version: 66.07
glider: 178
mission: 4
dive: 26
start: 6 10 110 19 49 48
data:
$ID,178
$MISSION,4
$DIVE,26
$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,-6118.7524
$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,43
$R_STBD_OVSHOOT,23
$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
$GPS1,100610,194508,2441.485,-7735.481,12,1.8,12,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.7
$GPS2,100610,194907,2441.483,-7735.455,11,1.9,11,-7.1
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.141,-0.021
$KALMAN_X,-485.9,-28.4,183.9,1811.3,489.4
$KALMAN_Y,-581.5,152.7,39.6,1034.3,81.3
$MHEAD_RNG_PITCHd_Wd,268.6,2345,-32.6,-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,-0.96,-44.5,0.0,0.0,0,82,0.00,0.00,-61.35,0.000,6,0.000,0.000,166,2441,2921,0,0,0,0,0,0
$GC,83,-1.02,-92.8,2.6,-2.7,11,108,11.55,2.12,-4.57,0.000,4,0.259,0.066,2815,3781,3119,0,0,0,0,0,0
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$GC,212,-1.02,-92.8,29.9,-17.7,30,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2426,3120,0,0,0,0,0,0
$GC,398,-1.02,-92.8,61.9,-17.2,48,403,0.00,2.12,0.00,0.000,4,0.000,0.051,2811,3778,3123,0,0,0,0,0,0
$GC,445,-1.02,-92.8,69.9,-16.4,52,453,0.00,2.03,0.00,0.000,6,0.000,0.031,2818,2432,3121,0,0,0,0,0,0
$GC,637,-1.02,-92.8,99.1,-14.1,71,642,0.00,2.12,0.00,0.000,4,0.000,0.051,2811,3787,3121,0,0,0,0,0,0
$GC,663,-1.02,-92.8,103.2,-15.1,72,671,0.00,2.03,0.00,0.000,6,0.000,0.031,2813,2436,3121,0,0,0,0,0,0
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$GC,1276,-1.02,-92.8,191.2,-14.3,93,1284,0.00,2.33,0.00,0.000,4,0.000,0.040,2813,867,3121,0,0,0,0,0,0
$GC,1523,-1.02,-92.8,225.8,-13.6,100,1534,0.00,2.42,0.00,0.000,6,0.000,0.042,2803,2452,3120,0,0,0,0,0,0
$GC,1832,-1.02,-92.8,263.4,-12.2,111,1840,0.00,2.38,0.00,0.000,4,0.000,0.039,2803,868,3120,0,0,0,0,0,0
$GC,1896,-1.02,-92.8,271.6,-12.1,113,1905,0.15,2.40,0.00,0.000,6,0.216,0.042,2825,2439,3120,0,0,0,0,0,0
$GC,2222,-1.02,-92.8,307.1,-10.8,123,2230,0.00,2.05,0.00,0.000,4,0.000,0.054,2817,3777,3118,0,0,0,0,0,0
$GC,2266,-1.02,-92.8,312.1,-11.3,123,2273,0.00,1.95,0.00,0.000,6,0.000,0.034,2817,2441,3120,0,0,0,0,0,0
$GC,2589,-1.02,-92.8,348.4,-11.3,129,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2442,3117,0,0,0,0,0,0
$GC,2891,-1.02,-92.8,382.7,-11.3,134,2900,0.00,2.38,0.00,0.000,4,0.000,0.041,2817,859,3115,0,0,0,0,0,0
$GC,2925,-1.02,-92.8,386.7,-11.8,134,2933,0.00,2.42,0.00,0.000,6,0.000,0.044,2806,2441,3114,0,0,0,0,0,0
$GC,3249,-1.02,-92.8,424.4,-11.6,140,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2441,3113,0,0,0,0,0,0
$GC,3550,-1.02,-92.8,457.9,-11.0,145,3559,0.00,2.38,0.00,0.000,4,0.000,0.041,2806,869,3110,0,0,0,0,0,0
$GC,3696,-1.02,-92.8,474.9,-11.6,147,3704,0.15,2.42,0.00,0.000,6,0.210,0.045,2829,2444,3112,0,0,0,0,0,0
$GC,4036,-1.02,-92.8,509.2,-10.1,153,4044,0.00,2.08,0.00,0.000,4,0.000,0.057,2821,3779,3107,0,0,0,0,0,0
$GC,4069,-1.02,-92.8,512.6,-11.1,153,4076,0.00,1.98,0.00,0.000,6,0.000,0.035,2821,2444,3107,0,0,0,0,0,0
$GC,4398,-1.02,-92.8,546.8,-10.5,159,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2444,3106,0,0,0,0,0,0
