version: 66.07
glider: 178
mission: 4
dive: 24
start: 6 10 110 12 23 12
data:
$ID,178
$MISSION,4
$DIVE,24
$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,-6009.7808
$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,28
$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
$GPS1,100610,121800,2441.735,-7736.360,84,1.8,89,-7.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.0
$GPS2,100610,122230,2441.745,-7736.348,38,1.3,42,-7.1
$SPEED_LIMITS,0.119,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.069,-0.097
$KALMAN_X,-968.3,83.3,-49.2,921.1,269.8
$KALMAN_Y,-1040.5,-61.4,-132.5,2361.2,718.6
$MHEAD_RNG_PITCHd_Wd,222.2,1160,-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,-33.4,0.0,0.0,0,81,0.00,0.00,-60.85,0.000,6,0.000,0.000,162,2447,2878,0,0,0,0,0,0
$GC,82,-1.13,-65.8,2.4,-3.5,11,102,11.98,2.47,-2.97,0.000,4,0.272,0.053,2798,850,3007,0,0,0,0,0,0
$GC,169,-1.13,-65.8,23.3,-21.4,26,174,0.00,2.53,0.00,0.000,6,0.000,0.044,2789,2440,3010,0,0,0,0,0,0
$GC,366,-1.13,-65.8,62.1,-18.5,45,371,0.00,2.15,0.00,0.000,4,0.000,0.054,2778,3778,3013,0,0,0,0,0,0
$GC,413,-1.13,-65.8,70.5,-17.2,49,422,0.00,2.05,0.00,0.000,6,0.000,0.033,2783,2434,3012,0,0,0,0,0,0
$GC,625,-1.13,-65.8,106.2,-16.4,68,630,0.00,2.12,0.00,0.000,4,0.000,0.054,2771,3771,3013,0,0,0,0,0,0
$GC,763,-1.13,-65.8,130.1,-18.0,72,769,0.00,2.03,0.00,0.000,6,0.000,0.032,2775,2436,3013,0,0,0,0,0,0
$GC,1088,-1.13,-65.8,178.8,-14.3,83,1097,0.00,2.38,0.00,0.000,4,0.000,0.042,2774,857,3014,0,0,0,0,0,0
$GC,1181,-1.13,-65.8,192.3,-13.6,86,1190,0.12,2.45,0.00,0.000,6,0.233,0.043,2789,2448,3017,0,0,0,0,0,0
$GC,1513,-1.13,-65.8,233.4,-12.0,97,1521,0.00,2.40,0.00,0.000,4,0.000,0.041,2790,861,3016,0,0,0,0,0,0
$GC,1534,-1.13,-65.8,236.0,-11.8,97,1546,0.00,2.42,0.00,0.000,6,0.000,0.043,2780,2442,3015,0,0,0,0,0,0
$GC,1844,-1.13,-65.8,271.5,-10.9,108,1852,0.00,2.38,0.00,0.000,4,0.000,0.040,2780,857,3017,0,0,0,0,0,0
$GC,1969,-1.13,-65.8,285.8,-11.0,112,1977,0.00,2.42,0.00,0.000,6,0.000,0.043,2769,2440,3015,0,0,0,0,0,0
$GC,2299,-1.13,-65.8,322.9,-11.2,120,2307,0.00,2.10,0.00,0.000,4,0.000,0.054,2758,3783,3015,0,0,0,0,0,0
$GC,2401,-1.13,-65.8,335.5,-13.5,121,2409,0.12,2.00,0.00,0.000,6,0.236,0.034,2789,2431,3017,0,0,0,0,0,0
$GC,2725,-1.13,-65.8,370.4,-10.7,127,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2431,3016,0,0,0,0,0,0
$GC,3027,-1.13,-65.8,400.9,-10.1,132,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2431,3017,0,0,0,0,0,0
$GC,3329,-1.13,-67.2,430.4,-9.7,137,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2430,3017,0,0,0,0,0,0
$GC,3630,-1.13,-67.2,460.6,-10.1,142,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2430,3016,0,0,0,0,0,0
$GC,3932,-1.13,-67.2,490.7,-10.0,147,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2432,3015,0,0,0,0,0,0
$GC,4234,-1.14,-71.9,518.3,-9.1,152,4242,0.00,2.38,0.00,0.000,4,0.000,0.044,2790,863,3014,0,0,0,0,0,0
$GC,4266,-1.14,-71.9,521.4,-10.1,152,4275,0.00,2.45,0.00,0.000,6,0.000,0.046,2779,2448,3014,0,0,0,0,0,0
