version: 66.07
glider: 178
mission: 4
dive: 22
start: 6 10 110 5 1 57
data:
$ID,178
$MISSION,4
$DIVE,22
$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,270
$T_MISSION,375
$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,-6007.2681
$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,43
$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
$GPS1,100610,045526,2441.835,-7736.939,80,3.7,99,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.4
$GPS2,100610,050116,2441.799,-7736.919,14,3.5,33,-7.1
$SPEED_LIMITS,0.146,0.297
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.061,-0.132
$KALMAN_X,-1700.8,176.3,46.2,508.3,-353.4
$KALMAN_Y,-1024.3,11.6,113.4,2126.4,149.4
$MHEAD_RNG_PITCHd_Wd,162.1,935,-38.1,-12.222
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.11,-45.0,0.0,0.0,0,83,0.00,0.00,-62.50,0.000,6,0.000,0.000,164,2449,2922,0,0,0,0,0,0
$GC,84,-1.17,-91.7,2.5,-3.8,11,103,11.93,0.00,-4.03,0.000,6,0.271,0.000,2775,2450,3113,0,0,0,0,0,0
$GC,164,-1.17,-91.7,26.4,-26.6,24,165,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2449,3115,0,0,0,0,0,0
$GC,351,-1.17,-91.7,69.9,-21.0,42,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2449,3117,0,0,0,0,0,0
$GC,536,-1.17,-91.7,106.4,-18.7,58,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2449,3117,0,0,0,0,0,0
$GC,840,-1.17,-91.7,162.9,-16.8,68,848,0.00,2.08,0.00,0.000,4,0.000,0.054,2767,3780,3119,0,0,0,0,0,0
$GC,877,-1.17,-91.7,169.9,-17.9,69,885,0.00,1.98,0.00,0.000,6,0.000,0.034,2767,2433,3122,0,0,0,0,0,0
$GC,1202,-1.17,-91.7,221.5,-14.5,80,1210,0.00,2.10,0.00,0.000,4,0.000,0.055,2757,3781,3120,0,0,0,0,0,0
$GC,1256,-1.17,-91.7,230.4,-16.0,81,1263,0.00,2.00,0.00,0.000,6,0.000,0.034,2758,2434,3119,0,0,0,0,0,0
$GC,1570,-1.17,-91.7,275.4,-13.9,92,1578,0.00,2.38,0.00,0.000,4,0.000,0.042,2762,861,3121,0,0,0,0,0,0
$GC,1630,-1.17,-91.7,283.8,-14.6,94,1638,0.12,2.40,0.00,0.000,6,0.233,0.043,2776,2442,3122,0,0,0,0,0,0
$GC,1960,-1.17,-91.7,327.3,-13.1,102,1968,0.00,2.40,0.00,0.000,4,0.000,0.041,2775,858,3122,0,0,0,0,0,0
$GC,2014,-1.17,-91.7,334.4,-13.6,102,2024,0.00,2.45,0.00,0.000,6,0.000,0.043,2767,2450,3120,0,0,0,0,0,0
$GC,2322,-1.17,-91.7,374.4,-13.2,108,2331,0.00,2.40,0.00,0.000,4,0.000,0.042,2767,866,3120,0,0,0,0,0,0
$GC,2345,-1.17,-91.7,377.6,-13.3,108,2352,0.00,2.40,0.00,0.000,6,0.000,0.044,2756,2437,3121,0,0,0,0,0,0
$GC,2684,-1.17,-91.7,424.3,-13.9,114,2692,0.00,2.08,0.00,0.000,4,0.000,0.056,2745,3780,3121,0,0,0,0,0,0
$GC,2722,-1.17,-91.7,429.8,-14.7,114,2730,0.12,1.98,0.00,0.000,6,0.233,0.034,2776,2434,3121,0,0,0,0,0,0
$GC,3041,-1.17,-91.7,470.7,-12.8,120,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2434,3123,0,0,0,0,0,0
$GC,3342,-1.17,-91.7,508.1,-12.3,125,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2434,3119,0,0,0,0,0,0
