version: 66.07
glider: 178
mission: 4
dive: 14
start: 6 8 110 23 35 57
data:
$ID,178
$MISSION,4
$DIVE,14
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,300
$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,550
$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,-5996.5884
$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,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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,232421,2441.188,-7736.378,62,2.4,81,-7.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-76.2
$GPS2,080610,233516,2441.126,-7736.404,11,2.7,30,-7.1
$SPEED_LIMITS,0.286,0.419
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.184,0.219
$KALMAN_X,-1244.6,-161.6,61.9,1235.8,-349.8
$KALMAN_Y,-1095.6,-223.0,46.6,1259.7,-118.8
$MHEAD_RNG_PITCHd_Wd,327.1,791,-27.9,-16.500
$D_GRID,990
$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,-0.94,-133.0,0.0,0.0,0,105,0.00,0.00,-87.30,0.000,2,0.000,0.000,168,2435,3224,0,0,0,0,0,0
$GC,107,-1.06,-231.8,3.5,-8.3,15,132,11.93,2.47,-8.02,0.000,4,0.269,0.055,2822,846,3685,0,0,0,0,0,0
$GC,248,-1.06,-231.8,50.2,-26.7,32,252,0.00,2.55,0.00,0.000,6,0.000,0.048,2812,2445,3688,0,0,0,0,0,0
$GC,464,-1.06,-231.8,110.6,-27.4,51,469,0.00,2.12,0.00,0.000,4,0.000,0.056,2802,3777,3687,0,0,0,0,0,0
$GC,544,-1.06,-231.8,133.5,-27.9,53,549,0.00,2.05,0.00,0.000,6,0.000,0.034,2803,2431,3689,0,0,0,0,0,0
$GC,863,-1.06,-231.8,215.4,-24.4,64,868,0.00,2.40,0.00,0.000,4,0.000,0.041,2806,863,3690,0,0,0,0,0,0
$GC,932,-1.06,-231.8,231.0,-21.2,66,937,0.00,2.47,0.00,0.000,6,0.000,0.045,2796,2436,3690,0,0,0,0,0,0
$GC,1265,-1.06,-231.8,305.2,-22.5,77,1272,0.00,2.08,0.00,0.000,4,0.000,0.056,2786,3789,3691,0,0,0,0,0,0
$GC,1296,-1.06,-231.8,313.2,-23.9,77,1305,0.12,2.00,0.00,0.000,6,0.222,0.034,2813,2426,3691,0,0,0,0,0,0
$GC,1626,-1.06,-231.8,379.3,-19.7,83,1634,0.00,2.12,0.00,0.000,4,0.000,0.057,2805,3797,3688,0,0,0,0,0,0
$GC,1664,-1.06,-231.8,387.3,-21.0,83,1671,0.00,2.03,0.00,0.000,6,0.000,0.035,2805,2430,3691,0,0,0,0,0,0
$GC,1987,-1.06,-231.8,452.2,-20.0,89,1995,0.00,2.10,0.00,0.000,4,0.000,0.058,2796,3786,3690,0,0,0,0,0,0
$GC,2014,-1.06,-231.8,457.6,-19.9,89,2022,0.00,2.00,0.00,0.000,6,0.000,0.035,2796,2440,3690,0,0,0,0,0,0
$GC,2348,-1.06,-231.8,521.4,-19.3,95,2356,0.00,2.10,0.00,0.000,4,0.000,0.059,2786,3787,3689,0,0,0,0,0,0
$GC,2386,-1.06,-231.8,528.8,-19.8,95,2394,0.12,2.00,0.00,0.000,6,0.215,0.036,2812,2438,3688,0,0,0,0,0,0
$GC,2705,-1.06,-231.9,582.3,-16.5,101,2714,0.00,2.12,0.00,0.000,4,0.000,0.060,2809,3789,3687,0,0,0,0,0,0
$GC,2738,-1.06,-231.9,587.9,-17.3,101,2746,0.00,2.03,0.00,0.000,6,0.000,0.037,2804,2433,3686,0,0,0,0,0,0
$GC,3067,-1.06,-231.9,642.9,-16.8,107,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2430,3685,0,0,0,0,0,0
$GC,3369,-1.06,-231.9,694.9,-17.1,112,3376,0.00,2.15,0.00,0.000,4,0.000,0.062,2794,3796,3684,0,0,0,0,0,0
$GC,3422,-1.06,-231.9,704.5,-17.5,112,3430,0.00,2.05,0.00,0.000,6,0.000,0.038,2794,2428,3683,0,0,0,0,0,0
$GC,3735,-1.06,-231.9,757.3,-17.1,118,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2426,3679,0,0,0,0,0,0
$GC,4037,-1.06,-231.9,807.7,-16.6,123,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2427,3678,0,0,0,0,0,0
$GC,4339,-1.06,-236.6,856.6,-16.1,128,4347,0.00,2.17,0.00,0.000,4,0.000,0.064,2784,3792,3675,0,0,0,0,0,0
$GC,4387,-1.06,-236.6,864.7,-17.3,128,4396,0.12,2.05,0.00,0.000,6,0.216,0.040,2810,2432,3675,0,0,0,0,0,0
$GC,4696,-1.10,-264.2,909.1,-14.2,133,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2432,3673,0,0,0,0,0,0
