version: 66.07
glider: 178
mission: 4
dive: 23
start: 6 10 110 8 26 15
data:
$ID,178
$MISSION,4
$DIVE,23
$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,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,-6008.5239
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,100610,081855,2440.300,-7736.168,77,2.0,77,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-77.0
$GPS2,100610,082534,2440.286,-7736.158,18,4.4,37,-7.1
$SPEED_LIMITS,0.119,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,0.120
$KALMAN_X,-1491.5,131.8,193.8,1473.3,-617.0
$KALMAN_Y,-1508.4,-94.7,12.1,26.0,-499.2
$MHEAD_RNG_PITCHd_Wd,354.8,2195,-37.0,-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,-1.07,-34.8,0.0,0.0,0,82,0.00,0.00,-61.42,0.000,6,0.000,0.000,166,2445,2879,0,0,0,0,0,0
$GC,83,-1.12,-72.6,2.3,-2.7,11,108,12.05,2.42,-3.47,0.000,4,0.273,0.057,2806,869,3035,0,0,0,0,0,0
$GC,346,-1.12,-72.6,55.5,-17.2,42,354,0.00,2.47,0.00,0.000,6,0.000,0.044,2796,2437,3039,0,0,0,0,0,0
$GC,538,-1.12,-72.6,87.1,-14.9,61,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2437,3043,0,0,0,0,0,0
$GC,722,-1.12,-72.6,115.1,-15.5,73,727,0.00,2.12,0.00,0.000,4,0.000,0.054,2785,3787,3041,0,0,0,0,0,0
$GC,743,-1.12,-72.6,118.5,-16.3,73,748,0.00,2.08,0.00,0.000,6,0.000,0.034,2788,2423,3041,0,0,0,0,0,0
$GC,1057,-1.12,-72.6,169.8,-16.7,84,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2423,3042,0,0,0,0,0,0
$GC,1361,-1.12,-72.6,214.9,-14.5,94,1368,0.00,2.12,0.00,0.000,4,0.000,0.054,2780,3787,3043,0,0,0,0,0,0
$GC,1409,-1.12,-72.6,222.1,-14.3,95,1416,0.00,1.98,0.00,0.000,6,0.000,0.034,2780,2440,3045,0,0,0,0,0,0
$GC,1723,-1.12,-72.6,261.1,-12.0,106,1731,0.00,2.10,0.00,0.000,4,0.000,0.054,2771,3790,3043,0,0,0,0,0,0
$GC,1793,-1.12,-72.6,269.6,-11.4,108,1800,0.00,1.98,0.00,0.000,6,0.000,0.034,2770,2438,3043,0,0,0,0,0,0
$GC,2123,-1.12,-72.6,309.3,-12.2,118,2131,0.12,2.12,0.00,0.000,4,0.230,0.055,2789,3789,3044,0,0,0,0,0,0
$GC,2161,-1.12,-72.6,314.0,-13.2,118,2169,0.00,2.03,0.00,0.000,6,0.000,0.034,2789,2439,3046,0,0,0,0,0,0
$GC,2490,-1.12,-72.6,352.3,-11.6,124,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2438,3044,0,0,0,0,0,0
$GC,2792,-1.12,-72.6,385.6,-11.0,129,2801,0.00,2.38,0.00,0.000,4,0.000,0.042,2787,865,3044,0,0,0,0,0,0
$GC,2841,-1.12,-72.6,391.1,-10.8,129,2849,0.00,2.42,0.00,0.000,6,0.000,0.044,2779,2454,3043,0,0,0,0,0,0
$GC,3149,-1.12,-72.6,425.7,-11.4,134,3157,0.00,2.40,0.00,0.000,4,0.000,0.041,2779,866,3044,0,0,0,0,0,0
$GC,3176,-1.12,-72.6,429.1,-11.8,134,3185,0.15,2.42,0.00,0.000,6,0.223,0.044,2799,2443,3044,0,0,0,0,0,0
$GC,3507,-1.12,-72.6,463.4,-10.3,140,3515,0.00,2.08,0.00,0.000,4,0.000,0.057,2791,3776,3043,0,0,0,0,0,0
$GC,3550,-1.12,-72.6,468.1,-10.4,140,3558,0.00,2.00,0.00,0.000,6,0.000,0.035,2791,2449,3046,0,0,0,0,0,0
$GC,3874,-1.12,-72.6,501.0,-10.0,146,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2448,3043,0,0,0,0,0,0
$GC,4176,-1.12,-72.6,531.6,-10.0,151,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2448,3042,0,0,0,0,0,0
$GC,4478,-1.12,-73.8,561.2,-9.8,156,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2448,3041,0,0,0,0,0,0
