version: 66.07
glider: 178
mission: 4
dive: 21
start: 6 10 110 1 1 18
data:
$ID,178
$MISSION,4
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$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,175
$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,-6006.0112
$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,39
$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
$GPS1,100610,005227,2439.981,-7737.017,220,8.5,239,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.9
$GPS2,100610,010036,2439.972,-7736.989,14,1.3,30,-7.1
$SPEED_LIMITS,0.119,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,0.139
$KALMAN_X,-1357.2,54.1,-158.6,375.1,133.4
$KALMAN_Y,-1537.9,103.8,-116.8,-596.6,-305.2
$MHEAD_RNG_PITCHd_Wd,9.7,2474,-33.2,-10.000
$D_GRID,990
$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,15,-0.98,-42.8,0.0,0.0,0,81,0.00,0.00,-62.08,0.000,6,0.000,0.000,164,2409,2913,0,0,0,0,0,0
$GC,82,-1.03,-88.6,2.3,-2.8,11,107,12.20,2.20,-4.12,0.000,4,0.274,0.068,2808,3775,3102,0,0,0,0,0,0
$GC,345,-1.03,-88.6,65.1,-17.9,42,353,0.00,2.08,0.00,0.000,6,0.000,0.034,2809,2422,3108,0,0,0,0,0,0
$GC,537,-1.03,-88.6,97.8,-15.7,61,541,0.00,2.15,0.00,0.000,4,0.000,0.054,2798,3773,3106,0,0,0,0,0,0
$GC,573,-1.03,-88.6,104.4,-17.4,64,578,0.00,2.03,0.00,0.000,6,0.000,0.033,2804,2436,3106,0,0,0,0,0,0
$GC,903,-1.03,-88.6,160.5,-17.1,75,912,0.00,2.08,0.00,0.000,4,0.000,0.054,2791,3778,3108,0,0,0,0,0,0
$GC,926,-1.03,-88.6,164.5,-18.2,75,937,0.15,1.98,0.00,0.000,6,0.229,0.034,2821,2434,3108,0,0,0,0,0,0
$GC,1235,-1.03,-88.6,208.3,-13.2,86,1243,0.00,2.35,0.00,0.000,4,0.000,0.042,2822,865,3109,0,0,0,0,0,0
$GC,1289,-1.03,-88.6,216.5,-14.6,87,1300,0.00,2.42,0.00,0.000,6,0.000,0.043,2812,2443,3107,0,0,0,0,0,0
$GC,1598,-1.03,-88.6,256.1,-12.5,98,1606,0.00,2.38,0.00,0.000,4,0.000,0.041,2812,860,3109,0,0,0,0,0,0
$GC,1627,-1.03,-88.6,259.4,-12.2,99,1634,0.00,2.42,0.00,0.000,6,0.000,0.043,2801,2452,3110,0,0,0,0,0,0
$GC,1957,-1.03,-88.6,300.7,-12.3,110,1965,0.00,2.05,0.00,0.000,4,0.000,0.055,2791,3776,3109,0,0,0,0,0,0
$GC,2016,-1.03,-88.6,308.4,-13.1,110,2027,0.15,1.95,0.00,0.000,6,0.224,0.034,2824,2437,3110,0,0,0,0,0,0
$GC,2324,-1.03,-88.6,343.4,-11.3,116,2332,0.00,2.35,0.00,0.000,4,0.000,0.042,2823,863,3110,0,0,0,0,0,0
$GC,2362,-1.03,-88.6,347.9,-11.5,116,2371,0.00,2.40,0.00,0.000,6,0.000,0.044,2813,2440,3109,0,0,0,0,0,0
$GC,2681,-1.03,-88.6,385.0,-11.8,122,2689,0.00,2.10,0.00,0.000,4,0.000,0.057,2803,3779,3109,0,0,0,0,0,0