$GC,3645,-1.17,-91.7,545.4,-12.3,130,3653,0.00,2.38,0.00,0.000,4,0.000,0.044,2776,867,3119,0,0,0,0,0,0
$GC,3704,-1.17,-94.7,552.7,-11.7,131,3713,0.00,2.42,0.00,0.000,6,0.000,0.046,2766,2451,3122,0,0,0,0,0,0
$GC,4066,-1.17,-94.7,598.9,-12.7,137,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2451,3119,0,0,0,0,0,0
$GC,4368,-1.18,-96.4,635.3,-11.9,142,4376,0.00,2.40,0.00,0.000,4,0.000,0.044,2767,862,3116,0,0,0,0,0,0
$GC,4385,-1.18,-97.9,637.3,-12.0,142,4392,0.00,2.45,0.00,0.000,6,0.000,0.047,2755,2443,3116,0,0,0,0,0,0
$GC,4725,-1.18,-97.9,679.8,-12.3,148,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2443,3115,0,0,0,0,0,0
$GC,5026,-1.18,-97.9,717.1,-12.4,153,5034,0.00,2.10,0.00,0.000,4,0.000,0.060,2745,3786,3113,0,0,0,0,0,0
$GC,5107,-1.18,-97.9,728.0,-14.3,154,5115,0.15,2.00,0.00,0.000,6,0.230,0.038,2778,2435,3114,0,0,0,0,0,0
$GC,5452,-1.18,-103.3,767.0,-11.2,160,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2435,3109,0,0,0,0,0,0
$GC,5754,-1.19,-110.5,799.7,-10.9,165,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2435,3109,0,0,0,0,0,0
$GC,6055,-1.20,-119.1,831.6,-10.7,170,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2435,3107,0,0,0,0,0,0
$GC,6358,-1.22,-128.6,863.0,-10.5,175,6366,0.00,2.42,0.00,0.000,4,0.000,0.048,2779,859,3106,0,0,0,0,0,0
$GC,6391,-1.22,-133.4,866.7,-11.4,175,6399,0.00,2.45,0.00,0.000,6,0.000,0.050,2769,2438,3105,0,0,0,0,0,0
$GC,6716,-1.23,-142.9,900.7,-10.5,181,6723,0.00,2.42,0.00,0.000,4,0.000,0.047,2769,863,3104,0,0,0,0,0,0
$GC,6732,-1.24,-150.8,902.5,-10.8,181,6740,0.00,2.47,0.00,0.000,6,0.000,0.051,2757,2440,3104,0,0,0,0,0,0
$GC,7073,-1.25,-159.3,938.9,-10.7,187,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2437,3102,0,0,0,0,0,0
$GC,7374,-1.27,-170.3,969.5,-10.1,192,7382,0.00,2.47,0.00,0.000,4,0.000,0.047,2757,855,3098,0,0,0,0,0,0
$GC,7407,-1.27,-170.3,973.2,-10.6,192,7415,0.00,2.50,0.00,0.000,6,0.000,0.052,2745,2439,3100,0,0,0,0,0,0
$STATE,7609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7609,begin apogee
$GC,7612,-0.14,0.0,994.6,10.5,196,7694,1.35,0.00,74.40,1.196,6,0.208,0.000,3105,2436,2736,0,0,0,0,0,0
$STATE,7695,end apogee,CONTROL_FINISHED_OK
$STATE,7695,begin climb
$GC,7696,1.27,170.3,995.4,0.0,197,7856,1.33,0.00,148.62,1.179,6,0.077,0.000,3565,2439,2041,0,0,0,0,0,0
$GC,8153,1.27,170.3,886.2,27.5,205,8161,0.00,2.55,0.00,0.000,4,0.000,0.047,3578,822,2030,0,0,0,0,0,0
$GC,8260,1.27,170.3,856.4,27.9,206,8269,0.00,2.55,0.00,0.000,6,0.000,0.051,3573,2405,2028,0,0,0,0,0,0
$GC,8575,1.27,170.3,771.5,27.1,212,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2405,2026,0,0,0,0,0,0
$GC,8876,1.27,170.3,689.5,27.1,217,8884,0.00,2.47,0.00,0.000,4,0.000,0.048,3582,824,2024,0,0,0,0,0,0
