version: 66.07
glider: 178
mission: 4
dive: 17
start: 6 9 110 10 42 18
data:
$ID,178
$MISSION,4
$DIVE,17
$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,-6000.8872
$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
$GPS1,090610,103151,2442.555,-7736.684,83,5.8,102,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.9
$GPS2,090610,104137,2442.585,-7736.724,26,1.7,26,-7.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.173
$KALMAN_X,-1077.1,259.9,16.0,158.2,-308.3
$KALMAN_Y,-1735.9,211.7,55.4,4154.0,-836.5
$MHEAD_RNG_PITCHd_Wd,182.4,2386,-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,-95.25,0.000,6,0.000,0.000,172,2451,2995,0,0,0,0,0,0
$GC,117,-0.90,-115.6,2.6,-4.4,17,136,12.23,0.00,-4.47,0.000,6,0.270,0.000,2855,2451,3211,0,0,0,0,0,0
$GC,203,-0.90,-115.6,25.2,-24.1,31,208,0.00,2.12,0.00,0.000,4,0.000,0.055,2848,3775,3213,0,0,0,0,0,0
$GC,218,-0.90,-115.6,28.8,-23.5,32,227,0.00,2.05,0.00,0.000,6,0.000,0.034,2848,2441,3214,0,0,0,0,0,0
$GC,410,-0.90,-115.6,69.3,-18.2,51,415,0.00,2.42,0.00,0.000,4,0.000,0.041,2848,866,3214,0,0,0,0,0,0
$GC,452,-0.90,-115.6,77.4,-19.0,55,457,0.10,2.47,0.00,0.000,6,0.218,0.044,2861,2442,3214,0,0,0,0,0,0
$GC,669,-0.90,-115.6,111.0,-16.0,72,673,0.00,2.42,0.00,0.000,4,0.000,0.041,2861,866,3214,0,0,0,0,0,0
$GC,722,-0.90,-115.6,119.3,-15.1,73,726,0.00,2.47,0.00,0.000,6,0.000,0.044,2852,2439,3215,0,0,0,0,0,0
$GC,1035,-0.90,-115.6,167.8,-14.9,84,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2439,3215,0,0,0,0,0,0
$GC,1339,-0.90,-115.6,209.4,-13.4,94,1349,0.00,2.05,0.00,0.000,4,0.000,0.055,2841,3778,3215,0,0,0,0,0,0
$GC,1384,-0.90,-115.6,215.3,-13.3,95,1391,0.00,1.98,0.00,0.000,6,0.000,0.034,2841,2429,3215,0,0,0,0,0,0
$GC,1703,-0.90,-115.6,256.4,-12.7,106,1712,0.00,2.35,0.00,0.000,4,0.000,0.042,2841,866,3216,0,0,0,0,0,0
$GC,1720,-0.90,-115.6,258.5,-12.1,106,1728,0.15,2.42,0.00,0.000,6,0.210,0.044,2865,2455,3216,0,0,0,0,0,0
$GC,2035,-0.90,-115.6,292.4,-10.8,117,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2455,3216,0,0,0,0,0,0
$GC,2368,-0.90,-115.6,327.8,-10.6,124,2375,0.00,2.05,0.00,0.000,4,0.000,0.057,2856,3775,3219,0,0,0,0,0,0
$GC,2400,-0.90,-115.6,331.5,-11.8,124,2407,0.00,1.95,0.00,0.000,6,0.000,0.035,2856,2439,3216,0,0,0,0,0,0
$GC,2734,-0.90,-115.6,367.5,-10.7,130,2742,0.00,2.08,0.00,0.000,4,0.000,0.057,2846,3782,3215,0,0,0,0,0,0
$GC,2761,-0.90,-115.6,370.8,-11.6,130,2769,0.00,1.98,0.00,0.000,6,0.000,0.035,2846,2437,3215,0,0,0,0,0,0
$GC,3096,-0.90,-115.6,409.1,-11.6,136,3103,0.00,2.08,0.00,0.000,4,0.000,0.057,2837,3777,3217,0,0,0,0,0,0
$GC,3139,-0.90,-115.6,414.3,-12.4,136,3146,0.12,1.95,0.00,0.000,6,0.215,0.035,2863,2442,3214,0,0,0,0,0,0
$GC,3457,-0.90,-115.6,447.2,-10.3,142,3465,0.00,2.10,0.00,0.000,4,0.000,0.059,2855,3781,3213,0,0,0,0,0,0
$GC,3474,-0.90,-116.5,448.8,-9.9,142,3481,0.00,1.98,0.00,0.000,6,0.000,0.035,2855,2436,3212,0,0,0,0,0,0
$GC,3818,-0.90,-116.5,483.8,-10.1,148,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2436,3211,0,0,0,0,0,0
$GC,4120,-0.90,-116.5,514.9,-10.3,153,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2436,3210,0,0,0,0,0,0
$GC,4422,-0.90,-116.5,546.7,-10.6,158,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2436,3209,0,0,0,0,0,0
