version: 66.07
glider: 178
mission: 4
dive: 7
start: 6 8 110 2 1 47
data:
$ID,178
$MISSION,4
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$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,200
$T_MISSION,250
$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,275
$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,-5822.3379
$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,2440
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,22
$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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,61440.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,015658,2441.807,-7736.334,48,3.4,67,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-77.1
$GPS2,080610,020106,2441.778,-7736.347,31,1.5,31,-7.1
$SPEED_LIMITS,0.260,0.390
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.216,-0.145
$KALMAN_X,345.2,-60.3,-79.1,-213.8,243.2
$KALMAN_Y,-677.8,74.8,-13.7,1807.7,-170.3
$MHEAD_RNG_PITCHd_Wd,243.2,1206,-27.8,-15.000
$D_GRID,900
$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,-0.91,-115.4,0.0,0.0,0,90,0.00,0.00,-70.85,0.000,2,0.000,0.000,167,2437,3165,0,0,0,0,0,0
$GC,92,-1.01,-197.8,3.0,-7.8,12,116,11.95,2.42,-6.82,0.000,4,0.270,0.053,2836,857,3546,0,0,0,0,0,0
$GC,264,-1.01,-197.8,54.3,-23.6,32,269,0.00,2.53,0.00,0.000,6,0.000,0.049,2826,2445,3550,0,0,0,0,0,0
$GC,461,-1.01,-197.8,99.9,-24.0,51,465,0.00,2.12,0.00,0.000,4,0.000,0.059,2815,3778,3550,0,0,0,0,0,0
$GC,514,-1.01,-197.8,112.9,-23.5,53,521,0.00,2.03,0.00,0.000,6,0.000,0.036,2818,2411,3550,0,0,0,0,0,0
$GC,828,-1.01,-197.8,180.8,-20.9,64,836,0.00,2.15,0.00,0.000,4,0.000,0.059,2811,3778,3551,0,0,0,0,0,0
$GC,844,-1.01,-197.8,184.3,-20.5,64,852,0.00,2.03,0.00,0.000,6,0.000,0.035,2810,2434,3551,0,0,0,0,0,0
$GC,1159,-1.01,-197.8,244.7,-18.8,75,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2434,3553,0,0,0,0,0,0
$GC,1462,-1.01,-197.8,298.9,-17.3,85,1470,0.00,2.10,0.00,0.000,4,0.000,0.059,2801,3783,3554,0,0,0,0,0,0
$GC,1505,-1.01,-197.8,307.0,-19.2,86,1513,0.12,2.00,0.00,0.000,6,0.214,0.036,2827,2434,3555,0,0,0,0,0,0
$GC,1824,-1.01,-197.8,358.0,-15.9,92,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2434,3554,0,0,0,0,0,0
$GC,2125,-1.02,-198.9,403.5,-14.9,97,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2431,3557,0,0,0,0,0,0
$GC,2427,-1.02,-199.0,449.0,-15.0,102,2435,0.00,2.12,0.00,0.000,4,0.000,0.060,2820,3783,3554,0,0,0,0,0,0
$GC,2476,-1.02,-199.0,457.2,-16.6,102,2484,0.00,2.00,0.00,0.000,6,0.000,0.037,2820,2439,3554,0,0,0,0,0,0
$GC,2789,-1.02,-199.0,505.5,-15.5,108,2798,0.00,2.12,0.00,0.000,4,0.000,0.060,2810,3784,3553,0,0,0,0,0,0
$GC,2833,-1.02,-199.0,512.9,-16.6,108,2840,0.00,2.00,0.00,0.000,6,0.000,0.037,2810,2440,3553,0,0,0,0,0,0
$GC,3151,-1.02,-199.0,562.2,-15.4,114,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2439,3553,0,0,0,0,0,0
$GC,3453,-1.02,-199.8,607.5,-14.9,119,3461,0.00,2.12,0.00,0.000,4,0.000,0.063,2801,3780,3552,0,0,0,0,0,0
$GC,3523,-1.02,-199.8,618.7,-16.3,120,3531,0.12,2.00,0.00,0.000,6,0.206,0.038,2828,2441,3553,0,0,0,0,0,0
$GC,3873,-1.04,-217.5,666.3,-13.5,126,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2441,3550,0,0,0,0,0,0
$GC,4175,-1.07,-239.9,705.8,-13.1,131,4183,0.00,2.12,0.00,0.000,4,0.000,0.064,2820,3779,3545,0,0,0,0,0,0
$GC,4207,-1.08,-249.8,710.3,-14.1,131,4215,0.00,2.03,0.00,0.000,6,0.000,0.040,2819,2452,3548,0,0,0,0,0,0
$GC,4542,-1.10,-266.8,755.5,-13.5,137,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2448,3547,0,0,0,0,0,0
$GC,4844,-1.10,-267.6,795.9,-13.6,142,4852,0.00,2.12,0.00,0.000,4,0.000,0.065,2810,3777,3545,0,0,0,0,0,0