$GC,2741,-1.03,-88.6,392.7,-12.5,122,2752,0.00,2.00,0.00,0.000,6,0.000,0.035,2803,2446,3108,0,0,0,0,0,0
$GC,3048,-1.03,-88.6,429.2,-11.9,128,3056,0.00,2.38,0.00,0.000,4,0.000,0.042,2804,859,3109,0,0,0,0,0,0
$GC,3075,-1.03,-88.6,432.5,-11.5,128,3083,0.15,2.42,0.00,0.000,6,0.219,0.044,2825,2450,3109,0,0,0,0,0,0
$GC,3405,-1.03,-88.6,466.8,-10.3,134,3413,0.00,2.40,0.00,0.000,4,0.000,0.043,2826,866,3107,0,0,0,0,0,0
$GC,3448,-1.03,-88.6,471.6,-10.6,134,3456,0.00,2.42,0.00,0.000,6,0.000,0.045,2821,2439,3105,0,0,0,0,0,0
$GC,3761,-1.03,-88.6,504.3,-10.5,140,3769,0.00,2.08,0.00,0.000,4,0.000,0.057,2806,3774,3106,0,0,0,0,0,0
$GC,3815,-1.03,-88.6,510.1,-11.1,140,3826,0.00,1.98,0.00,0.000,6,0.000,0.036,2809,2431,3106,0,0,0,0,0,0
$GC,4123,-1.03,-88.6,542.4,-10.5,146,4131,0.00,2.12,0.00,0.000,4,0.000,0.058,2796,3784,3102,0,0,0,0,0,0
$GC,4166,-1.03,-88.6,547.7,-12.4,146,4174,0.12,1.98,0.00,0.000,6,0.223,0.037,2823,2439,3104,0,0,0,0,0,0
$GC,4480,-1.03,-88.6,579.5,-10.0,152,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2440,3104,0,0,0,0,0,0
$GC,4781,-1.04,-92.3,608.0,-9.4,157,4789,0.00,2.40,0.00,0.000,4,0.000,0.044,2822,861,3102,0,0,0,0,0,0
$GC,4856,-1.04,-92.3,615.6,-10.4,158,4864,0.00,2.42,0.00,0.000,6,0.000,0.047,2813,2440,3102,0,0,0,0,0,0
$GC,5201,-1.04,-92.3,649.8,-10.1,164,5210,0.00,2.38,0.00,0.000,4,0.000,0.044,2812,865,3101,0,0,0,0,0,0
$GC,5240,-1.04,-92.3,653.9,-10.8,164,5248,0.00,2.45,0.00,0.000,6,0.000,0.048,2801,2440,3101,0,0,0,0,0,0
$GC,5558,-1.04,-92.3,687.8,-10.6,170,5567,0.00,2.12,0.00,0.000,4,0.000,0.061,2791,3778,3099,0,0,0,0,0,0
$GC,5591,-1.04,-92.3,691.5,-11.3,170,5599,0.15,1.98,0.00,0.000,6,0.219,0.038,2824,2441,3098,0,0,0,0,0,0
$GC,5916,-1.04,-98.0,721.6,-9.1,176,5924,0.00,2.40,0.00,0.000,4,0.000,0.046,2824,866,3097,0,0,0,0,0,0
$GC,6040,-1.05,-99.5,733.7,-9.8,178,6048,0.00,2.45,0.00,0.000,6,0.000,0.050,2815,2438,3098,0,0,0,0,0,0
$GC,6402,-1.05,-102.6,768.1,-9.5,184,6410,0.00,2.12,0.00,0.000,4,0.000,0.063,2804,3783,3095,0,0,0,0,0,0
$GC,6456,-1.05,-102.6,774.0,-11.9,184,6466,0.00,2.00,0.00,0.000,6,0.000,0.039,2804,2441,3094,0,0,0,0,0,0
$GC,6764,-1.05,-106.7,803.2,-9.4,190,6772,0.00,2.42,0.00,0.000,4,0.000,0.047,2807,857,3092,0,0,0,0,0,0
$GC,6824,-1.06,-107.9,809.4,-9.8,191,6832,0.00,2.47,0.00,0.000,6,0.000,0.050,2793,2445,3092,0,0,0,0,0,0
$GC,7186,-1.06,-110.6,844.3,-9.6,197,7194,0.00,2.45,0.00,0.000,4,0.000,0.046,2793,861,3090,0,0,0,0,0,0
$GC,7235,-1.06,-110.6,849.3,-10.5,197,7243,0.12,2.45,0.00,0.000,6,0.230,0.051,2810,2435,3090,0,0,0,0,0,0
