version: 66.07
glider: 178
mission: 4
dive: 28
start: 6 11 110 3 56 57
data:
$ID,178
$MISSION,4
$DIVE,28
$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,-6121.2695
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,110610,034627,2440.170,-7737.699,60,2.6,79,-7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.0
$GPS2,110610,035616,2440.230,-7737.702,14,2.6,33,-7.1
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.038,0.113
$KALMAN_X,-567.0,-21.1,-443.8,-1249.2,850.9
$KALMAN_Y,46.4,-130.1,116.8,-1704.5,200.3
$MHEAD_RNG_PITCHd_Wd,25.9,2462,-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,-61.33,0.000,6,0.000,0.000,164,2443,2875,0,0,0,0,0,0
$GC,83,-1.14,-74.0,2.0,-1.9,11,108,11.85,2.12,-4.10,0.000,4,0.269,0.069,2775,3764,3041,0,0,0,0,0,0
$GC,346,-1.14,-74.0,61.9,-21.2,43,354,0.00,2.03,0.00,0.000,6,0.000,0.034,2778,2438,3043,0,0,0,0,0,0
$GC,538,-1.14,-74.0,94.6,-16.0,62,542,0.00,2.12,0.00,0.000,4,0.000,0.054,2771,3771,3044,0,0,0,0,0,0
$GC,569,-1.14,-74.0,100.1,-18.0,65,574,0.00,2.03,0.00,0.000,6,0.000,0.033,2775,2438,3044,0,0,0,0,0,0
$GC,907,-1.14,-74.0,153.3,-15.6,76,915,0.00,2.38,0.00,0.000,4,0.000,0.041,2775,866,3045,0,0,0,0,0,0
$GC,1078,-1.14,-74.0,179.7,-15.2,81,1086,0.00,2.40,0.00,0.000,6,0.000,0.043,2765,2436,3044,0,0,0,0,0,0
$GC,1393,-1.14,-74.0,227.0,-14.9,92,1401,0.00,2.05,0.00,0.000,4,0.000,0.053,2754,3777,3047,0,0,0,0,0,0
$GC,1436,-1.14,-74.0,233.0,-14.2,93,1444,0.12,1.95,0.00,0.000,6,0.231,0.033,2788,2439,3047,0,0,0,0,0,0
$GC,1751,-1.14,-74.0,269.2,-11.1,104,1759,0.00,2.08,0.00,0.000,4,0.000,0.054,2778,3775,3047,0,0,0,0,0,0
$GC,1821,-1.14,-74.0,278.2,-14.3,106,1829,0.00,1.95,0.00,0.000,6,0.000,0.033,2779,2441,3047,0,0,0,0,0,0
$GC,2147,-1.14,-74.0,316.6,-11.8,115,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2439,3047,0,0,0,0,0,0
$GC,2448,-1.14,-74.0,351.7,-11.6,120,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2439,3047,0,0,0,0,0,0
$GC,2750,-1.14,-74.0,387.2,-11.9,125,2758,0.00,2.38,0.00,0.000,4,0.000,0.041,2780,866,3047,0,0,0,0,0,0
$GC,2847,-1.14,-74.0,399.0,-11.8,126,2855,0.00,2.42,0.00,0.000,6,0.000,0.044,2769,2442,3046,0,0,0,0,0,0
$GC,3171,-1.14,-74.0,435.9,-11.3,132,3179,0.00,2.05,0.00,0.000,4,0.000,0.056,2758,3780,3047,0,0,0,0,0,0
$GC,3214,-1.14,-74.0,441.4,-13.3,132,3222,0.12,1.98,0.00,0.000,6,0.230,0.034,2787,2432,3047,0,0,0,0,0,0
$GC,3527,-1.14,-74.0,475.6,-10.7,138,3535,0.00,2.35,0.00,0.000,4,0.000,0.043,2784,869,3046,0,0,0,0,0,0
$GC,3576,-1.14,-74.0,481.2,-11.6,138,3584,0.00,2.42,0.00,0.000,6,0.000,0.044,2779,2440,3046,0,0,0,0,0,0
$GC,3884,-1.14,-74.0,513.8,-10.7,143,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2441,3045,0,0,0,0,0,0
$GC,4185,-1.14,-74.0,546.1,-10.7,148,4193,0.00,2.08,0.00,0.000,4,0.000,0.057,2768,3775,3043,0,0,0,0,0,0
$GC,4223,-1.14,-74.0,550.5,-11.7,148,4230,0.00,1.98,0.00,0.000,6,0.000,0.036,2768,2432,3043,0,0,0,0,0,0
$GC,4546,-1.14,-74.0,585.4,-10.7,154,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2431,3044,0,0,0,0,0,0
$GC,4848,-1.14,-74.0,618.3,-10.7,159,4856,0.00,2.38,0.00,0.000,4,0.000,0.044,2767,863,3042,0,0,0,0,0,0
$GC,4924,-1.14,-74.0,626.6,-11.5,160,4932,0.15,2.45,0.00,0.000,6,0.230,0.046,2787,2444,3042,0,0,0,0,0,0
