version: 66.07
glider: 179
mission: 5
dive: 27
start: 6 11 110 15 53 8
data:
$ID,179
$MISSION,5
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,30
$T_MISSION,40
$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,150
$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,-11922.263
$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,71
$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
$GPS1,110610,154914,2441.670,-7736.928,14,1.4,14,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.1
$GPS2,110610,155226,2441.704,-7736.934,17,1.4,17,-7.1
$SPEED_LIMITS,0.231,0.284
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.275
$KALMAN_X,2224.5,-197.4,-66.2,-3224.7,-72.0
$KALMAN_Y,-10075.2,518.1,164.5,10232.4,256.8
$MHEAD_RNG_PITCHd_Wd,172.8,767,-22.4,-13.333
$D_GRID,120
$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,-0.80,-146.0,0.0,0.0,0,76,0.00,0.00,-59.08,0.000,2,0.000,0.000,149,2438,3010,0,0,0,0,0,0
$GC,77,-0.80,-146.0,3.6,-6.5,10,104,12.43,0.00,-6.12,0.000,6,0.269,0.000,2876,2438,3330,0,0,0,0,0,0
$GC,165,-0.80,-146.0,29.7,-23.2,22,173,0.00,2.33,0.00,0.000,4,0.000,0.028,2876,852,3333,0,0,0,0,0,0
$GC,187,-0.80,-146.0,34.6,-22.4,23,198,0.00,2.35,0.00,0.000,6,0.000,0.033,2867,2422,3329,0,0,0,0,0,0
$GC,379,-0.80,-146.0,73.7,-20.3,42,387,0.00,2.33,0.00,0.000,4,0.000,0.028,2867,844,3330,0,0,0,0,0,0
$GC,401,-0.80,-146.0,78.2,-19.8,43,412,0.12,2.38,0.00,0.000,6,0.181,0.033,2886,2422,3330,0,0,0,0,0,0
$GC,602,-0.80,-146.0,111.0,-16.0,59,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2422,3330,0,0,0,0,0,0
$STATE,662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,662,begin apogee
$GC,665,-0.14,0.0,120.4,15.8,61,779,0.68,0.00,107.00,0.485,6,0.144,0.000,3096,2423,2738,0,0,0,0,0,0
$STATE,779,end apogee,CONTROL_FINISHED_OK
$STATE,779,begin climb
$GC,780,0.80,146.0,124.3,0.0,64,898,0.88,0.00,110.88,0.478,6,0.082,0.000,3402,2423,2142,0,0,0,0,0,0
$GC,1180,0.88,206.9,95.8,9.6,80,1238,0.00,2.38,45.55,0.459,4,0.000,0.031,3414,870,1894,0,0,0,0,0,0
$GC,1263,0.90,221.1,86.8,12.5,87,1285,0.00,2.38,12.57,0.418,6,0.000,0.030,3413,2434,1834,0,0,0,0,0,0
$GC,1466,0.91,230.5,60.7,12.8,107,1481,0.00,0.00,7.97,0.383,6,0.000,0.000,3413,2434,1797,0,0,0,0,0,0
$GC,1662,0.94,259.6,36.5,11.5,126,1691,0.00,0.00,23.20,0.419,6,0.000,0.000,3413,2434,1679,0,0,0,0,0,0
$GC,1881,0.98,287.7,9.9,11.6,154,1911,0.12,2.40,21.70,0.405,4,0.107,0.032,3474,866,1565,0,0,0,0,0,0
$STATE,1934,end climb,SURFACE_DEPTH_REACHED
$STATE,1934,begin surface coast
$FINISH,0.9,1.021741
$STATE,1946,end surface coast,CONTROL_FINISHED_OK
$STATE,1946,begin surface
$SM_CCo,1962,41.47,0.408,0,0,1310,350.29
$SM_GC,1.53,0.00,0.00,41.47,0.000,0.000,0.408,142,2411,1310,-9.39,-0.11,350.29
$IRIDIUM_FIX,2432.32,-7739.08,051211,090903
$TT8_MAMPS,0.109354
$HUMID,1077987732
$INTERNAL_PRESSURE,8.98787
$TCM_TEMP,25.70
$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,13.0/482055/419321
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/298663/281011
$PA_DATA1,91.0/7837685/701709
$PA_DATA0,95.3/7836665/370912
$24V_AH,25.0,10.215
$10V_AH,10.6,12.237
$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,23.225,18.900,328.875,41.475,0.000,24.531,24.683,81.448,2.250,0.000,18.305,0.000,1112.612,433.617,625.564,27.735,33.325,669.525,0.000,269.051,0.000,15.218,0.000
$DEVICE_MAMPS,269.280,32.895,485.010,407.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,107.096,0.000,0.000,0.000,0.000,0.000,2275.220,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,76.614,0.000,0.000,0.000
$MEM,355032
$DATA_FILE_SIZE,3497,166
$CAP_FILE_SIZE,32452,0
$CFSIZE,260165632,255352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,162702,2441.635,-7736.897,14,1.9,14,-7.1