version: 66.07
glider: 178
mission: 4
dive: 20
start: 6 9 110 20 55 56
data:
$ID,178
$MISSION,4
$DIVE,20
$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,-6004.6572
$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,52
$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
$GPS1,090610,205031,2441.637,-7736.920,50,1.5,50,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.9
$GPS2,090610,205514,2441.623,-7736.882,15,1.6,15,-7.1
$SPEED_LIMITS,0.119,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.119
$KALMAN_X,-1077.8,-197.0,123.3,244.5,23.3
$KALMAN_Y,-858.0,49.4,40.2,1664.8,668.5
$MHEAD_RNG_PITCHd_Wd,184.5,604,-37.9,-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,-1.09,-33.4,0.0,0.0,0,82,0.00,0.00,-61.40,0.000,6,0.000,0.000,169,2442,2874,0,0,0,0,0,0
$GC,83,-1.13,-61.9,2.7,-4.3,11,102,12.05,2.12,-2.53,0.000,4,0.276,0.068,2786,3781,2991,0,0,0,0,0,0
$GC,223,-1.13,-61.9,39.0,-21.3,30,228,0.00,2.05,0.00,0.000,6,0.000,0.034,2788,2443,2994,0,0,0,0,0,0
$GC,420,-1.13,-61.9,75.5,-16.5,49,425,0.00,2.12,0.00,0.000,4,0.000,0.054,2780,3775,2995,0,0,0,0,0,0
$GC,575,-1.13,-61.9,101.3,-18.0,63,582,0.00,2.03,0.00,0.000,6,0.000,0.033,2787,2435,2996,0,0,0,0,0,0
$GC,883,-1.13,-61.9,147.1,-14.8,74,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2435,2998,0,0,0,0,0,0
$GC,1187,-1.13,-61.9,187.2,-12.9,84,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2435,2998,0,0,0,0,0,0
$GC,1490,-1.13,-61.9,222.6,-11.2,94,1498,0.00,2.35,0.00,0.000,4,0.000,0.041,2788,861,2999,0,0,0,0,0,0
$GC,1544,-1.13,-61.9,229.0,-11.4,95,1555,0.00,2.40,0.00,0.000,6,0.000,0.042,2778,2443,2999,0,0,0,0,0,0
$GC,1853,-1.13,-61.9,263.8,-11.3,106,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,3001,0,0,0,0,0,0
$GC,2157,-1.13,-61.9,296.9,-11.0,116,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2443,2999,0,0,0,0,0,0
$GC,2489,-1.13,-61.9,331.5,-10.1,122,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2443,3000,0,0,0,0,0,0
$GC,2791,-1.13,-61.9,362.4,-10.2,127,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,2998,0,0,0,0,0,0
$GC,3093,-1.13,-61.9,394.5,-10.7,132,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,3000,0,0,0,0,0,0
$GC,3398,-1.13,-61.9,427.4,-10.9,137,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,2999,0,0,0,0,0,0
$GC,3700,-1.13,-61.9,457.8,-10.0,142,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,2999,0,0,0,0,0,0
$GC,4002,-1.13,-61.9,487.7,-10.0,147,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2443,2998,0,0,0,0,0,0
$GC,4304,-1.13,-64.7,516.0,-9.4,152,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2447,2997,0,0,0,0,0,0
$GC,4601,-1.14,-68.2,543.9,-9.3,157,4606,0.00,2.42,0.00,0.000,4,0.000,0.043,2778,862,2996,0,0,0,0,0,0
$GC,4718,-1.14,-70.9,555.3,-9.4,158,4723,0.00,2.45,0.00,0.000,6,0.000,0.045,2766,2434,2996,0,0,0,0,0,0
$GC,5031,-1.14,-75.0,584.5,-9.2,164,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2435,2994,0,0,0,0,0,0
