version: 66.07
glider: 178
mission: 4
dive: 15
start: 6 9 110 2 14 55
data:
$ID,178
$MISSION,4
$DIVE,15
$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,360
$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,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,550
$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,-5997.8438
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,090610,021026,2442.784,-7737.506,75,2.9,94,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.9
$GPS2,090610,021414,2442.777,-7737.515,12,1.6,12,-7.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.158
$KALMAN_X,-990.9,-77.0,78.8,-989.1,5.2
$KALMAN_Y,-971.0,11.8,127.6,3870.6,-153.0
$MHEAD_RNG_PITCHd_Wd,163.1,2967,-27.2,-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,16,-0.83,-63.0,0.0,0.0,0,116,0.00,0.00,-95.95,0.000,6,0.000,0.000,167,2408,2996,0,0,0,0,0,0
$GC,118,-0.89,-108.4,2.6,-5.2,17,137,12.20,0.00,-3.67,0.000,6,0.271,0.000,2857,2408,3182,0,0,0,0,0,0
$GC,198,-0.89,-108.4,25.0,-23.2,30,203,0.00,2.20,0.00,0.000,4,0.000,0.056,2849,3777,3184,0,0,0,0,0,0
$GC,262,-0.89,-108.4,41.2,-27.0,36,267,0.00,2.08,0.00,0.000,6,0.000,0.034,2855,2428,3184,0,0,0,0,0,0
$GC,459,-0.89,-108.4,79.1,-17.7,55,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2427,3188,0,0,0,0,0,0
$GC,654,-0.89,-108.4,111.1,-15.8,70,658,0.00,2.40,0.00,0.000,4,0.000,0.041,2858,868,3186,0,0,0,0,0,0
$GC,680,-0.89,-108.4,115.5,-16.0,70,688,0.00,2.47,0.00,0.000,6,0.000,0.044,2848,2440,3186,0,0,0,0,0,0
$GC,989,-0.89,-108.4,162.8,-14.5,81,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2443,3187,0,0,0,0,0,0
$GC,1292,-0.89,-108.4,204.5,-13.3,91,1297,0.00,2.10,0.00,0.000,4,0.000,0.055,2837,3775,3188,0,0,0,0,0,0
$GC,1340,-0.89,-108.4,210.8,-13.7,92,1345,0.12,2.03,0.00,0.000,6,0.213,0.034,2866,2435,3189,0,0,0,0,0,0
$GC,1659,-0.89,-108.4,247.2,-11.2,103,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2435,3190,0,0,0,0,0,0
$GC,1963,-0.89,-108.4,279.7,-10.8,113,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2435,3190,0,0,0,0,0,0
$GC,2296,-0.89,-108.4,316.4,-11.2,122,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2435,3188,0,0,0,0,0,0
$GC,2598,-0.89,-108.9,346.7,-9.9,127,2606,0.00,2.38,0.00,0.000,4,0.000,0.043,2869,860,3190,0,0,0,0,0,0
$GC,2625,-0.89,-108.9,349.5,-10.7,127,2633,0.00,2.42,0.00,0.000,6,0.000,0.044,2859,2449,3190,0,0,0,0,0,0
$GC,2954,-0.89,-108.9,384.4,-10.7,133,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2449,3190,0,0,0,0,0,0
$GC,3257,-0.89,-108.9,416.1,-10.6,138,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2449,3189,0,0,0,0,0,0
$GC,3558,-0.89,-108.9,446.6,-10.1,143,3566,0.00,2.05,0.00,0.000,4,0.000,0.059,2849,3778,3188,0,0,0,0,0,0
$GC,3579,-0.89,-108.9,448.9,-10.7,143,3587,0.00,1.98,0.00,0.000,6,0.000,0.036,2849,2436,3191,0,0,0,0,0,0
$GC,3924,-0.89,-108.9,484.5,-10.4,149,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2435,3187,0,0,0,0,0,0
$GC,4226,-0.89,-108.9,515.8,-10.4,154,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2435,3189,0,0,0,0,0,0
$GC,4528,-0.89,-108.9,546.7,-10.4,159,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2435,3186,0,0,0,0,0,0