$GC,4590,-1.15,-76.0,551.5,-9.2,158,4598,0.00,2.08,0.00,0.000,4,0.000,0.058,2770,3778,3013,0,0,0,0,0,0
$GC,4633,-1.15,-76.0,556.0,-11.3,158,4640,0.00,2.00,0.00,0.000,6,0.000,0.035,2770,2430,3013,0,0,0,0,0,0
$GC,4951,-1.15,-77.8,586.9,-9.6,164,4961,0.00,2.38,0.00,0.000,4,0.000,0.044,2770,865,3013,0,0,0,0,0,0
$GC,4985,-1.15,-79.5,590.4,-9.7,164,4993,0.12,2.45,0.00,0.000,6,0.234,0.047,2781,2445,3013,0,0,0,0,0,0
$GC,5309,-1.16,-86.2,618.7,-8.7,170,5317,0.00,2.08,0.00,0.000,4,0.000,0.059,2775,3774,3011,0,0,0,0,0,0
$GC,5353,-1.16,-88.0,622.8,-9.6,170,5360,0.00,2.00,0.00,0.000,6,0.000,0.036,2776,2434,3011,0,0,0,0,0,0
$GC,5671,-1.17,-94.2,651.0,-8.8,176,5679,0.00,2.40,0.00,0.000,4,0.000,0.045,2775,859,3010,0,0,0,0,0,0
$GC,5731,-1.18,-101.5,656.4,-8.5,177,5739,0.00,2.45,0.00,0.000,6,0.000,0.047,2765,2439,3010,0,0,0,0,0,0
$GC,6093,-1.18,-107.6,688.6,-8.8,183,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2439,3008,0,0,0,0,0,0
$GC,6395,-1.19,-112.5,715.6,-9.0,188,6403,0.00,2.40,0.00,0.000,4,0.000,0.044,2768,865,3007,0,0,0,0,0,0
$GC,6417,-1.19,-116.4,717.7,-9.2,188,6425,0.00,2.45,0.00,0.000,6,0.000,0.048,2754,2436,3007,0,0,0,0,0,0
$GC,6752,-1.20,-118.9,749.0,-9.5,194,6760,0.00,2.42,0.00,0.000,4,0.000,0.044,2753,854,3004,0,0,0,0,0,0
$GC,6811,-1.20,-118.9,755.2,-10.4,195,6820,0.15,2.47,0.00,0.000,6,0.242,0.049,2767,2443,3004,0,0,0,0,0,0
$GC,7173,-1.20,-123.5,787.2,-9.1,201,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2443,3003,0,0,0,0,0,0
$GC,7475,-1.21,-130.1,813.1,-8.7,206,7483,0.00,2.10,0.00,0.000,4,0.000,0.063,2764,3784,3002,0,0,0,0,0,0
$GC,7534,-1.22,-134.8,818.7,-9.0,206,7545,0.00,2.03,0.00,0.000,6,0.000,0.039,2764,2442,3001,0,0,0,0,0,0
$GC,7842,-1.23,-141.7,845.5,-8.6,212,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2442,2999,0,0,0,0,0,0
$GC,8144,-1.24,-150.9,870.0,-8.1,217,8152,0.00,2.40,0.00,0.000,4,0.000,0.047,2764,863,2997,0,0,0,0,0,0
$GC,8219,-1.24,-153.0,877.1,-9.6,218,8229,0.00,2.47,0.00,0.000,6,0.000,0.051,2753,2435,2998,0,0,0,0,0,0
$GC,8566,-1.25,-157.9,908.8,-9.0,224,8574,0.00,2.12,0.00,0.000,4,0.000,0.063,2741,3780,2997,0,0,0,0,0,0
$GC,8620,-1.25,-157.9,914.2,-10.4,224,8631,0.00,2.03,0.00,0.000,6,0.000,0.040,2745,2438,2996,0,0,0,0,0,0
$GC,8928,-1.25,-160.4,943.4,-9.5,230,8936,0.00,2.15,0.00,0.000,4,0.000,0.065,2737,3781,2995,0,0,0,0,0,0
$GC,9014,-1.25,-160.4,952.8,-11.2,231,9021,0.00,2.03,0.00,0.000,6,0.000,0.040,2738,2442,2995,0,0,0,0,0,0
$GC,9353,-1.26,-166.8,983.1,-8.7,237,9361,0.00,2.45,0.00,0.000,4,0.000,0.048,2738,850,2994,0,0,0,0,0,0
$GC,9370,-1.26,-170.3,984.7,-8.7,237,9378,0.00,2.53,0.00,0.000,6,0.000,0.052,2733,2452,2994,0,0,0,0,0,0
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9470,-0.14,0.0,994.3,9.9,239,9534,1.45,0.00,52.88,1.194,6,0.217,0.000,3105,2409,2739,0,0,0,0,0,0
$STATE,9534,end apogee,CONTROL_FINISHED_OK
$STATE,9534,begin climb