$GC,4780,-1.12,-78.0,589.0,-9.2,161,4788,0.00,2.08,0.00,0.000,4,0.000,0.058,2782,3783,3039,0,0,0,0,0,0
$GC,4823,-1.12,-78.0,593.8,-11.3,161,4832,0.00,2.00,0.00,0.000,6,0.000,0.037,2783,2429,3040,0,0,0,0,0,0
$GC,5143,-1.13,-81.5,624.2,-9.3,167,5151,0.00,2.38,0.00,0.000,4,0.000,0.044,2782,864,3039,0,0,0,0,0,0
$GC,5261,-1.13,-81.5,635.5,-10.2,168,5272,0.00,2.45,0.00,0.000,6,0.000,0.047,2771,2443,3038,0,0,0,0,0,0
$GC,5569,-1.13,-82.6,665.9,-9.8,174,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2441,3037,0,0,0,0,0,0
$GC,5870,-1.13,-82.6,696.6,-10.1,179,5878,0.00,2.42,0.00,0.000,4,0.000,0.044,2771,858,3036,0,0,0,0,0,0
$GC,5924,-1.13,-82.7,702.0,-10.0,179,5935,0.15,2.47,0.00,0.000,6,0.226,0.048,2790,2450,3035,0,0,0,0,0,0
$GC,6232,-1.14,-88.9,729.1,-8.8,185,6239,0.00,2.08,0.00,0.000,4,0.000,0.062,2782,3781,3034,0,0,0,0,0,0
$GC,6269,-1.14,-88.9,732.7,-10.2,185,6277,0.00,2.00,0.00,0.000,6,0.000,0.038,2783,2435,3036,0,0,0,0,0,0
$GC,6594,-1.14,-92.8,762.7,-9.2,191,6601,0.00,2.40,0.00,0.000,4,0.000,0.047,2783,863,3032,0,0,0,0,0,0
$GC,6658,-1.15,-95.8,768.9,-9.4,192,6666,0.00,2.45,0.00,0.000,6,0.000,0.050,2772,2440,3031,0,0,0,0,0,0
$GC,7015,-1.15,-100.6,801.4,-9.1,198,7023,0.00,2.45,0.00,0.000,4,0.000,0.046,2772,861,3030,0,0,0,0,0,0
$GC,7080,-1.15,-102.2,807.7,-9.7,199,7088,0.00,2.47,0.00,0.000,6,0.000,0.050,2759,2441,3030,0,0,0,0,0,0
$GC,7436,-1.16,-106.3,840.9,-9.2,205,7444,0.00,2.12,0.00,0.000,4,0.000,0.062,2749,3786,3031,0,0,0,0,0,0
$GC,7522,-1.16,-106.3,849.6,-10.2,206,7530,0.15,2.00,0.00,0.000,6,0.239,0.040,2782,2442,3028,0,0,0,0,0,0
$GC,7857,-1.17,-112.8,879.0,-8.8,212,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2442,3025,0,0,0,0,0,0
$GC,8158,-1.18,-120.0,905.0,-8.6,217,8166,0.00,2.42,0.00,0.000,4,0.000,0.048,2782,863,3025,0,0,0,0,0,0
$GC,8266,-1.18,-125.3,914.7,-9.0,218,8274,0.00,2.47,0.00,0.000,6,0.000,0.051,2773,2444,3024,0,0,0,0,0,0
$GC,8585,-1.19,-134.2,941.7,-8.3,224,8593,0.00,2.12,0.00,0.000,4,0.000,0.066,2762,3781,3022,0,0,0,0,0,0
$GC,8666,-1.20,-136.0,949.0,-9.7,225,8674,0.00,2.05,0.00,0.000,6,0.000,0.040,2763,2413,3022,0,0,0,0,0,0
$GC,9011,-1.21,-144.3,978.1,-8.4,231,9019,0.00,2.40,0.00,0.000,4,0.000,0.050,2762,860,3021,0,0,0,0,0,0
$GC,9092,-1.21,-144.3,985.7,-10.4,232,9100,0.00,2.50,0.00,0.000,6,0.000,0.052,2752,2449,3021,0,0,0,0,0,0
$STATE,9189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9190,begin apogee
$GC,9192,-0.14,0.0,994.5,9.2,234,9258,1.33,0.00,58.33,1.197,6,0.207,0.000,3108,2449,2736,0,0,0,0,0,0
$STATE,9258,end apogee,CONTROL_FINISHED_OK
$STATE,9258,begin climb
$GC,9259,1.21,144.3,995.2,0.0,235,9396,1.25,2.70,125.00,1.185,4,0.080,0.047,3560,829,2148,0,0,0,0,0,0
$GC,9410,1.21,144.3,971.9,23.3,237,9418,0.00,2.60,0.00,0.000,6,0.000,0.050,3560,2395,2144,0,0,0,0,0,0
$GC,9740,1.21,144.3,886.7,26.1,243,9748,0.00,2.50,0.00,0.000,4,0.000,0.048,3571,814,2137,0,0,0,0,0,0
$GC,9821,1.21,144.3,866.3,24.9,244,9829,0.00,2.53,0.00,0.000,6,0.000,0.049,3570,2407,2135,0,0,0,0,0,0
$GC,10161,1.21,144.3,780.0,25.5,250,10169,0.00,2.47,0.00,0.000,4,0.000,0.049,3579,824,2134,0,0,0,0,0,0
$GC,10215,1.21,144.3,766.2,24.9,250,10226,0.00,2.53,0.00,0.000,6,0.000,0.051,3576,2407,2133,0,0,0,0,0,0
