version: 66.07
glider: 178
mission: 4
dive: 8
start: 6 8 110 5 5 43
data:
$ID,178
$MISSION,4
$DIVE,8
$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,220
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5869.3516
$T_RSLEEP,5
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,31
$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,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,050114,2441.134,-7738.057,13,1.6,13,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.7
$GPS2,080610,050502,2441.095,-7738.033,16,1.6,16,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.236,0.013
$KALMAN_X,107.6,-314.5,146.7,-2781.3,-228.1
$KALMAN_Y,-412.0,372.4,-78.2,42.3,255.7
$MHEAD_RNG_PITCHd_Wd,93.9,2054,-27.6,-13.636
$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,16,-0.89,-100.1,0.0,0.0,0,94,0.00,0.00,-69.68,0.000,6,0.000,0.000,169,2439,3146,0,0,0,0,0,0
$GC,96,-1.00,-186.8,3.0,-5.7,12,121,11.80,2.12,-6.75,0.000,4,0.265,0.069,2823,3778,3501,0,0,0,0,0,0
$GC,322,-1.00,-186.8,73.2,-26.1,38,327,0.00,2.00,0.00,0.000,6,0.000,0.034,2830,2453,3501,0,0,0,0,0,0
$GC,527,-1.00,-186.8,119.8,-21.3,52,531,0.00,2.42,0.00,0.000,4,0.000,0.041,2831,866,3503,0,0,0,0,0,0
$GC,574,-1.00,-186.8,129.9,-21.4,53,579,0.00,2.45,0.00,0.000,6,0.000,0.044,2821,2433,3503,0,0,0,0,0,0
$GC,894,-1.00,-186.8,196.2,-19.7,64,898,0.00,2.12,0.00,0.000,4,0.000,0.056,2810,3778,3503,0,0,0,0,0,0
$GC,941,-1.00,-186.8,206.3,-21.9,65,946,0.00,2.03,0.00,0.000,6,0.000,0.034,2810,2441,3503,0,0,0,0,0,0
$GC,1261,-1.00,-186.8,264.7,-17.8,76,1265,0.00,2.12,0.00,0.000,4,0.000,0.056,2801,3782,3504,0,0,0,0,0,0
$GC,1292,-1.00,-186.8,270.5,-18.5,77,1297,0.12,2.05,0.00,0.000,6,0.212,0.034,2832,2424,3503,0,0,0,0,0,0
$GC,1657,-1.00,-186.8,329.2,-15.8,86,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2424,3503,0,0,0,0,0,0
$GC,1959,-1.00,-186.8,374.5,-14.9,91,1968,0.00,2.12,0.00,0.000,4,0.000,0.058,2824,3782,3502,0,0,0,0,0,0
$GC,2014,-1.00,-186.8,383.3,-15.6,91,2025,0.00,2.00,0.00,0.000,6,0.000,0.036,2824,2436,3502,0,0,0,0,0,0
$GC,2321,-1.00,-186.8,431.3,-15.5,97,2329,0.00,2.12,0.00,0.000,4,0.000,0.059,2815,3793,3501,0,0,0,0,0,0
$GC,2354,-1.00,-186.8,436.6,-16.6,97,2362,0.00,2.00,0.00,0.000,6,0.000,0.037,2815,2434,3501,0,0,0,0,0,0
$GC,2683,-1.00,-186.8,487.5,-15.4,103,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2434,3499,0,0,0,0,0,0
$GC,2985,-1.00,-186.8,533.1,-14.9,108,2993,0.00,2.10,0.00,0.000,4,0.000,0.060,2805,3781,3497,0,0,0,0,0,0
$GC,3028,-1.00,-186.8,540.0,-16.1,108,3037,0.12,1.98,0.00,0.000,6,0.207,0.037,2832,2441,3497,0,0,0,0,0,0
$GC,3342,-1.00,-187.7,583.2,-13.6,114,3350,0.00,2.40,0.00,0.000,4,0.000,0.044,2833,860,3495,0,0,0,0,0,0
$GC,3380,-1.00,-187.7,588.4,-14.3,114,3388,0.00,2.47,0.00,0.000,6,0.000,0.048,2823,2452,3495,0,0,0,0,0,0
$GC,3698,-1.00,-187.7,632.5,-13.8,120,3706,0.00,2.08,0.00,0.000,4,0.000,0.062,2814,3776,3493,0,0,0,0,0,0
$GC,3752,-1.00,-187.7,640.3,-14.3,120,3763,0.00,1.98,0.00,0.000,6,0.000,0.038,2813,2440,3492,0,0,0,0,0,0
$GC,4060,-1.00,-187.7,683.9,-14.1,126,4067,0.00,2.12,0.00,0.000,4,0.000,0.063,2803,3780,3490,0,0,0,0,0,0
$GC,4087,-1.00,-187.7,688.0,-16.0,126,4095,0.12,2.00,0.00,0.000,6,0.207,0.039,2827,2434,3492,0,0,0,0,0,0
$GC,4416,-1.01,-197.0,730.4,-12.8,132,4424,0.00,2.12,0.00,0.000,4,0.000,0.063,2822,3787,3488,0,0,0,0,0,0
$GC,4443,-1.01,-197.2,733.9,-13.6,132,4451,0.00,2.03,0.00,0.000,6,0.000,0.039,2823,2438,3488,0,0,0,0,0,0
$GC,4777,-1.02,-206.9,776.6,-12.8,138,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2438,3485,0,0,0,0,0,0
$GC,5079,-1.04,-220.4,814.0,-12.4,143,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2438,3484,0,0,0,0,0,0
$GC,5381,-1.05,-232.6,851.9,-12.5,148,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2435,3481,0,0,0,0,0,0