$GC,4829,-0.89,-108.9,577.9,-10.5,164,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2435,3185,0,0,0,0,0,0
$GC,5131,-0.89,-108.9,608.7,-10.1,169,5139,0.00,2.38,0.00,0.000,4,0.000,0.045,2854,859,3184,0,0,0,0,0,0
$GC,5148,-0.89,-110.5,610.4,-9.8,169,5156,0.12,2.42,0.00,0.000,6,0.213,0.047,2864,2438,3184,0,0,0,0,0,0
$GC,5489,-0.91,-121.5,640.8,-8.8,175,5496,0.00,2.10,0.00,0.000,4,0.000,0.060,2856,3778,3182,0,0,0,0,0,0
$GC,5515,-0.91,-122.8,643.5,-9.9,175,5523,0.00,1.98,0.00,0.000,6,0.000,0.037,2856,2441,3181,0,0,0,0,0,0
$GC,5850,-0.92,-129.0,675.3,-9.3,181,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2440,3181,0,0,0,0,0,0
$GC,6151,-0.93,-137.9,702.8,-9.1,186,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2437,3180,0,0,0,0,0,0
$GC,6453,-0.94,-148.9,729.6,-8.8,191,6462,0.00,2.12,0.00,0.000,4,0.000,0.063,2847,3781,3180,0,0,0,0,0,0
$GC,6507,-0.95,-157.5,734.9,-9.1,191,6519,0.00,2.00,0.00,0.000,6,0.000,0.040,2847,2437,3178,0,0,0,0,0,0
$GC,6815,-0.96,-168.0,762.4,-8.9,197,6823,0.00,2.42,0.00,0.000,4,0.000,0.047,2847,855,3176,0,0,0,0,0,0
$GC,6848,-0.96,-169.3,765.5,-9.9,197,6857,0.00,2.47,0.00,0.000,6,0.000,0.050,2835,2448,3176,0,0,0,0,0,0
$GC,7173,-0.97,-170.3,795.5,-9.4,203,7181,0.00,2.12,0.00,0.000,4,0.000,0.064,2825,3787,3174,0,0,0,0,0,0
$GC,7194,-0.97,-170.3,797.8,-10.0,203,7202,0.00,2.03,0.00,0.000,6,0.000,0.039,2824,2432,3174,0,0,0,0,0,0
$GC,7535,-0.97,-170.3,832.0,-10.0,209,7543,0.00,2.15,0.00,0.000,4,0.000,0.065,2815,3780,3171,0,0,0,0,0,0
$GC,7557,-0.97,-170.3,834.3,-9.9,209,7565,0.12,2.03,0.00,0.000,6,0.227,0.040,2840,2434,3172,0,0,0,0,0,0
$GC,7897,-0.97,-170.3,866.4,-9.4,215,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2431,3171,0,0,0,0,0,0
$GC,8199,-0.97,-170.3,894.7,-9.4,220,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2434,3170,0,0,0,0,0,0
$GC,8501,-0.97,-170.3,921.0,-8.7,225,8509,0.00,2.42,0.00,0.000,4,0.000,0.050,2841,863,3169,0,0,0,0,0,0
$GC,8539,-0.97,-170.3,924.2,-8.3,225,8547,0.00,2.47,0.00,0.000,6,0.000,0.052,2831,2447,3169,0,0,0,0,0,0
$GC,8858,-0.97,-170.3,952.6,-8.8,231,8866,0.00,2.10,0.00,0.000,4,0.000,0.067,2821,3775,3167,0,0,0,0,0,0
$GC,8880,-0.97,-170.3,954.8,-9.5,231,8888,0.00,2.03,0.00,0.000,6,0.000,0.041,2821,2437,3164,0,0,0,0,0,0
$GC,9220,-0.97,-170.3,985.4,-8.9,237,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2437,3166,0,0,0,0,0,0
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9282,-0.14,0.0,990.9,8.9,238,9377,1.05,0.00,88.10,1.198,6,0.194,0.000,3109,2436,2737,0,0,0,0,0,0
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9379,0.97,170.3,991.5,0.0,239,9534,1.02,0.00,148.07,1.179,6,0.079,0.000,3469,2437,2043,0,0,0,0,0,0
$GC,9802,0.97,170.3,913.6,21.7,246,9810,0.00,2.55,0.00,0.000,4,0.000,0.050,3481,822,2032,0,0,0,0,0,0
$GC,9872,0.97,170.3,898.3,21.1,247,9880,0.00,2.53,0.00,0.000,6,0.000,0.051,3478,2398,2029,0,0,0,0,0,0
$GC,10223,0.97,170.3,821.4,21.9,253,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2399,2027,0,0,0,0,0,0
$GC,10525,0.97,170.3,757.1,21.2,258,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2399,2026,0,0,0,0,0,0
$GC,10827,0.97,170.3,693.8,21.0,263,10835,0.00,2.45,0.00,0.000,4,0.000,0.049,3488,824,2024,0,0,0,0,0,0
