version: 66.07
glider: 178
mission: 4
dive: 25
start: 6 10 110 16 21 13
data:
$ID,178
$MISSION,4
$DIVE,25
$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,325
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,-6011.04
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,100610,161125,2441.017,-7737.643,118,1.9,118,-7.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.9
$GPS2,100610,162032,2441.098,-7737.624,35,2.0,35,-7.1
$SPEED_LIMITS,0.197,0.385
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.190,0.051
$KALMAN_X,-1558.3,-71.6,-159.5,-360.6,-63.7
$KALMAN_Y,-832.8,79.9,256.1,430.2,1.5
$MHEAD_RNG_PITCHd_Wd,82.1,1381,-38.3,-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,-1.15,-70.6,0.0,0.0,0,87,0.00,0.00,-65.80,0.000,6,0.000,0.000,168,2448,3025,0,0,0,0,0,0
$GC,89,-1.23,-132.4,3.2,-6.8,12,114,11.98,2.15,-4.95,0.000,4,0.274,0.070,2751,3774,3279,0,0,0,0,0,0
$GC,272,-1.23,-132.4,61.8,-30.2,34,277,0.00,2.05,0.00,0.000,6,0.000,0.033,2751,2437,3281,0,0,0,0,0,0
$GC,488,-1.23,-132.4,114.8,-23.2,51,493,0.00,2.42,0.00,0.000,4,0.000,0.043,2751,867,3282,0,0,0,0,0,0
$GC,514,-1.23,-132.4,120.8,-22.9,51,522,0.00,2.47,0.00,0.000,6,0.000,0.044,2742,2439,3281,0,0,0,0,0,0
$GC,823,-1.23,-132.4,193.8,-23.1,62,831,0.00,2.10,0.00,0.000,4,0.000,0.054,2731,3786,3284,0,0,0,0,0,0
$GC,948,-1.23,-132.4,222.6,-23.1,66,955,0.00,1.98,0.00,0.000,6,0.000,0.034,2736,2441,3284,0,0,0,0,0,0
$GC,1283,-1.23,-132.4,288.8,-19.4,77,1292,0.00,2.08,0.00,0.000,4,0.000,0.054,2728,3778,3285,0,0,0,0,0,0
$GC,1343,-1.23,-132.4,301.1,-20.8,78,1354,0.00,2.00,0.00,0.000,6,0.000,0.033,2735,2428,3285,0,0,0,0,0,0
$GC,1651,-1.23,-132.4,359.7,-18.8,84,1657,0.12,0.00,0.00,0.000,6,0.237,0.000,2763,2428,3285,0,0,0,0,0,0
$GC,1952,-1.23,-132.4,411.3,-17.0,89,1960,0.00,2.10,0.00,0.000,4,0.000,0.054,2755,3777,3285,0,0,0,0,0,0
$GC,1984,-1.23,-132.4,417.3,-18.3,89,1992,0.00,1.98,0.00,0.000,6,0.000,0.034,2762,2433,3286,0,0,0,0,0,0
$GC,2313,-1.23,-133.4,471.9,-16.3,95,2321,0.00,2.08,0.00,0.000,4,0.000,0.056,2753,3778,3285,0,0,0,0,0,0
$GC,2367,-1.23,-133.4,482.0,-18.8,95,2378,0.00,1.98,0.00,0.000,6,0.000,0.034,2754,2438,3285,0,0,0,0,0,0
$GC,2675,-1.23,-135.3,532.3,-16.2,101,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2438,3284,0,0,0,0,0,0
$GC,2977,-1.24,-140.0,580.1,-15.8,106,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2438,3282,0,0,0,0,0,0
$GC,3278,-1.24,-144.6,628.0,-15.8,111,3286,0.00,2.10,0.00,0.000,4,0.000,0.059,2743,3777,3281,0,0,0,0,0,0
$GC,3316,-1.24,-144.6,634.7,-18.1,111,3323,0.00,2.00,0.00,0.000,6,0.000,0.036,2748,2447,3281,0,0,0,0,0,0
$GC,3639,-1.25,-150.7,685.0,-15.6,117,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2442,3279,0,0,0,0,0,0
$GC,3941,-1.26,-156.7,732.1,-15.6,122,3949,0.00,2.08,0.00,0.000,4,0.000,0.060,2741,3777,3278,0,0,0,0,0,0
$GC,3968,-1.26,-156.7,736.5,-16.6,122,3975,0.00,1.98,0.00,0.000,6,0.000,0.037,2740,2440,3277,0,0,0,0,0,0
$GC,4302,-1.27,-163.2,788.6,-15.5,128,4310,0.00,2.15,0.00,0.000,4,0.000,0.062,2730,3781,3276,0,0,0,0,0,0
$GC,4334,-1.27,-163.2,794.2,-17.9,128,4343,0.00,2.00,0.00,0.000,6,0.000,0.038,2732,2436,3275,0,0,0,0,0,0
$GC,4665,-1.27,-166.5,847.0,-16.0,134,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2435,3273,0,0,0,0,0,0
$GC,4966,-1.28,-172.8,893.8,-15.5,139,4974,0.00,2.12,0.00,0.000,4,0.000,0.063,2721,3777,3270,0,0,0,0,0,0
$GC,5004,-1.28,-172.8,900.0,-16.8,139,5012,0.00,2.05,0.00,0.000,6,0.000,0.039,2724,2436,3269,0,0,0,0,0,0
$GC,5333,-1.29,-182.3,949.9,-15.0,145,5341,0.00,2.12,0.00,0.000,4,0.000,0.064,2714,3774,3269,0,0,0,0,0,0