$GC,10523,1.21,144.3,688.2,25.3,256,10531,0.00,2.47,0.00,0.000,4,0.000,0.049,3586,820,2130,0,0,0,0,0,0
$GC,10620,1.21,144.3,663.4,25.4,257,10628,0.12,2.50,0.00,0.000,6,0.241,0.051,3554,2409,2130,0,0,0,0,0,0
$GC,10944,1.21,144.3,586.1,23.7,263,10952,0.00,2.47,0.00,0.000,4,0.000,0.048,3561,812,2129,0,0,0,0,0,0
$GC,11014,1.21,144.3,569.5,24.0,264,11022,0.00,2.53,0.00,0.000,6,0.000,0.050,3562,2410,2127,0,0,0,0,0,0
$GC,11365,1.21,144.3,484.6,24.1,270,11374,0.00,2.47,0.00,0.000,4,0.000,0.047,3572,824,2127,0,0,0,0,0,0
$GC,11473,1.21,144.3,458.9,24.1,271,11482,0.00,2.47,0.00,0.000,6,0.000,0.050,3571,2407,2127,0,0,0,0,0,0
$GC,11787,1.21,144.3,381.5,24.6,277,11795,0.00,2.47,0.00,0.000,4,0.000,0.047,3583,816,2127,0,0,0,0,0,0
$GC,11889,1.21,144.3,356.5,25.6,278,11898,0.15,2.47,0.00,0.000,6,0.232,0.049,3552,2408,2127,0,0,0,0,0,0
$GC,12209,1.21,144.3,283.1,22.9,285,12217,0.00,2.45,0.00,0.000,4,0.000,0.045,3561,821,2126,0,0,0,0,0,0
$GC,12343,1.21,144.3,252.8,22.6,289,12352,0.00,2.47,0.00,0.000,6,0.000,0.048,3561,2403,2126,0,0,0,0,0,0
$GC,12664,1.21,144.3,184.7,20.2,300,12672,0.00,2.42,0.00,0.000,4,0.000,0.045,3573,819,2126,0,0,0,0,0,0
$GC,12718,1.21,144.3,174.0,19.4,301,12729,0.00,2.47,0.00,0.000,6,0.000,0.047,3572,2407,2126,0,0,0,0,0,0
$GC,13027,1.21,144.3,111.2,20.6,312,13032,0.00,2.47,0.00,0.000,4,0.000,0.044,3584,818,2127,0,0,0,0,0,0
$GC,13113,1.21,144.3,94.0,18.5,316,13117,0.12,2.47,0.00,0.000,6,0.213,0.045,3553,2399,2126,0,0,0,0,0,0
$GC,13309,1.21,144.3,56.3,17.5,335,13314,0.00,2.45,0.00,0.000,4,0.000,0.041,3563,815,2128,0,0,0,0,0,0
$GC,13395,1.21,144.3,41.6,17.7,343,13399,0.00,2.47,0.00,0.000,6,0.000,0.044,3562,2401,2128,0,0,0,0,0,0
$GC,13588,1.21,144.3,10.2,13.5,367,13596,0.00,2.45,0.00,0.000,4,0.000,0.041,3574,815,2130,0,0,0,0,0,0
$STATE,13657,end climb,SURFACE_DEPTH_REACHED
$STATE,13657,begin surface coast
$FINISH,0.2,1.023545
$STATE,13679,end surface coast,CONTROL_FINISHED_OK
$STATE,13679,begin surface
$SM_CCo,13696,103.30,0.538,0,0,1312,350.04
$SM_GC,1.20,0.00,0.00,103.30,0.000,0.000,0.538,162,2444,1312,-9.37,0.20,350.04
$IRIDIUM_FIX,2432.32,-7736.76,031211,232350
$TT8_MAMPS,0.130326
$HUMID,1078112893
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.80
$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,8.6/483886/442078
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.4/297829/281724
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,87.5/7836665/980549
$24V_AH,24.1,11.335
$10V_AH,10.3,12.042
$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,24.800,140.800,183.325,103.300,0.000,29.567,25.971,201.281,0.000,0.000,39.104,0.000,11467.289,431.478,2202.855,92.576,33.335,1382.846,0.000,1199.475,0.000,0.542,0.000
$DEVICE_MAMPS,273.105,65.790,1197.225,537.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,258.293,0.000,0.000,0.000,0.000,0.000,14304.440,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.810,0.000,0.000,0.000
$MEM,355128
$DATA_FILE_SIZE,13442,384
$CAP_FILE_SIZE,116931,0
$CFSIZE,260165632,253382656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,121800,2441.735,-7736.360,84,1.8,89,-7.1