version: 66.07
glider: 179
mission: 4
dive: 5
start: 5 13 110 23 48 38
data:
$ID,179
$MISSION,4
$DIVE,5
$D_SURF,7
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51304
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$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,-10368.68
$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,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3453
$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,-38.652786
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,130510,234256,4806.835,-12222.938,36,1.9,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-80.0
$GPS2,130510,234756,4806.997,-12223.073,11,1.5,11,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.176
$KALMAN_X,64.3,129.7,133.2,-778.6,-51.0
$KALMAN_Y,-289.8,-240.1,-203.5,1107.8,-12.3
$MHEAD_RNG_PITCHd_Wd,120.3,2274,-19.7,-10.000
$D_GRID,103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.76,-117.3,0.0,0.0,0,83,0.00,0.00,-62.05,0.000,2,0.000,0.000,152,2141,2847,0,0,0,0,0,0
$GC,84,-0.76,-117.3,3.4,-5.5,11,134,12.23,2.47,-25.83,0.000,4,0.268,0.060,2893,567,3934,0,0,0,0,0,0
$GC,373,-0.76,-117.3,45.6,-16.3,49,384,0.00,2.47,0.00,0.000,6,0.000,0.047,2883,2145,3937,0,0,0,0,0,0
$GC,566,-0.76,-117.3,80.1,-17.9,68,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2144,3937,0,0,0,0,0,0
$STATE,698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,698,begin apogee
$GC,701,-0.16,0.0,103.8,17.0,81,797,0.75,0.00,88.62,0.563,6,0.171,0.000,3098,2145,3452,0,0,0,0,0,0
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,799,0.76,117.3,108.2,0.0,90,903,0.88,2.58,89.18,0.548,4,0.100,0.050,3384,3680,2973,0,0,0,0,0,0
$GC,922,0.82,162.1,105.6,7.4,102,971,0.00,2.42,35.45,0.534,6,0.000,0.034,3399,2144,2792,0,0,0,0,0,0
$GC,1276,0.82,162.1,61.2,12.8,136,1284,0.00,2.42,0.00,0.000,4,0.000,0.050,3399,3685,2788,0,0,0,0,0,0
$GC,1314,0.82,162.1,55.7,15.8,139,1322,0.00,2.35,0.00,0.000,6,0.000,0.035,3409,2147,2788,0,0,0,0,0,0
$GC,1632,0.82,162.1,15.0,11.5,173,1643,0.00,2.40,0.00,0.000,4,0.000,0.050,3410,3688,2788,0,0,0,0,0,0
$STATE,1699,end climb,SURFACE_DEPTH_REACHED
$STATE,1699,begin surface coast
$FINISH,6.0,1.020505
$STATE,1770,end surface coast,CONTROL_FINISHED_OK
$STATE,1770,begin surface
$SM_CCo,1790,243.10,0.494,0,0,1108,575.47
$SM_GC,1.36,0.00,0.00,243.10,0.000,0.000,0.494,146,2128,1108,-9.39,-0.62,575.47
$IRIDIUM_FIX,4748.51,-12221.84,061111,171743
$TT8_MAMPS,0.110852
$HUMID,1078169668
$INTERNAL_PRESSURE,8.49957
$TCM_TEMP,19.40
$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,7
$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,12.0/482055/424189
$PA_ROOT,80.3/126931/24990
$PA_LOG,3.8/298663/287331
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,4.8/7836665/7459978
$24V_AH,24.6,4.928
$10V_AH,10.4,2.317
$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,23.850,19.525,213.250,243.100,0.000,24.846,43.063,141.059,2.000,0.000,12.457,0.000,966.368,531.068,797.471,40.567,33.312,786.696,0.000,334.139,0.000,17.201,0.000
$DEVICE_MAMPS,267.750,60.435,563.040,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,131.323,0.000,0.000,0.000,0.000,0.000,2433.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,74.562,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,6819,198
$CAP_FILE_SIZE,34735,0
$CFSIZE,260165632,256909312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,002302,4806.945,-12222.867,14,1.1,14,18.3