version: 66.07
glider: 178
mission: 4
dive: 11
start: 6 8 110 13 49 34
data:
$ID,178
$MISSION,4
$DIVE,11
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5873.1221
$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,42
$R_STBD_OVSHOOT,27
$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,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,134140,2440.487,-7737.270,40,2.2,59,-7.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-76.4
$GPS2,080610,134852,2440.436,-7737.253,11,2.3,30,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.209
$KALMAN_X,-384.7,102.6,-139.5,-1104.2,-204.4
$KALMAN_Y,-105.0,-69.9,0.1,-1117.0,-110.8
$MHEAD_RNG_PITCHd_Wd,35.0,1749,-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,-100.1,0.0,0.0,0,92,0.00,0.00,-69.93,0.000,6,0.000,0.000,161,2413,3145,0,0,0,0,0,0
$GC,93,-0.92,-120.0,4.2,-11.8,13,112,12.23,2.17,-1.40,0.000,4,0.271,0.066,2848,3791,3229,0,0,0,0,0,0
$GC,319,-0.92,-120.0,64.3,-19.6,38,324,0.00,2.08,0.00,0.000,6,0.000,0.035,2848,2434,3232,0,0,0,0,0,0
$GC,516,-0.92,-120.0,99.0,-17.8,57,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2436,3233,0,0,0,0,0,0
$GC,708,-0.92,-120.0,130.7,-16.2,64,713,0.00,2.15,0.00,0.000,4,0.000,0.056,2835,3781,3234,0,0,0,0,0,0
$GC,723,-0.92,-120.0,133.3,-16.1,64,728,0.00,2.05,0.00,0.000,6,0.000,0.034,2837,2434,3235,0,0,0,0,0,0
$GC,1043,-0.92,-120.0,184.3,-15.9,75,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2433,3236,0,0,0,0,0,0
$GC,1346,-0.92,-120.0,228.5,-13.8,85,1351,0.00,2.40,0.00,0.000,4,0.000,0.041,2838,866,3237,0,0,0,0,0,0
$GC,1378,-0.92,-124.9,232.8,-13.2,86,1383,0.10,2.45,0.00,0.000,6,0.196,0.044,2853,2437,3237,0,0,0,0,0,0
$GC,1714,-0.94,-142.6,273.2,-12.0,97,1718,0.00,2.12,0.00,0.000,4,0.000,0.056,2842,3790,3237,0,0,0,0,0,0
$GC,1793,-0.94,-142.6,283.8,-13.9,99,1798,0.00,2.05,0.00,0.000,6,0.000,0.034,2845,2434,3237,0,0,0,0,0,0
$GC,2112,-0.97,-163.1,321.7,-11.8,107,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2433,3237,0,0,0,0,0,0
$GC,2414,-0.99,-184.3,357.0,-11.7,112,2422,0.00,2.35,0.00,0.000,4,0.000,0.044,2845,865,3237,0,0,0,0,0,0
$GC,2446,-1.01,-196.3,361.1,-12.5,112,2454,0.00,2.45,0.00,0.000,6,0.000,0.045,2834,2449,3237,0,0,0,0,0,0
$GC,2770,-1.04,-217.4,399.3,-11.7,118,2778,0.00,2.08,0.00,0.000,4,0.000,0.058,2824,3781,3237,0,0,0,0,0,0
$GC,2830,-1.05,-231.7,406.7,-12.3,119,2838,0.00,2.03,0.00,0.000,6,0.000,0.036,2824,2410,3239,0,0,0,0,0,0
$GC,3196,-1.07,-245.0,452.5,-12.4,125,3204,0.00,2.12,0.00,0.000,4,0.000,0.058,2814,3781,3236,0,0,0,0,0,0
$GC,3223,-1.07,-245.0,456.2,-13.9,125,3231,0.00,2.00,0.00,0.000,6,0.000,0.036,2814,2436,3238,0,0,0,0,0,0
