version: 66.07
glider: 178
mission: 4
dive: 27
start: 6 10 110 23 57 39
data:
$ID,178
$MISSION,4
$DIVE,27
$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,150
$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,-6120.0112
$T_RSLEEP,3
$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,37
$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
$GPS1,100610,234927,2441.399,-7737.054,196,5.8,215,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.9
$GPS2,100610,235658,2441.384,-7737.022,25,4.0,44,-7.1
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.118
$KALMAN_X,-194.7,38.3,-25.9,-959.3,432.3
$KALMAN_Y,-140.8,77.3,-77.6,602.8,591.1
$MHEAD_RNG_PITCHd_Wd,196.0,353,-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,16,-1.09,-33.4,0.0,0.0,0,82,0.00,0.00,-61.15,0.000,6,0.000,0.000,167,2460,2873,0,0,0,0,0,0
$GC,83,-1.14,-71.3,2.2,-2.4,11,108,11.75,2.45,-3.75,0.000,4,0.267,0.052,2798,867,3030,0,0,0,0,0,0
$GC,218,-1.14,-71.3,34.1,-20.2,30,226,0.00,2.47,0.00,0.000,6,0.000,0.044,2788,2429,3032,0,0,0,0,0,0
$GC,410,-1.14,-71.3,71.3,-17.9,49,414,0.00,2.12,0.00,0.000,4,0.000,0.054,2778,3775,3033,0,0,0,0,0,0
$GC,505,-1.14,-71.3,89.2,-18.2,58,510,0.00,2.03,0.00,0.000,6,0.000,0.033,2779,2438,3033,0,0,0,0,0,0
$GC,699,-1.14,-71.3,120.7,-15.8,69,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2438,3035,0,0,0,0,0,0
$GC,1003,-1.14,-71.3,167.4,-15.4,79,1011,0.00,2.35,0.00,0.000,4,0.000,0.041,2779,865,3038,0,0,0,0,0,0
$GC,1073,-1.14,-71.3,177.5,-14.3,81,1081,0.00,2.45,0.00,0.000,6,0.000,0.042,2769,2453,3036,0,0,0,0,0,0
$GC,1393,-1.14,-71.3,222.0,-12.9,92,1401,0.00,2.40,0.00,0.000,4,0.000,0.040,2769,852,3036,0,0,0,0,0,0
$GC,1490,-1.14,-71.3,234.3,-11.8,95,1498,0.15,2.42,0.00,0.000,6,0.226,0.042,2788,2449,3037,0,0,0,0,0,0
$GC,1816,-1.14,-71.3,270.5,-10.8,106,1823,0.00,2.05,0.00,0.000,4,0.000,0.054,2779,3776,3037,0,0,0,0,0,0
$GC,1853,-1.14,-71.3,275.0,-12.6,107,1860,0.00,1.95,0.00,0.000,6,0.000,0.034,2780,2440,3037,0,0,0,0,0,0
$GC,2213,-1.14,-71.3,315.3,-11.2,117,2221,0.00,2.35,0.00,0.000,4,0.000,0.041,2781,862,3037,0,0,0,0,0,0
$GC,2251,-1.14,-71.3,319.6,-11.9,117,2259,0.00,2.42,0.00,0.000,6,0.000,0.043,2769,2441,3037,0,0,0,0,0,0
$GC,2570,-1.14,-71.3,356.4,-11.5,123,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2441,3037,0,0,0,0,0,0
$GC,2872,-1.14,-71.3,391.3,-11.7,128,2880,0.00,2.08,0.00,0.000,4,0.000,0.054,2758,3790,3037,0,0,0,0,0,0
$GC,2937,-1.14,-71.3,399.6,-13.3,129,2945,0.12,2.00,0.00,0.000,6,0.232,0.034,2789,2438,3037,0,0,0,0,0,0
$GC,3299,-1.14,-71.3,438.8,-10.8,135,3308,0.00,2.35,0.00,0.000,4,0.000,0.042,2790,866,3036,0,0,0,0,0,0
$GC,3332,-1.14,-71.3,442.4,-10.9,135,3340,0.00,2.42,0.00,0.000,6,0.000,0.044,2780,2442,3036,0,0,0,0,0,0
$GC,3656,-1.14,-71.3,476.2,-10.3,141,3664,0.00,2.08,0.00,0.000,4,0.000,0.057,2770,3781,3035,0,0,0,0,0,0
$GC,3673,-1.14,-71.3,477.9,-10.0,141,3680,0.00,2.00,0.00,0.000,6,0.000,0.034,2770,2426,3035,0,0,0,0,0,0
$GC,4018,-1.14,-71.3,514.0,-10.8,147,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2424,3034,0,0,0,0,0,0
