version: 66.07
glider: 179
mission: 5
dive: 4
start: 6 7 110 19 43 42
data:
$ID,179
$MISSION,5
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,-11676.795
$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,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,60
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,61440.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,070610,193926,2441.257,-7734.424,10,1.5,10,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.1
$GPS2,070610,194302,2441.245,-7734.417,16,1.2,16,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,-7727.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.256,-0.045
$KALMAN_X,-223.8,69.9,250.7,2879.3,-745.6
$KALMAN_Y,-261.7,-378.5,-369.7,999.3,609.9
$MHEAD_RNG_PITCHd_Wd,107.0,12481,-17.5,-10.000
$D_GRID,660
$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,-0.67,-146.0,0.0,0.0,0,112,0.00,0.00,-89.25,0.000,2,0.000,0.000,146,2286,3114,0,0,0,0,0,0
$GC,114,-0.67,-146.0,3.7,-7.7,15,139,12.20,2.42,-4.03,0.000,4,0.262,0.044,2917,677,3335,0,0,0,0,0,0
$GC,281,-0.67,-146.0,38.7,-13.5,34,289,0.00,2.38,0.00,0.000,6,0.000,0.035,2908,2233,3336,0,0,0,0,0,0
$GC,472,-0.67,-146.0,65.7,-13.8,53,477,0.00,2.20,0.00,0.000,4,0.000,0.046,2897,3675,3336,0,0,0,0,0,0
$GC,493,-0.67,-146.0,68.7,-14.3,55,498,0.08,2.10,0.00,0.000,6,0.150,0.030,2922,2244,3340,0,0,0,0,0,0
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$GC,874,-0.67,-146.0,115.2,-11.9,84,882,0.00,2.28,0.00,0.000,4,0.000,0.033,2922,678,3337,0,0,0,0,0,0
$GC,902,-0.67,-146.0,118.7,-12.5,85,910,0.00,2.33,0.00,0.000,6,0.000,0.035,2917,2251,3337,0,0,0,0,0,0
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$GC,1261,-0.67,-146.0,162.0,-12.5,97,1269,0.00,2.08,0.00,0.000,6,0.000,0.031,2902,2246,3336,0,0,0,0,0,0
$GC,1593,-0.67,-146.0,202.6,-11.9,108,1601,0.00,2.17,0.00,0.000,4,0.000,0.047,2892,3679,3335,0,0,0,0,0,0
$GC,1674,-0.67,-146.0,212.4,-11.9,110,1682,0.12,2.08,0.00,0.000,6,0.158,0.029,2926,2238,3335,0,0,0,0,0,0
$GC,1984,-0.67,-146.0,240.6,-8.8,120,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2237,3335,0,0,0,0,0,0
$GC,2287,-0.67,-146.0,267.4,-8.6,130,2296,0.00,2.17,0.00,0.000,4,0.000,0.047,2916,3685,3335,0,0,0,0,0,0
$GC,2379,-0.67,-146.0,275.9,-9.3,133,2387,0.00,2.08,0.00,0.000,6,0.000,0.031,2916,2238,3334,0,0,0,0,0,0
$GC,2711,-0.67,-146.0,305.8,-8.9,143,2719,0.00,2.17,0.00,0.000,4,0.000,0.048,2906,3674,3333,0,0,0,0,0,0
$GC,2797,-0.67,-146.0,313.8,-9.2,144,2805,0.00,2.08,0.00,0.000,6,0.000,0.031,2906,2244,3332,0,0,0,0,0,0
$GC,3143,-0.67,-146.0,346.0,-9.3,150,3152,0.00,2.17,0.00,0.000,4,0.000,0.048,2896,3673,3329,0,0,0,0,0,0
$GC,3166,-0.67,-146.0,348.3,-9.3,150,3174,0.12,2.05,0.00,0.000,6,0.159,0.031,2930,2245,3331,0,0,0,0,0,0
$GC,3507,-0.67,-146.0,376.1,-8.1,156,3515,0.00,2.17,0.00,0.000,4,0.000,0.049,2921,3673,3329,0,0,0,0,0,0
$GC,3539,-0.67,-146.0,378.9,-8.4,156,3547,0.00,2.08,0.00,0.000,6,0.000,0.031,2921,2245,3328,0,0,0,0,0,0
$GC,3864,-0.67,-146.0,406.3,-8.4,162,3872,0.00,2.17,0.00,0.000,4,0.000,0.048,2910,3672,3327,0,0,0,0,0,0
$GC,3924,-0.67,-146.0,411.7,-8.9,163,3931,0.00,2.08,0.00,0.000,6,0.000,0.031,2910,2248,3326,0,0,0,0,0,0
