version: 66.07
glider: 178
mission: 4
dive: 18
start: 6 9 110 14 51 10
data:
$ID,178
$MISSION,4
$DIVE,18
$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,360
$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,30
$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,550
$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,-6002.1455
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,090610,144557,2440.666,-7736.992,118,2.1,137,-7.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.9
$GPS2,090610,145029,2440.663,-7736.963,31,2.0,40,-7.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.068,0.159
$KALMAN_X,-1465.0,-37.4,-4.0,463.6,-622.5
$KALMAN_Y,-1679.4,-61.4,179.8,685.1,-798.0
$MHEAD_RNG_PITCHd_Wd,30.1,1200,-27.2,-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,-0.83,-63.0,0.0,0.0,0,116,0.00,0.00,-94.95,0.000,6,0.000,0.000,168,2467,2993,0,0,0,0,0,0
$GC,118,-0.90,-112.6,2.6,-4.7,17,142,12.25,2.53,-4.25,0.000,4,0.271,0.055,2872,866,3202,0,0,0,0,0,0
$GC,311,-0.90,-112.6,43.6,-17.2,41,316,0.00,2.47,0.00,0.000,6,0.000,0.045,2863,2426,3204,0,0,0,0,0,0
$GC,508,-0.90,-112.6,76.6,-16.8,60,513,0.00,2.42,0.00,0.000,4,0.000,0.041,2862,867,3205,0,0,0,0,0,0
$GC,572,-0.90,-112.6,86.8,-15.4,66,577,0.00,2.47,0.00,0.000,6,0.000,0.044,2851,2440,3203,0,0,0,0,0,0
$GC,787,-0.90,-112.6,119.9,-15.6,79,791,0.00,2.12,0.00,0.000,4,0.000,0.054,2841,3780,3206,0,0,0,0,0,0
$GC,812,-0.90,-112.6,124.2,-16.9,79,821,0.00,2.03,0.00,0.000,6,0.000,0.033,2845,2444,3206,0,0,0,0,0,0
$GC,1121,-0.90,-112.6,173.3,-15.6,90,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2444,3206,0,0,0,0,0,0
$GC,1425,-0.90,-112.6,217.5,-12.9,100,1433,0.00,2.10,0.00,0.000,4,0.000,0.056,2833,3789,3207,0,0,0,0,0,0
$GC,1490,-0.90,-112.6,226.7,-14.3,102,1498,0.15,2.00,0.00,0.000,6,0.211,0.034,2870,2438,3207,0,0,0,0,0,0
$GC,1815,-0.90,-112.6,262.7,-10.8,113,1823,0.00,2.10,0.00,0.000,4,0.000,0.057,2862,3783,3208,0,0,0,0,0,0
$GC,1917,-0.90,-112.6,274.4,-11.8,116,1925,0.00,2.00,0.00,0.000,6,0.000,0.034,2864,2435,3207,0,0,0,0,0,0
$GC,2272,-0.90,-112.6,313.1,-10.4,126,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2435,3208,0,0,0,0,0,0
$GC,2574,-0.90,-112.6,344.9,-10.4,131,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2435,3208,0,0,0,0,0,0
$GC,2876,-0.90,-112.6,375.7,-10.3,136,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2435,3208,0,0,0,0,0,0
$GC,3178,-0.90,-115.4,405.1,-9.7,141,3186,0.00,2.10,0.00,0.000,4,0.000,0.058,2852,3781,3207,0,0,0,0,0,0
$GC,3221,-0.90,-115.4,410.0,-11.3,141,3229,0.00,2.00,0.00,0.000,6,0.000,0.036,2852,2448,3205,0,0,0,0,0,0
$GC,3545,-0.90,-115.4,444.0,-10.5,147,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2448,3206,0,0,0,0,0,0
$GC,3847,-0.90,-115.4,476.0,-10.6,152,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2448,3205,0,0,0,0,0,0
$GC,4148,-0.90,-115.4,507.1,-10.3,157,4156,0.00,2.10,0.00,0.000,4,0.000,0.059,2842,3786,3203,0,0,0,0,0,0
$GC,4191,-0.90,-115.4,512.1,-11.6,157,4199,0.00,2.00,0.00,0.000,6,0.000,0.037,2847,2432,3202,0,0,0,0,0,0
$GC,4510,-0.90,-115.4,545.4,-10.5,163,4519,0.00,2.40,0.00,0.000,4,0.000,0.044,2842,853,3202,0,0,0,0,0,0
$GC,4543,-0.90,-115.4,549.0,-10.8,163,4552,0.15,2.47,0.00,0.000,6,0.207,0.047,2865,2447,3202,0,0,0,0,0,0
$GC,4868,-0.91,-126.1,578.3,-8.9,169,4875,0.00,2.08,0.00,0.000,4,0.000,0.060,2857,3787,3201,0,0,0,0,0,0
