version: 66.07
glider: 178
mission: 4
dive: 9
start: 6 8 110 8 1 4
data:
$ID,178
$MISSION,4
$DIVE,9
$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,-5870.6094
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,080610,074936,2441.097,-7736.046,45,1.3,61,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-77.0
$GPS2,080610,080022,2441.065,-7736.035,15,2.3,34,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.201,0.124
$KALMAN_X,481.1,-345.1,71.0,307.1,204.3
$KALMAN_Y,-839.6,413.4,58.6,243.3,-517.2
$MHEAD_RNG_PITCHd_Wd,308.7,1412,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.89,-100.1,0.0,0.0,0,88,0.00,0.00,-70.00,0.000,6,0.000,0.000,167,2440,3145,0,0,0,0,0,0
$GC,89,-1.00,-185.7,2.8,-5.8,12,114,12.10,2.47,-6.62,0.000,4,0.270,0.056,2843,855,3497,0,0,0,0,0,0
$GC,198,-1.00,-185.7,36.7,-23.6,27,202,0.00,2.53,0.00,0.000,6,0.000,0.047,2832,2442,3498,0,0,0,0,0,0
$GC,394,-1.00,-185.7,83.4,-21.4,46,399,0.00,2.12,0.00,0.000,4,0.000,0.056,2823,3777,3499,0,0,0,0,0,0
$GC,442,-1.00,-185.7,94.9,-23.7,50,450,0.00,2.08,0.00,0.000,6,0.000,0.034,2827,2419,3500,0,0,0,0,0,0
$GC,650,-1.00,-185.7,141.0,-21.5,59,655,0.00,2.15,0.00,0.000,4,0.000,0.055,2822,3771,3500,0,0,0,0,0,0
$GC,687,-1.00,-185.7,149.4,-23.0,60,692,0.00,2.03,0.00,0.000,6,0.000,0.034,2822,2438,3500,0,0,0,0,0,0
$GC,1017,-1.00,-185.7,219.3,-19.9,71,1022,0.00,2.40,0.00,0.000,4,0.000,0.041,2822,866,3501,0,0,0,0,0,0
$GC,1038,-1.00,-185.7,223.4,-19.3,71,1043,0.00,2.47,0.00,0.000,6,0.000,0.045,2810,2443,3501,0,0,0,0,0,0
$GC,1352,-1.00,-185.7,281.2,-18.4,82,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2443,3502,0,0,0,0,0,0
$GC,1655,-1.00,-185.7,333.7,-17.3,89,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2443,3501,0,0,0,0,0,0
$GC,1956,-1.00,-185.7,385.3,-17.1,94,1964,0.00,2.40,0.00,0.000,4,0.000,0.041,2811,861,3501,0,0,0,0,0,0
$GC,1978,-1.00,-185.7,389.1,-17.7,94,1986,0.15,2.42,0.00,0.000,6,0.206,0.047,2833,2446,3501,0,0,0,0,0,0
$GC,2313,-1.00,-185.7,438.7,-14.7,100,2321,0.00,2.05,0.00,0.000,4,0.000,0.059,2825,3773,3501,0,0,0,0,0,0
$GC,2362,-1.00,-185.7,446.5,-15.8,100,2370,0.00,2.00,0.00,0.000,6,0.000,0.036,2825,2431,3501,0,0,0,0,0,0
$GC,2676,-1.00,-185.7,493.9,-14.9,106,2684,0.00,2.12,0.00,0.000,4,0.000,0.060,2815,3782,3500,0,0,0,0,0,0
$GC,2708,-1.00,-185.7,499.1,-16.2,106,2716,0.00,2.00,0.00,0.000,6,0.000,0.037,2815,2438,3500,0,0,0,0,0,0
$GC,3038,-1.00,-185.7,549.7,-15.4,112,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2437,3499,0,0,0,0,0,0
$GC,3339,-1.00,-185.7,593.7,-14.7,117,3347,0.00,2.12,0.00,0.000,4,0.000,0.060,2805,3783,3496,0,0,0,0,0,0
$GC,3419,-1.00,-185.7,606.3,-16.1,118,3427,0.12,2.00,0.00,0.000,6,0.206,0.037,2835,2441,3497,0,0,0,0,0,0
$GC,3765,-1.01,-194.3,651.6,-12.9,124,3773,0.00,2.42,0.00,0.000,4,0.000,0.045,2834,864,3494,0,0,0,0,0,0
$GC,3803,-1.02,-201.8,656.6,-12.9,124,3811,0.00,2.45,0.00,0.000,6,0.000,0.049,2824,2435,3495,0,0,0,0,0,0
$GC,4122,-1.02,-207.8,698.3,-13.1,130,4132,0.00,2.12,0.00,0.000,4,0.000,0.063,2814,3784,3493,0,0,0,0,0,0
$GC,4167,-1.02,-207.8,704.5,-14.0,130,4174,0.00,2.03,0.00,0.000,6,0.000,0.038,2814,2437,3493,0,0,0,0,0,0
$GC,4485,-1.03,-211.3,746.9,-13.3,136,4493,0.00,2.15,0.00,0.000,4,0.000,0.064,2804,3787,3491,0,0,0,0,0,0
$GC,4506,-1.03,-211.3,750.0,-14.5,136,4514,0.00,2.03,0.00,0.000,6,0.000,0.039,2804,2438,3491,0,0,0,0,0,0
$GC,4846,-1.03,-211.3,798.1,-14.1,142,4854,0.00,2.15,0.00,0.000,4,0.000,0.064,2793,3790,3488,0,0,0,0,0,0
$GC,4883,-1.03,-211.3,803.6,-14.8,142,4891,0.15,2.03,0.00,0.000,6,0.207,0.040,2828,2445,3488,0,0,0,0,0,0
$GC,5202,-1.05,-226.7,842.9,-12.2,148,5210,0.00,2.15,0.00,0.000,4,0.000,0.066,2820,3786,3486,0,0,0,0,0,0
