version: 66.09
glider: 179
mission: 6
dive: 20
start: 1 6 111 23 28 11
data:
$ID,179
$MISSION,6
$DIVE,20
$N_DIVES,0
$D_SURF,3
$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,230
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,501
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51729
$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,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-16229.881
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2748
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-37.840191
$PRESSURE_SLOPE,0.0001164844
$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,130
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,060111,232222,3250.520,-11905.518,54,3.1,74,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.3
$GPS2,060111,232728,3250.532,-11905.435,12,2.8,31,13.4
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.277,0.243
$KALMAN_X,31198.5,-550.6,-129.5,-61214.5,3925.2
$KALMAN_Y,-19892.8,34.3,157.2,38855.4,-3414.0
$MHEAD_RNG_PITCHd_Wd,297.8,4343,-18.4,-14.348
$D_GRID,1237
$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,-1.06,-243.3,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,146,2262,2931,0,0,0,0,0,0
$GC,84,-1.06,-243.3,3.4,-4.6,11,123,10.98,2.50,-17.58,0.000,4,0.278,0.055,2498,666,3740,0,0,0,0,0,0
$GC,244,-1.06,-243.3,44.8,-22.7,31,252,0.00,2.50,0.00,0.000,6,0.000,0.045,2489,2240,3743,0,0,0,0,0,0
$GC,436,-1.06,-243.3,94.6,-24.7,49,444,0.00,2.42,0.00,0.000,4,0.000,0.041,2489,662,3743,0,0,0,0,0,0
$GC,458,-1.06,-243.3,100.0,-24.8,50,469,0.12,2.53,0.00,0.000,6,0.182,0.047,2506,2253,3743,0,0,0,0,0,0
$GC,646,-1.06,-243.3,141.5,-22.3,57,655,0.00,2.33,0.00,0.000,4,0.000,0.061,2497,3690,3744,0,0,0,0,0,0
$GC,680,-1.06,-243.3,149.4,-23.0,58,688,0.00,2.22,0.00,0.000,6,0.000,0.037,2497,2236,3744,0,0,0,0,0,0
$GC,1017,-1.06,-243.3,221.4,-21.0,69,1026,0.00,2.33,0.00,0.000,4,0.000,0.060,2486,3687,3745,0,0,0,0,0,0
$GC,1066,-1.06,-243.3,232.4,-22.8,70,1074,0.00,2.17,0.00,0.000,6,0.000,0.036,2486,2242,3745,0,0,0,0,0,0
$GC,1387,-1.06,-243.3,305.2,-23.0,81,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3746,0,0,0,0,0,0
$GC,1689,-1.06,-243.3,370.8,-21.6,86,1697,0.00,2.33,0.00,0.000,4,0.000,0.059,2475,3688,3746,0,0,0,0,0,0
$GC,1733,-1.06,-243.3,381.0,-22.7,86,1742,0.12,2.17,0.00,0.000,6,0.186,0.037,2505,2244,3746,0,0,0,0,0,0
$GC,2059,-1.06,-243.3,444.3,-19.4,92,2067,0.00,2.28,0.00,0.000,4,0.000,0.060,2495,3677,3746,0,0,0,0,0,0
$GC,2087,-1.06,-243.3,450.1,-20.4,92,2096,0.00,2.17,0.00,0.000,6,0.000,0.035,2495,2240,3746,0,0,0,0,0,0
$GC,2428,-1.06,-243.3,517.3,-19.5,98,2437,0.00,2.30,0.00,0.000,4,0.000,0.060,2484,3684,3745,0,0,0,0,0,0
$GC,2467,-1.06,-243.3,525.2,-20.5,98,2478,0.00,2.17,0.00,0.000,6,0.000,0.036,2484,2244,3747,0,0,0,0,0,0
$GC,2801,-1.06,-243.3,591.0,-19.8,104,2809,0.00,2.28,0.00,0.000,4,0.000,0.060,2473,3677,3748,0,0,0,0,0,0
$GC,2829,-1.06,-243.3,597.0,-20.7,104,2839,0.12,2.15,0.00,0.000,6,0.184,0.036,2502,2253,3745,0,0,0,0,0,0
$GC,3171,-1.06,-243.3,657.9,-17.5,110,3182,0.00,2.28,0.00,0.000,4,0.000,0.061,2499,3681,3745,0,0,0,0,0,0
$GC,3207,-1.06,-243.3,664.4,-18.4,110,3218,0.00,2.17,0.00,0.000,6,0.000,0.037,2494,2247,3745,0,0,0,0,0,0
$GC,3546,-1.06,-243.3,726.1,-18.4,116,3554,0.00,2.30,0.00,0.000,4,0.000,0.061,2483,3678,3744,0,0,0,0,0,0
$GC,3585,-1.06,-243.3,733.8,-19.7,116,3593,0.00,2.17,0.00,0.000,6,0.000,0.037,2483,2238,3744,0,0,0,0,0,0
$GC,3910,-1.06,-243.3,797.9,-19.8,122,3918,0.00,2.33,0.00,0.000,4,0.000,0.062,2472,3681,3743,0,0,0,0,0,0
$GC,3954,-1.06,-243.3,807.1,-20.9,122,3962,0.00,2.17,0.00,0.000,6,0.000,0.038,2472,2250,3743,0,0,0,0,0,0
$GC,4279,-1.06,-243.3,872.1,-20.0,128,4285,0.12,0.00,0.00,0.000,6,0.192,0.000,2498,2252,3743,0,0,0,0,0,0
$GC,4580,-1.06,-243.3,923.4,-16.7,133,4589,0.00,2.30,0.00,0.000,4,0.000,0.062,2493,3676,3741,0,0,0,0,0,0