$GC,5687,-1.07,-241.9,890.4,-12.8,153,5698,0.00,2.15,0.00,0.000,4,0.000,0.067,2813,3778,3480,0,0,0,0,0,0
$GC,5728,-1.07,-241.9,896.4,-13.7,153,5739,0.00,2.00,0.00,0.000,6,0.000,0.042,2812,2444,3479,0,0,0,0,0,0
$STATE,5816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5817,begin apogee
$GC,5819,-0.14,0.0,907.8,13.3,155,5980,1.02,0.00,149.85,1.128,6,0.174,0.000,3108,2441,2738,0,0,0,0,0,0
$STATE,5986,end apogee,CONTROL_FINISHED_OK
$STATE,5986,begin climb
$GC,5987,1.07,241.9,912.0,0.0,157,6205,1.10,0.00,205.00,1.108,6,0.069,0.000,3501,2440,1751,0,0,0,0,0,0
$GC,6495,1.07,241.9,804.4,25.9,166,6507,0.00,2.55,0.00,0.000,4,0.000,0.047,3514,822,1741,0,0,0,0,0,0
$GC,6570,1.07,241.9,784.8,24.7,167,6582,0.00,2.50,0.00,0.000,6,0.000,0.050,3515,2398,1739,0,0,0,0,0,0
$GC,6924,1.07,241.9,690.6,26.6,173,6929,0.00,2.50,0.00,0.000,4,0.000,0.047,3526,823,1737,0,0,0,0,0,0
$GC,6961,1.07,241.9,680.6,26.2,173,6966,0.00,2.53,0.00,0.000,6,0.000,0.050,3528,2403,1737,0,0,0,0,0,0
$GC,7290,1.07,241.9,591.7,27.1,179,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2398,1735,0,0,0,0,0,0
$GC,7591,1.07,241.9,508.9,27.4,184,7596,0.00,2.47,0.00,0.000,4,0.000,0.047,3539,827,1736,0,0,0,0,0,0
$GC,7671,1.07,241.9,487.9,26.0,185,7676,0.10,2.50,0.00,0.000,6,0.197,0.049,3511,2398,1732,0,0,0,0,0,0
$GC,8021,1.07,241.9,398.1,25.6,191,8026,0.00,2.47,0.00,0.000,4,0.000,0.046,3525,818,1732,0,0,0,0,0,0
$GC,8052,1.07,241.9,390.1,25.1,191,8057,0.00,2.50,0.00,0.000,6,0.000,0.048,3520,2398,1732,0,0,0,0,0,0
$GC,8386,1.07,241.9,301.2,26.8,197,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2398,1733,0,0,0,0,0,0
$GC,8689,1.07,241.9,221.6,26.1,206,8694,0.00,2.47,0.00,0.000,4,0.000,0.046,3533,815,1732,0,0,0,0,0,0
$GC,8721,1.07,241.9,213.9,25.1,207,8726,0.08,2.50,0.00,0.000,6,0.201,0.047,3512,2407,1731,0,0,0,0,0,0
$GC,9056,1.07,241.9,134.6,23.5,218,9061,0.00,2.47,0.00,0.000,4,0.000,0.044,3522,817,1732,0,0,0,0,0,0
$GC,9093,1.07,241.9,125.8,23.5,219,9098,0.00,2.47,0.00,0.000,6,0.000,0.044,3522,2403,1732,0,0,0,0,0,0
$GC,9408,1.07,241.9,54.7,22.3,242,9412,0.00,2.45,0.00,0.000,4,0.000,0.045,3534,825,1731,0,0,0,0,0,0
$GC,9578,1.07,241.9,19.7,20.3,258,9586,0.10,2.47,0.00,0.000,6,0.184,0.045,3505,2409,1732,0,0,0,0,0,0
$GC,9648,1.07,241.9,6.8,17.4,271,9656,0.00,2.45,0.00,0.000,4,0.000,0.042,3516,823,1732,0,0,0,0,0,0
$GC,9665,1.07,241.9,4.0,17.0,274,9673,0.00,2.45,0.00,0.000,6,0.000,0.043,3513,2402,1732,0,0,0,0,0,0
$STATE,9680,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FINISH,-0.1,1.023538
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9692,begin surface
$SM_CCo,9705,49.95,0.529,0,0,1310,350.04
$SM_GC,0.82,0.00,0.00,49.95,0.000,0.000,0.529,166,2437,1310,-9.36,-0.11,350.04
$IRIDIUM_FIX,2434.69,-7741.39,011211,232326
$TT8_MAMPS,0.119091
$HUMID,1078234184
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.60
$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,32
$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,8.2/483886/444113
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.5/297829/284458
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,9.0/7836665/7134062
$24V_AH,24.1,9.364
$10V_AH,10.5,7.447
$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,23.525,90.825,354.850,49.950,0.000,0.000,0.000,0.000,0.000,0.000,17.725,0.000,7978.948,494.539,1281.565,48.022,33.317,1142.382,0.000,769.839,0.000,0.542,0.000
$DEVICE_MAMPS,264.690,153.000,1127.610,528.615,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,186.383,0.000,0.000,0.000,0.000,0.000,3995.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,57.893,0.000,0.000,0.000
$MEM,355048
$DATA_FILE_SIZE,10134,279
$CAP_FILE_SIZE,109505,0
$CFSIZE,260165632,254357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,074936,2441.097,-7736.046,45,1.3,61,-7.1