$GC,5224,-1.06,-234.2,845.7,-13.0,148,5232,0.00,2.05,0.00,0.000,6,0.000,0.040,2820,2426,3487,0,0,0,0,0,0
$GC,5558,-1.07,-244.8,888.7,-12.7,154,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2426,3485,0,0,0,0,0,0
$STATE,5678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5678,begin apogee
$GC,5681,-0.14,0.0,903.3,12.3,156,5840,1.00,0.00,151.05,1.125,6,0.174,0.000,3109,2425,2737,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5841,1.07,244.8,906.7,0.0,158,6062,1.10,2.72,206.85,1.109,4,0.067,0.046,3516,819,1740,0,0,0,0,0,0
$GC,6146,1.07,244.8,848.8,25.2,162,6157,0.00,2.60,0.00,0.000,6,0.000,0.050,3513,2407,1731,0,0,0,0,0,0
$GC,6454,1.07,244.8,766.7,27.0,168,6462,0.00,2.47,0.00,0.000,4,0.000,0.048,3527,826,1728,0,0,0,0,0,0
$GC,6476,1.07,244.8,760.9,26.1,168,6483,0.00,2.53,0.00,0.000,6,0.000,0.050,3527,2410,1727,0,0,0,0,0,0
$GC,6810,1.07,244.8,668.4,27.8,174,6819,0.00,2.50,0.00,0.000,4,0.000,0.048,3539,814,1725,0,0,0,0,0,0
$GC,6854,1.07,244.8,656.2,27.6,174,6862,0.12,2.50,0.00,0.000,6,0.211,0.049,3511,2406,1724,0,0,0,0,0,0
$GC,7167,1.07,244.8,574.4,26.1,180,7175,0.00,2.45,0.00,0.000,4,0.000,0.048,3520,824,1723,0,0,0,0,0,0
$GC,7210,1.07,244.8,563.5,25.3,180,7218,0.00,2.50,0.00,0.000,6,0.000,0.050,3520,2407,1722,0,0,0,0,0,0
$GC,7524,1.07,244.8,479.8,26.8,186,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2407,1721,0,0,0,0,0,0
$GC,7825,1.07,244.8,399.1,26.7,191,7834,0.00,2.47,0.00,0.000,4,0.000,0.049,3532,821,1721,0,0,0,0,0,0
$GC,7879,1.07,244.8,384.7,26.3,191,7890,0.00,2.47,0.00,0.000,6,0.000,0.049,3537,2400,1720,0,0,0,0,0,0
$GC,8189,1.07,244.8,299.6,27.8,197,8193,0.00,2.45,0.00,0.000,4,0.000,0.047,3544,817,1720,0,0,0,0,0,0
$GC,8235,1.07,244.8,286.6,27.0,198,8241,0.12,2.50,0.00,0.000,6,0.196,0.046,3506,2402,1719,0,0,0,0,0,0
$GC,8549,1.07,244.8,206.9,24.7,209,8554,0.00,2.45,0.00,0.000,4,0.000,0.044,3519,825,1719,0,0,0,0,0,0
$GC,8618,1.07,244.8,190.7,24.0,211,8623,0.00,2.47,0.00,0.000,6,0.000,0.047,3519,2400,1719,0,0,0,0,0,0
$GC,8948,1.07,244.8,111.9,23.6,222,8953,0.00,2.45,0.00,0.000,4,0.000,0.044,3531,825,1719,0,0,0,0,0,0
$GC,8985,1.07,244.8,103.0,23.3,223,8990,0.00,2.47,0.00,0.000,6,0.000,0.045,3531,2401,1719,0,0,0,0,0,0
$GC,9301,1.07,244.8,29.3,21.6,252,9306,0.00,2.17,0.00,0.000,4,0.000,0.057,3531,3778,1720,0,0,0,0,0,0
$GC,9371,1.07,244.8,14.3,21.9,260,9379,0.12,2.10,0.00,0.000,6,0.200,0.033,3507,2386,1720,0,0,0,0,0,0
$STATE,9435,end climb,SURFACE_DEPTH_REACHED
$STATE,9435,begin surface coast
$FINISH,-0.3,1.023563
$STATE,9446,end surface coast,CONTROL_FINISHED_OK
$STATE,9446,begin surface
$SM_CCo,9460,49.03,0.534,0,0,1311,350.04
$SM_GC,0.77,0.00,0.00,49.03,0.000,0.000,0.534,162,2460,1311,-9.37,0.57,350.04
$IRIDIUM_FIX,2432.32,-7739.08,021211,020257
$TT8_MAMPS,0.117593
$HUMID,1078258700
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.50
$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,8.2/483886/444016
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.5/297829/284311
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,13.3/7836665/6798265
$24V_AH,24.1,9.509
$10V_AH,10.4,7.708
$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,24.025,101.350,357.900,49.025,0.000,58.419,58.387,325.033,0.000,0.000,35.911,0.000,7854.438,512.809,1697.428,73.209,33.325,1145.391,0.000,758.628,0.000,0.541,0.000
$DEVICE_MAMPS,270.045,102.510,1124.550,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,183.182,0.000,0.000,0.000,0.000,0.000,10266.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,77.797,0.000,0.000,0.000
$MEM,355052
$DATA_FILE_SIZE,10139,274
$CAP_FILE_SIZE,89456,0
$CFSIZE,260165632,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,104054,2442.220,-7737.527,47,2.0,64,-7.1