$GC,3558,-1.08,-255.9,498.8,-12.6,131,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2437,3233,0,0,0,0,0,0
$GC,3859,-1.10,-267.6,535.9,-12.2,136,3867,0.00,2.40,0.00,0.000,4,0.000,0.045,2814,858,3234,0,0,0,0,0,0
$GC,3891,-1.10,-267.6,540.0,-12.8,136,3900,0.00,2.47,0.00,0.000,6,0.000,0.047,2803,2452,3234,0,0,0,0,0,0
$GC,4222,-1.10,-267.6,580.4,-12.2,142,4230,0.00,2.08,0.00,0.000,4,0.000,0.060,2792,3777,3233,0,0,0,0,0,0
$GC,4286,-1.10,-267.6,589.3,-13.9,143,4294,0.00,2.00,0.00,0.000,6,0.000,0.037,2793,2439,3232,0,0,0,0,0,0
$GC,4647,-1.10,-267.6,637.6,-13.2,149,4655,0.00,2.38,0.00,0.000,4,0.000,0.045,2793,864,3231,0,0,0,0,0,0
$GC,4707,-1.10,-267.6,645.3,-12.7,150,4715,0.00,2.45,0.00,0.000,6,0.000,0.048,2782,2441,3231,0,0,0,0,0,0
$GC,5069,-1.10,-267.6,693.5,-13.2,156,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2441,3230,0,0,0,0,0,0
$GC,5370,-1.10,-267.6,732.9,-13.2,161,5378,0.00,2.10,0.00,0.000,4,0.000,0.062,2771,3777,3228,0,0,0,0,0,0
$GC,5408,-1.10,-267.6,738.3,-14.6,161,5416,0.15,2.03,0.00,0.000,6,0.220,0.039,2803,2426,3227,0,0,0,0,0,0
$GC,5738,-1.10,-267.6,776.9,-11.5,167,5745,0.00,2.38,0.00,0.000,4,0.000,0.047,2805,869,3227,0,0,0,0,0,0
$GC,5775,-1.10,-267.6,781.7,-12.7,167,5783,0.00,2.45,0.00,0.000,6,0.000,0.050,2796,2440,3224,0,0,0,0,0,0
$GC,6099,-1.10,-267.6,819.7,-11.7,173,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2440,3224,0,0,0,0,0,0
$GC,6401,-1.10,-267.6,854.7,-11.7,178,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2440,3223,0,0,0,0,0,0
$GC,6702,-1.10,-267.6,889.2,-11.4,183,6710,0.00,2.42,0.00,0.000,4,0.000,0.048,2796,870,3221,0,0,0,0,0,0
$GC,6730,-1.10,-267.6,892.6,-13.0,183,6738,0.00,2.47,0.00,0.000,6,0.000,0.053,2784,2440,3221,0,0,0,0,0,0
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6816,begin apogee
$GC,6819,-0.14,0.0,903.1,11.9,185,6924,1.17,0.00,97.62,1.125,6,0.193,0.000,3108,2439,2738,0,0,0,0,0,0
$STATE,6925,end apogee,CONTROL_FINISHED_OK
$STATE,6925,begin climb
$GC,6926,1.10,267.6,904.3,0.0,186,7162,1.15,0.00,227.80,1.106,6,0.080,0.000,3509,2440,1645,0,0,0,0,0,0
$GC,7468,1.10,267.6,777.4,27.4,195,7476,0.00,2.55,0.00,0.000,4,0.000,0.047,3526,826,1637,0,0,0,0,0,0
$GC,7532,1.10,267.6,760.1,26.6,196,7540,0.00,2.53,0.00,0.000,6,0.000,0.050,3522,2400,1633,0,0,0,0,0,0
$GC,7888,1.10,267.6,661.4,27.9,202,7897,0.00,2.45,0.00,0.000,4,0.000,0.047,3533,821,1631,0,0,0,0,0,0
$GC,7926,1.10,267.6,650.8,27.3,202,7934,0.00,2.50,0.00,0.000,6,0.000,0.050,3534,2398,1630,0,0,0,0,0,0
$GC,8245,1.10,267.6,560.2,28.6,208,8254,0.00,2.45,0.00,0.000,4,0.000,0.047,3545,820,1629,0,0,0,0,0,0