$GC,4620,-1.06,-243.3,930.3,-18.0,133,4628,0.00,2.17,0.00,0.000,6,0.000,0.038,2493,2244,3741,0,0,0,0,0,0
$GC,4950,-1.06,-243.3,986.6,-17.0,139,4959,0.00,2.30,0.00,0.000,4,0.000,0.063,2482,3677,3741,0,0,0,0,0,0
$STATE,4972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4973,begin apogee
$GC,4978,-0.21,0.0,990.7,16.7,139,5199,0.95,0.00,210.85,1.169,6,0.148,0.000,2769,1917,2752,0,0,0,0,0,0
$STATE,5200,end apogee,CONTROL_FINISHED_OK
$STATE,5200,begin climb
$GC,5201,1.06,243.3,1002.9,0.0,142,5439,1.23,2.75,224.48,1.151,4,0.057,0.047,3209,356,1757,0,0,0,0,0,0
$GC,5468,1.06,243.3,962.3,26.1,147,5476,0.00,2.65,0.00,0.000,6,0.000,0.037,3209,1936,1752,0,0,0,0,0,0
$GC,5814,1.06,243.3,869.0,27.2,153,5822,0.00,2.58,0.00,0.000,4,0.000,0.054,3209,3514,1749,0,0,0,0,0,0
$GC,5879,1.06,243.3,849.8,30.5,154,5887,0.00,2.50,0.00,0.000,6,0.000,0.037,3221,1931,1748,0,0,0,0,0,0
$GC,6235,1.06,243.3,751.0,27.4,160,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1924,1747,0,0,0,0,0,0
$GC,6537,1.06,243.3,669.4,27.0,165,6545,0.00,2.55,0.00,0.000,4,0.000,0.057,3221,3513,1747,0,0,0,0,0,0
$GC,6570,1.06,243.3,659.9,29.2,165,6579,0.17,2.47,0.00,0.000,6,0.207,0.037,3194,1918,1747,0,0,0,0,0,0
$GC,6895,1.06,243.3,579.5,24.3,171,6903,0.00,2.53,0.00,0.000,4,0.000,0.056,3194,3508,1746,0,0,0,0,0,0
$GC,6933,1.06,243.3,569.5,27.0,171,6941,0.00,2.45,0.00,0.000,6,0.000,0.037,3204,1922,1746,0,0,0,0,0,0
$GC,7252,1.06,243.3,489.4,25.2,177,7260,0.00,2.50,0.00,0.000,4,0.000,0.054,3204,3508,1746,0,0,0,0,0,0
$GC,7300,1.06,243.3,476.2,27.5,177,7312,0.00,2.45,0.00,0.000,6,0.000,0.037,3215,1922,1746,0,0,0,0,0,0
$GC,7613,1.06,243.3,396.1,25.9,182,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1915,1746,0,0,0,0,0,0
$GC,7915,1.06,243.3,322.2,24.4,187,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1915,1746,0,0,0,0,0,0
$GC,8218,1.06,243.3,251.0,23.7,195,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1914,1749,0,0,0,0,0,0
$GC,8522,1.06,243.3,182.6,22.6,205,8534,0.00,2.53,0.00,0.000,4,0.000,0.054,3221,3513,1743,0,0,0,0,0,0
$GC,8628,1.06,243.3,154.7,25.1,208,8634,0.10,2.47,0.00,0.000,6,0.189,0.037,3201,1920,1746,0,0,0,0,0,0
$GC,8944,1.06,243.3,86.2,21.5,222,8949,0.00,2.55,0.00,0.000,4,0.000,0.054,3200,3513,1746,0,0,0,0,0,0
$GC,8997,1.06,243.3,73.2,25.3,227,9002,0.00,2.47,0.00,0.000,6,0.000,0.038,3210,1914,1746,0,0,0,0,0,0
$GC,9194,1.06,243.3,32.9,21.0,246,9199,0.00,2.47,0.00,0.000,4,0.000,0.050,3216,345,1746,0,0,0,0,0,0
$GC,9306,1.06,243.3,11.3,19.1,260,9314,0.00,2.45,0.00,0.000,6,0.000,0.037,3217,1929,1746,0,0,0,0,0,0
$STATE,9354,end climb,SURFACE_DEPTH_REACHED
$STATE,9354,begin surface coast
$FINISH,1.0,1.012283
$STATE,9370,end surface coast,CONTROL_FINISHED_OK
$STATE,9370,begin surface
$SM_CCo,9384,29.62,0.551,0,0,1525,300.00
$SM_GC,2.25,0.00,0.00,29.62,0.000,0.000,0.551,140,2271,1525,-8.47,0.59,300.00
$IRIDIUM_FIX,3239.07,-11853.81,060111,202026
$TT8_MAMPS,0.117593
$HUMID,52.32
$INTERNAL_PRESSURE,9.5836
$TCM_TEMP,19.10
$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,93
$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,9.1/483886/439620
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.0/297829/274068
$PA_DATA1,16.6/7836665/6533647
$PA_DATA0,97.1/7836665/223632
$24V_AH,22.8,17.256
$10V_AH,10.1,12.953
$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,22.175,100.650,435.325,29.625,0.000,29.791,33.800,136.519,42.000,0.000,33.249,0.000,7357.538,496.881,1789.012,74.264,33.339,1263.051,0.000,818.122,0.000,267.689,0.000
$DEVICE_MAMPS,277.695,62.730,1168.920,550.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,185.269,0.000,0.000,0.000,0.000,0.000,1957.650,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,61.734,0.000,0.000,0.000
$MEM,317728
$DATA_FILE_SIZE,10131,272
$CAP_FILE_SIZE,103901,0
$CFSIZE,260165632,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,020624,3251.319,-11906.516,44,1.9,62,13.4