version: 66.07
glider: 178
mission: 4
dive: 12
start: 6 8 110 17 34 13
data:
$ID,178
$MISSION,4
$DIVE,12
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5964.5444
$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,30
$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
$GPS1,080610,172944,2441.688,-7736.478,10,1.2,10,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.6
$GPS2,080610,173332,2441.663,-7736.481,16,1.2,16,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.098,-0.215
$KALMAN_X,-661.2,144.2,-66.5,350.5,-229.4
$KALMAN_Y,-277.8,-288.1,-119.6,1666.7,119.6
$MHEAD_RNG_PITCHd_Wd,211.7,896,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.89,-100.1,0.0,0.0,0,88,0.00,0.00,-68.45,0.000,6,0.000,0.000,164,2449,3145,0,0,0,0,0,0
$GC,89,-0.99,-182.4,3.2,-6.1,12,114,11.85,2.42,-6.40,0.000,4,0.265,0.050,2842,853,3481,0,0,0,0,0,0
$GC,160,-0.99,-182.4,27.1,-25.5,22,168,0.00,2.47,0.00,0.000,6,0.000,0.045,2833,2432,3483,0,0,0,0,0,0
$GC,351,-0.99,-182.4,77.1,-25.1,41,356,0.00,2.10,0.00,0.000,4,0.000,0.053,2822,3773,3483,0,0,0,0,0,0
$GC,394,-0.99,-182.4,88.1,-25.9,45,398,0.00,2.00,0.00,0.000,6,0.000,0.032,2822,2438,3481,0,0,0,0,0,0
$GC,608,-0.99,-182.4,135.9,-21.8,56,612,0.00,2.12,0.00,0.000,4,0.000,0.054,2812,3782,3484,0,0,0,0,0,0
$GC,677,-0.99,-182.4,151.5,-21.8,58,682,0.00,2.03,0.00,0.000,6,0.000,0.032,2816,2433,3483,0,0,0,0,0,0
$GC,1007,-0.99,-182.4,217.3,-19.1,69,1011,0.00,2.38,0.00,0.000,4,0.000,0.040,2816,869,3483,0,0,0,0,0,0
$GC,1049,-0.99,-182.4,225.0,-17.1,70,1054,0.10,2.42,0.00,0.000,6,0.194,0.043,2833,2435,3483,0,0,0,0,0,0
$GC,1374,-0.99,-182.4,276.7,-15.7,81,1378,0.00,2.10,0.00,0.000,4,0.000,0.054,2825,3774,3483,0,0,0,0,0,0
$GC,1395,-0.99,-182.4,279.9,-15.5,81,1400,0.00,2.00,0.00,0.000,6,0.000,0.033,2825,2440,3486,0,0,0,0,0,0
$GC,1708,-0.99,-182.4,330.7,-16.5,89,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2440,3481,0,0,0,0,0,0
$GC,2009,-0.99,-182.4,377.5,-15.4,94,2018,0.00,2.10,0.00,0.000,4,0.000,0.057,2819,3786,3480,0,0,0,0,0,0
$GC,2031,-0.99,-182.4,381.1,-16.7,94,2038,0.00,2.00,0.00,0.000,6,0.000,0.034,2815,2433,3480,0,0,0,0,0,0
$GC,2371,-0.99,-182.4,435.3,-16.0,100,2379,0.00,2.35,0.00,0.000,4,0.000,0.043,2815,857,3477,0,0,0,0,0,0
$GC,2393,-0.99,-182.4,438.9,-15.3,100,2401,0.15,2.42,0.00,0.000,6,0.203,0.045,2838,2440,3477,0,0,0,0,0,0
$GC,2728,-0.99,-182.4,485.5,-13.9,106,2736,0.00,2.08,0.00,0.000,4,0.000,0.058,2830,3776,3475,0,0,0,0,0,0
$GC,2771,-0.99,-182.4,491.5,-14.3,106,2779,0.00,2.00,0.00,0.000,6,0.000,0.036,2836,2426,3475,0,0,0,0,0,0
$GC,3089,-0.99,-182.4,536.7,-14.1,112,3098,0.00,2.12,0.00,0.000,4,0.000,0.058,2820,3780,3473,0,0,0,0,0,0
$GC,3117,-0.99,-182.4,540.9,-14.3,112,3124,0.00,2.00,0.00,0.000,6,0.000,0.036,2820,2438,3473,0,0,0,0,0,0
$GC,3451,-0.99,-182.4,588.9,-14.2,118,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2437,3471,0,0,0,0,0,0
$GC,3753,-0.99,-183.7,629.9,-13.5,123,3762,0.00,2.12,0.00,0.000,4,0.000,0.060,2810,3789,3468,0,0,0,0,0,0
$GC,3797,-0.99,-183.7,636.5,-15.7,123,3805,0.12,2.05,0.00,0.000,6,0.210,0.037,2838,2411,3468,0,0,0,0,0,0
$GC,4121,-1.01,-198.5,676.8,-12.3,129,4129,0.00,2.15,0.00,0.000,4,0.000,0.061,2830,3775,3465,0,0,0,0,0,0
$GC,4190,-1.02,-207.5,685.9,-12.8,130,4198,0.00,2.00,0.00,0.000,6,0.000,0.038,2830,2437,3465,0,0,0,0,0,0
$GC,4552,-1.04,-219.8,730.9,-12.5,136,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2437,3463,0,0,0,0,0,0
$GC,4853,-1.05,-232.5,768.8,-12.5,141,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2437,3460,0,0,0,0,0,0
$GC,5155,-1.07,-247.3,806.1,-12.3,146,5163,0.00,2.12,0.00,0.000,4,0.000,0.064,2821,3774,3459,0,0,0,0,0,0