$GC,4723,-0.90,-116.5,577.6,-10.2,163,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2435,3208,0,0,0,0,0,0
$GC,5026,-0.90,-116.5,607.8,-10.0,168,5033,0.00,2.12,0.00,0.000,4,0.000,0.060,2846,3785,3206,0,0,0,0,0,0
$GC,5052,-0.90,-116.5,610.6,-11.1,168,5060,0.00,2.03,0.00,0.000,6,0.000,0.037,2845,2426,3207,0,0,0,0,0,0
$GC,5387,-0.90,-116.5,644.3,-10.1,174,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2426,3204,0,0,0,0,0,0
$GC,5689,-0.90,-118.4,674.0,-9.8,179,5697,0.00,2.12,0.00,0.000,4,0.000,0.061,2835,3771,3203,0,0,0,0,0,0
$GC,5764,-0.90,-118.4,682.5,-11.2,180,5772,0.08,2.03,0.00,0.000,6,0.200,0.038,2863,2437,3203,0,0,0,0,0,0
$GC,6115,-0.91,-126.6,715.4,-9.1,186,6123,0.00,2.40,0.00,0.000,4,0.000,0.047,2863,851,3201,0,0,0,0,0,0
$GC,6153,-0.91,-126.6,719.0,-10.1,186,6161,0.00,2.45,0.00,0.000,6,0.000,0.049,2853,2436,3200,0,0,0,0,0,0
$GC,6472,-0.92,-134.6,748.3,-9.2,192,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2433,3199,0,0,0,0,0,0
$GC,6774,-0.93,-139.9,776.7,-9.4,197,6782,0.00,2.12,0.00,0.000,4,0.000,0.063,2843,3784,3198,0,0,0,0,0,0
$GC,6801,-0.93,-139.9,779.5,-10.2,197,6810,0.00,2.00,0.00,0.000,6,0.000,0.040,2843,2441,3197,0,0,0,0,0,0
$GC,7137,-0.93,-144.6,811.5,-9.5,203,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2440,3196,0,0,0,0,0,0
$GC,7439,-0.95,-156.0,838.6,-8.8,208,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2440,3197,0,0,0,0,0,0
$GC,7740,-0.96,-166.4,865.5,-8.9,213,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2440,3192,0,0,0,0,0,0
$GC,8042,-0.97,-170.3,892.1,-8.7,218,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2440,3191,0,0,0,0,0,0
$GC,8343,-0.97,-170.3,918.2,-8.7,223,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2440,3190,0,0,0,0,0,0
$GC,8645,-0.97,-170.3,944.7,-8.9,228,8653,0.00,2.15,0.00,0.000,4,0.000,0.068,2833,3775,3188,0,0,0,0,0,0
$GC,8694,-0.97,-170.3,949.3,-9.0,228,8702,0.00,2.03,0.00,0.000,6,0.000,0.042,2834,2442,3188,0,0,0,0,0,0
$GC,9008,-0.97,-170.3,976.6,-8.7,234,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2442,3186,0,0,0,0,0,0
$STATE,9187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9187,begin apogee
$GC,9190,-0.14,0.0,992.4,8.7,237,9289,1.00,0.00,92.03,1.202,6,0.191,0.000,3109,2438,2737,0,0,0,0,0,0
$STATE,9289,end apogee,CONTROL_FINISHED_OK
$STATE,9289,begin climb
$GC,9290,0.97,170.3,993.1,0.0,238,9446,1.02,0.00,148.12,1.184,6,0.078,0.000,3469,2441,2043,0,0,0,0,0,0
$GC,9714,0.97,170.3,916.6,21.1,245,9722,0.00,2.55,0.00,0.000,4,0.000,0.049,3481,822,2030,0,0,0,0,0,0
$GC,9752,0.97,170.3,908.1,21.5,245,9760,0.00,2.53,0.00,0.000,6,0.000,0.051,3478,2404,2028,0,0,0,0,0,0
$GC,10071,0.97,170.3,840.1,21.6,251,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2404,2027,0,0,0,0,0,0
$GC,10372,0.97,170.3,775.1,21.5,256,10380,0.00,2.50,0.00,0.000,4,0.000,0.050,3488,819,2024,0,0,0,0,0,0
$GC,10432,0.97,170.3,762.8,21.4,257,10440,0.00,2.53,0.00,0.000,6,0.000,0.052,3488,2407,2024,0,0,0,0,0,0
$GC,10794,0.97,170.3,684.7,21.4,263,10802,0.00,2.47,0.00,0.000,4,0.000,0.050,3500,818,2023,0,0,0,0,0,0
$GC,10832,0.97,170.3,676.3,21.9,263,10840,0.00,2.53,0.00,0.000,6,0.000,0.051,3500,2409,2022,0,0,0,0,0,0
