version: 66.07
glider: 178
mission: 4
dive: 30
start: 6 11 110 10 39 47
data:
$ID,178
$MISSION,4
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,180
$T_MISSION,225
$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,-6123.7847
$T_RSLEEP,3
$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,35
$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
$GPS1,110610,103255,2440.763,-7736.670,32,1.9,37,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-77.3
$GPS2,110610,103906,2440.787,-7736.698,13,1.1,29,-7.1
$SPEED_LIMITS,0.146,0.349
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.043,0.139
$KALMAN_X,-791.7,-247.5,330.6,108.2,-379.1
$KALMAN_Y,655.4,-159.2,-164.0,-965.6,438.0
$MHEAD_RNG_PITCHd_Wd,24.1,976,-38.1,-12.222
$D_GRID,660
$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,16,-1.11,-45.0,0.0,0.0,0,82,0.00,0.00,-62.75,0.000,6,0.000,0.000,161,2456,2920,0,0,0,0,0,0
$GC,83,-1.18,-98.1,2.4,-2.6,11,108,11.62,2.50,-5.05,0.000,4,0.265,0.054,2783,869,3139,0,0,0,0,0,0
$GC,346,-1.18,-98.1,64.5,-19.9,42,354,0.00,2.45,0.00,0.000,6,0.000,0.043,2774,2434,3141,0,0,0,0,0,0
$GC,538,-1.18,-98.1,101.9,-18.5,61,543,0.00,2.40,0.00,0.000,4,0.000,0.039,2775,874,3142,0,0,0,0,0,0
$GC,628,-1.18,-98.1,118.4,-19.1,63,636,0.00,2.45,0.00,0.000,6,0.000,0.043,2765,2441,3143,0,0,0,0,0,0
$GC,937,-1.18,-98.1,177.4,-19.3,74,945,0.00,2.35,0.00,0.000,4,0.000,0.039,2765,869,3144,0,0,0,0,0,0
$GC,1018,-1.18,-98.1,192.0,-17.5,76,1026,0.00,2.42,0.00,0.000,6,0.000,0.042,2753,2449,3144,0,0,0,0,0,0
$GC,1327,-1.18,-98.1,244.4,-15.6,86,1335,0.10,2.08,0.00,0.000,4,0.249,0.054,2765,3784,3144,0,0,0,0,0,0
$GC,1472,-1.18,-98.1,267.3,-16.2,90,1480,0.00,1.98,0.00,0.000,6,0.000,0.033,2765,2444,3144,0,0,0,0,0,0
$GC,1822,-1.18,-98.1,318.1,-14.4,100,1830,0.00,2.35,0.00,0.000,4,0.000,0.041,2765,865,3147,0,0,0,0,0,0
$GC,1882,-1.18,-98.1,326.9,-14.4,101,1890,0.00,2.42,0.00,0.000,6,0.000,0.043,2755,2447,3145,0,0,0,0,0,0
$GC,2244,-1.18,-98.1,380.3,-14.6,107,2252,0.00,2.38,0.00,0.000,4,0.000,0.041,2756,860,3144,0,0,0,0,0,0
$GC,2277,-1.18,-98.1,385.5,-16.1,107,2285,0.15,2.40,0.00,0.000,6,0.230,0.044,2775,2440,3145,0,0,0,0,0,0
$GC,2601,-1.18,-98.1,429.8,-13.5,113,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2440,3145,0,0,0,0,0,0
$GC,2903,-1.18,-98.1,469.5,-13.0,118,2911,0.00,2.42,0.00,0.000,4,0.000,0.041,2775,855,3143,0,0,0,0,0,0
$GC,2930,-1.18,-98.1,473.2,-14.1,118,2938,0.00,2.42,0.00,0.000,6,0.000,0.044,2766,2438,3143,0,0,0,0,0,0
$GC,3259,-1.18,-98.1,517.1,-13.3,124,3267,0.00,2.08,0.00,0.000,4,0.000,0.056,2755,3777,3142,0,0,0,0,0,0
$GC,3286,-1.18,-98.1,521.1,-14.9,124,3293,0.00,1.98,0.00,0.000,6,0.000,0.035,2760,2432,3142,0,0,0,0,0,0
$GC,3620,-1.18,-98.1,564.6,-13.1,130,3629,0.00,2.38,0.00,0.000,4,0.000,0.043,2760,862,3141,0,0,0,0,0,0
$GC,3670,-1.18,-98.1,571.1,-13.0,130,3678,0.12,2.42,0.00,0.000,6,0.236,0.045,2775,2439,3139,0,0,0,0,0,0
$GC,3977,-1.18,-99.5,608.2,-12.0,135,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2440,3140,0,0,0,0,0,0
$GC,4279,-1.18,-103.2,643.6,-11.5,140,4287,0.00,2.10,0.00,0.000,4,0.000,0.058,2767,3774,3138,0,0,0,0,0,0
$GC,4317,-1.19,-104.0,648.4,-12.1,140,4325,0.00,1.98,0.00,0.000,6,0.000,0.037,2767,2435,3138,0,0,0,0,0,0
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4467,-0.14,0.0,666.5,12.2,143,4552,1.23,0.00,78.05,0.957,6,0.187,0.000,3112,2434,2738,0,0,0,0,0,0