$GC,8941,1.27,170.3,672.0,27.0,218,8949,0.00,2.50,0.00,0.000,6,0.000,0.050,3574,2402,2023,0,0,0,0,0,0
$GC,9297,1.27,170.3,575.1,27.3,224,9305,0.00,2.42,0.00,0.000,4,0.000,0.047,3583,825,2022,0,0,0,0,0,0
$GC,9362,1.27,170.3,558.3,26.2,225,9370,0.00,2.47,0.00,0.000,6,0.000,0.050,3574,2403,2021,0,0,0,0,0,0
$GC,9718,1.27,170.3,462.5,27.0,231,9727,0.00,2.45,0.00,0.000,4,0.000,0.047,3584,816,2021,0,0,0,0,0,0
$GC,9821,1.27,170.3,434.9,26.6,232,9829,0.00,2.50,0.00,0.000,6,0.000,0.048,3575,2410,2021,0,0,0,0,0,0
$GC,10140,1.27,170.3,348.1,27.1,238,10148,0.00,2.45,0.00,0.000,4,0.000,0.046,3584,818,2019,0,0,0,0,0,0
$GC,10194,1.27,170.3,333.6,27.9,238,10205,0.00,2.47,0.00,0.000,6,0.000,0.047,3576,2401,2018,0,0,0,0,0,0
$GC,10502,1.27,170.3,251.8,26.3,246,10511,0.00,2.42,0.00,0.000,4,0.000,0.045,3585,821,2019,0,0,0,0,0,0
$GC,10621,1.27,170.3,221.5,23.9,249,10632,0.00,2.45,0.00,0.000,6,0.000,0.047,3577,2406,2019,0,0,0,0,0,0
$GC,10932,1.27,170.3,146.3,24.2,260,10936,0.00,2.17,0.00,0.000,4,0.000,0.060,3576,3784,2018,0,0,0,0,0,0
$GC,10995,1.27,170.3,130.2,26.4,262,10999,0.00,2.10,0.00,0.000,6,0.000,0.035,3584,2400,2019,0,0,0,0,0,0
$GC,11308,1.27,170.3,57.3,23.1,283,11313,0.00,2.42,0.00,0.000,4,0.000,0.044,3597,825,2019,0,0,0,0,0,0
$GC,11398,1.27,170.3,38.1,19.5,291,11406,0.00,2.47,0.00,0.000,6,0.000,0.044,3588,2403,2019,0,0,0,0,0,0
$GC,11593,1.27,170.3,3.8,15.3,318,11600,0.00,2.45,0.00,0.000,4,0.000,0.044,3597,822,2020,0,0,0,0,0,0
$STATE,11608,end climb,SURFACE_DEPTH_REACHED
$STATE,11608,begin surface coast
$FINISH,0.2,1.023586
$STATE,11619,end surface coast,CONTROL_FINISHED_OK
$STATE,11619,begin surface
$SM_CCo,11636,87.88,0.539,0,0,1309,350.04
$SM_GC,0.99,0.00,0.00,87.88,0.000,0.000,0.539,166,2445,1309,-9.36,0.11,350.04
$IRIDIUM_FIX,2429.95,-7734.44,031211,191936
$TT8_MAMPS,0.118342
$HUMID,1078163216
$INTERNAL_PRESSURE,9.47302
$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,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,8.6/483886/442284
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.3/297829/281984
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,79.5/7836665/1604292
$24V_AH,24.1,11.241
$10V_AH,10.3,11.652
$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,24.150,99.025,223.025,87.875,0.000,23.824,26.793,174.656,0.000,0.000,35.852,0.000,9853.062,465.473,1675.707,72.089,33.335,1164.017,0.000,850.105,0.000,0.542,0.000
$DEVICE_MAMPS,270.810,60.435,1196.460,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,217.011,0.000,0.000,0.000,0.000,0.000,12239.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.213,0.000,0.000,0.000
$MEM,355020
$DATA_FILE_SIZE,10160,323
$CAP_FILE_SIZE,91171,0
$CFSIZE,260165632,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,081855,2440.300,-7736.168,77,2.0,77,-7.1