version: 66.07
glider: 178
mission: 4
dive: 4
start: 6 7 110 17 20 53
data:
$ID,178
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,150
$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,450
$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,-5646.3535
$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,2300
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,38
$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,61440.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,070610,171626,2441.003,-7735.162,12,1.6,12,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.3
$GPS2,070610,172013,2440.979,-7735.136,12,1.6,12,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,0.072
$KALMAN_X,105.7,156.8,179.9,1593.7,-64.8
$KALMAN_Y,-309.1,-235.3,-233.5,487.0,-166.0
$MHEAD_RNG_PITCHd_Wd,293.2,2917,-17.5,-10.000
$D_GRID,450
$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,15,begin dive
$GC,16,-0.67,-146.0,0.0,0.0,0,129,0.00,0.00,-108.45,0.000,6,0.000,0.000,158,2314,3334,0,0,0,0,0,0
$GC,131,-0.67,-146.0,3.5,-8.6,19,149,11.98,0.00,0.00,0.000,6,0.258,0.000,2936,2313,3336,0,0,0,0,0,0
$GC,210,-0.67,-146.0,25.2,-15.0,31,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2313,3337,0,0,0,0,0,0
$GC,396,-0.67,-146.0,48.4,-11.7,49,401,0.00,2.28,0.00,0.000,4,0.000,0.056,2927,3765,3340,0,0,0,0,0,0
$GC,476,-0.67,-146.0,58.0,-12.1,56,484,0.00,2.20,0.00,0.000,6,0.000,0.034,2927,2305,3338,0,0,0,0,0,0
$GC,668,-0.67,-146.0,80.9,-12.2,75,672,0.00,2.30,0.00,0.000,4,0.000,0.055,2917,3764,3337,0,0,0,0,0,0
$GC,721,-0.67,-146.0,87.3,-12.3,80,725,0.00,2.17,0.00,0.000,6,0.000,0.035,2918,2308,3337,0,0,0,0,0,0
$GC,925,-0.67,-146.0,110.5,-11.3,94,933,0.00,2.28,0.00,0.000,4,0.000,0.056,2906,3768,3338,0,0,0,0,0,0
$GC,963,-0.67,-146.0,115.1,-12.1,95,971,0.15,2.17,0.00,0.000,6,0.173,0.035,2944,2296,3337,0,0,0,0,0,0
$GC,1284,-0.67,-146.0,146.2,-9.6,106,1292,0.00,2.30,0.00,0.000,4,0.000,0.056,2935,3775,3337,0,0,0,0,0,0
$GC,1402,-0.67,-146.0,157.9,-9.3,109,1412,0.00,2.17,0.00,0.000,6,0.000,0.035,2934,2288,3337,0,0,0,0,0,0
$GC,1711,-0.67,-146.0,187.5,-9.3,120,1721,0.00,2.30,0.00,0.000,4,0.000,0.057,2924,3768,3336,0,0,0,0,0,0
$GC,1815,-0.67,-146.0,197.9,-10.3,123,1823,0.00,2.15,0.00,0.000,6,0.000,0.035,2924,2297,3336,0,0,0,0,0,0
$GC,2135,-0.67,-146.0,226.0,-8.4,134,2143,0.00,2.30,0.00,0.000,4,0.000,0.057,2913,3778,3335,0,0,0,0,0,0
$GC,2189,-0.67,-146.0,230.6,-9.5,135,2197,0.12,2.20,0.00,0.000,6,0.168,0.036,2945,2292,3337,0,0,0,0,0,0
$GC,2498,-0.67,-146.0,252.7,-6.9,145,2506,0.00,2.30,0.00,0.000,4,0.000,0.057,2936,3770,3334,0,0,0,0,0,0
$GC,2531,-0.67,-146.0,255.1,-8.0,146,2538,0.00,2.17,0.00,0.000,6,0.000,0.036,2936,2301,3334,0,0,0,0,0,0
$GC,2856,-0.67,-146.0,279.2,-7.4,157,2863,0.00,2.30,0.00,0.000,4,0.000,0.057,2930,3774,3334,0,0,0,0,0,0
$GC,2888,-0.67,-146.0,281.7,-8.8,158,2897,0.00,2.17,0.00,0.000,6,0.000,0.037,2925,2294,3333,0,0,0,0,0,0
$GC,3255,-0.67,-146.0,310.8,-7.9,168,3264,0.00,2.30,0.00,0.000,4,0.000,0.057,2914,3777,3332,0,0,0,0,0,0
$GC,3374,-0.67,-146.0,321.1,-8.8,169,3385,0.12,2.20,0.00,0.000,6,0.164,0.037,2945,2302,3332,0,0,0,0,0,0
$GC,3681,-0.67,-146.0,342.1,-6.7,175,3689,0.00,2.30,0.00,0.000,4,0.000,0.058,2937,3766,3330,0,0,0,0,0,0
$GC,3773,-0.67,-146.0,348.8,-6.7,176,3781,0.00,2.20,0.00,0.000,6,0.000,0.037,2937,2293,3329,0,0,0,0,0,0
$GC,4102,-0.67,-146.0,372.4,-7.1,182,4111,0.00,2.30,0.00,0.000,4,0.000,0.059,2926,3767,3328,0,0,0,0,0,0
$GC,4205,-0.67,-146.0,380.6,-8.3,183,4213,0.00,2.17,0.00,0.000,6,0.000,0.037,2926,2300,3327,0,0,0,0,0,0
$GC,4524,-0.67,-146.0,405.2,-7.7,189,4532,0.00,2.33,0.00,0.000,4,0.000,0.060,2915,3771,3326,0,0,0,0,0,0
$GC,4599,-0.67,-146.0,411.5,-8.4,190,4608,0.12,2.20,0.00,0.000,6,0.162,0.037,2947,2287,3323,0,0,0,0,0,0