$GC,5332,-1.15,-81.9,610.8,-8.6,169,5337,0.00,2.42,0.00,0.000,4,0.000,0.044,2766,865,2992,0,0,0,0,0,0
$GC,5348,-1.17,-92.5,612.2,-7.9,169,5353,0.00,2.47,0.00,0.000,6,0.000,0.045,2754,2447,2994,0,0,0,0,0,0
$GC,5698,-1.17,-97.5,643.8,-9.0,175,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2447,2992,0,0,0,0,0,0
$GC,5999,-1.18,-102.7,671.0,-9.0,180,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2448,2991,0,0,0,0,0,0
$GC,6301,-1.19,-108.7,697.7,-8.8,185,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2447,2989,0,0,0,0,0,0
$GC,6603,-1.19,-114.3,724.4,-8.9,190,6607,0.00,2.45,0.00,0.000,4,0.000,0.046,2754,867,2988,0,0,0,0,0,0
$GC,6677,-1.20,-118.0,731.6,-9.3,191,6682,0.10,2.47,0.00,0.000,6,0.233,0.048,2765,2437,2987,0,0,0,0,0,0
$GC,7032,-1.20,-124.5,762.7,-8.7,197,7037,0.00,2.42,0.00,0.000,4,0.000,0.045,2766,869,2986,0,0,0,0,0,0
$GC,7090,-1.21,-128.1,767.9,-9.3,197,7098,0.00,2.47,0.00,0.000,6,0.000,0.049,2756,2441,2985,0,0,0,0,0,0
$GC,7398,-1.22,-135.6,794.4,-8.5,203,7402,0.00,2.12,0.00,0.000,4,0.000,0.061,2746,3773,2984,0,0,0,0,0,0
$GC,7461,-1.22,-137.1,800.6,-9.7,204,7466,0.00,2.03,0.00,0.000,6,0.000,0.039,2749,2442,2983,0,0,0,0,0,0
$GC,7827,-1.23,-141.5,833.9,-9.1,210,7832,0.00,2.15,0.00,0.000,4,0.000,0.062,2741,3774,2983,0,0,0,0,0,0
$GC,7859,-1.23,-143.1,836.7,-9.7,210,7864,0.00,2.05,0.00,0.000,6,0.000,0.039,2745,2439,2981,0,0,0,0,0,0
$GC,8192,-1.24,-150.9,864.9,-8.4,216,8197,0.00,2.45,0.00,0.000,4,0.000,0.047,2745,859,2981,0,0,0,0,0,0
$GC,8250,-1.24,-154.9,870.1,-9.2,216,8259,0.00,2.50,0.00,0.000,6,0.000,0.050,2735,2440,2980,0,0,0,0,0,0
$GC,8558,-1.25,-160.1,897.6,-9.0,222,8562,0.00,2.50,0.00,0.000,4,0.000,0.047,2735,853,2979,0,0,0,0,0,0
$GC,8589,-1.26,-165.5,900.2,-8.9,222,8594,0.10,2.53,0.00,0.000,6,0.244,0.051,2746,2440,2979,0,0,0,0,0,0
$GC,8923,-1.26,-170.3,926.9,-7.9,228,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2440,2977,0,0,0,0,0,0
$GC,9225,-1.26,-170.3,952.5,-8.5,233,9229,0.00,2.50,0.00,0.000,4,0.000,0.048,2745,860,2976,0,0,0,0,0,0
$GC,9256,-1.26,-170.3,955.2,-9.2,233,9261,0.00,2.50,0.00,0.000,6,0.000,0.050,2738,2437,2981,0,0,0,0,0,0
$GC,9590,-1.26,-170.3,983.1,-8.3,239,9594,0.00,2.47,0.00,0.000,4,0.000,0.047,2738,856,2975,0,0,0,0,0,0
$GC,9638,-1.26,-170.3,987.1,-8.2,239,9642,0.00,2.53,0.00,0.000,6,0.000,0.051,2727,2443,2974,0,0,0,0,0,0
$STATE,9713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9713,begin apogee
$GC,9715,-0.14,0.0,993.8,8.8,241,9767,1.50,0.00,49.00,1.192,6,0.226,0.000,3107,2444,2738,0,0,0,0,0,0
$STATE,9768,end apogee,CONTROL_FINISHED_OK
$STATE,9768,begin climb
$GC,9769,1.26,170.3,993.8,0.0,241,9921,1.30,0.00,149.02,1.182,6,0.079,0.000,3565,2443,2043,0,0,0,0,0,0
$GC,10196,1.26,170.3,895.0,27.2,249,10200,0.00,2.60,0.00,0.000,4,0.000,0.048,3577,832,2031,0,0,0,0,0,0
$GC,10280,1.26,170.3,872.7,25.8,250,10285,0.00,2.55,0.00,0.000,6,0.000,0.050,3569,2398,2029,0,0,0,0,0,0
$GC,10625,1.26,170.3,781.0,26.7,256,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2400,2027,0,0,0,0,0,0