$GC,4974,-0.91,-126.1,588.9,-10.3,170,4982,0.00,2.00,0.00,0.000,6,0.000,0.037,2857,2432,3200,0,0,0,0,0,0
$GC,5293,-0.91,-126.7,620.4,-9.9,176,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2432,3203,0,0,0,0,0,0
$GC,5595,-0.92,-131.2,649.2,-9.5,181,5603,0.00,2.40,0.00,0.000,4,0.000,0.046,2857,856,3201,0,0,0,0,0,0
$GC,5638,-0.92,-132.8,653.5,-9.8,181,5646,0.00,2.45,0.00,0.000,6,0.000,0.048,2846,2439,3197,0,0,0,0,0,0
$GC,5952,-0.92,-135.4,683.7,-9.7,187,5960,0.00,2.40,0.00,0.000,4,0.000,0.045,2849,862,3195,0,0,0,0,0,0
$GC,6001,-0.92,-135.4,688.9,-10.2,187,6009,0.00,2.47,0.00,0.000,6,0.000,0.050,2834,2443,3195,0,0,0,0,0,0
$GC,6309,-0.92,-135.4,720.1,-10.1,192,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2441,3194,0,0,0,0,0,0
$GC,6610,-0.92,-135.4,750.5,-10.1,197,6618,0.00,2.10,0.00,0.000,4,0.000,0.063,2824,3778,3192,0,0,0,0,0,0
$GC,6648,-0.92,-135.4,754.7,-11.5,197,6656,0.15,2.03,0.00,0.000,6,0.217,0.039,2857,2429,3191,0,0,0,0,0,0
$GC,6967,-0.94,-145.6,783.4,-8.9,203,6975,0.00,2.12,0.00,0.000,4,0.000,0.063,2849,3782,3188,0,0,0,0,0,0
$GC,7020,-0.94,-145.6,788.8,-10.1,203,7031,0.00,2.03,0.00,0.000,6,0.000,0.040,2849,2436,3190,0,0,0,0,0,0
$GC,7329,-0.95,-157.7,816.2,-8.7,209,7337,0.00,2.40,0.00,0.000,4,0.000,0.048,2849,859,3188,0,0,0,0,0,0
$GC,7362,-0.96,-163.9,819.1,-9.3,209,7370,0.00,2.47,0.00,0.000,6,0.000,0.050,2837,2439,3188,0,0,0,0,0,0
$GC,7686,-0.97,-170.3,848.2,-8.8,215,7694,0.00,2.40,0.00,0.000,4,0.000,0.047,2838,866,3187,0,0,0,0,0,0
$GC,7730,-0.97,-170.3,852.4,-9.5,215,7738,0.00,2.45,0.00,0.000,6,0.000,0.052,2826,2438,3187,0,0,0,0,0,0
$GC,8043,-0.97,-170.3,882.9,-9.6,221,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2435,3185,0,0,0,0,0,0
$GC,8345,-0.97,-170.3,912.0,-9.5,226,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2438,3183,0,0,0,0,0,0
$GC,8648,-0.97,-170.3,939.5,-9.1,231,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2438,3182,0,0,0,0,0,0
$GC,8949,-0.97,-170.3,966.2,-8.9,236,8957,0.00,2.42,0.00,0.000,4,0.000,0.049,2826,861,3180,0,0,0,0,0,0
$GC,8987,-0.97,-170.3,969.7,-8.8,236,8996,0.12,2.50,0.00,0.000,6,0.226,0.053,2840,2442,3180,0,0,0,0,0,0
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9248,-0.14,0.0,990.9,8.1,241,9345,0.98,0.00,90.80,1.203,6,0.193,0.000,3111,2442,2737,0,0,0,0,0,0
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9347,0.97,170.3,991.1,0.0,242,9507,1.02,2.78,147.20,1.187,4,0.075,0.047,3485,821,2041,0,0,0,0,0,0
$GC,9521,0.97,170.3,966.4,20.7,244,9530,0.00,2.62,0.00,0.000,6,0.000,0.050,3481,2402,2036,0,0,0,0,0,0
$GC,9829,0.97,170.3,898.6,22.2,249,9837,0.00,2.53,0.00,0.000,4,0.000,0.049,3496,822,2030,0,0,0,0,0,0
$GC,9910,0.97,170.3,881.0,20.4,250,9918,0.00,2.55,0.00,0.000,6,0.000,0.052,3488,2404,2028,0,0,0,0,0,0
$GC,10250,0.97,170.3,804.4,22.6,256,10258,0.00,2.47,0.00,0.000,4,0.000,0.050,3503,824,2026,0,0,0,0,0,0
$GC,10336,0.97,170.3,784.7,23.1,257,10344,0.12,2.53,0.00,0.000,6,0.220,0.052,3477,2408,2024,0,0,0,0,0,0
$GC,10671,0.97,170.3,713.0,21.4,263,10680,0.00,2.47,0.00,0.000,4,0.000,0.049,3486,818,2024,0,0,0,0,0,0
$GC,10715,0.97,170.3,703.7,19.8,263,10723,0.00,2.50,0.00,0.000,6,0.000,0.050,3479,2399,2023,0,0,0,0,0,0
$GC,11028,0.97,170.3,637.3,21.2,269,11037,0.00,2.45,0.00,0.000,4,0.000,0.048,3489,825,2023,0,0,0,0,0,0