$GC,4286,-0.67,-146.0,444.2,-8.9,169,4294,0.00,2.17,0.00,0.000,4,0.000,0.050,2901,3672,3325,0,0,0,0,0,0
$GC,4335,-0.67,-146.0,448.7,-8.7,169,4343,0.10,2.05,0.00,0.000,6,0.168,0.031,2925,2247,3324,0,0,0,0,0,0
$GC,4643,-0.67,-146.0,472.1,-7.5,174,4651,0.00,2.17,0.00,0.000,4,0.000,0.050,2917,3671,3323,0,0,0,0,0,0
$GC,4682,-0.67,-146.0,475.2,-8.2,174,4689,0.00,2.08,0.00,0.000,6,0.000,0.031,2917,2249,3323,0,0,0,0,0,0
$GC,5007,-0.67,-146.0,501.5,-8.1,180,5014,0.00,2.20,0.00,0.000,4,0.000,0.050,2907,3669,3322,0,0,0,0,0,0
$GC,5060,-0.67,-146.0,506.2,-8.7,180,5071,0.00,2.08,0.00,0.000,6,0.000,0.031,2907,2247,3319,0,0,0,0,0,0
$GC,5369,-0.67,-146.0,532.6,-8.6,186,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2246,3320,0,0,0,0,0,0
$GC,5670,-0.67,-146.0,557.3,-8.2,191,5678,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3675,3318,0,0,0,0,0,0
$GC,5730,-0.67,-146.0,562.7,-8.5,191,5741,0.12,2.08,0.00,0.000,6,0.163,0.031,2930,2237,3318,0,0,0,0,0,0
$GC,6038,-0.67,-146.0,586.2,-7.7,197,6046,0.00,2.17,0.00,0.000,4,0.000,0.051,2921,3671,3317,0,0,0,0,0,0
$GC,6113,-0.67,-146.0,592.2,-7.9,198,6121,0.00,2.08,0.00,0.000,6,0.000,0.032,2921,2248,3317,0,0,0,0,0,0
$GC,6465,-0.67,-146.0,619.0,-7.4,204,6473,0.00,2.20,0.00,0.000,4,0.000,0.051,2911,3676,3315,0,0,0,0,0,0
$GC,6497,-0.67,-146.0,621.5,-7.9,204,6505,0.00,2.08,0.00,0.000,6,0.000,0.032,2911,2245,3318,0,0,0,0,0,0
$GC,6822,-0.67,-146.0,647.0,-7.8,210,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2242,3313,0,0,0,0,0,0
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7004,-0.14,0.0,661.0,7.7,213,7127,0.60,0.00,114.25,0.871,6,0.130,0.000,3100,2240,2737,0,0,0,0,0,0
$STATE,7128,end apogee,CONTROL_FINISHED_OK
$STATE,7128,begin climb
$GC,7129,0.67,146.0,665.1,0.0,215,7261,0.70,2.58,121.05,0.858,4,0.063,0.037,3376,629,2142,0,0,0,0,0,0
$GC,7339,0.67,146.0,655.1,12.2,218,7348,0.00,2.45,0.00,0.000,6,0.000,0.035,3373,2201,2137,0,0,0,0,0,0
$GC,7675,0.67,146.0,617.1,11.4,224,7683,0.00,2.25,0.00,0.000,4,0.000,0.050,3373,3675,2134,0,0,0,0,0,0
$GC,7718,0.67,146.0,611.5,12.7,224,7726,0.00,2.20,0.00,0.000,6,0.000,0.032,3380,2201,2133,0,0,0,0,0,0
$GC,8031,0.67,146.0,574.2,11.8,230,8039,0.00,2.28,0.00,0.000,4,0.000,0.049,3385,3685,2132,0,0,0,0,0,0
$GC,8091,0.67,146.0,566.7,12.5,231,8100,0.15,2.17,0.00,0.000,6,0.210,0.032,3362,2202,2132,0,0,0,0,0,0
$GC,8454,0.67,146.0,529.5,10.1,237,8462,0.00,2.25,0.00,0.000,4,0.000,0.049,3362,3675,2130,0,0,0,0,0,0
$GC,8561,0.67,146.0,516.5,12.3,238,8569,0.00,2.17,0.00,0.000,6,0.000,0.031,3371,2198,2129,0,0,0,0,0,0
$GC,8875,0.67,146.0,484.3,10.2,244,8883,0.00,2.28,0.00,0.000,4,0.000,0.048,3371,3685,2129,0,0,0,0,0,0
$GC,8961,0.67,146.0,473.9,11.7,245,8969,0.00,2.17,0.00,0.000,6,0.000,0.031,3382,2195,2128,0,0,0,0,0,0
$GC,9296,0.67,146.0,437.1,11.0,251,9304,0.00,2.28,0.00,0.000,4,0.000,0.047,3383,3686,2127,0,0,0,0,0,0
$GC,9393,0.67,146.0,425.0,12.7,252,9401,0.12,2.17,0.00,0.000,6,0.208,0.031,3366,2196,2127,0,0,0,0,0,0
$GC,9718,0.67,147.0,392.2,10.0,258,9725,0.00,2.28,0.00,0.000,4,0.000,0.048,3365,3676,2127,0,0,0,0,0,0
$GC,9857,0.67,147.0,376.4,11.2,260,9865,0.00,2.17,0.00,0.000,6,0.000,0.031,3374,2192,2127,0,0,0,0,0,0
$GC,10208,0.67,147.0,338.4,10.9,266,10216,0.00,2.28,0.00,0.000,4,0.000,0.047,3375,3685,2126,0,0,0,0,0,0
