version: 66.07
glider: 178
mission: 4
dive: 5
start: 6 7 110 20 19 8
data:
$ID,178
$MISSION,4
$DIVE,5
$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,51773
$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,-5732.043
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$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,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.540699
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,61440.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,070610,201416,2441.396,-7736.349,9,3.6,28,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.6
$GPS2,070610,201827,2441.366,-7736.349,16,2.1,35,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.123,-0.122
$KALMAN_X,343.4,266.1,27.5,-649.5,-111.1
$KALMAN_Y,-260.1,-320.5,-128.5,1138.0,570.8
$MHEAD_RNG_PITCHd_Wd,232.5,824,-27.2,-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,17,-0.83,-63.0,0.0,0.0,0,106,0.00,0.00,-80.47,0.000,6,0.000,0.000,166,2415,2995,0,0,0,0,0,0
$GC,108,-0.92,-130.8,2.1,-2.8,14,132,11.57,2.45,-6.15,0.000,4,0.258,0.054,2861,811,3272,0,0,0,0,0,0
$GC,360,-0.92,-130.8,50.6,-17.3,45,368,0.00,2.45,0.00,0.000,6,0.000,0.043,2851,2388,3273,0,0,0,0,0,0
$GC,552,-0.92,-130.8,83.3,-16.8,64,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2385,3275,0,0,0,0,0,0
$GC,757,-0.92,-130.8,115.0,-15.1,78,765,0.00,2.15,0.00,0.000,4,0.000,0.055,2840,3774,3274,0,0,0,0,0,0
$GC,881,-0.92,-130.8,135.4,-16.7,82,889,0.00,2.05,0.00,0.000,6,0.000,0.034,2845,2389,3274,0,0,0,0,0,0
$GC,1219,-0.92,-130.8,186.1,-14.6,93,1227,0.00,2.15,0.00,0.000,4,0.000,0.056,2836,3777,3274,0,0,0,0,0,0
$GC,1240,-0.92,-130.8,189.8,-16.4,93,1251,0.00,2.05,0.00,0.000,6,0.000,0.034,2836,2387,3272,0,0,0,0,0,0
$GC,1550,-0.92,-130.8,232.0,-13.2,104,1557,0.00,2.35,0.00,0.000,4,0.000,0.041,2836,818,3275,0,0,0,0,0,0
$GC,1609,-0.92,-130.8,239.8,-12.2,106,1617,0.15,2.42,0.00,0.000,6,0.191,0.044,2860,2406,3273,0,0,0,0,0,0
$GC,1941,-0.92,-130.8,276.6,-11.0,117,1948,0.00,2.12,0.00,0.000,4,0.000,0.057,2851,3778,3273,0,0,0,0,0,0
$GC,1962,-0.92,-130.8,279.1,-11.2,117,1972,0.00,2.05,0.00,0.000,6,0.000,0.034,2851,2391,3273,0,0,0,0,0,0
$GC,2270,-0.92,-130.8,314.4,-11.5,126,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2393,3272,0,0,0,0,0,0
$GC,2572,-0.92,-130.8,346.8,-10.7,131,2580,0.00,2.15,0.00,0.000,4,0.000,0.058,2841,3778,3270,0,0,0,0,0,0
$GC,2642,-0.92,-130.8,355.0,-11.1,132,2650,0.00,2.05,0.00,0.000,6,0.000,0.036,2841,2396,3270,0,0,0,0,0,0
$GC,2992,-0.92,-130.8,395.1,-11.5,138,3000,0.00,2.38,0.00,0.000,4,0.000,0.042,2840,818,3268,0,0,0,0,0,0
$GC,3046,-0.92,-130.8,401.5,-11.6,138,3057,0.12,2.45,0.00,0.000,6,0.190,0.046,2858,2408,3267,0,0,0,0,0,0
$GC,3353,-0.92,-130.8,434.6,-10.8,144,3361,0.00,2.15,0.00,0.000,4,0.000,0.060,2850,3781,3267,0,0,0,0,0,0
$GC,3418,-0.92,-130.8,442.0,-11.6,145,3425,0.00,2.05,0.00,0.000,6,0.000,0.037,2849,2404,3266,0,0,0,0,0,0
$GC,3779,-0.92,-130.8,481.9,-11.1,151,3787,0.00,2.20,0.00,0.000,4,0.000,0.061,2839,3778,3264,0,0,0,0,0,0
$GC,3827,-0.92,-130.8,487.7,-12.0,151,3835,0.00,2.08,0.00,0.000,6,0.000,0.037,2839,2388,3263,0,0,0,0,0,0
$GC,4135,-0.92,-130.8,521.4,-10.8,156,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2387,3261,0,0,0,0,0,0
$GC,4436,-0.92,-130.8,554.4,-11.0,161,4444,0.00,2.20,0.00,0.000,4,0.000,0.062,2829,3777,3260,0,0,0,0,0,0
$GC,4522,-0.92,-130.8,564.4,-11.5,162,4531,0.12,2.05,0.00,0.000,6,0.198,0.037,2857,2402,3262,0,0,0,0,0,0
$GC,4857,-0.92,-134.0,597.3,-9.7,168,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2402,3258,0,0,0,0,0,0
$GC,5159,-0.93,-138.0,625.9,-9.6,173,5167,0.00,2.20,0.00,0.000,4,0.000,0.063,2849,3781,3256,0,0,0,0,0,0