$GC,10927,1.26,170.3,700.3,26.6,261,10931,0.00,2.50,0.00,0.000,4,0.000,0.049,3578,819,2025,0,0,0,0,0,0
$GC,11006,1.26,170.3,678.9,26.0,262,11011,0.00,2.53,0.00,0.000,6,0.000,0.050,3569,2400,2023,0,0,0,0,0,0
$GC,11356,1.26,170.3,586.1,26.7,268,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2400,2023,0,0,0,0,0,0
$GC,11658,1.26,170.3,508.3,25.8,273,11662,0.00,2.50,0.00,0.000,4,0.000,0.047,3578,815,2022,0,0,0,0,0,0
$GC,11754,1.26,170.3,484.1,26.7,274,11758,0.00,2.53,0.00,0.000,6,0.000,0.048,3570,2404,2021,0,0,0,0,0,0
$GC,12088,1.26,170.3,396.3,26.5,280,12092,0.00,2.50,0.00,0.000,4,0.000,0.047,3579,814,2020,0,0,0,0,0,0
$GC,12113,1.26,170.3,389.3,26.9,280,12118,0.00,2.50,0.00,0.000,6,0.000,0.046,3569,2399,2019,0,0,0,0,0,0
$GC,12452,1.26,170.3,301.1,25.9,286,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2399,2020,0,0,0,0,0,0
$GC,12756,1.26,170.3,223.5,25.2,295,12760,0.00,2.45,0.00,0.000,4,0.000,0.044,3579,824,2020,0,0,0,0,0,0
$GC,12803,1.26,170.3,211.3,24.4,296,12808,0.00,2.47,0.00,0.000,6,0.000,0.047,3570,2397,2020,0,0,0,0,0,0
$GC,13123,1.26,170.3,134.2,23.5,307,13127,0.00,2.45,0.00,0.000,4,0.000,0.043,3584,817,2018,0,0,0,0,0,0
$GC,13197,1.26,170.3,118.0,20.9,309,13202,0.00,2.47,0.00,0.000,6,0.000,0.043,3570,2399,2020,0,0,0,0,0,0
$GC,13518,1.26,170.3,51.8,18.5,335,13522,0.00,2.40,0.00,0.000,4,0.000,0.042,3579,814,2020,0,0,0,0,0,0
$GC,13559,1.26,170.3,43.9,18.3,339,13564,0.00,2.47,0.00,0.000,6,0.000,0.042,3570,2407,2020,0,0,0,0,0,0
$GC,13753,1.26,170.3,10.2,17.0,362,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2408,2021,0,0,0,0,0,0
$STATE,13815,end climb,SURFACE_DEPTH_REACHED
$STATE,13815,begin surface coast
$FINISH,0.1,1.019141
$STATE,13831,end surface coast,CONTROL_FINISHED_OK
$STATE,13831,begin surface
$SM_CCo,13845,88.35,0.539,0,0,1308,350.53
$SM_GC,1.03,0.00,0.00,88.35,0.000,0.000,0.539,164,2409,1308,-9.36,-0.79,350.53
$IRIDIUM_FIX,2434.69,-7736.25,031211,131307
$TT8_MAMPS,0.117593
$HUMID,1078185152
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,23.70
$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,8.5/483886/442727
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.2/297829/282483
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,64.9/7836665/2750969
$24V_AH,24.1,11.041
$10V_AH,10.4,10.920
$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,24.200,95.925,198.025,88.350,0.000,30.617,23.348,140.068,0.000,0.000,16.576,0.000,12015.481,476.835,1650.370,74.683,33.323,1074.405,0.000,943.617,0.000,0.541,0.000
$DEVICE_MAMPS,276.165,68.085,1191.870,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,253.883,0.000,0.000,0.000,0.000,0.000,10557.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,56.482,0.000,0.000,0.000
$MEM,355112
$DATA_FILE_SIZE,13471,377
$CAP_FILE_SIZE,98702,0
$CFSIZE,260165632,253599744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,005227,2439.981,-7737.017,220,8.5,239,-7.1