$GC,11083,0.97,170.3,625.8,20.7,269,11093,0.00,2.50,0.00,0.000,6,0.000,0.050,3489,2406,2024,0,0,0,0,0,0
$GC,11390,0.97,170.3,558.6,21.9,275,11399,0.00,2.45,0.00,0.000,4,0.000,0.049,3501,825,2021,0,0,0,0,0,0
$GC,11429,0.97,170.3,550.2,21.0,275,11438,0.00,2.47,0.00,0.000,6,0.000,0.051,3500,2406,2020,0,0,0,0,0,0
$GC,11748,0.97,170.3,478.2,22.7,281,11757,0.00,2.42,0.00,0.000,4,0.000,0.047,3513,822,2020,0,0,0,0,0,0
$GC,11813,0.97,170.3,463.4,21.4,282,11822,0.15,2.47,0.00,0.000,6,0.212,0.050,3478,2408,2019,0,0,0,0,0,0
$GC,12170,0.97,170.3,388.8,20.8,288,12179,0.00,2.47,0.00,0.000,4,0.000,0.046,3487,815,2022,0,0,0,0,0,0
$GC,12198,0.97,170.3,382.9,19.0,288,12206,0.00,2.47,0.00,0.000,6,0.000,0.047,3488,2403,2018,0,0,0,0,0,0
$GC,12527,0.97,170.3,311.0,21.8,294,12536,0.00,2.45,0.00,0.000,4,0.000,0.047,3500,821,2018,0,0,0,0,0,0
$GC,12608,0.97,170.3,293.8,20.6,295,12616,0.00,2.47,0.00,0.000,6,0.000,0.048,3500,2404,2018,0,0,0,0,0,0
$GC,12917,0.97,170.3,226.8,21.2,305,12925,0.00,2.42,0.00,0.000,4,0.000,0.046,3512,821,2019,0,0,0,0,0,0
$GC,12934,0.97,170.3,223.3,19.9,305,12943,0.15,2.47,0.00,0.000,6,0.210,0.047,3477,2408,2019,0,0,0,0,0,0
$GC,13244,0.97,170.3,167.3,17.4,315,13252,0.00,2.45,0.00,0.000,4,0.000,0.044,3486,817,2019,0,0,0,0,0,0
$GC,13272,0.97,170.3,162.3,18.3,316,13280,0.00,2.42,0.00,0.000,6,0.000,0.046,3486,2402,2019,0,0,0,0,0,0
$GC,13602,0.97,170.3,103.9,17.8,327,13607,0.00,2.45,0.00,0.000,4,0.000,0.043,3490,817,2020,0,0,0,0,0,0
$GC,13639,0.97,170.3,97.0,18.8,328,13647,0.00,2.47,0.00,0.000,6,0.000,0.044,3490,2399,2020,0,0,0,0,0,0
$GC,13831,0.97,170.3,62.0,16.6,347,13835,0.00,2.45,0.00,0.000,4,0.000,0.043,3500,817,2020,0,0,0,0,0,0
$GC,14028,0.97,170.3,30.5,14.9,365,14036,0.00,2.47,0.00,0.000,6,0.000,0.042,3497,2409,2021,0,0,0,0,0,0
$GC,14224,0.97,170.3,2.7,12.1,395,14231,0.00,2.45,0.00,0.000,4,0.000,0.042,3512,823,2022,0,0,0,0,0,0
$STATE,14234,end climb,SURFACE_DEPTH_REACHED
$STATE,14234,begin surface coast
$FINISH,0.3,1.023346
$STATE,14250,end surface coast,CONTROL_FINISHED_OK
$STATE,14250,begin surface
$SM_CCo,14266,176.38,0.534,0,0,495,550.21
$SM_GC,0.89,0.00,0.00,176.38,0.000,0.000,0.534,162,2446,495,-9.37,0.17,550.21
$IRIDIUM_FIX,2432.32,-7739.08,031211,040438
$TT8_MAMPS,0.144557
$HUMID,1078075474
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,23.90
$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,34
$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,8.5/483886/442698
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.1/297829/282661
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,60.5/7836665/3096731
$24V_AH,24.0,10.799
$10V_AH,10.3,10.517
$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,24.300,141.750,238.000,176.375,0.000,27.870,27.651,120.630,0.000,0.000,41.290,0.000,12070.199,586.416,1978.011,73.579,33.329,1511.589,0.000,1079.613,0.000,0.541,0.000
$DEVICE_MAMPS,270.810,63.495,1203.345,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,268.398,0.000,0.000,0.000,0.000,0.000,14891.330,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.765,0.000,0.000,0.000
$MEM,355048
$DATA_FILE_SIZE,13518,400
$CAP_FILE_SIZE,112070,0
$CFSIZE,260165632,253751296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9
$GPS,090610,185527,2442.437,-7736.075,177,2.7,196,-7.1