$GC,4997,-1.13,-292.0,951.9,-14.2,138,5005,0.00,2.15,0.00,0.000,4,0.000,0.067,2802,3786,3671,0,0,0,0,0,0
$GC,5051,-1.13,-292.0,959.8,-14.7,138,5062,0.00,2.05,0.00,0.000,6,0.000,0.041,2802,2435,3670,0,0,0,0,0,0
$STATE,5298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5298,begin apogee
$GC,5300,-0.14,0.0,997.4,15.4,143,5498,1.08,0.00,189.73,1.198,6,0.181,0.000,3106,2434,2737,0,0,0,0,0,0
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5499,1.13,292.0,1005.1,0.0,146,5763,1.15,2.70,250.18,1.177,4,0.057,0.048,3545,816,1546,0,0,0,0,0,0
$GC,5991,1.13,292.0,889.5,28.3,153,6002,0.00,2.58,0.00,0.000,6,0.000,0.050,3541,2409,1537,0,0,0,0,0,0
$GC,6298,1.13,292.0,795.8,30.6,159,6307,0.00,2.50,0.00,0.000,4,0.000,0.047,3556,824,1534,0,0,0,0,0,0
$GC,6342,1.13,292.0,782.5,29.9,159,6351,0.12,2.53,0.00,0.000,6,0.214,0.053,3530,2405,1534,0,0,0,0,0,0
$GC,6656,1.13,292.0,689.6,29.6,165,6664,0.00,2.45,0.00,0.000,4,0.000,0.047,3539,820,1532,0,0,0,0,0,0
$GC,6710,1.13,292.0,673.8,28.8,165,6721,0.00,2.50,0.00,0.000,6,0.000,0.051,3539,2395,1530,0,0,0,0,0,0
$GC,7017,1.13,292.0,580.6,30.5,171,7025,0.00,2.42,0.00,0.000,4,0.000,0.047,3551,822,1532,0,0,0,0,0,0
$GC,7050,1.13,292.0,570.6,30.8,171,7059,0.00,2.50,0.00,0.000,6,0.000,0.051,3551,2398,1529,0,0,0,0,0,0
$GC,7375,1.13,292.0,469.3,31.1,177,7383,0.00,2.42,0.00,0.000,4,0.000,0.047,3560,822,1528,0,0,0,0,0,0
$GC,7413,1.13,292.0,457.5,31.1,177,7422,0.15,2.50,0.00,0.000,6,0.218,0.051,3529,2405,1527,0,0,0,0,0,0
$GC,7733,1.13,292.0,362.5,29.6,183,7742,0.00,2.42,0.00,0.000,4,0.000,0.045,3539,819,1527,0,0,0,0,0,0
$GC,7771,1.13,292.0,351.1,29.0,183,7780,0.00,2.50,0.00,0.000,6,0.000,0.050,3539,2409,1527,0,0,0,0,0,0
$GC,8091,1.13,292.0,253.9,30.3,191,8095,0.00,2.47,0.00,0.000,4,0.000,0.045,3551,824,1527,0,0,0,0,0,0
$GC,8122,1.13,292.0,244.4,29.5,192,8127,0.00,2.50,0.00,0.000,6,0.000,0.050,3550,2402,1526,0,0,0,0,0,0
$GC,8458,1.13,292.0,144.6,29.2,203,8462,0.00,2.45,0.00,0.000,4,0.000,0.044,3562,824,1527,0,0,0,0,0,0
$GC,8532,1.13,292.0,123.4,28.6,205,8537,0.12,2.50,0.00,0.000,6,0.198,0.048,3528,2406,1527,0,0,0,0,0,0
$GC,8851,1.13,292.0,40.1,24.2,229,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2407,1527,0,0,0,0,0,0
$STATE,9018,end climb,SURFACE_DEPTH_REACHED
$STATE,9019,begin surface coast
$FINISH,0.6,1.023497
$STATE,9024,end surface coast,CONTROL_FINISHED_OK
$STATE,9024,begin surface
$SM_CCo,9038,118.53,0.535,0,0,494,550.70
$SM_GC,0.73,0.00,0.00,118.53,0.000,0.000,0.535,166,2410,494,-9.36,-0.93,550.70
$IRIDIUM_FIX,2429.95,-7741.90,021211,141447
$TT8_MAMPS,0.13482
$HUMID,1078221281
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.30
$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,33
$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,8.4/483886/443354
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.8/297829/283517
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,35.9/7836665/5023335
$24V_AH,24.0,10.313
$10V_AH,10.3,9.102
$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,24.000,87.225,439.900,118.525,0.000,27.881,25.952,467.072,0.000,0.000,32.858,0.000,7324.407,644.722,1752.465,86.767,33.338,1283.683,0.000,762.804,0.000,0.541,0.000
$DEVICE_MAMPS,268.515,66.555,1197.990,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,168.689,0.000,0.000,0.000,0.000,0.000,9918.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.646,0.000,0.000,0.000
$MEM,355060
$DATA_FILE_SIZE,10142,253
$CAP_FILE_SIZE,86631,0
$CFSIZE,260165632,254046208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,021026,2442.784,-7737.506,75,2.9,94,-7.1