version: 66.07
glider: 178
mission: 4
dive: 10
start: 6 8 110 10 48 18
data:
$ID,178
$MISSION,4
$DIVE,10
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5871.8633
$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,52
$R_STBD_OVSHOOT,37
$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,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080610,104054,2442.220,-7737.527,47,2.0,64,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-76.9
$GPS2,080610,104736,2442.172,-7737.529,14,0.9,30,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.083,-0.221
$KALMAN_X,601.2,-123.0,-131.7,-2342.8,594.8
$KALMAN_Y,-102.4,151.5,92.4,1776.4,-87.0
$MHEAD_RNG_PITCHd_Wd,166.4,1995,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.89,-100.1,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,6,0.000,0.000,162,2461,3143,0,0,0,0,0,0
$GC,93,-0.92,-127.2,4.0,-11.2,13,113,12.32,2.05,-1.95,0.000,4,0.274,0.067,2842,3773,3258,0,0,0,0,0,0
$GC,142,-0.92,-127.2,24.2,-31.3,21,151,0.00,2.05,0.00,0.000,6,0.000,0.034,2845,2444,3260,0,0,0,0,0,0
$GC,334,-0.92,-127.2,69.4,-21.5,40,339,0.00,2.45,0.00,0.000,4,0.000,0.042,2849,861,3259,0,0,0,0,0,0
$GC,473,-0.92,-127.2,96.4,-19.6,53,477,0.00,2.47,0.00,0.000,6,0.000,0.045,2834,2437,3261,0,0,0,0,0,0
$GC,686,-0.92,-127.2,135.0,-18.6,62,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2437,3263,0,0,0,0,0,0
$GC,989,-0.92,-127.2,186.1,-16.4,72,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2437,3264,0,0,0,0,0,0
$GC,1293,-0.92,-127.2,231.1,-14.6,82,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2436,3265,0,0,0,0,0,0
$GC,1596,-0.94,-137.3,271.1,-12.7,92,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2437,3266,0,0,0,0,0,0
$GC,1899,-0.94,-139.1,311.8,-13.5,101,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2436,3266,0,0,0,0,0,0
$GC,2202,-0.95,-145.2,351.2,-13.1,106,2210,0.00,2.08,0.00,0.000,4,0.000,0.058,2824,3781,3266,0,0,0,0,0,0
$GC,2282,-0.95,-145.2,362.8,-14.4,107,2290,0.12,2.00,0.00,0.000,6,0.207,0.036,2849,2434,3266,0,0,0,0,0,0
$GC,2627,-0.97,-164.7,404.3,-11.9,113,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2434,3266,0,0,0,0,0,0
$GC,2930,-1.00,-189.0,438.6,-11.4,118,2937,0.00,2.10,0.00,0.000,4,0.000,0.058,2843,3786,3265,0,0,0,0,0,0
$GC,2956,-1.02,-204.7,441.9,-12.2,118,2964,0.00,2.00,0.00,0.000,6,0.000,0.037,2843,2441,3265,0,0,0,0,0,0
$GC,3291,-1.04,-224.1,481.3,-11.9,124,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2440,3265,0,0,0,0,0,0
$GC,3593,-1.07,-248.0,516.5,-11.5,129,3601,0.00,2.40,0.00,0.000,4,0.000,0.044,2844,859,3263,0,0,0,0,0,0
$GC,3620,-1.09,-261.7,519.9,-12.4,129,3629,0.00,2.42,0.00,0.000,6,0.000,0.047,2833,2440,3263,0,0,0,0,0,0
$GC,3950,-1.10,-267.6,557.8,-11.5,135,3958,0.00,2.08,0.00,0.000,4,0.000,0.060,2823,3781,3264,0,0,0,0,0,0
$GC,3967,-1.10,-267.6,559.8,-11.4,135,3974,0.00,1.98,0.00,0.000,6,0.000,0.037,2823,2439,3262,0,0,0,0,0,0
$GC,4311,-1.10,-267.6,600.4,-11.7,141,4320,0.00,2.42,0.00,0.000,4,0.000,0.046,2823,861,3261,0,0,0,0,0,0
$GC,4355,-1.10,-267.6,605.7,-12.3,141,4363,0.00,2.45,0.00,0.000,6,0.000,0.047,2811,2441,3260,0,0,0,0,0,0
$GC,4668,-1.10,-267.6,645.4,-12.7,147,4676,0.00,2.10,0.00,0.000,4,0.000,0.061,2801,3780,3260,0,0,0,0,0,0
$GC,4717,-1.10,-267.6,651.8,-13.6,147,4724,0.00,2.00,0.00,0.000,6,0.000,0.038,2801,2432,3259,0,0,0,0,0,0
$GC,5029,-1.10,-267.6,691.7,-12.8,153,5037,0.00,2.10,0.00,0.000,4,0.000,0.061,2796,3776,3258,0,0,0,0,0,0
$GC,5072,-1.10,-267.6,697.7,-13.7,153,5080,0.00,2.03,0.00,0.000,6,0.000,0.038,2788,2426,3258,0,0,0,0,0,0
$GC,5391,-1.10,-267.6,739.0,-12.9,159,5399,0.00,2.38,0.00,0.000,4,0.000,0.047,2791,859,3257,0,0,0,0,0,0
$GC,5439,-1.10,-267.6,745.5,-13.2,159,5448,0.10,2.45,0.00,0.000,6,0.226,0.050,2800,2440,3256,0,0,0,0,0,0