$GC,4945,-0.67,-146.0,434.1,-6.3,196,4954,0.00,2.33,0.00,0.000,4,0.000,0.060,2935,3771,3323,0,0,0,0,0,0
$GC,5096,-0.67,-146.0,443.7,-5.9,198,5104,0.00,2.17,0.00,0.000,6,0.000,0.037,2938,2303,3322,0,0,0,0,0,0
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5249,begin apogee
$GC,5252,-0.14,0.0,453.0,6.1,201,5374,0.55,0.00,110.60,0.806,6,0.132,0.000,3111,2212,2737,0,0,0,0,0,0
$STATE,5375,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5376,0.67,146.0,454.5,0.0,203,5504,0.73,2.50,115.22,0.789,4,0.074,0.042,3386,643,2142,0,0,0,0,0,0
$GC,5603,0.67,146.0,430.6,13.7,206,5612,0.00,2.45,0.00,0.000,6,0.000,0.042,3386,2221,2134,0,0,0,0,0,0
$GC,5928,0.67,146.0,384.9,14.1,212,5936,0.00,2.45,0.00,0.000,4,0.000,0.057,3386,3777,2132,0,0,0,0,0,0
$GC,5992,0.67,146.0,374.6,16.0,213,6001,0.00,2.35,0.00,0.000,6,0.000,0.036,3397,2211,2132,0,0,0,0,0,0
$GC,6349,0.67,146.0,322.4,14.7,219,6357,0.00,2.45,0.00,0.000,4,0.000,0.057,3397,3780,2130,0,0,0,0,0,0
$GC,6382,0.67,146.0,316.9,17.1,219,6390,0.15,2.35,0.00,0.000,6,0.196,0.035,3377,2208,2130,0,0,0,0,0,0
$GC,6707,0.67,146.0,273.3,13.2,228,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2205,2128,0,0,0,0,0,0
$GC,7011,0.67,146.0,235.6,12.0,238,7019,0.00,2.38,0.00,0.000,4,0.000,0.045,3385,649,2127,0,0,0,0,0,0
$GC,7039,0.67,146.0,232.1,12.0,239,7047,0.00,2.42,0.00,0.000,6,0.000,0.042,3383,2234,2126,0,0,0,0,0,0
$GC,7370,0.67,146.0,192.4,11.5,250,7378,0.00,2.42,0.00,0.000,4,0.000,0.044,3395,640,2126,0,0,0,0,0,0
$GC,7397,0.67,146.0,189.4,10.7,251,7407,0.00,2.40,0.00,0.000,6,0.000,0.042,3395,2218,2125,0,0,0,0,0,0
$GC,7731,0.67,146.0,149.6,12.2,262,7739,0.00,2.42,0.00,0.000,4,0.000,0.057,3395,3778,2125,0,0,0,0,0,0
$GC,7844,0.67,146.0,133.5,14.0,265,7852,0.12,2.33,0.00,0.000,6,0.200,0.034,3378,2209,2125,0,0,0,0,0,0
$GC,8155,0.67,146.0,99.4,10.9,275,8159,0.00,2.45,0.00,0.000,4,0.000,0.055,3378,3774,2125,0,0,0,0,0,0
$GC,8304,0.67,146.0,80.7,12.2,288,8311,0.00,2.33,0.00,0.000,6,0.000,0.034,3388,2219,2125,0,0,0,0,0,0
$GC,8494,0.67,146.0,60.3,10.3,307,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2218,2125,0,0,0,0,0,0
$GC,8681,0.67,148.4,41.8,9.9,325,8685,0.00,2.45,0.00,0.000,4,0.000,0.054,3392,3775,2125,0,0,0,0,0,0
$GC,8755,0.67,148.4,33.9,10.5,332,8760,0.00,2.33,0.00,0.000,6,0.000,0.033,3399,2216,2125,0,0,0,0,0,0
$GC,8949,0.68,161.1,15.4,9.4,355,8963,0.00,2.42,10.65,0.487,4,0.000,0.054,3400,3775,2082,0,0,0,0,0,0
$STATE,9084,end climb,SURFACE_DEPTH_REACHED
$STATE,9084,begin surface coast
$FINISH,-0.1,1.022851
$STATE,9105,end surface coast,CONTROL_FINISHED_OK
$STATE,9105,begin surface
$SM_CCo,9121,132.55,0.507,0,0,902,450.13
$SM_GC,0.75,0.00,0.00,132.55,0.000,0.000,0.507,167,2304,902,-9.36,0.11,450.13
$IRIDIUM_FIX,2432.32,-7734.44,011211,111127
$TT8_MAMPS,0.131075
$HUMID,1078127087
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$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,31
$PA_DFQS,0/0
$PA_CMQS,0/119
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,8.2/483886/444377
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.3/297829/285149
$PA_DATA1,3.5/7836665/7560759
$PA_DATA0,5.3/7836665/7418906
$24V_AH,24.8,8.798
$10V_AH,10.5,6.430
$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,22.750,101.500,236.475,132.550,0.000,0.000,0.000,0.000,0.000,0.000,12.982,0.000,7185.340,519.711,1541.174,50.054,32.319,1270.135,0.000,1020.382,0.000,0.544,0.000
$DEVICE_MAMPS,257.805,92.565,805.545,507.195,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,255.324,0.000,0.000,0.000,0.000,0.000,9227.511,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.259,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,13443,384
$CAP_FILE_SIZE,104182,0
$CFSIZE,260165632,254636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,195751,2441.505,-7736.333,128,5.5,147,-7.1