$GC,4320,-1.14,-71.3,547.0,-11.0,152,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2426,3031,0,0,0,0,0,0
$GC,4622,-1.14,-71.3,578.4,-10.4,157,4630,0.00,2.12,0.00,0.000,4,0.000,0.057,2760,3783,3031,0,0,0,0,0,0
$GC,4697,-1.14,-71.3,587.2,-11.2,158,4705,0.12,2.03,0.00,0.000,6,0.235,0.036,2785,2415,3031,0,0,0,0,0,0
$GC,5048,-1.15,-78.0,618.1,-8.7,164,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2415,3030,0,0,0,0,0,0
$GC,5349,-1.16,-85.6,644.0,-8.5,169,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2415,3029,0,0,0,0,0,0
$GC,5651,-1.16,-90.6,671.1,-9.0,174,5659,0.00,2.15,0.00,0.000,4,0.000,0.060,2777,3778,3028,0,0,0,0,0,0
$GC,5705,-1.16,-90.6,676.9,-11.3,174,5717,0.00,2.00,0.00,0.000,6,0.000,0.037,2777,2442,3027,0,0,0,0,0,0
$GC,6014,-1.16,-90.6,708.1,-10.2,180,6023,0.00,2.12,0.00,0.000,4,0.000,0.060,2767,3787,3025,0,0,0,0,0,0
$GC,6058,-1.16,-90.6,712.8,-11.3,180,6065,0.00,2.00,0.00,0.000,6,0.000,0.037,2767,2438,3024,0,0,0,0,0,0
$GC,6376,-1.16,-91.3,744.5,-9.9,186,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2438,3023,0,0,0,0,0,0
$GC,6678,-1.17,-92.8,773.7,-9.7,191,6686,0.00,2.40,0.00,0.000,4,0.000,0.047,2767,856,3021,0,0,0,0,0,0
$GC,6727,-1.17,-92.8,778.5,-10.0,191,6735,0.12,2.47,0.00,0.000,6,0.238,0.048,2784,2440,3020,0,0,0,0,0,0
$GC,7035,-1.17,-98.1,805.8,-8.9,196,7042,0.00,2.12,0.00,0.000,4,0.000,0.062,2769,3775,3020,0,0,0,0,0,0
$GC,7088,-1.18,-102.3,811.1,-9.2,196,7099,0.00,2.00,0.00,0.000,6,0.000,0.039,2775,2429,3020,0,0,0,0,0,0
$GC,7397,-1.18,-108.1,838.1,-8.8,202,7404,0.00,2.15,0.00,0.000,4,0.000,0.062,2766,3782,3018,0,0,0,0,0,0
$GC,7461,-1.18,-108.1,844.6,-10.5,203,7469,0.00,2.00,0.00,0.000,6,0.000,0.039,2767,2441,3018,0,0,0,0,0,0
$GC,7823,-1.19,-114.9,876.4,-8.7,209,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2441,3017,0,0,0,0,0,0
$GC,8124,-1.20,-123.6,901.6,-8.3,214,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2441,3016,0,0,0,0,0,0
$GC,8426,-1.21,-129.5,928.1,-8.8,219,8434,0.00,2.40,0.00,0.000,4,0.000,0.048,2767,866,3013,0,0,0,0,0,0
$GC,8475,-1.22,-134.7,932.8,-9.0,219,8483,0.00,2.45,0.00,0.000,6,0.000,0.051,2755,2440,3014,0,0,0,0,0,0
$GC,8783,-1.22,-139.2,960.5,-9.1,224,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2440,3012,0,0,0,0,0,0
$GC,9084,-1.23,-145.2,987.0,-8.8,229,9092,0.00,2.15,0.00,0.000,4,0.000,0.065,2745,3778,3011,0,0,0,0,0,0
$STATE,9115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9115,begin apogee
$GC,9120,-0.14,0.0,990.2,9.5,229,9184,1.33,0.00,56.45,1.194,6,0.207,0.000,3101,2399,2737,0,0,0,0,0,0
$STATE,9185,end apogee,CONTROL_FINISHED_OK
$STATE,9185,begin climb
$GC,9186,1.23,145.2,991.2,0.0,230,9321,1.27,0.00,126.03,1.187,6,0.080,0.000,3548,2398,2145,0,0,0,0,0,0
$GC,9610,1.23,145.2,901.7,24.3,237,9618,0.00,2.50,0.00,0.000,4,0.000,0.047,3564,820,2133,0,0,0,0,0,0
$GC,9702,1.23,145.2,878.9,24.5,238,9710,0.00,2.53,0.00,0.000,6,0.000,0.050,3564,2409,2130,0,0,0,0,0,0
$GC,10032,1.23,145.2,797.4,25.0,244,10040,0.00,2.50,0.00,0.000,4,0.000,0.047,3575,819,2129,0,0,0,0,0,0