$GC,4877,-1.10,-267.6,800.7,-14.8,142,4885,0.00,2.03,0.00,0.000,6,0.000,0.041,2810,2436,3544,0,0,0,0,0,0
$GC,5207,-1.10,-267.6,847.0,-14.0,148,5214,0.00,2.15,0.00,0.000,4,0.000,0.067,2800,3774,3543,0,0,0,0,0,0
$GC,5239,-1.10,-267.6,851.8,-14.8,148,5248,0.00,2.03,0.00,0.000,6,0.000,0.041,2800,2433,3542,0,0,0,0,0,0
$GC,5569,-1.10,-267.6,896.9,-13.4,154,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2434,3540,0,0,0,0,0,0
$STATE,5628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5628,begin apogee
$GC,5631,-0.14,0.0,905.1,13.3,155,5800,1.08,0.00,162.30,1.131,6,0.175,0.000,3108,2578,2741,0,0,0,0,0,0
$STATE,5801,end apogee,CONTROL_FINISHED_OK
$STATE,5801,begin climb
$GC,5802,1.10,267.6,909.0,0.0,157,6042,1.15,2.60,228.40,1.108,4,0.065,0.044,3530,1001,1647,0,0,0,0,0,0
$GC,6088,1.10,267.6,853.6,27.6,162,6096,0.00,2.60,0.00,0.000,6,0.000,0.050,3528,2588,1639,0,0,0,0,0,0
$GC,6412,1.10,267.6,761.4,28.7,168,6420,0.00,2.47,0.00,0.000,4,0.000,0.047,3540,1005,1635,0,0,0,0,0,0
$GC,6508,1.10,267.6,734.5,27.8,169,6516,0.00,2.53,0.00,0.000,6,0.000,0.053,3540,2590,1632,0,0,0,0,0,0
$GC,6838,1.10,267.6,639.3,29.1,175,6846,0.00,2.47,0.00,0.000,4,0.000,0.047,3552,1002,1631,0,0,0,0,0,0
$GC,6962,1.10,267.6,604.3,28.8,177,6970,0.15,2.50,0.00,0.000,6,0.210,0.052,3518,2580,1630,0,0,0,0,0,0
$GC,7324,1.10,267.6,505.6,27.2,183,7333,0.00,2.45,0.00,0.000,4,0.000,0.046,3527,997,1629,0,0,0,0,0,0
$GC,7405,1.10,267.6,483.8,26.4,184,7413,0.00,2.50,0.00,0.000,6,0.000,0.050,3527,2585,1628,0,0,0,0,0,0
$GC,7745,1.10,267.6,389.2,28.0,190,7754,0.00,2.45,0.00,0.000,4,0.000,0.046,3539,1003,1628,0,0,0,0,0,0
$GC,7854,1.10,267.6,359.9,27.1,191,7862,0.00,2.47,0.00,0.000,6,0.000,0.050,3539,2579,1627,0,0,0,0,0,0
$GC,8167,1.10,267.6,270.5,28.8,198,8176,0.00,2.42,0.00,0.000,4,0.000,0.044,3551,1001,1627,0,0,0,0,0,0
$GC,8270,1.10,267.6,242.6,28.2,201,8279,0.15,2.47,0.00,0.000,6,0.207,0.048,3516,2587,1627,0,0,0,0,0,0
$GC,8591,1.10,267.6,161.8,24.3,212,8599,0.00,2.42,0.00,0.000,4,0.000,0.044,3526,1005,1627,0,0,0,0,0,0
$GC,8698,1.10,267.6,136.5,24.0,215,8707,0.00,2.45,0.00,0.000,6,0.000,0.048,3526,2579,1627,0,0,0,0,0,0
$GC,9012,1.10,267.6,59.4,23.6,235,9017,0.00,1.90,0.00,0.000,4,0.000,0.058,3526,3771,1629,0,0,0,0,0,0
$GC,9071,1.10,267.6,45.5,24.3,240,9079,0.00,1.83,0.00,0.000,6,0.000,0.034,3535,2566,1626,0,0,0,0,0,0
$STATE,9258,end climb,SURFACE_DEPTH_REACHED
$STATE,9259,begin surface coast
$FINISH,0.6,1.023613
$STATE,9264,end surface coast,CONTROL_FINISHED_OK
$STATE,9264,begin surface
$SM_CCo,9278,41.03,0.532,0,0,1309,350.04
$SM_GC,0.37,0.00,0.00,41.03,0.000,0.000,0.532,169,2439,1309,-9.34,-0.03,350.04
$IRIDIUM_FIX,2429.95,-7736.76,011211,171753
$TT8_MAMPS,0.137816
$HUMID,1078284506
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.40
$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,0/0
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,8.3/483886/443965
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.4/297829/284606
$PA_DATA1,13.4/7836665/6789745
$PA_DATA0,11.7/7836665/6920471
$24V_AH,24.1,9.196
$10V_AH,10.4,7.304
$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,23.850,81.150,390.700,41.025,0.000,28.640,28.644,108.099,0.000,0.000,31.838,0.000,7552.907,514.199,1441.857,54.431,33.338,1169.041,0.000,788.470,0.000,0.878,0.000
$DEVICE_MAMPS,270.045,81.090,1131.435,532.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,177.984,0.000,0.000,0.000,0.000,0.000,9683.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.633,0.000,0.000,0.000
$MEM,355100
$DATA_FILE_SIZE,10141,266
$CAP_FILE_SIZE,76557,0
$CFSIZE,260165632,254500864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,043916,2441.365,-7738.225,93,6.5,112,-7.1