$GC,5747,-1.10,-267.6,782.5,-11.9,164,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2440,3254,0,0,0,0,0,0
$GC,6049,-1.10,-267.6,820.2,-12.5,169,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2439,3253,0,0,0,0,0,0
$GC,6350,-1.10,-267.6,857.2,-12.2,174,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2440,3254,0,0,0,0,0,0
$GC,6652,-1.10,-267.6,891.3,-11.3,179,6660,0.00,2.12,0.00,0.000,4,0.000,0.065,2792,3779,3250,0,0,0,0,0,0
$STATE,6726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6726,begin apogee
$GC,6731,-0.14,0.0,900.6,13.1,180,6842,1.12,0.00,103.22,1.126,6,0.193,0.000,3106,2397,2737,0,0,0,0,0,0
$STATE,6843,end apogee,CONTROL_FINISHED_OK
$STATE,6843,begin climb
$GC,6844,1.10,267.6,902.2,0.0,182,7086,1.15,2.65,227.55,1.106,4,0.080,0.046,3520,828,1643,0,0,0,0,0,0
$GC,7105,1.10,267.6,853.3,26.5,186,7113,0.00,2.60,0.00,0.000,6,0.000,0.050,3520,2405,1639,0,0,0,0,0,0
$GC,7451,1.10,267.6,757.3,27.8,192,7459,0.00,2.47,0.00,0.000,4,0.000,0.048,3532,825,1633,0,0,0,0,0,0
$GC,7510,1.10,267.6,741.3,26.0,193,7518,0.00,2.53,0.00,0.000,6,0.000,0.052,3532,2403,1632,0,0,0,0,0,0
$GC,7872,1.10,267.6,636.2,29.1,199,7880,0.00,2.47,0.00,0.000,4,0.000,0.048,3544,821,1631,0,0,0,0,0,0
$GC,7910,1.10,267.6,625.5,27.7,199,7918,0.12,2.50,0.00,0.000,6,0.210,0.051,3516,2398,1630,0,0,0,0,0,0
$GC,8228,1.10,267.6,538.7,27.2,205,8237,0.00,2.42,0.00,0.000,4,0.000,0.047,3526,824,1628,0,0,0,0,0,0
$GC,8283,1.10,267.6,524.5,25.9,205,8293,0.00,2.50,0.00,0.000,6,0.000,0.050,3526,2403,1628,0,0,0,0,0,0
$GC,8590,1.10,267.6,438.6,28.3,211,8599,0.00,2.45,0.00,0.000,4,0.000,0.047,3537,816,1629,0,0,0,0,0,0
$GC,8650,1.10,267.6,422.0,25.5,212,8658,0.00,2.50,0.00,0.000,6,0.000,0.050,3538,2403,1626,0,0,0,0,0,0
$GC,9012,1.10,267.6,316.9,29.2,218,9020,0.00,2.45,0.00,0.000,4,0.000,0.047,3550,818,1625,0,0,0,0,0,0
$GC,9061,1.10,267.6,303.0,27.8,218,9069,0.15,2.47,0.00,0.000,6,0.210,0.049,3515,2408,1626,0,0,0,0,0,0
$GC,9369,1.10,267.6,219.8,26.7,227,9374,0.00,2.47,0.00,0.000,4,0.000,0.044,3524,823,1625,0,0,0,0,0,0
$GC,9444,1.10,267.6,200.8,25.9,229,9448,0.00,2.50,0.00,0.000,6,0.000,0.048,3524,2401,1626,0,0,0,0,0,0
$GC,9768,1.10,267.6,117.5,25.0,240,9773,0.00,2.47,0.00,0.000,4,0.000,0.045,3536,815,1626,0,0,0,0,0,0
$GC,9810,1.10,267.6,107.1,24.9,241,9815,0.00,2.50,0.00,0.000,6,0.000,0.044,3536,2412,1626,0,0,0,0,0,0
$GC,10131,1.10,267.6,31.6,20.8,269,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2412,1626,0,0,0,0,0,0
$STATE,10267,end climb,SURFACE_DEPTH_REACHED
$STATE,10267,begin surface coast
$FINISH,-0.2,1.023509
$STATE,10273,end surface coast,CONTROL_FINISHED_OK
$STATE,10273,begin surface
$SM_CCo,10287,38.50,0.532,0,0,1308,350.04
$SM_GC,0.47,0.00,0.00,38.50,0.000,0.000,0.532,161,2413,1308,-9.37,-0.76,350.04
$IRIDIUM_FIX,2429.95,-7736.76,021211,020223
$TT8_MAMPS,0.118342
$HUMID,1078240635
$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,8.3/483886/443917
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.6/297829/284151
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,17.9/7836665/6430705
$24V_AH,24.1,9.636
$10V_AH,10.4,7.982
$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,24.200,88.225,330.775,38.500,0.000,30.458,25.633,241.706,0.000,0.000,31.824,0.000,8626.786,439.344,1587.631,71.233,33.326,1104.472,0.000,807.896,0.000,0.541,0.000
$DEVICE_MAMPS,273.870,66.555,1126.080,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,194.266,0.000,0.000,0.000,0.000,0.000,10850.641,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.511,0.000,0.000,0.000
$MEM,355048
$DATA_FILE_SIZE,10165,290
$CAP_FILE_SIZE,87210,0
$CFSIZE,260165632,254279680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,134140,2440.487,-7737.270,40,2.2,59,-7.1