$GC,10070,1.23,145.2,787.8,25.3,244,10079,0.00,2.53,0.00,0.000,6,0.000,0.050,3575,2407,2128,0,0,0,0,0,0
$GC,10390,1.23,145.2,706.5,25.4,250,10399,0.00,2.50,0.00,0.000,4,0.000,0.049,3587,811,2127,0,0,0,0,0,0
$GC,10488,1.23,145.2,681.9,24.6,251,10497,0.12,2.50,0.00,0.000,6,0.236,0.048,3562,2402,2126,0,0,0,0,0,0
$GC,10814,1.23,145.2,603.8,24.1,257,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2402,2125,0,0,0,0,0,0
$GC,11115,1.23,145.2,530.7,24.3,262,11123,0.00,2.47,0.00,0.000,4,0.000,0.047,3572,809,2124,0,0,0,0,0,0
$GC,11201,1.23,145.2,510.3,24.7,263,11209,0.00,2.50,0.00,0.000,6,0.000,0.047,3572,2405,2123,0,0,0,0,0,0
$GC,11536,1.23,145.2,427.8,24.6,269,11545,0.00,2.47,0.00,0.000,4,0.000,0.047,3585,818,2123,0,0,0,0,0,0
$GC,11574,1.23,145.2,418.1,24.5,269,11583,0.00,2.47,0.00,0.000,6,0.000,0.048,3582,2407,2122,0,0,0,0,0,0
$GC,11893,1.23,145.2,339.1,25.0,275,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2408,2122,0,0,0,0,0,0
$GC,12196,1.23,145.2,264.7,24.8,282,12204,0.00,2.47,0.00,0.000,4,0.000,0.046,3594,810,2122,0,0,0,0,0,0
$GC,12288,1.23,145.2,242.1,23.3,285,12297,0.15,2.47,0.00,0.000,6,0.227,0.047,3567,2413,2124,0,0,0,0,0,0
$GC,12620,1.23,145.2,168.0,21.3,296,12628,0.00,2.45,0.00,0.000,4,0.000,0.044,3572,817,2122,0,0,0,0,0,0
$GC,12824,1.23,145.2,124.7,20.6,302,12829,0.00,2.47,0.00,0.000,6,0.000,0.044,3571,2399,2122,0,0,0,0,0,0
$GC,13137,1.23,145.2,63.4,18.1,324,13142,0.00,2.17,0.00,0.000,4,0.000,0.056,3575,3775,2124,0,0,0,0,0,0
$GC,13164,1.23,145.2,58.8,17.0,326,13172,0.00,2.08,0.00,0.000,6,0.000,0.033,3582,2393,2124,0,0,0,0,0,0
$GC,13355,1.23,145.2,26.7,15.3,345,13360,0.00,2.40,0.00,0.000,4,0.000,0.042,3593,831,2124,0,0,0,0,0,0
$STATE,13510,end climb,SURFACE_DEPTH_REACHED
$STATE,13510,begin surface coast
$FINISH,0.9,1.023847
$STATE,13514,end surface coast,CONTROL_FINISHED_OK
$STATE,13514,begin surface
$SM_CCo,13532,98.55,0.540,0,0,1309,350.04
$SM_GC,0.80,0.00,0.00,98.55,0.000,0.000,0.540,164,2443,1309,-9.36,0.08,350.04
$IRIDIUM_FIX,2432.32,-7734.44,041211,141436
$TT8_MAMPS,0.118342
$HUMID,1078132248
$INTERNAL_PRESSURE,9.47302
$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,36
$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,8.8/483886/441498
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.8/297829/280693
$PA_DATA1,40.2/7836665/4683330
$PA_DATA0,95.1/7836665/381158
$24V_AH,24.1,11.774
$10V_AH,10.3,13.205
$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,24.400,119.125,182.475,98.550,0.000,26.239,27.031,231.094,0.000,0.000,46.713,0.000,11495.218,410.521,2077.399,89.916,33.328,1280.743,0.000,1055.526,0.000,0.542,0.000
$DEVICE_MAMPS,266.985,65.025,1194.165,540.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,249.072,0.000,0.000,0.000,0.000,0.000,14340.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.475,0.000,0.000,0.000
$MEM,355104
$DATA_FILE_SIZE,13487,370
$CAP_FILE_SIZE,110110,0
$CFSIZE,260165632,253075456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$GPS,110610,034627,2440.170,-7737.699,60,2.6,79,-7.1