$GC,10886,0.97,170.3,681.4,20.3,264,10895,0.00,2.50,0.00,0.000,6,0.000,0.052,3483,2402,2023,0,0,0,0,0,0
$GC,11248,0.97,170.3,604.2,21.4,270,11256,0.00,2.22,0.00,0.000,4,0.000,0.066,3483,3787,2022,0,0,0,0,0,0
$GC,11280,0.97,170.3,596.8,23.7,270,11289,0.00,2.10,0.00,0.000,6,0.000,0.040,3491,2393,2022,0,0,0,0,0,0
$GC,11605,0.97,170.3,526.1,21.6,276,11613,0.00,2.42,0.00,0.000,4,0.000,0.049,3504,817,2021,0,0,0,0,0,0
$GC,11712,0.97,170.3,503.4,19.9,277,11720,0.00,2.47,0.00,0.000,6,0.000,0.050,3498,2405,2018,0,0,0,0,0,0
$GC,12025,0.97,170.3,436.0,21.7,283,12034,0.00,2.45,0.00,0.000,4,0.000,0.049,3509,815,2021,0,0,0,0,0,0
$GC,12117,0.97,170.3,415.6,21.8,284,12125,0.15,2.47,0.00,0.000,6,0.211,0.050,3472,2409,2021,0,0,0,0,0,0
$GC,12447,0.97,170.3,347.9,20.5,290,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2409,2019,0,0,0,0,0,0
$GC,12751,0.97,170.3,287.4,20.1,295,12754,0.00,2.45,0.00,0.000,4,0.000,0.047,3483,822,2019,0,0,0,0,0,0
$GC,12839,0.97,170.3,269.0,19.9,297,12848,0.00,2.47,0.00,0.000,6,0.000,0.047,3486,2396,2021,0,0,0,0,0,0
$GC,13148,0.97,170.3,206.6,19.9,308,13153,0.00,2.45,0.00,0.000,4,0.000,0.044,3495,822,2020,0,0,0,0,0,0
$GC,13191,0.97,170.3,198.5,19.2,309,13196,0.00,2.47,0.00,0.000,6,0.000,0.047,3495,2394,2020,0,0,0,0,0,0
$GC,13515,0.97,170.3,136.1,18.6,320,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,2394,2020,0,0,0,0,0,0
$GC,13821,0.97,170.3,80.9,17.8,336,13826,0.00,2.45,0.00,0.000,4,0.000,0.044,3507,813,2020,0,0,0,0,0,0
$GC,13932,0.97,170.3,61.9,15.9,346,13941,0.10,2.47,0.00,0.000,6,0.187,0.043,3479,2399,2021,0,0,0,0,0,0
$GC,14124,0.97,170.3,33.9,13.6,365,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2406,2022,0,0,0,0,0,0
$GC,14313,0.97,170.3,9.7,12.7,390,14321,0.00,2.45,0.00,0.000,4,0.000,0.042,3488,815,2023,0,0,0,0,0,0
$STATE,14377,end climb,SURFACE_DEPTH_REACHED
$STATE,14377,begin surface coast
$FINISH,0.0,1.023537
$STATE,14393,end surface coast,CONTROL_FINISHED_OK
$STATE,14393,begin surface
$SM_CCo,14409,172.70,0.527,0,0,493,550.45
$SM_GC,0.89,0.00,0.00,172.70,0.000,0.000,0.527,162,2447,493,-9.37,0.20,550.45
$IRIDIUM_FIX,2432.32,-7734.44,021211,171757
$TT8_MAMPS,0.119091
$HUMID,1078079345
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.00
$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,8.4/483886/443107
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.9/297829/283283
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,43.0/7836665/4468582
$24V_AH,24.0,10.427
$10V_AH,10.3,9.483
$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,23.875,101.300,236.175,172.700,0.000,25.154,30.651,107.807,0.000,0.000,13.770,0.000,12436.400,584.590,1715.493,70.855,33.334,1353.367,0.000,944.974,0.000,0.541,0.000
$DEVICE_MAMPS,270.810,67.320,1197.990,527.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,272.065,0.000,0.000,0.000,0.000,0.000,14893.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.401,0.000,0.000,0.000
$MEM,355108
$DATA_FILE_SIZE,13418,405
$CAP_FILE_SIZE,100573,0
$CFSIZE,260165632,253988864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,062006,2440.881,-7736.690,112,1.7,112,-7.1