version: 66.07
glider: 179
mission: 4
dive: 6
start: 5 14 110 0 28 38
data:
$ID,179
$MISSION,4
$DIVE,6
$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,-10370.036
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,140510,002302,4806.945,-12222.867,14,1.1,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.7
$GPS2,140510,002756,4806.943,-12222.885,10,1.4,10,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.193
$KALMAN_X,15.4,121.7,106.3,-464.0,-74.9
$KALMAN_Y,-149.4,-187.2,-176.2,785.1,76.7
$MHEAD_RNG_PITCHd_Wd,127.0,2062,-19.7,-10.000
$D_GRID,105
$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,-62.67,0.000,2,0.000,0.000,145,2128,2777,0,0,0,0,0,0
$GC,85,-0.76,-117.3,3.4,-7.2,11,141,12.50,2.47,-31.65,0.000,4,0.273,0.059,2892,564,3934,0,0,0,0,0,0
$GC,149,-0.76,-117.3,8.2,-11.2,22,160,0.00,2.53,0.00,0.000,6,0.000,0.047,2882,2166,3934,0,0,0,0,0,0
$GC,223,-0.76,-117.3,19.2,-15.3,35,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2165,3936,0,0,0,0,0,0
$GC,291,-0.76,-117.3,30.2,-16.5,42,299,0.00,2.40,0.00,0.000,4,0.000,0.057,2871,3683,3936,0,0,0,0,0,0
$GC,318,-0.76,-117.3,35.4,-19.0,44,327,0.12,2.38,0.00,0.000,6,0.205,0.039,2898,2142,3936,0,0,0,0,0,0
$GC,510,-0.76,-117.3,67.7,-16.3,62,518,0.00,2.45,0.00,0.000,4,0.000,0.059,2888,3675,3937,0,0,0,0,0,0
$GC,538,-0.76,-117.3,72.6,-18.1,64,546,0.00,2.33,0.00,0.000,6,0.000,0.038,2888,2152,3936,0,0,0,0,0,0
$STATE,731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,731,begin apogee
$GC,734,-0.16,0.0,105.9,16.8,82,835,0.70,0.00,88.38,0.562,6,0.170,0.000,3092,2149,3455,0,0,0,0,0,0
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,836,0.76,117.3,110.5,0.0,92,934,0.90,0.00,89.95,0.549,6,0.105,0.000,3388,2147,2974,0,0,0,0,0,0
$GC,1239,0.80,147.4,82.5,8.3,131,1273,0.00,0.00,23.45,0.532,6,0.000,0.000,3388,2149,2853,0,0,0,0,0,0
$GC,1579,0.80,147.4,46.4,11.3,164,1587,0.00,2.42,0.00,0.000,4,0.000,0.054,3388,3683,2851,0,0,0,0,0,0
$GC,1692,0.80,147.4,32.3,12.0,174,1701,0.00,2.33,0.00,0.000,6,0.000,0.036,3400,2150,2851,0,0,0,0,0,0
$GC,1888,0.80,151.0,11.8,9.8,199,1905,0.00,2.45,4.47,0.399,4,0.000,0.051,3400,3680,2836,0,0,0,0,0,0
$GC,1919,0.81,157.9,8.7,9.6,204,1936,0.00,2.30,6.80,0.451,6,0.000,0.036,3411,2149,2809,0,0,0,0,0,0
$STATE,1944,end climb,SURFACE_DEPTH_REACHED
$STATE,1944,begin surface coast
$FINISH,6.5,1.020963
$STATE,2036,end surface coast,CONTROL_FINISHED_OK
$STATE,2036,begin surface
$SM_CCo,2053,255.05,0.499,0,0,1108,575.96
$SM_GC,1.51,0.00,0.00,255.05,0.000,0.000,0.499,144,2149,1108,-9.40,-0.03,575.96
$IRIDIUM_FIX,4748.51,-12210.23,061111,181822
$TT8_MAMPS,0.11235
$HUMID,1078143861
$INTERNAL_PRESSURE,8.48981
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.9,17.1
$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,12.0/482055/424078
$PA_ROOT,80.3/126931/24990
$PA_LOG,3.8/298663/287289
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,6.0/7836665/7369159
$24V_AH,24.5,5.008
$10V_AH,10.4,2.394
$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,24.300,24.050,213.050,255.050,0.000,28.565,23.787,147.836,2.250,0.000,11.135,0.000,1134.853,562.024,867.921,43.339,33.308,859.346,0.000,362.459,0.000,18.818,0.000
$DEVICE_MAMPS,273.105,58.905,561.510,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,149.444,0.000,0.000,0.000,0.000,0.000,2663.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,75.908,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,6824,225
$CAP_FILE_SIZE,40756,0
$CFSIZE,260165632,256868352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,010752,4806.806,-12222.737,8,2.2,27,18.3