version: 66.07
glider: 178
mission: 4
dive: 13
start: 6 8 110 20 39 6
data:
$ID,178
$MISSION,4
$DIVE,13
$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,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,-5995.3306
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,080610,203426,2439.939,-7737.671,10,1.6,10,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-75.7
$GPS2,080610,203825,2439.913,-7737.669,11,1.8,16,-7.1
$SPEED_LIMITS,0.236,0.378
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,0.183
$KALMAN_X,-1314.5,-53.5,78.3,-939.4,-786.0
$KALMAN_Y,-666.6,-319.5,-113.5,-1158.1,153.5
$MHEAD_RNG_PITCHd_Wd,49.3,2928,-26.5,-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,-0.87,-108.8,0.0,0.0,0,105,0.00,0.00,-86.32,0.000,6,0.000,0.000,164,2450,3182,0,0,0,0,0,0
$GC,106,-0.98,-194.9,3.1,-6.4,15,131,11.98,2.10,-6.62,0.000,4,0.265,0.065,2828,3780,3532,0,0,0,0,0,0
$GC,295,-0.98,-194.9,63.0,-24.3,36,303,0.00,2.08,0.00,0.000,6,0.000,0.034,2833,2420,3534,0,0,0,0,0,0
$GC,496,-0.98,-194.9,108.2,-21.6,54,501,0.00,2.38,0.00,0.000,4,0.000,0.041,2833,869,3535,0,0,0,0,0,0
$GC,517,-0.98,-194.9,112.9,-22.2,54,522,0.00,2.47,0.00,0.000,6,0.000,0.044,2823,2446,3535,0,0,0,0,0,0
$GC,831,-0.98,-194.9,181.2,-21.9,65,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2446,3536,0,0,0,0,0,0
$GC,1134,-0.98,-194.9,239.6,-18.4,75,1139,0.00,2.10,0.00,0.000,4,0.000,0.055,2813,3779,3536,0,0,0,0,0,0
$GC,1251,-0.98,-194.9,262.1,-19.2,78,1256,0.00,2.03,0.00,0.000,6,0.000,0.033,2813,2438,3537,0,0,0,0,0,0
$GC,1595,-0.98,-194.9,322.4,-17.3,88,1601,0.12,0.00,0.00,0.000,6,0.210,0.000,2843,2439,3536,0,0,0,0,0,0
$GC,1897,-0.98,-194.9,368.1,-14.9,93,1906,0.00,2.10,0.00,0.000,4,0.000,0.057,2834,3779,3538,0,0,0,0,0,0
$GC,1946,-0.98,-194.9,375.8,-16.0,93,1954,0.00,2.00,0.00,0.000,6,0.000,0.035,2835,2432,3535,0,0,0,0,0,0
$GC,2259,-0.98,-194.9,423.1,-15.1,99,2267,0.00,2.10,0.00,0.000,4,0.000,0.057,2825,3776,3535,0,0,0,0,0,0
$GC,2292,-0.98,-194.9,428.2,-16.1,99,2299,0.00,1.98,0.00,0.000,6,0.000,0.036,2825,2431,3535,0,0,0,0,0,0
$GC,2621,-0.98,-194.9,478.5,-15.2,105,2629,0.00,2.35,0.00,0.000,4,0.000,0.043,2821,861,3532,0,0,0,0,0,0
$GC,2654,-0.98,-194.9,483.7,-15.7,105,2662,0.12,2.45,0.00,0.000,6,0.198,0.047,2842,2443,3532,0,0,0,0,0,0
$GC,2978,-0.98,-201.9,526.6,-13.1,111,2986,0.00,2.08,0.00,0.000,4,0.000,0.059,2834,3786,3530,0,0,0,0,0,0
$GC,3032,-0.99,-202.2,534.1,-13.6,111,3042,0.00,1.98,0.00,0.000,6,0.000,0.037,2834,2443,3530,0,0,0,0,0,0
$GC,3340,-0.99,-202.2,576.6,-13.9,117,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2440,3529,0,0,0,0,0,0
$GC,3641,-0.99,-202.6,617.7,-13.6,122,3649,0.00,2.10,0.00,0.000,4,0.000,0.061,2824,3787,3527,0,0,0,0,0,0
$GC,3668,-0.99,-202.6,621.6,-14.4,122,3675,0.00,2.00,0.00,0.000,6,0.000,0.037,2824,2435,3526,0,0,0,0,0,0
$GC,4002,-0.99,-202.6,668.8,-14.3,128,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2435,3524,0,0,0,0,0,0
$GC,4304,-0.99,-203.6,710.0,-13.6,133,4311,0.00,2.12,0.00,0.000,4,0.000,0.063,2814,3780,3522,0,0,0,0,0,0
$GC,4368,-0.99,-203.6,719.0,-13.7,134,4376,0.10,2.00,0.00,0.000,6,0.213,0.039,2835,2429,3521,0,0,0,0,0,0
$GC,4730,-1.00,-217.7,764.6,-12.5,140,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2430,3518,0,0,0,0,0,0
$GC,5031,-1.02,-232.0,802.4,-12.4,145,5039,0.00,2.12,0.00,0.000,4,0.000,0.064,2827,3778,3517,0,0,0,0,0,0
$GC,5107,-1.02,-233.0,812.8,-13.6,146,5114,0.00,2.00,0.00,0.000,6,0.000,0.040,2827,2432,3516,0,0,0,0,0,0
$GC,5457,-1.03,-242.2,857.9,-12.9,152,5465,0.00,2.15,0.00,0.000,4,0.000,0.065,2819,3778,3514,0,0,0,0,0,0
$GC,5489,-1.03,-242.2,862.4,-13.8,152,5497,0.00,2.00,0.00,0.000,6,0.000,0.041,2818,2437,3513,0,0,0,0,0,0