$GC,5355,-1.29,-182.3,953.6,-16.7,145,5362,0.12,2.00,0.00,0.000,6,0.244,0.040,2739,2434,3268,0,0,0,0,0,0
$STATE,5638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5639,begin apogee
$GC,5641,-0.14,0.0,994.7,14.4,150,5757,1.35,0.00,108.38,1.193,6,0.202,0.000,3109,2433,2737,0,0,0,0,0,0
$STATE,5758,end apogee,CONTROL_FINISHED_OK
$STATE,5758,begin climb
$GC,5759,1.29,182.3,995.8,0.0,151,5924,1.30,0.00,157.85,1.175,6,0.064,0.000,3577,2433,1993,0,0,0,0,0,0
$GC,6186,1.29,182.3,888.3,29.8,159,6195,0.00,2.55,0.00,0.000,4,0.000,0.047,3590,824,1983,0,0,0,0,0,0
$GC,6294,1.29,182.3,856.8,29.0,160,6303,0.00,2.53,0.00,0.000,6,0.000,0.050,3587,2397,1981,0,0,0,0,0,0
$GC,6608,1.29,182.3,764.5,29.3,166,6616,0.00,2.47,0.00,0.000,4,0.000,0.047,3596,821,1979,0,0,0,0,0,0
$GC,6689,1.29,182.3,741.4,28.8,167,6697,0.00,2.50,0.00,0.000,6,0.000,0.050,3589,2412,1977,0,0,0,0,0,0
$GC,7029,1.29,182.3,643.8,28.8,173,7037,0.00,2.45,0.00,0.000,4,0.000,0.046,3599,820,1976,0,0,0,0,0,0
$GC,7099,1.29,182.3,623.0,28.8,174,7107,0.00,2.50,0.00,0.000,6,0.000,0.050,3590,2401,1975,0,0,0,0,0,0
$GC,7450,1.29,182.3,521.8,28.9,180,7458,0.00,2.47,0.00,0.000,4,0.000,0.047,3599,811,1973,0,0,0,0,0,0
$GC,7568,1.29,182.3,488.3,27.6,181,7579,0.00,2.50,0.00,0.000,6,0.000,0.047,3593,2404,1972,0,0,0,0,0,0
$GC,7876,1.29,182.3,398.3,29.2,187,7884,0.00,2.42,0.00,0.000,4,0.000,0.047,3603,824,1972,0,0,0,0,0,0
$GC,7908,1.29,182.3,388.8,28.1,187,7917,0.00,2.47,0.00,0.000,6,0.000,0.050,3597,2410,1970,0,0,0,0,0,0
$GC,8233,1.29,182.3,294.6,29.0,193,8241,0.00,2.45,0.00,0.000,4,0.000,0.046,3606,817,1971,0,0,0,0,0,0
$GC,8319,1.29,182.3,270.0,29.5,195,8330,0.12,2.45,0.00,0.000,6,0.235,0.046,3577,2402,1970,0,0,0,0,0,0
$GC,8628,1.29,182.3,187.7,26.0,206,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2402,1970,0,0,0,0,0,0
$GC,8931,1.29,182.3,112.7,24.8,216,8936,0.00,2.45,0.00,0.000,4,0.000,0.044,3586,823,1970,0,0,0,0,0,0
$GC,8963,1.29,182.3,104.9,26.0,217,8968,0.00,2.47,0.00,0.000,6,0.000,0.046,3584,2402,1970,0,0,0,0,0,0
$GC,9284,1.29,182.3,30.6,20.4,246,9289,0.00,2.45,0.00,0.000,4,0.000,0.042,3593,820,1971,0,0,0,0,0,0
$GC,9423,1.29,182.3,5.0,18.1,266,9431,0.00,2.47,0.00,0.000,6,0.000,0.044,3588,2404,1969,0,0,0,0,0,0
$STATE,9444,end climb,SURFACE_DEPTH_REACHED
$STATE,9444,begin surface coast
$FINISH,0.1,1.023191
$STATE,9455,end surface coast,CONTROL_FINISHED_OK
$STATE,9455,begin surface
$SM_CCo,9470,83.55,0.544,0,0,1309,350.04
$SM_GC,0.81,0.00,0.00,83.55,0.000,0.000,0.544,162,2437,1309,-9.37,-0.06,350.04
$IRIDIUM_FIX,2434.69,-7736.25,041211,060648
$TT8_MAMPS,0.129577
$HUMID,1078172248
$INTERNAL_PRESSURE,9.47302
$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,36
$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,8.6/483886/442030
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.6/297829/281240
$PA_DATA1,24.3/7836665/5935920
$PA_DATA0,95.1/7836665/381158
$24V_AH,24.1,11.550
$10V_AH,10.3,12.369
$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,24.225,85.625,266.225,83.550,0.000,24.552,24.630,308.314,0.000,0.000,36.584,0.000,7844.272,501.567,1669.247,78.673,33.330,1103.469,0.000,741.467,0.000,0.541,0.000
$DEVICE_MAMPS,273.870,213.435,1193.400,543.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,181.882,0.000,0.000,0.000,0.000,0.000,10050.690,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.474,0.000,0.000,0.000
$MEM,354960
$DATA_FILE_SIZE,10145,272
$CAP_FILE_SIZE,84250,0
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,190114,2441.457,-7735.812,31,1.7,31,-7.1