.4,94,2194,0.00,1.83,0.00,0.000,6,0.000,0.028,2854,2416,3739,0,0,0,0,0,0
$GC,2527,-0.88,-243.3,479.7,-14.9,100,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2415,3738,0,0,0,0,0,0
$GC,2829,-0.88,-243.3,522.1,-14.0,105,2837,0.00,2.30,0.00,0.000,4,0.000,0.031,2852,844,3737,0,0,0,0,0,0
$GC,2857,-0.88,-243.3,526.1,-13.7,105,2866,0.00,2.35,0.00,0.000,6,0.000,0.036,2841,2412,3736,0,0,0,0,0,0
$GC,3199,-0.88,-243.3,572.9,-13.8,111,3207,0.00,1.90,0.00,0.000,4,0.000,0.050,2832,3675,3735,0,0,0,0,0,0
$GC,3226,-0.88,-243.3,576.8,-14.6,111,3233,0.00,1.83,0.00,0.000,6,0.000,0.030,2832,2410,3735,0,0,0,0,0,0
$GC,3566,-0.88,-243.3,626.1,-14.6,117,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2409,3734,0,0,0,0,0,0
$STATE,3806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3806,begin apogee
$GC,3809,-0.14,0.0,662.2,15.0,121,4011,0.85,0.00,194.70,0.879,6,0.149,0.000,3093,2408,2737,0,0,0,0,0,0
$STATE,4012,end apogee,CONTROL_FINISHED_OK
$STATE,4012,begin climb
$GC,4013,0.88,243.3,672.2,0.0,124,4224,0.98,2.47,199.55,0.871,4,0.077,0.035,3443,866,1745,0,0,0,0,0,0
$GC,4255,0.88,243.3,651.4,19.2,127,4265,0.00,2.50,0.00,0.000,6,0.000,0.034,3443,2435,1741,0,0,0,0,0,0
$GC,4563,0.88,243.3,587.7,20.9,133,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2435,1737,0,0,0,0,0,0
$GC,4864,0.88,243.3,526.3,20.3,138,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2435,1736,0,0,0,0,0,0
$GC,5166,0.88,243.3,466.0,19.9,143,5174,0.00,2.38,0.00,0.000,4,0.000,0.035,3454,865,1734,0,0,0,0,0,0
$GC,5193,0.88,243.3,460.5,20.1,143,5201,0.00,2.40,0.00,0.000,6,0.000,0.036,3454,2441,1733,0,0,0,0,0,0
$GC,5523,0.88,243.3,391.8,20.9,149,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2441,1732,0,0,0,0,0,0
$GC,5824,0.88,243.3,329.0,20.8,154,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2441,1732,0,0,0,0,0,0
$GC,6126,0.88,243.3,267.1,20.6,161,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2441,1731,0,0,0,0,0,0
$GC,6430,0.88,243.3,209.1,18.8,171,6438,0.00,2.38,0.00,0.000,4,0.000,0.036,3466,863,1730,0,0,0,0,0,0
$GC,6484,0.88,243.3,199.1,18.0,172,6495,0.15,2.38,0.00,0.000,6,0.196,0.034,3430,2438,1730,0,0,0,0,0,0
$GC,6796,0.88,243.3,149.1,16.1,183,6799,0.00,2.38,0.00,0.000,4,0.000,0.035,3440,854,1730,0,0,0,0,0,0
$GC,6879,0.88,243.3,135.6,15.3,185,6887,0.00,2.40,0.00,0.000,6,0.000,0.033,3439,2428,1733,0,0,0,0,0,0
$GC,7189,0.88,243.3,85.8,15.3,200,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2428,1730,0,0,0,0,0,0
$GC,7375,0.88,243.3,58.3,13.7,218,7380,0.00,1.90,0.00,0.000,4,0.000,0.046,3440,3679,1730,0,0,0,0,0,0
$GC,7471,0.88,243.3,43.7,15.2,227,7476,0.00,1.85,0.00,0.000,6,0.000,0.028,3447,2419,1730,0,0,0,0,0,0
$GC,7663,0.88,243.3,18.1,13.5,246,7671,0.00,2.33,0.00,0.000,4,0.000,0.033,3458,857,1730,0,0,0,0,0,0
$GC,7717,0.88,243.3,11.1,13.1,256,7725,0.00,2.38,0.00,0.000,6,0.000,0.031,3462,2427,1730,0,0,0,0,0,0
$GC,7787,0.90,256.2,2.5,11.5,269,7796,0.00,0.00,6.80,0.384,6,0.000,0.000,3459,2427,1691,0,0,0,0,0,0
$STATE,7798,end climb,SURFACE_DEPTH_REACHED
$STATE,7798,begin surface coast
$FINISH,0.7,1.004568
$STATE,7814,end surface coast,CONTROL_FINISHED_OK
$STATE,7814,begin surface
$SM_CCo,7828,58.70,0.448,0,0,1309,350.04
$SM_GC,2.06,0.00,0.00,58.70,0.000,0.000,0.448,150,2429,1309,-9.36,0.48,350.04
$IRIDIUM_FIX,2432.32,-7734.44,051211,020217
$TT8_MAMPS,0.110852
$HUMID,1078072893
$INTERNAL_PRESSURE,8.87068
$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,12.9/482055/419759
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.8/298663/281197
$PA_DATA1,85.9/7837685/1104282
$PA_DATA0,95.3/7836665/370912
$24V_AH,24.3,9.933
$10V_AH,10.4,11.890
$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,23.825,62.475,401.050,58.700,0.000,30.768,30.115,195.790,27.500,0.000,15.697,0.000,6264.875,542.131,1382.411,66.994,33.331,1072.751,0.000,625.654,0.000,170.995,0.000
$DEVICE_MAMPS,278.460,50.490,878.985,447.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,181.848,0.000,0.000,0.000,0.000,0.000,8386.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,77.021,0.000,0.000,0.000
$MEM,355024
$DATA_FILE_SIZE,10133,274
$CAP_FILE_SIZE,80007,0
$CFSIZE,260165632,255459328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,125857,2441.388,-7736.749,21,2.7,40,-7.1