$GC,8268,1.10,267.6,553.6,29.0,208,8277,0.12,2.50,0.00,0.000,6,0.213,0.050,3517,2404,1628,0,0,0,0,0,0
$GC,8604,1.10,267.6,461.3,27.5,214,8612,0.00,2.45,0.00,0.000,4,0.000,0.047,3527,826,1628,0,0,0,0,0,0
$GC,8642,1.10,267.6,451.1,26.4,214,8650,0.00,2.45,0.00,0.000,6,0.000,0.050,3528,2399,1627,0,0,0,0,0,0
$GC,8961,1.10,267.6,360.4,28.5,220,8969,0.00,2.45,0.00,0.000,4,0.000,0.047,3540,821,1626,0,0,0,0,0,0
$GC,8988,1.10,267.6,352.5,28.0,220,8997,0.00,2.47,0.00,0.000,6,0.000,0.049,3539,2398,1626,0,0,0,0,0,0
$GC,9318,1.10,267.6,255.4,29.2,228,9323,0.00,2.45,0.00,0.000,4,0.000,0.045,3551,829,1626,0,0,0,0,0,0
$GC,9366,1.10,267.6,241.6,28.1,229,9371,0.12,2.47,0.00,0.000,6,0.194,0.048,3517,2399,1626,0,0,0,0,0,0
$GC,9685,1.10,267.6,159.6,25.1,240,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2398,1629,0,0,0,0,0,0
$GC,9990,1.10,267.6,85.2,23.5,254,9995,0.00,2.42,0.00,0.000,4,0.000,0.043,3526,830,1627,0,0,0,0,0,0
$GC,10054,1.10,267.6,70.1,23.6,260,10059,0.00,2.47,0.00,0.000,6,0.000,0.046,3526,2411,1626,0,0,0,0,0,0
$GC,10251,1.10,267.6,23.5,22.8,279,10255,0.00,2.45,0.00,0.000,4,0.000,0.043,3538,827,1626,0,0,0,0,0,0
$GC,10309,1.10,267.6,11.1,20.6,288,10317,0.00,2.45,0.00,0.000,6,0.000,0.045,3538,2393,1626,0,0,0,0,0,0
$STATE,10357,end climb,SURFACE_DEPTH_REACHED
$STATE,10357,begin surface coast
$FINISH,-0.1,1.007837
$STATE,10368,end surface coast,CONTROL_FINISHED_OK
$STATE,10368,begin surface
$SM_CCo,10382,37.88,0.530,0,0,1308,350.04
$SM_GC,0.53,0.00,0.00,37.88,0.000,0.000,0.530,165,2449,1308,-9.36,0.25,350.04
$IRIDIUM_FIX,2432.32,-7739.08,021211,050505
$TT8_MAMPS,0.128828
$HUMID,1078229023
$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,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,8.3/483886/443762
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.6/297829/283995
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,22.7/7836665/6058760
$24V_AH,24.1,9.764
$10V_AH,10.4,8.259
$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,24.150,97.725,325.425,37.875,0.000,24.127,28.324,273.689,0.000,0.000,32.594,0.000,8655.433,467.265,1653.609,73.763,33.337,1130.470,0.000,825.009,0.000,0.542,0.000
$DEVICE_MAMPS,270.810,123.930,1125.315,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,200.556,0.000,0.000,0.000,0.000,0.000,10961.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.451,0.000,0.000,0.000
$MEM,355008
$DATA_FILE_SIZE,10159,299
$CAP_FILE_SIZE,89924,0
$CFSIZE,260165632,254230528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,164457,2442.001,-7736.447,66,3.3,85,-7.1