$GC,10278,0.67,147.0,329.9,12.4,267,10285,0.00,2.17,0.00,0.000,6,0.000,0.030,3386,2193,2127,0,0,0,0,0,0
$GC,10598,0.67,147.0,294.6,10.8,273,10606,0.00,2.25,0.00,0.000,4,0.000,0.047,3386,3675,2126,0,0,0,0,0,0
$GC,10662,0.67,147.0,287.4,11.5,275,10670,0.12,2.12,0.00,0.000,6,0.204,0.029,3368,2201,2126,0,0,0,0,0,0
$GC,10988,0.69,162.3,256.4,9.3,286,11011,0.00,2.33,11.98,0.575,4,0.000,0.046,3373,3675,2076,0,0,0,0,0,0
$GC,11052,0.69,162.3,249.5,12.0,288,11061,0.00,2.15,0.00,0.000,6,0.000,0.029,3376,2198,2072,0,0,0,0,0,0
$GC,11389,0.69,166.2,214.8,9.8,299,11402,0.00,2.30,4.62,0.431,4,0.000,0.047,3379,3685,2059,0,0,0,0,0,0
$GC,11598,0.69,168.5,193.8,9.9,305,11610,0.00,2.15,3.62,0.364,6,0.000,0.029,3389,2197,2050,0,0,0,0,0,0
$GC,11917,0.70,172.8,163.1,9.8,316,11931,0.00,2.25,5.55,0.428,4,0.000,0.044,3388,3673,2031,0,0,0,0,0,0
$GC,12036,0.70,172.8,149.8,11.2,319,12047,0.00,2.12,0.00,0.000,6,0.000,0.028,3398,2199,2030,0,0,0,0,0,0
$GC,12346,0.71,180.1,119.3,9.7,330,12363,0.00,2.33,7.00,0.445,4,0.000,0.045,3398,3678,2003,0,0,0,0,0,0
$GC,12388,0.71,180.1,114.5,11.3,331,12396,0.12,2.15,0.00,0.000,6,0.194,0.028,3379,2201,2000,0,0,0,0,0,0
$GC,12702,0.72,193.5,83.3,9.4,351,12718,0.00,2.33,12.07,0.463,4,0.000,0.034,3389,622,1947,0,0,0,0,0,0
$GC,12771,0.73,197.9,76.8,9.8,357,12784,0.00,2.40,4.68,0.363,6,0.000,0.030,3389,2214,1928,0,0,0,0,0,0
$GC,12967,0.74,209.7,58.3,9.5,376,12983,0.00,2.25,10.68,0.439,4,0.000,0.045,3389,3670,1883,0,0,0,0,0,0
$GC,13164,0.74,209.7,36.2,10.8,394,13173,0.00,2.20,0.00,0.000,6,0.000,0.026,3400,2185,1881,0,0,0,0,0,0
$GC,13357,0.77,231.2,17.9,9.0,415,13382,0.00,2.33,18.30,0.433,4,0.000,0.035,3411,632,1793,0,0,0,0,0,0
$GC,13423,0.78,240.8,11.7,9.6,427,13437,0.00,2.38,8.55,0.392,6,0.000,0.030,3411,2204,1755,0,0,0,0,0,0
$GC,13500,0.81,259.9,4.5,9.1,441,13519,0.00,0.00,16.12,0.419,6,0.000,0.000,3411,2204,1677,0,0,0,0,0,0
$STATE,13532,end climb,SURFACE_DEPTH_REACHED
$STATE,13532,begin surface coast
$FINISH,0.6,0.996150
$STATE,13554,end surface coast,CONTROL_FINISHED_OK
$STATE,13554,begin surface
$SM_CCo,13568,55.17,0.431,0,0,1309,350.04
$SM_GC,1.82,0.00,0.00,55.17,0.000,0.000,0.431,145,2210,1309,-9.38,-1.02,350.04
$IRIDIUM_FIX,2432.32,-7732.13,011211,131327
$TT8_MAMPS,0.122087
$HUMID,1078133539
$INTERNAL_PRESSURE,8.89021
$TCM_TEMP,25.30
$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,11.9/482055/424472
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.1/298663/286510
$PA_DATA1,6.6/7837685/7319248
$PA_DATA0,8.5/7836665/7173561
$24V_AH,24.4,7.212
$10V_AH,10.5,3.916
$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,23.600,141.100,338.475,55.175,0.000,0.000,0.000,0.000,29.500,0.000,17.015,0.000,10901.346,532.986,2163.082,73.000,32.326,1586.929,0.000,1351.215,0.000,184.050,0.000
$DEVICE_MAMPS,262.395,51.255,870.570,431.460,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,300.217,0.000,0.000,0.000,0.000,0.000,13676.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.498,0.000,0.000,0.000
$MEM,355096
$DATA_FILE_SIZE,16780,451
$CAP_FILE_SIZE,154503,0
$CFSIZE,260165632,256995328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,233427,2440.794,-7732.639,184,4.2,203,-7.2