$GC,5213,-0.93,-138.0,631.8,-11.4,173,5224,0.00,2.08,0.00,0.000,6,0.000,0.039,2848,2399,3256,0,0,0,0,0,0
$STATE,5520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5520,begin apogee
$GC,5523,-0.14,0.0,661.7,9.7,179,5631,0.90,0.00,100.68,0.952,6,0.164,0.000,3110,2589,2738,0,0,0,0,0,0
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5631,begin climb
$GC,5632,0.93,138.0,662.7,0.0,180,5760,0.98,2.60,112.75,0.933,4,0.075,0.043,3474,1012,2175,0,0,0,0,0,0
$GC,5795,0.93,138.0,641.0,19.4,182,5803,0.00,2.55,0.00,0.000,6,0.000,0.047,3465,2585,2168,0,0,0,0,0,0
$GC,6120,0.93,138.0,577.4,19.7,188,6128,0.00,2.45,0.00,0.000,4,0.000,0.043,3474,1003,2165,0,0,0,0,0,0
$GC,6244,0.93,138.0,553.8,18.3,190,6252,0.00,2.47,0.00,0.000,6,0.000,0.048,3466,2589,2161,0,0,0,0,0,0
$GC,6606,0.93,138.0,484.7,19.1,196,6614,0.00,2.45,0.00,0.000,4,0.000,0.044,3475,1001,2160,0,0,0,0,0,0
$GC,6708,0.93,138.0,465.8,19.0,197,6716,0.00,2.45,0.00,0.000,6,0.000,0.047,3466,2582,2158,0,0,0,0,0,0
$GC,7026,0.93,138.0,405.9,18.9,203,7034,0.00,2.42,0.00,0.000,4,0.000,0.043,3476,1003,2157,0,0,0,0,0,0
$GC,7102,0.93,138.0,391.9,18.2,204,7110,0.00,2.47,0.00,0.000,6,0.000,0.047,3466,2590,2156,0,0,0,0,0,0
$GC,7447,0.93,138.0,328.1,18.4,210,7455,0.00,2.42,0.00,0.000,4,0.000,0.042,3475,994,2156,0,0,0,0,0,0
$GC,7598,0.93,138.0,302.0,17.5,212,7606,0.00,2.47,0.00,0.000,6,0.000,0.047,3466,2582,2154,0,0,0,0,0,0
$GC,7934,0.93,138.0,240.9,18.4,223,7942,0.00,2.40,0.00,0.000,4,0.000,0.041,3476,987,2155,0,0,0,0,0,0
$GC,8031,0.93,138.0,223.9,16.5,226,8039,0.00,2.47,0.00,0.000,6,0.000,0.047,3466,2583,2154,0,0,0,0,0,0
$GC,8357,0.93,138.0,169.1,16.3,237,8364,0.00,2.40,0.00,0.000,4,0.000,0.041,3476,992,2154,0,0,0,0,0,0
$GC,8582,0.93,138.0,135.0,15.3,244,8590,0.00,2.45,0.00,0.000,6,0.000,0.045,3466,2582,2153,0,0,0,0,0,0
$GC,8895,0.93,138.0,88.9,14.0,259,8899,0.00,1.90,0.00,0.000,4,0.000,0.057,3470,3783,2152,0,0,0,0,0,0
$GC,8920,0.93,138.0,84.9,15.3,261,8928,0.00,1.83,0.00,0.000,6,0.000,0.034,3472,2571,2154,0,0,0,0,0,0
$GC,9111,0.93,138.0,58.1,12.6,280,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2576,2154,0,0,0,0,0,0
$GC,9297,0.93,138.0,35.2,12.2,298,9303,0.00,1.92,0.00,0.000,4,0.000,0.055,3473,3775,2155,0,0,0,0,0,0
$GC,9404,0.93,138.0,21.0,13.6,308,9409,0.00,1.80,0.00,0.000,6,0.000,0.034,3481,2578,2157,0,0,0,0,0,0
$STATE,9585,end climb,SURFACE_DEPTH_REACHED
$STATE,9585,begin surface coast
$FINISH,0.1,1.022892
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9620,102.50,0.519,0,0,1309,350.04
$SM_GC,0.90,0.00,0.00,102.50,0.000,0.000,0.519,163,2404,1309,-9.37,0.08,350.04
$IRIDIUM_FIX,2434.69,-7736.76,011211,141404
$TT8_MAMPS,0.118342
$HUMID,1078176119
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.40
$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,31
$PA_DFQS,0/0
$PA_CMQS,0/133
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,8.2/483886/444217
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.3/297829/284966
$PA_DATA1,8.2/7836665/7192246
$PA_DATA0,6.0/7836665/7364987
$24V_AH,24.5,8.898
$10V_AH,10.5,6.740
$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,23.050,90.750,213.425,102.500,0.000,0.000,0.000,0.000,0.000,0.000,37.027,0.000,7757.102,447.994,1537.484,47.769,33.330,1189.441,0.000,1004.949,0.000,0.883,0.000
$DEVICE_MAMPS,257.805,71.145,951.660,518.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,230.088,0.000,0.000,0.000,0.000,0.000,9753.710,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.131,0.000,0.000,0.000
$MEM,355128
$DATA_FILE_SIZE,10143,345
$CAP_FILE_SIZE,102872,0
$CFSIZE,260165632,254574592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,230256,2440.800,-7737.707,68,2.4,87,-7.1