version: 66.07
glider: 179
mission: 5
dive: 24
start: 6 11 110 14 6 43
data:
$ID,179
$MISSION,5
$DIVE,24
$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,-11918.409
$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,73
$R_STBD_OVSHOOT,39
$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
$GPS1,110610,140120,2441.535,-7737.082,15,1.7,15,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.5
$GPS2,110610,140602,2441.573,-7737.093,16,1.7,16,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.116,-0.157
$KALMAN_X,2259.3,-176.3,109.8,-3723.3,16.2
$KALMAN_Y,-10899.3,438.0,-66.5,11114.4,74.2
$MHEAD_RNG_PITCHd_Wd,150.6,668,-24.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.77,-80.1,0.0,0.0,0,77,0.00,0.00,-58.88,0.000,2,0.000,0.000,145,2420,2987,0,0,0,0,0,0
$GC,78,-0.82,-125.6,3.7,-6.2,10,105,12.62,1.90,-5.00,0.000,4,0.275,0.057,2860,3677,3252,0,0,0,0,0,0
$GC,151,-0.82,-125.6,28.0,-24.7,20,162,0.00,1.83,0.00,0.000,6,0.000,0.026,2860,2412,3254,0,0,0,0,0,0
$GC,344,-0.82,-125.6,69.1,-20.0,39,351,0.00,2.28,0.00,0.000,4,0.000,0.030,2860,855,3254,0,0,0,0,0,0
$GC,392,-0.82,-125.6,78.9,-19.1,43,403,0.12,2.35,0.00,0.000,6,0.189,0.033,2878,2416,3254,0,0,0,0,0,0
$GC,583,-0.82,-125.6,110.2,-16.1,58,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2416,3255,0,0,0,0,0,0
$GC,887,-0.82,-125.6,157.4,-15.3,68,894,0.00,1.88,0.00,0.000,4,0.000,0.047,2871,3674,3256,0,0,0,0,0,0
$GC,908,-0.82,-125.6,160.7,-14.5,68,916,0.00,1.80,0.00,0.000,6,0.000,0.027,2871,2411,3256,0,0,0,0,0,0
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1043,-0.14,0.0,180.2,14.7,73,1144,0.73,0.00,94.65,0.531,6,0.145,0.000,3093,2413,2737,0,0,0,0,0,0
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1146,0.82,125.6,183.9,0.0,76,1254,0.90,2.42,96.70,0.522,4,0.082,0.030,3419,869,2224,0,0,0,0,0,0
$GC,1322,0.82,125.6,175.0,10.6,81,1330,0.00,2.40,0.00,0.000,6,0.000,0.030,3420,2434,2223,0,0,0,0,0,0
$GC,1631,0.82,125.6,142.8,10.1,91,1639,0.00,1.85,0.00,0.000,4,0.000,0.044,3418,3673,2220,0,0,0,0,0,0
$GC,1877,0.83,127.7,117.7,9.8,98,1885,0.00,1.75,0.00,0.000,6,0.000,0.026,3424,2428,2219,0,0,0,0,0,0
$GC,2194,0.84,141.6,89.7,8.8,115,2218,0.00,0.00,12.73,0.445,6,0.000,0.000,3428,2426,2160,0,0,0,0,0,0
$GC,2400,0.85,151.3,71.3,9.2,135,2416,0.00,0.00,8.82,0.415,6,0.000,0.000,3428,2426,2119,0,0,0,0,0,0
$GC,2597,0.88,172.2,53.8,8.2,154,2624,0.00,2.30,16.95,0.439,4,0.000,0.029,3441,858,2035,0,0,0,0,0,0
$GC,2681,0.90,191.4,47.1,8.4,161,2705,0.00,2.38,15.82,0.430,6,0.000,0.031,3440,2438,1956,0,0,0,0,0,0
$GC,2896,0.90,191.4,25.8,10.6,182,2903,0.00,1.85,0.00,0.000,4,0.000,0.044,3440,3681,1952,0,0,0,0,0,0
$GC,3020,0.90,191.4,11.1,11.8,200,3031,0.00,1.77,0.00,0.000,6,0.000,0.025,3449,2431,1950,0,0,0,0,0,0
$GC,3093,0.91,196.5,3.8,9.6,213,3102,0.00,2.33,3.92,0.291,4,0.000,0.031,3460,856,1938,0,0,0,0,0,0
$STATE,3109,end climb,SURFACE_DEPTH_REACHED
$STATE,3109,begin surface coast
$FINISH,0.8,1.011652
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3131,begin surface
$SM_CCo,3147,96.18,0.423,0,0,1309,350.04
$SM_GC,1.81,0.00,0.00,96.18,0.000,0.000,0.423,144,2422,1309,-9.38,0.20,350.04
$IRIDIUM_FIX,2432.32,-7734.44,051211,070718
$TT8_MAMPS,0.110103
$HUMID,1077968377
$INTERNAL_PRESSURE,8.93904
$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,13.0/482055/419548
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/298663/281080
$PA_DATA1,89.4/7837685/832179
$PA_DATA0,95.3/7836665/370912
$24V_AH,24.9,10.050
$10V_AH,10.5,12.091
$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,23.325,33.475,249.600,96.175,0.000,28.868,30.093,138.684,5.250,0.000,17.134,0.000,2086.420,423.224,978.182,38.974,33.315,772.505,0.000,448.725,0.000,33.674,0.000
$DEVICE_MAMPS,274.635,57.375,530.910,423.045,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,144.106,0.000,0.000,0.000,0.000,0.000,3588.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.531,0.000,0.000,0.000
$MEM,354988
$DATA_FILE_SIZE,6860,220
$CAP_FILE_SIZE,47034,0
$CFSIZE,260165632,255418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,150134,2441.606,-7736.917,11,4.8,30,-7.1