$GC,4699,-1.02,-93.8,576.6,-9.9,164,4707,0.00,2.10,0.00,0.000,4,0.000,0.058,2811,3787,3104,0,0,0,0,0,0
$GC,4721,-1.02,-94.5,578.7,-9.9,164,4728,0.00,2.00,0.00,0.000,6,0.000,0.036,2808,2441,3103,0,0,0,0,0,0
$GC,5066,-1.02,-96.7,612.2,-9.7,170,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2440,3102,0,0,0,0,0,0
$GC,5367,-1.03,-102.4,640.3,-9.1,175,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2440,3100,0,0,0,0,0,0
$GC,5669,-1.04,-106.4,668.7,-9.4,180,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2440,3099,0,0,0,0,0,0
$GC,5971,-1.04,-109.0,697.7,-9.6,185,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2440,3097,0,0,0,0,0,0
$GC,6272,-1.05,-114.0,725.8,-9.3,190,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2441,3095,0,0,0,0,0,0
$GC,6575,-1.05,-117.3,754.4,-9.5,195,6583,0.00,2.42,0.00,0.000,4,0.000,0.047,2810,868,3094,0,0,0,0,0,0
$GC,6655,-1.05,-117.3,762.6,-10.3,196,6663,0.00,2.42,0.00,0.000,6,0.000,0.050,2799,2437,3093,0,0,0,0,0,0
$GC,7001,-1.05,-117.3,797.2,-10.0,202,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2436,3094,0,0,0,0,0,0
$GC,7302,-1.05,-120.2,826.3,-9.6,207,7310,0.00,2.40,0.00,0.000,4,0.000,0.046,2800,859,3089,0,0,0,0,0,0
$GC,7340,-1.05,-120.2,830.2,-10.9,207,7349,0.12,2.47,0.00,0.000,6,0.220,0.050,2814,2440,3089,0,0,0,0,0,0
$GC,7659,-1.06,-129.4,858.0,-8.6,213,7667,0.00,2.12,0.00,0.000,4,0.000,0.063,2806,3783,3087,0,0,0,0,0,0
$GC,7692,-1.07,-131.5,861.0,-9.7,213,7701,0.00,2.03,0.00,0.000,6,0.000,0.039,2806,2440,3087,0,0,0,0,0,0
$GC,8022,-1.08,-139.9,889.8,-8.7,219,8030,0.00,2.45,0.00,0.000,4,0.000,0.047,2803,859,3086,0,0,0,0,0,0
$GC,8049,-1.08,-144.3,892.2,-9.3,219,8057,0.00,2.47,0.00,0.000,6,0.000,0.050,2796,2449,3083,0,0,0,0,0,0
$GC,8379,-1.08,-146.0,922.4,-9.2,225,8387,0.00,2.12,0.00,0.000,4,0.000,0.065,2785,3786,3084,0,0,0,0,0,0
$GC,8406,-1.08,-146.0,925.0,-10.3,225,8414,0.00,2.05,0.00,0.000,6,0.000,0.041,2785,2432,3082,0,0,0,0,0,0
$GC,8741,-1.08,-146.0,955.9,-9.3,231,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2432,3082,0,0,0,0,0,0
$GC,9042,-1.08,-146.0,983.3,-9.2,236,9050,0.00,2.15,0.00,0.000,4,0.000,0.065,2778,3775,3080,0,0,0,0,0,0
$STATE,9111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9111,begin apogee
$GC,9116,-0.14,0.0,990.4,9.9,237,9193,1.20,0.00,69.85,1.199,6,0.201,0.000,3104,2396,2739,0,0,0,0,0,0
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9194,begin climb
$GC,9195,1.08,146.0,991.3,0.0,238,9335,1.15,2.67,126.40,1.188,4,0.078,0.047,3521,817,2140,0,0,0,0,0,0
$GC,9360,1.08,146.0,966.6,21.9,240,9368,0.00,2.62,0.00,0.000,6,0.000,0.048,3522,2407,2136,0,0,0,0,0,0
$GC,9679,1.08,146.0,892.1,23.3,246,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2407,2130,0,0,0,0,0,0
$GC,9980,1.08,146.0,822.6,23.1,251,9989,0.00,2.50,0.00,0.000,4,0.000,0.049,3533,818,2130,0,0,0,0,0,0
$GC,10072,1.08,146.0,801.3,24.0,252,10080,0.00,2.50,0.00,0.000,6,0.000,0.048,3533,2402,2126,0,0,0,0,0,0
$GC,10401,1.08,146.0,725.7,22.9,258,10410,0.00,2.47,0.00,0.000,4,0.000,0.048,3545,821,2124,0,0,0,0,0,0
$GC,10466,1.08,146.0,711.0,23.1,259,10475,0.15,2.50,0.00,0.000,6,0.216,0.050,3511,2400,2123,0,0,0,0,0,0
