version: 66.07
glider: 179
mission: 5
dive: 23
start: 6 11 110 13 5 19
data:
$ID,179
$MISSION,5
$DIVE,23
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,-11917.154
$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,63
$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
$GPS1,110610,125857,2441.388,-7736.749,21,2.7,40,-7.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.5
$GPS2,110610,130437,2441.417,-7736.756,12,1.6,17,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145,-0.095
$KALMAN_X,2192.9,-144.9,176.3,-3190.1,48.3
$KALMAN_Y,-11202.6,325.2,-177.6,11363.1,-97.5
$MHEAD_RNG_PITCHd_Wd,243.8,253,-27.2,-10.000
$D_GRID,180
$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,-0.83,-63.0,0.0,0.0,0,76,0.00,0.00,-58.90,0.000,2,0.000,0.000,150,2430,2978,0,0,0,0,0,0
$GC,77,-0.87,-95.0,3.9,-6.6,10,102,12.65,2.40,-2.80,0.000,4,0.279,0.045,2859,847,3131,0,0,0,0,0,0
$GC,186,-0.87,-95.0,36.1,-22.4,24,190,0.00,2.42,0.00,0.000,6,0.000,0.033,2849,2415,3130,0,0,0,0,0,0
$GC,382,-0.87,-95.0,77.3,-20.2,43,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2415,3131,0,0,0,0,0,0
$GC,568,-0.87,-95.0,111.6,-18.1,57,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2415,3132,0,0,0,0,0,0
$GC,872,-0.87,-95.0,162.5,-16.1,67,880,0.00,2.33,0.00,0.000,4,0.000,0.030,2850,842,3130,0,0,0,0,0,0
$GC,947,-0.87,-95.0,173.6,-14.3,69,955,0.00,2.38,0.00,0.000,6,0.000,0.032,2838,2418,3132,0,0,0,0,0,0
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,991,-0.14,0.0,180.1,15.8,71,1072,0.88,0.00,73.22,0.540,6,0.160,0.000,3098,2422,2738,0,0,0,0,0,0
$STATE,1072,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1073,0.87,95.0,183.2,0.0,73,1155,0.93,0.00,74.25,0.528,6,0.083,0.000,3421,2423,2349,0,0,0,0,0,0
$GC,1443,0.90,116.7,161.5,7.7,86,1470,0.00,2.42,17.12,0.493,4,0.000,0.031,3433,860,2261,0,0,0,0,0,0
$GC,1693,0.92,136.3,141.0,7.9,93,1718,0.00,2.38,16.42,0.483,6,0.000,0.029,3433,2438,2181,0,0,0,0,0,0
$GC,2031,0.93,137.1,108.6,9.9,105,2039,0.00,2.33,0.00,0.000,4,0.000,0.031,3444,865,2178,0,0,0,0,0,0
$GC,2064,0.93,137.1,105.2,10.2,106,2072,0.00,2.35,0.00,0.000,6,0.000,0.029,3444,2425,2179,0,0,0,0,0,0
$GC,2380,0.94,145.3,75.3,9.1,133,2397,0.00,1.88,8.05,0.414,4,0.000,0.044,3443,3675,2144,0,0,0,0,0,0
$GC,2508,0.94,151.5,63.8,9.3,144,2522,0.00,1.80,6.25,0.383,6,0.000,0.025,3451,2414,2119,0,0,0,0,0,0
$GC,2706,0.96,168.6,46.6,8.2,163,2722,0.00,0.00,14.38,0.430,6,0.000,0.000,3453,2416,2049,0,0,0,0,0,0
$GC,2902,0.97,170.5,28.0,9.8,182,2907,0.00,2.30,0.00,0.000,4,0.000,0.031,3464,863,2046,0,0,0,0,0,0
$GC,2971,0.98,184.5,22.1,8.5,188,2991,0.00,2.38,12.93,0.412,6,0.000,0.029,3465,2435,1985,0,0,0,0,0,0
$GC,3180,1.01,205.1,3.1,7.8,225,3199,0.00,2.33,13.25,0.402,4,0.000,0.030,3475,870,1901,0,0,0,0,0,0
$STATE,3202,end climb,SURFACE_DEPTH_REACHED
$STATE,3202,begin surface coast
$FINISH,0.6,1.006682
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3223,begin surface
$SM_CCo,3240,89.18,0.422,0,0,1310,350.29
$SM_GC,1.79,0.00,0.00,89.18,0.000,0.000,0.422,145,2420,1310,-9.38,0.25,350.29
$IRIDIUM_FIX,2429.95,-7544.60,051211,050521
$TT8_MAMPS,0.110103
$HUMID,1077981281
$INTERNAL_PRESSURE,8.89998
$TCM_TEMP,25.60
$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,12.9/482055/419653
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/298663/281144
$PA_DATA1,87.5/7837685/980314
$PA_DATA0,95.3/7836665/370912
$24V_AH,24.9,9.991
$10V_AH,10.5,11.990
$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,23.525,32.050,235.875,89.175,0.000,24.219,26.329,182.460,5.250,0.000,18.176,0.000,2202.031,399.481,1021.259,46.064,33.329,729.326,0.000,474.321,0.000,33.261,0.000
$DEVICE_MAMPS,279.225,45.135,540.090,421.515,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,153.177,0.000,0.000,0.000,0.000,0.000,3732.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,74.098,0.000,0.000,0.000
$MEM,355028
$DATA_FILE_SIZE,6830,233
$CAP_FILE_SIZE,49871,0
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,140120,2441.535,-7737.082,15,1.7,15,-7.1