$STATE,5817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5817,begin apogee
$GC,5820,-0.14,0.0,904.3,12.5,158,5983,1.00,0.00,156.07,1.131,6,0.171,0.000,3106,2435,2738,0,0,0,0,0,0
$STATE,5984,end apogee,CONTROL_FINISHED_OK
$STATE,5984,begin climb
$GC,5985,1.03,242.2,908.1,0.0,160,6201,1.08,2.67,203.98,1.114,4,0.061,0.046,3509,817,1748,0,0,0,0,0,0
$GC,6285,1.03,242.2,852.9,25.2,165,6293,0.00,2.58,0.00,0.000,6,0.000,0.048,3506,2398,1742,0,0,0,0,0,0
$GC,6604,1.03,242.2,770.0,25.8,171,6612,0.00,2.47,0.00,0.000,4,0.000,0.046,3516,824,1738,0,0,0,0,0,0
$GC,6626,1.03,242.2,763.9,27.2,171,6634,0.00,2.53,0.00,0.000,6,0.000,0.050,3516,2403,1737,0,0,0,0,0,0
$GC,6961,1.03,242.2,674.6,26.7,177,6969,0.00,2.45,0.00,0.000,4,0.000,0.048,3529,821,1735,0,0,0,0,0,0
$GC,6994,1.03,242.2,665.6,26.9,177,7003,0.15,2.50,0.00,0.000,6,0.200,0.050,3492,2401,1735,0,0,0,0,0,0
$GC,7318,1.03,242.2,584.1,25.0,183,7326,0.00,2.47,0.00,0.000,4,0.000,0.046,3502,812,1733,0,0,0,0,0,0
$GC,7356,1.03,242.2,574.5,25.1,183,7365,0.00,2.47,0.00,0.000,6,0.000,0.048,3494,2403,1731,0,0,0,0,0,0
$GC,7675,1.03,242.2,493.3,25.7,189,7684,0.00,2.42,0.00,0.000,4,0.000,0.046,3504,822,1731,0,0,0,0,0,0
$GC,7719,1.03,242.2,482.3,23.7,189,7728,0.00,2.50,0.00,0.000,6,0.000,0.050,3497,2407,1730,0,0,0,0,0,0
$GC,8033,1.03,242.2,402.9,25.3,195,8041,0.00,2.45,0.00,0.000,4,0.000,0.047,3507,812,1729,0,0,0,0,0,0
$GC,8104,1.03,242.2,385.6,24.4,196,8112,0.00,2.47,0.00,0.000,6,0.000,0.047,3507,2408,1727,0,0,0,0,0,0
$GC,8457,1.03,242.2,293.7,26.4,202,8460,0.00,2.42,0.00,0.000,4,0.000,0.045,3517,821,1728,0,0,0,0,0,0
$GC,8508,1.03,242.2,279.8,24.8,203,8516,0.00,2.50,0.00,0.000,6,0.000,0.048,3517,2402,1726,0,0,0,0,0,0
$GC,8817,1.03,242.2,199.0,25.9,214,8822,0.00,2.47,0.00,0.000,4,0.000,0.044,3529,816,1728,0,0,0,0,0,0
$GC,8843,1.03,242.2,192.5,24.2,214,8851,0.10,2.50,0.00,0.000,6,0.190,0.047,3499,2402,1728,0,0,0,0,0,0
$GC,9152,1.03,242.2,120.1,23.3,225,9156,0.00,2.45,0.00,0.000,4,0.000,0.043,3509,828,1729,0,0,0,0,0,0
$GC,9189,1.03,242.2,111.3,23.7,226,9194,0.00,2.47,0.00,0.000,6,0.000,0.046,3508,2400,1728,0,0,0,0,0,0
$GC,9505,1.03,242.2,39.2,22.2,253,9509,0.00,2.42,0.00,0.000,4,0.000,0.043,3518,828,1728,0,0,0,0,0,0
$GC,9654,1.03,242.2,9.6,17.9,272,9662,0.00,2.45,0.00,0.000,6,0.000,0.044,3517,2402,1728,0,0,0,0,0,0
$STATE,9696,end climb,SURFACE_DEPTH_REACHED
$STATE,9696,begin surface coast
$FINISH,-0.1,1.008647
$STATE,9707,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9721,94.30,0.535,0,0,901,450.13
$SM_GC,0.75,0.00,0.00,94.30,0.000,0.000,0.535,168,2434,901,-9.35,-0.20,450.13
$IRIDIUM_FIX,2432.32,-7739.08,021211,141443
$TT8_MAMPS,0.11235
$HUMID,1078192893
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.50
$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,8.3/483886/443492
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.8/297829/283660
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,31.7/7836665/5355914
$24V_AH,24.2,10.117
$10V_AH,10.4,8.845
$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,23.625,96.400,360.050,94.300,0.000,0.000,0.000,0.000,0.000,0.000,17.783,0.000,7987.360,573.378,1254.513,48.307,33.338,1222.956,0.000,809.469,0.000,0.541,0.000
$DEVICE_MAMPS,265.455,217.260,1130.670,534.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,188.050,0.000,0.000,0.000,0.000,0.000,9820.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,80.008,0.000,0.000,0.000
$MEM,355168
$DATA_FILE_SIZE,10161,282
$CAP_FILE_SIZE,104099,0
$CFSIZE,260165632,254017536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,232421,2441.188,-7736.378,62,2.4,81,-7.1