$STATE,4553,end apogee,CONTROL_FINISHED_OK
$STATE,4553,begin climb
$GC,4554,1.19,104.0,667.4,0.0,144,4650,1.23,0.00,86.20,0.942,6,0.071,0.000,3549,2434,2311,0,0,0,0,0,0
$GC,4947,1.19,104.0,590.8,21.8,151,4955,0.00,2.47,0.00,0.000,4,0.000,0.044,3561,824,2303,0,0,0,0,0,0
$GC,5012,1.19,104.0,576.8,21.6,152,5020,0.00,2.45,0.00,0.000,6,0.000,0.044,3560,2399,2301,0,0,0,0,0,0
$GC,5368,1.19,104.0,502.0,20.9,158,5377,0.00,2.42,0.00,0.000,4,0.000,0.044,3571,814,2299,0,0,0,0,0,0
$GC,5487,1.19,104.0,477.4,20.1,159,5495,0.00,2.45,0.00,0.000,6,0.000,0.043,3572,2403,2298,0,0,0,0,0,0
$GC,5794,1.19,104.0,412.3,21.2,164,5802,0.00,2.45,0.00,0.000,4,0.000,0.044,3583,817,2297,0,0,0,0,0,0
$GC,5861,1.19,104.0,398.4,21.3,165,5869,0.17,2.45,0.00,0.000,6,0.219,0.044,3543,2412,2298,0,0,0,0,0,0
$GC,6223,1.19,104.0,325.7,19.9,171,6232,0.00,2.40,0.00,0.000,4,0.000,0.042,3553,821,2295,0,0,0,0,0,0
$GC,6288,1.19,104.0,312.7,19.6,172,6296,0.00,2.42,0.00,0.000,6,0.000,0.044,3553,2405,2293,0,0,0,0,0,0
$GC,6615,1.19,104.0,249.9,18.9,181,6624,0.00,2.42,0.00,0.000,4,0.000,0.043,3564,823,2293,0,0,0,0,0,0
$GC,6676,1.19,104.0,238.3,18.8,183,6684,0.00,2.45,0.00,0.000,6,0.000,0.044,3564,2410,2293,0,0,0,0,0,0
$GC,7007,1.19,104.0,180.3,16.6,194,7015,0.00,2.12,0.00,0.000,4,0.000,0.056,3564,3773,2295,0,0,0,0,0,0
$GC,7045,1.19,104.0,173.6,18.0,195,7053,0.15,2.03,0.00,0.000,6,0.244,0.033,3544,2392,2294,0,0,0,0,0,0
$GC,7365,1.19,104.0,124.8,15.3,206,7370,0.00,2.40,0.00,0.000,4,0.000,0.042,3555,824,2292,0,0,0,0,0,0
$GC,7418,1.19,104.0,116.4,15.5,207,7423,0.00,2.45,0.00,0.000,6,0.000,0.042,3554,2401,2292,0,0,0,0,0,0
$GC,7737,1.19,104.0,67.8,14.4,230,7741,0.00,2.42,0.00,0.000,4,0.000,0.041,3565,822,2292,0,0,0,0,0,0
$GC,7982,1.21,122.3,39.2,8.9,253,7998,0.00,2.45,12.02,0.518,6,0.000,0.040,3564,2409,2240,0,0,0,0,0,0
$GC,8185,1.21,127.1,15.7,11.4,275,8199,0.00,2.40,5.47,0.419,4,0.000,0.039,3578,821,2216,0,0,0,0,0,0
$GC,8235,1.21,127.6,10.0,12.1,284,8242,0.00,2.45,0.00,0.000,6,0.000,0.041,3574,2406,2215,0,0,0,0,0,0
$STATE,8304,end climb,SURFACE_DEPTH_REACHED
$STATE,8304,begin surface coast
$FINISH,0.4,1.023665
$STATE,8320,end surface coast,CONTROL_FINISHED_OK
$STATE,8320,begin surface
$SM_CCo,8334,109.62,0.521,0,0,1309,350.04
$SM_GC,1.16,0.00,0.00,109.62,0.000,0.000,0.521,162,2407,1309,-9.37,-0.93,350.04
$IRIDIUM_FIX,2432.32,-7739.08,051211,020249
$TT8_MAMPS,0.117593
$HUMID,1078069023
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.30
$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,37
$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,8.8/483886/441350
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/297829/280261
$PA_DATA1,52.4/7836665/3729582
$PA_DATA0,95.1/7836665/381165
$24V_AH,24.5,12.014
$10V_AH,10.5,13.861
$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,23.975,89.075,181.750,109.625,0.000,23.980,24.335,195.554,0.000,0.000,30.303,0.000,6734.832,435.774,1576.050,66.439,33.339,1045.738,0.000,831.899,0.000,0.544,0.000
$DEVICE_MAMPS,264.690,58.140,957.015,520.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,200.004,0.000,0.000,0.000,0.000,0.000,8893.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.253,0.000,0.000,0.000
$MEM,355084
$DATA_FILE_SIZE,10097,300
$CAP_FILE_SIZE,79613,0
$CFSIZE,260165632,252928000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,130128,2441.769,-7736.395,20,2.4,39,-7.1