$GC,5203,-1.08,-256.3,812.4,-12.8,146,5211,0.00,2.00,0.00,0.000,6,0.000,0.040,2821,2442,3457,0,0,0,0,0,0
$GC,5516,-1.10,-267.6,851.7,-12.5,152,5524,0.00,2.12,0.00,0.000,4,0.000,0.065,2811,3776,3456,0,0,0,0,0,0
$GC,5597,-1.10,-267.6,862.8,-13.3,153,5604,0.00,2.03,0.00,0.000,6,0.000,0.040,2811,2435,3455,0,0,0,0,0,0
$STATE,5941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5941,begin apogee
$GC,5944,-0.14,0.0,906.4,12.5,159,6095,1.02,0.00,144.35,1.125,6,0.177,0.000,3106,2434,2737,0,0,0,0,0,0
$STATE,6096,end apogee,CONTROL_FINISHED_OK
$STATE,6096,begin climb
$GC,6097,1.10,267.6,909.2,0.0,161,6336,1.15,2.65,226.02,1.107,4,0.070,0.047,3528,829,1643,0,0,0,0,0,0
$GC,6430,1.10,267.6,840.8,26.3,166,6438,0.00,2.55,0.00,0.000,6,0.000,0.049,3527,2396,1636,0,0,0,0,0,0
$GC,6765,1.10,267.6,746.2,28.4,172,6773,0.00,2.47,0.00,0.000,4,0.000,0.047,3540,819,1630,0,0,0,0,0,0
$GC,6798,1.10,267.6,737.2,26.9,172,6806,0.00,2.53,0.00,0.000,6,0.000,0.049,3539,2406,1631,0,0,0,0,0,0
$GC,7122,1.10,267.6,642.9,29.2,178,7130,0.00,2.50,0.00,0.000,4,0.000,0.049,3551,815,1629,0,0,0,0,0,0
$GC,7176,1.10,267.6,627.4,27.6,178,7187,0.15,2.50,0.00,0.000,6,0.210,0.049,3516,2402,1628,0,0,0,0,0,0
$GC,7484,1.10,267.6,543.7,27.1,184,7492,0.00,2.45,0.00,0.000,4,0.000,0.047,3526,821,1627,0,0,0,0,0,0
$GC,7516,1.10,267.6,534.5,27.7,184,7524,0.00,2.50,0.00,0.000,6,0.000,0.049,3527,2409,1627,0,0,0,0,0,0
$GC,7840,1.10,267.6,443.7,28.4,190,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2409,1624,0,0,0,0,0,0
$GC,8142,1.10,267.6,358.8,28.1,195,8150,0.00,2.45,0.00,0.000,4,0.000,0.047,3538,823,1625,0,0,0,0,0,0
$GC,8233,1.10,267.6,333.2,26.5,196,8241,0.00,2.47,0.00,0.000,6,0.000,0.049,3538,2404,1624,0,0,0,0,0,0
$GC,8563,1.10,267.6,236.4,29.4,205,8568,0.00,2.47,0.00,0.000,4,0.000,0.046,3550,824,1624,0,0,0,0,0,0
$GC,8622,1.10,267.6,219.6,27.6,206,8630,0.12,2.50,0.00,0.000,6,0.197,0.048,3514,2406,1624,0,0,0,0,0,0
$GC,8930,1.10,267.6,140.6,25.4,217,8935,0.00,2.47,0.00,0.000,4,0.000,0.045,3523,815,1624,0,0,0,0,0,0
$GC,8994,1.10,267.6,125.4,23.7,219,8999,0.00,2.47,0.00,0.000,6,0.000,0.044,3525,2397,1622,0,0,0,0,0,0
$GC,9314,1.10,267.6,48.2,21.5,242,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2397,1624,0,0,0,0,0,0
$GC,9502,1.10,267.6,8.1,19.7,265,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2397,1624,0,0,0,0,0,0
$STATE,9533,end climb,SURFACE_DEPTH_REACHED
$STATE,9533,begin surface coast
$FINISH,-0.1,0.999360
$STATE,9544,end surface coast,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$SM_CCo,9558,38.83,0.532,0,0,1310,350.04
$SM_GC,0.52,0.00,0.00,38.83,0.000,0.000,0.532,165,2450,1310,-9.36,0.28,350.04
$IRIDIUM_FIX,2432.32,-7734.44,021211,111156
$TT8_MAMPS,0.117593
$HUMID,1078244506
$INTERNAL_PRESSURE,9.49255
$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,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,8.3/483886/443661
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.7/297829/283813
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,27.2/7836665/5707193
$24V_AH,24.2,9.936
$10V_AH,10.4,8.558
$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,23.750,90.800,370.375,38.825,0.000,0.000,0.000,0.000,0.000,0.000,17.021,0.000,7871.419,498.515,1226.766,46.617,33.326,1135.185,0.000,791.305,0.000,0.543,0.000
$DEVICE_MAMPS,265.455,123.165,1125.315,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,182.690,0.000,0.000,0.000,0.000,0.000,9671.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,80.024,0.000,0.000,0.000
$MEM,355144
$DATA_FILE_SIZE,10172,273
$CAP_FILE_SIZE,108819,0
$CFSIZE,260165632,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,201534,2440.071,-7737.688,48,2.5,67,-7.1