$GC,7543,-1.07,-116.9,877.3,-9.0,202,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2436,3089,0,0,0,0,0,0
$GC,7844,-1.08,-126.3,903.2,-8.5,207,7852,0.00,2.15,0.00,0.000,4,0.000,0.065,2802,3787,3088,0,0,0,0,0,0
$GC,7876,-1.08,-126.3,906.2,-10.3,207,7884,0.00,2.03,0.00,0.000,6,0.000,0.041,2802,2438,3087,0,0,0,0,0,0
$GC,8200,-1.09,-133.1,935.2,-8.9,213,8208,0.00,2.40,0.00,0.000,4,0.000,0.049,2802,866,3085,0,0,0,0,0,0
$GC,8249,-1.09,-134.0,939.8,-9.9,213,8257,0.00,2.47,0.00,0.000,6,0.000,0.052,2790,2445,3085,0,0,0,0,0,0
$GC,8557,-1.09,-138.9,968.1,-9.2,218,8565,0.00,2.10,0.00,0.000,4,0.000,0.066,2780,3777,3085,0,0,0,0,0,0
$GC,8617,-1.09,-139.1,974.1,-10.0,219,8624,0.00,2.00,0.00,0.000,6,0.000,0.041,2780,2441,3084,0,0,0,0,0,0
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8803,-0.14,0.0,991.9,9.4,222,8882,1.20,0.00,71.12,1.196,6,0.198,0.000,3109,2441,2740,0,0,0,0,0,0
$STATE,8882,end apogee,CONTROL_FINISHED_OK
$STATE,8883,begin climb
$GC,8883,1.09,139.1,992.6,0.0,223,9012,1.15,0.00,121.32,1.182,6,0.078,0.000,3512,2440,2168,0,0,0,0,0,0
$GC,9306,1.09,139.1,908.9,23.0,230,9315,0.00,2.53,0.00,0.000,4,0.000,0.047,3524,825,2156,0,0,0,0,0,0
$GC,9328,1.09,139.1,903.6,21.6,230,9336,0.00,2.53,0.00,0.000,6,0.000,0.050,3521,2407,2156,0,0,0,0,0,0
$GC,9669,1.09,139.1,828.2,22.2,236,9677,0.00,2.47,0.00,0.000,4,0.000,0.047,3531,817,2154,0,0,0,0,0,0
$GC,9706,1.09,139.1,819.7,22.1,236,9714,0.00,2.50,0.00,0.000,6,0.000,0.049,3531,2410,2155,0,0,0,0,0,0
$GC,10025,1.09,139.1,747.6,22.6,242,10034,0.00,2.50,0.00,0.000,4,0.000,0.048,3543,815,2152,0,0,0,0,0,0
$GC,10069,1.09,139.1,737.8,21.2,242,10078,0.12,2.47,0.00,0.000,6,0.225,0.049,3517,2396,2150,0,0,0,0,0,0
$GC,10384,1.09,139.1,670.4,21.4,248,10392,0.00,2.45,0.00,0.000,4,0.000,0.047,3527,812,2150,0,0,0,0,0,0
$GC,10443,1.09,139.1,657.3,21.3,249,10452,0.00,2.50,0.00,0.000,6,0.000,0.049,3527,2412,2148,0,0,0,0,0,0
$GC,10805,1.09,139.1,576.5,22.3,255,10814,0.00,2.47,0.00,0.000,4,0.000,0.047,3539,817,2148,0,0,0,0,0,0
$GC,10870,1.09,139.1,561.9,21.9,256,10878,0.00,2.47,0.00,0.000,6,0.000,0.049,3538,2406,2147,0,0,0,0,0,0
$GC,11226,1.09,139.1,482.4,22.5,262,11235,0.00,2.47,0.00,0.000,4,0.000,0.047,3551,817,2147,0,0,0,0,0,0
$GC,11243,1.09,139.1,478.6,22.6,262,11252,0.15,2.47,0.00,0.000,6,0.226,0.047,3517,2410,2146,0,0,0,0,0,0
$GC,11584,1.09,139.1,406.5,21.0,268,11592,0.00,2.47,0.00,0.000,4,0.000,0.046,3527,814,2145,0,0,0,0,0,0
$GC,11660,1.09,139.1,390.9,20.6,269,11668,0.00,2.47,0.00,0.000,6,0.000,0.047,3527,2402,2145,0,0,0,0,0,0