$GC,11151,0.97,170.3,603.8,22.8,269,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2409,2025,0,0,0,0,0,0
$GC,11452,0.97,170.3,536.9,22.1,274,11461,0.00,2.47,0.00,0.000,4,0.000,0.048,3512,821,2021,0,0,0,0,0,0
$GC,11518,0.97,170.3,522.8,21.0,275,11526,0.15,2.47,0.00,0.000,6,0.209,0.051,3474,2406,2020,0,0,0,0,0,0
$GC,11874,0.97,170.3,449.7,20.6,281,11883,0.00,2.45,0.00,0.000,4,0.000,0.047,3487,814,2020,0,0,0,0,0,0
$GC,11939,0.97,170.3,436.3,20.0,282,11948,0.00,2.47,0.00,0.000,6,0.000,0.048,3487,2404,2019,0,0,0,0,0,0
$GC,12296,0.97,170.3,360.4,21.3,288,12304,0.00,2.47,0.00,0.000,4,0.000,0.047,3500,811,2019,0,0,0,0,0,0
$GC,12334,0.97,170.3,352.3,20.5,288,12342,0.00,2.47,0.00,0.000,6,0.000,0.047,3499,2412,2019,0,0,0,0,0,0
$GC,12653,0.97,170.3,282.9,22.0,295,12661,0.00,2.45,0.00,0.000,4,0.000,0.046,3515,814,2019,0,0,0,0,0,0
$GC,12696,0.97,170.3,273.1,21.7,296,12705,0.15,2.47,0.00,0.000,6,0.207,0.046,3477,2403,2019,0,0,0,0,0,0
$GC,13011,0.97,170.3,210.2,19.3,307,13020,0.00,2.45,0.00,0.000,4,0.000,0.045,3486,813,2019,0,0,0,0,0,0
$GC,13135,0.97,170.3,187.5,19.5,310,13146,0.00,2.45,0.00,0.000,6,0.000,0.047,3479,2400,2017,0,0,0,0,0,0
$GC,13444,0.97,170.3,131.7,17.5,321,13449,0.00,2.45,0.00,0.000,4,0.000,0.044,3489,821,2018,0,0,0,0,0,0
$GC,13513,0.97,170.3,119.4,18.0,323,13518,0.00,2.47,0.00,0.000,6,0.000,0.045,3488,2400,2020,0,0,0,0,0,0
$GC,13828,0.97,170.3,65.3,16.6,346,13832,0.00,2.17,0.00,0.000,4,0.000,0.057,3488,3780,2021,0,0,0,0,0,0
$GC,13864,0.97,170.3,58.5,18.1,349,13872,0.00,2.10,0.00,0.000,6,0.000,0.033,3499,2372,2019,0,0,0,0,0,0
$GC,14056,0.97,170.3,30.0,14.6,368,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2372,2022,0,0,0,0,0,0
$GC,14246,0.97,170.3,3.7,13.2,397,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2372,2022,0,0,0,0,0,0
$STATE,14261,end climb,SURFACE_DEPTH_REACHED
$STATE,14261,begin surface coast
$FINISH,0.2,1.023217
$STATE,14277,end surface coast,CONTROL_FINISHED_OK
$STATE,14277,begin surface
$SM_CCo,14291,172.48,0.532,0,0,495,550.21
$SM_GC,0.87,0.00,0.00,172.48,0.000,0.000,0.532,168,2468,495,-9.35,0.76,550.21
$IRIDIUM_FIX,2434.69,-7733.93,031211,000005
$TT8_MAMPS,0.135569
$HUMID,1078074184
$INTERNAL_PRESSURE,9.42419
$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,34
$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,8.5/483886/442965
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.0/297829/282941
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,52.3/7836665/3740926
$24V_AH,24.0,10.681
$10V_AH,10.3,10.112
$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,23.975,109.450,240.150,172.475,0.000,29.026,29.466,334.213,0.000,0.000,28.131,0.000,12233.795,579.126,2129.479,99.316,33.337,1410.699,0.000,971.914,0.000,0.541,0.000
$DEVICE_MAMPS,270.045,91.035,1201.815,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,270.980,0.000,0.000,0.000,0.000,0.000,15197.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.188,0.000,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,13457,403
$CAP_FILE_SIZE,113578,0
$CFSIZE,260165632,253800448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,144557,2440.666,-7736.992,118,2.1,137,-7.1