$GC,9535,1.26,170.3,995.2,0.0,240,9692,1.27,0.00,148.32,1.186,6,0.076,0.000,3561,2409,2043,0,0,0,0,0,0
$GC,9959,1.26,170.3,896.0,28.0,247,9968,0.00,2.53,0.00,0.000,4,0.000,0.048,3573,806,2031,0,0,0,0,0,0
$GC,10024,1.26,170.3,878.3,25.6,248,10032,0.00,2.58,0.00,0.000,6,0.000,0.050,3573,2406,2029,0,0,0,0,0,0
$GC,10381,1.26,170.3,779.4,27.8,254,10389,0.00,2.53,0.00,0.000,4,0.000,0.047,3587,804,2026,0,0,0,0,0,0
$GC,10468,1.26,170.3,755.6,28.1,255,10476,0.00,2.55,0.00,0.000,6,0.000,0.051,3584,2402,2025,0,0,0,0,0,0
$GC,10802,1.26,170.3,660.4,28.4,261,10810,0.00,2.47,0.00,0.000,4,0.000,0.047,3595,809,2024,0,0,0,0,0,0
$GC,10889,1.26,170.3,636.2,26.9,262,10897,0.00,2.53,0.00,0.000,6,0.000,0.050,3585,2404,2023,0,0,0,0,0,0
$GC,11223,1.26,170.3,541.9,28.2,268,11232,0.00,2.50,0.00,0.000,4,0.000,0.047,3598,804,2022,0,0,0,0,0,0
$GC,11272,1.26,170.3,528.3,28.3,268,11280,0.00,2.53,0.00,0.000,6,0.000,0.050,3590,2401,2022,0,0,0,0,0,0
$GC,11580,1.26,170.3,441.8,28.2,273,11588,0.00,2.47,0.00,0.000,4,0.000,0.047,3599,812,2022,0,0,0,0,0,0
$GC,11644,1.26,170.3,423.8,28.5,274,11652,0.00,2.50,0.00,0.000,6,0.000,0.048,3591,2404,2020,0,0,0,0,0,0
$GC,12001,1.26,170.3,323.3,28.4,280,12009,0.00,2.47,0.00,0.000,4,0.000,0.047,3600,804,2020,0,0,0,0,0,0
$GC,12061,1.26,170.3,306.6,28.6,281,12069,0.00,2.50,0.00,0.000,6,0.000,0.048,3594,2402,2019,0,0,0,0,0,0
$GC,12393,1.26,170.3,216.5,26.7,291,12402,0.00,2.42,0.00,0.000,4,0.000,0.044,3603,811,2019,0,0,0,0,0,0
$GC,12644,1.26,170.3,152.1,26.1,298,12663,0.00,2.50,0.00,0.000,6,0.000,0.047,3594,2412,2019,0,0,0,0,0,0
$GC,12961,1.26,170.3,77.2,22.6,315,12973,0.00,2.45,0.00,0.000,4,0.000,0.043,3604,806,2023,0,0,0,0,0,0
$GC,12997,1.26,170.3,69.3,23.0,317,13009,0.00,2.47,0.00,0.000,6,0.000,0.046,3595,2401,2019,0,0,0,0,0,0
$GC,13195,1.26,170.3,29.0,18.6,335,13206,0.00,2.17,0.00,0.000,4,0.000,0.058,3595,3788,2021,0,0,0,0,0,0
$GC,13284,1.26,170.3,10.9,19.9,345,13303,0.15,2.10,0.00,0.000,6,0.242,0.034,3573,2377,2021,0,0,0,0,0,0
$STATE,13333,end climb,SURFACE_DEPTH_REACHED
$STATE,13333,begin surface coast
$FINISH,0.2,1.023402
$STATE,13346,end surface coast,CONTROL_FINISHED_OK
$STATE,13346,begin surface
$SM_CCo,13376,88.05,0.543,0,0,1310,350.04
$SM_GC,1.09,0.00,0.00,88.05,0.000,0.000,0.543,168,2448,1310,-9.35,0.20,350.04
$IRIDIUM_FIX,2432.32,-7736.76,041211,020236
$TT8_MAMPS,0.128079
$HUMID,1078155474
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.0,11.427
$10V_AH,10.3,12.093
$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,24.575,131.025,201.200,88.050,0.000,25.318,28.388,118.524,0.000,0.000,43.271,0.000,10938.325,431.374,2375.081,76.442,33.336,1377.993,0.000,1126.508,0.000,0.542,0.000
$DEVICE_MAMPS,271.575,140.760,1194.165,543.150,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,237.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355072
$DATA_FILE_SIZE,13453,353
$CAP_FILE_SIZE,116044,0
$CFSIZE,260165632,253329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,161125,2441.017,-7737.643,118,1.9,118,-7.1