$GC,5270,-1.14,-74.5,660.7,-9.9,166,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2444,3040,0,0,0,0,0,0
$GC,5571,-1.15,-76.1,690.0,-9.7,171,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2444,3039,0,0,0,0,0,0
$GC,5873,-1.15,-76.6,719.7,-9.9,176,5881,0.00,2.10,0.00,0.000,4,0.000,0.060,2780,3781,3037,0,0,0,0,0,0
$GC,5948,-1.15,-76.6,727.8,-10.9,177,5955,0.00,2.00,0.00,0.000,6,0.000,0.038,2776,2435,3037,0,0,0,0,0,0
$GC,6298,-1.15,-76.8,763.2,-10.0,183,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2435,3035,0,0,0,0,0,0
$GC,6604,-1.15,-76.8,794.0,-10.1,188,6615,0.00,2.10,0.00,0.000,4,0.000,0.062,2771,3773,3034,0,0,0,0,0,0
$GC,6634,-1.15,-76.8,797.6,-10.9,188,6646,0.00,2.00,0.00,0.000,6,0.000,0.038,2770,2428,3035,0,0,0,0,0,0
$GC,6976,-1.15,-80.1,829.6,-9.3,194,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2428,3031,0,0,0,0,0,0
$GC,7278,-1.16,-84.9,856.9,-9.1,199,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2427,3031,0,0,0,0,0,0
$GC,7580,-1.16,-89.0,884.6,-9.2,204,7591,0.00,2.15,0.00,0.000,4,0.000,0.063,2760,3777,3029,0,0,0,0,0,0
$GC,7701,-1.16,-89.0,897.2,-10.9,205,7709,0.00,2.08,0.00,0.000,6,0.000,0.039,2760,2429,3028,0,0,0,0,0,0
$GC,8008,-1.16,-89.7,927.6,-9.9,211,8013,0.00,2.45,0.00,0.000,4,0.000,0.048,2760,860,3026,0,0,0,0,0,0
$GC,8120,-1.16,-89.7,939.2,-10.2,212,8125,0.10,2.50,0.00,0.000,6,0.230,0.050,2774,2434,3025,0,0,0,0,0,0
$GC,8438,-1.17,-96.0,967.4,-8.7,218,8442,0.00,2.17,0.00,0.000,4,0.000,0.063,2766,3781,3024,0,0,0,0,0,0
$GC,8485,-1.17,-96.0,972.0,-10.4,218,8490,0.00,2.08,0.00,0.000,6,0.000,0.039,2766,2435,3024,0,0,0,0,0,0
$STATE,8742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8742,begin apogee
$GC,8744,-0.14,0.0,993.8,8.5,223,8806,1.27,0.00,59.08,1.191,6,0.203,0.000,3109,2435,2738,0,0,0,0,0,0
$STATE,8807,end apogee,CONTROL_FINISHED_OK
$STATE,8807,begin climb
$GC,8808,1.17,96.0,994.0,0.0,224,8899,1.20,2.70,83.62,1.179,4,0.073,0.047,3550,818,2345,0,0,0,0,0,0
$GC,8908,1.17,96.0,981.5,19.0,225,8913,0.00,2.67,0.00,0.000,6,0.000,0.048,3548,2404,2342,0,0,0,0,0,0
$GC,9232,1.17,96.0,914.0,20.8,231,9236,0.00,2.55,0.00,0.000,4,0.000,0.048,3558,820,2335,0,0,0,0,0,0
$GC,9268,1.17,96.0,906.4,21.3,231,9274,0.00,2.58,0.00,0.000,6,0.000,0.048,3558,2409,2334,0,0,0,0,0,0
$GC,9597,1.17,96.0,837.9,21.0,237,9601,0.00,2.53,0.00,0.000,4,0.000,0.047,3570,821,2331,0,0,0,0,0,0
$GC,9661,1.17,96.0,825.2,20.0,238,9665,0.10,2.53,0.00,0.000,6,0.229,0.049,3545,2400,2331,0,0,0,0,0,0
$GC,10026,1.17,96.0,753.5,19.4,244,10031,0.00,2.50,0.00,0.000,4,0.000,0.047,3555,818,2330,0,0,0,0,0,0
$GC,10074,1.17,96.0,744.1,20.1,244,10079,0.00,2.53,0.00,0.000,6,0.000,0.049,3555,2398,2329,0,0,0,0,0,0
$GC,10392,1.17,96.0,680.4,20.0,250,10396,0.00,2.47,0.00,0.000,4,0.000,0.047,3565,828,2328,0,0,0,0,0,0
$GC,10466,1.17,96.0,665.9,19.2,251,10471,0.00,2.50,0.00,0.000,6,0.000,0.049,3565,2397,2327,0,0,0,0,0,0
$GC,10821,1.17,96.0,595.7,19.9,257,10825,0.00,2.47,0.00,0.000,4,0.000,0.047,3577,823,2326,0,0,0,0,0,0
$GC,10971,1.17,96.0,566.2,20.2,259,10976,0.12,2.50,0.00,0.000,6,0.228,0.048,3546,2399,2326,0,0,0,0,0,0
$GC,11315,1.17,96.0,501.7,18.7,265,11319,0.00,2.47,0.00,0.000,4,0.000,0.045,3554,821,2326,0,0,0,0,0,0
$GC,11340,1.17,96.0,496.9,18.2,265,11345,0.00,2.50,0.00,0.000,6,0.000,0.047,3554,2403,2325,0,0,0,0,0,0