$GC,10824,1.08,146.0,632.6,22.0,265,10831,0.00,2.45,0.00,0.000,4,0.000,0.047,3520,807,2122,0,0,0,0,0,0
$GC,10867,1.08,146.0,623.1,21.9,265,10874,0.00,2.53,0.00,0.000,6,0.000,0.050,3521,2410,2121,0,0,0,0,0,0
$GC,11180,1.08,146.0,554.5,21.9,271,11188,0.00,2.47,0.00,0.000,4,0.000,0.047,3533,811,2121,0,0,0,0,0,0
$GC,11234,1.08,146.0,543.0,21.2,271,11244,0.00,2.50,0.00,0.000,6,0.000,0.047,3533,2408,2120,0,0,0,0,0,0
$GC,11541,1.08,146.0,474.1,22.6,277,11550,0.00,2.45,0.00,0.000,4,0.000,0.047,3545,817,2120,0,0,0,0,0,0
$GC,11579,1.08,146.0,465.3,21.6,277,11588,0.15,2.47,0.00,0.000,6,0.216,0.047,3511,2398,2120,0,0,0,0,0,0
$GC,11899,1.08,146.0,397.1,21.2,283,11907,0.00,2.45,0.00,0.000,4,0.000,0.046,3520,816,2120,0,0,0,0,0,0
$GC,11985,1.08,146.0,378.7,22.3,284,11994,0.00,2.47,0.00,0.000,6,0.000,0.047,3520,2402,2120,0,0,0,0,0,0
$GC,12320,1.08,146.0,305.1,22.1,290,12329,0.00,2.42,0.00,0.000,4,0.000,0.045,3532,817,2119,0,0,0,0,0,0
$GC,12407,1.08,146.0,286.3,21.4,291,12418,0.00,2.47,0.00,0.000,6,0.000,0.047,3532,2406,2121,0,0,0,0,0,0
$GC,12716,1.08,146.0,219.9,21.4,302,12725,0.00,2.45,0.00,0.000,4,0.000,0.045,3545,819,2120,0,0,0,0,0,0
$GC,12802,1.08,146.0,202.9,18.4,304,12814,0.15,2.47,0.00,0.000,6,0.208,0.046,3509,2410,2120,0,0,0,0,0,0
$GC,13114,1.08,146.0,148.8,16.8,315,13118,0.00,2.42,0.00,0.000,4,0.000,0.043,3519,815,2120,0,0,0,0,0,0
$GC,13213,1.08,146.0,131.5,15.2,318,13219,0.00,2.47,0.00,0.000,6,0.000,0.043,3518,2402,2120,0,0,0,0,0,0
$GC,13531,1.08,146.0,75.1,16.6,336,13535,0.00,2.45,0.00,0.000,4,0.000,0.043,3531,818,2121,0,0,0,0,0,0
$GC,13610,1.08,146.0,61.7,16.8,343,13619,0.00,2.45,0.00,0.000,6,0.000,0.044,3529,2391,2121,0,0,0,0,0,0
$GC,13802,1.08,146.0,32.6,14.4,362,13807,0.00,2.17,0.00,0.000,4,0.000,0.055,3531,3771,2122,0,0,0,0,0,0
$GC,13957,1.08,146.0,8.8,13.7,383,13965,0.10,2.08,0.00,0.000,6,0.205,0.033,3515,2388,2123,0,0,0,0,0,0
$STATE,14016,end climb,SURFACE_DEPTH_REACHED
$STATE,14016,begin surface coast
$FINISH,0.3,1.023736
$STATE,14032,end surface coast,CONTROL_FINISHED_OK
$STATE,14032,begin surface
$SM_CCo,14046,99.18,0.539,0,0,1310,350.04
$SM_GC,0.90,0.00,0.00,99.18,0.000,0.000,0.539,167,2460,1310,-9.36,0.57,350.04
$IRIDIUM_FIX,2432.32,-7734.44,041211,131312
$TT8_MAMPS,0.124334
$HUMID,1078136119
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.00
$XPDR_PINGS,20
$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,8.7/483886/441726
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.7/297829/280969
$PA_DATA1,32.4/7836665/5300903
$PA_DATA0,95.1/7836665/381158
$24V_AH,24.1,11.680
$10V_AH,10.3,12.814
$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,23.900,130.050,196.250,99.175,0.000,0.000,0.000,0.000,5.000,0.000,12.019,0.000,11880.296,436.729,1806.463,64.059,33.340,1359.264,0.000,1136.334,0.000,0.543,0.000
$DEVICE_MAMPS,259.335,101.745,1198.755,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,266.794,0.000,0.000,0.000,0.000,0.000,14157.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.401,0.000,0.000,0.000
$MEM,355056
$DATA_FILE_SIZE,13488,397
$CAP_FILE_SIZE,141901,0
$CFSIZE,260165632,253132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,234927,2441.399,-7737.054,196,5.8,215,-7.1