$GC,12005,1.09,139.1,315.8,21.8,275,12015,0.00,2.45,0.00,0.000,4,0.000,0.046,3539,820,2145,0,0,0,0,0,0
$GC,12055,1.09,139.1,304.8,21.3,275,12064,0.00,2.45,0.00,0.000,6,0.000,0.047,3539,2400,2145,0,0,0,0,0,0
$GC,12364,1.09,139.1,236.8,21.9,284,12373,0.00,2.42,0.00,0.000,4,0.000,0.044,3551,821,2145,0,0,0,0,0,0
$GC,12393,1.09,139.1,231.3,18.8,285,12401,0.15,2.45,0.00,0.000,6,0.219,0.047,3518,2407,2144,0,0,0,0,0,0
$GC,12724,1.09,139.1,170.6,18.0,296,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2407,2148,0,0,0,0,0,0
$GC,13027,1.09,139.1,118.6,17.9,306,13032,0.00,2.47,0.00,0.000,4,0.000,0.044,3527,811,2148,0,0,0,0,0,0
$GC,13145,1.09,139.1,98.3,17.0,309,13150,0.00,2.47,0.00,0.000,6,0.000,0.043,3527,2400,2147,0,0,0,0,0,0
$GC,13466,1.09,139.1,43.8,15.5,340,13471,0.00,2.45,0.00,0.000,4,0.000,0.042,3539,814,2149,0,0,0,0,0,0
$GC,13711,1.09,139.1,9.9,12.2,370,13719,0.00,2.45,0.00,0.000,6,0.000,0.041,3539,2398,2149,0,0,0,0,0,0
$GC,13782,1.09,139.1,2.5,10.1,383,13789,0.00,2.42,0.00,0.000,4,0.000,0.041,3550,821,2150,0,0,0,0,0,0
$STATE,13792,end climb,SURFACE_DEPTH_REACHED
$STATE,13792,begin surface coast
$FINISH,0.2,1.023527
$STATE,13808,end surface coast,CONTROL_FINISHED_OK
$STATE,13808,begin surface
$SM_CCo,13824,107.38,0.535,0,0,1309,350.04
$SM_GC,1.22,0.00,0.00,107.38,0.000,0.000,0.535,164,2448,1309,-9.36,0.25,350.04
$IRIDIUM_FIX,2429.95,-7739.58,031211,191941
$TT8_MAMPS,0.118342
$HUMID,1078088377
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.10
$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,35
$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,8.6/483886/442489
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.2/297829/282212
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,72.8/7836665/2129637
$24V_AH,24.1,11.139
$10V_AH,10.4,11.321
$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,24.900,157.775,192.450,107.375,0.000,56.141,112.378,153.131,0.000,0.000,31.205,0.000,11614.125,485.131,2229.606,88.860,33.328,1441.805,0.000,1162.719,0.000,0.542,0.000
$DEVICE_MAMPS,273.870,68.085,1196.460,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,260.563,0.000,0.000,0.000,0.000,0.000,14685.480,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.957,0.000,0.000,0.000
$MEM,355092
$DATA_FILE_SIZE,13504,388
$CAP_FILE_SIZE,118738,0
$CFSIZE,260165632,253521920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,045526,2441.835,-7736.939,80,3.7,99,-7.1