$GC,11680,1.17,96.0,433.3,18.8,271,11684,0.00,2.47,0.00,0.000,4,0.000,0.046,3565,824,2325,0,0,0,0,0,0
$GC,11802,1.17,96.0,410.2,19.2,272,11810,0.00,2.50,0.00,0.000,6,0.000,0.047,3565,2405,2326,0,0,0,0,0,0
$GC,12109,1.17,96.0,352.7,18.8,278,12114,0.00,2.47,0.00,0.000,4,0.000,0.046,3577,818,2325,0,0,0,0,0,0
$GC,12157,1.17,96.0,343.5,19.9,278,12162,0.12,2.50,0.00,0.000,6,0.224,0.045,3546,2407,2325,0,0,0,0,0,0
$GC,12475,1.17,96.0,286.3,17.8,285,12479,0.00,2.47,0.00,0.000,4,0.000,0.044,3556,821,2327,0,0,0,0,0,0
$GC,12501,1.17,96.0,282.2,16.2,285,12509,0.00,2.47,0.00,0.000,6,0.000,0.045,3556,2398,2326,0,0,0,0,0,0
$GC,12810,1.17,96.0,232.7,15.8,296,12815,0.00,2.45,0.00,0.000,4,0.000,0.044,3567,823,2326,0,0,0,0,0,0
$GC,12836,1.17,96.0,228.9,14.5,296,12844,0.10,2.47,0.00,0.000,6,0.219,0.044,3544,2400,2327,0,0,0,0,0,0
$GC,13145,1.17,96.0,189.3,12.6,307,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2400,2328,0,0,0,0,0,0
$GC,13448,1.17,96.0,149.8,13.3,317,13453,0.00,2.20,0.00,0.000,4,0.000,0.056,3542,3789,2329,0,0,0,0,0,0
$GC,13517,1.17,96.0,139.2,15.1,319,13522,0.00,2.12,0.00,0.000,6,0.000,0.033,3551,2387,2329,0,0,0,0,0,0
$GC,13827,1.17,96.0,96.5,14.0,330,13832,0.00,2.40,0.00,0.000,4,0.000,0.043,3562,825,2330,0,0,0,0,0,0
$GC,13928,1.17,96.0,83.3,13.3,339,13936,0.00,2.47,0.00,0.000,6,0.000,0.044,3562,2414,2331,0,0,0,0,0,0
$GC,14120,1.17,96.0,57.5,12.8,358,14124,0.00,2.45,0.00,0.000,4,0.000,0.041,3574,827,2332,0,0,0,0,0,0
$GC,14365,1.19,111.7,33.8,6.9,381,14382,0.10,2.45,11.65,0.518,6,0.217,0.041,3549,2407,2281,0,0,0,0,0,0
$GC,14569,1.19,114.2,15.0,9.5,405,14578,0.00,2.42,3.65,0.353,4,0.000,0.041,3559,823,2272,0,0,0,0,0,0
$GC,14587,1.20,119.2,13.6,9.0,408,14601,0.00,2.45,5.35,0.425,6,0.000,0.041,3559,2405,2251,0,0,0,0,0,0
$GC,14663,1.20,120.0,6.5,9.8,422,14671,0.00,2.17,0.00,0.000,4,0.000,0.054,3559,3780,2251,0,0,0,0,0,0
$STATE,14711,end climb,SURFACE_DEPTH_REACHED
$STATE,14711,begin surface coast
$FINISH,0.4,1.023755
$STATE,14732,end surface coast,CONTROL_FINISHED_OK
$STATE,14732,begin surface
$SM_CCo,14748,117.28,0.526,0,0,1310,350.04
$SM_GC,1.13,0.00,0.00,117.28,0.000,0.000,0.526,168,2433,1310,-9.36,-0.20,350.04
$IRIDIUM_FIX,2432.32,-7736.76,041211,222253
$TT8_MAMPS,0.125832
$HUMID,1078069023
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.40
$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,37
$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,8.7/483886/441681
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.8/297829/280547
$PA_DATA1,44.0/7836665/4390950
$PA_DATA0,95.1/7836665/381165
$24V_AH,24.1,11.865
$10V_AH,10.3,13.389
$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,24.625,143.700,163.350,117.275,0.000,53.363,56.422,283.089,0.000,0.000,35.729,0.000,12500.271,480.300,2372.118,95.839,33.340,1349.855,0.000,1268.971,0.000,0.542,0.000
$DEVICE_MAMPS,268.515,68.850,1191.105,526.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,292.221,0.000,0.000,0.000,0.000,0.000,8298.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,56.929,0.000,0.000,0.000
$MEM,355052
$DATA_FILE_SIZE,16819,435
$CAP_FILE_SIZE,127463,0
$CFSIZE,260165632,252985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,080745,2441.729,-7737.065,145,4.5,164,-7.1