version: 66.09
glider: 179
mission: 6
dive: 24
start: 1 7 111 9 48 41
data:
$ID,179
$MISSION,6
$DIVE,24
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$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,120
$T_MISSION,150
$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,175
$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,-16235.014
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,070111,094107,3248.765,-11900.309,19,1.1,30,13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.2
$GPS2,070111,094758,3248.751,-11900.301,13,3.2,32,13.3
$SPEED_LIMITS,0.159,0.305
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.247,-0.180
$KALMAN_X,32280.2,-824.2,-684.4,-53455.0,1281.6
$KALMAN_Y,-22081.2,866.8,456.9,36610.7,-892.4
$MHEAD_RNG_PITCHd_Wd,112.8,7084,-20.7,-13.333
$D_GRID,1431
$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,-1.07,-170.3,0.0,0.0,0,83,0.00,0.00,-64.60,0.000,2,0.000,0.000,146,2253,2942,0,0,0,0,0,0
$GC,84,-1.07,-170.3,3.4,-4.6,11,117,10.85,2.33,-11.45,0.000,4,0.272,0.071,2488,3656,3445,0,0,0,0,0,0
$GC,297,-1.07,-170.3,63.7,-25.8,36,305,0.00,2.17,0.00,0.000,6,0.000,0.034,2488,2221,3447,0,0,0,0,0,0
$GC,488,-1.07,-170.3,107.2,-21.8,52,496,0.00,2.35,0.00,0.000,4,0.000,0.039,2486,678,3448,0,0,0,0,0,0
$GC,548,-1.07,-170.3,121.2,-22.8,54,556,0.00,2.45,0.00,0.000,6,0.000,0.041,2476,2241,3449,0,0,0,0,0,0
$GC,879,-1.07,-170.3,198.5,-22.9,65,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3449,0,0,0,0,0,0
$GC,1184,-1.07,-170.3,264.7,-22.0,75,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3450,0,0,0,0,0,0
$GC,1486,-1.07,-170.3,327.4,-20.6,83,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3448,0,0,0,0,0,0
$GC,1788,-1.07,-170.3,391.0,-21.2,88,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2241,3449,0,0,0,0,0,0
$GC,2090,-1.07,-170.3,450.9,-19.6,93,2098,0.00,2.40,0.00,0.000,4,0.000,0.041,2476,670,3449,0,0,0,0,0,0
$GC,2112,-1.07,-170.3,455.8,-20.3,93,2121,0.10,2.47,0.00,0.000,6,0.168,0.042,2494,2256,3449,0,0,0,0,0,0
$STATE,2277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2277,begin apogee
$GC,2280,-0.21,0.0,484.5,17.2,96,2430,0.93,0.00,139.38,0.842,6,0.152,0.000,2776,1925,2748,0,0,0,0,0,0
$STATE,2431,end apogee,CONTROL_FINISHED_OK
$STATE,2431,begin climb
$GC,2432,1.07,170.3,489.4,0.0,98,2587,1.20,2.65,143.75,0.825,4,0.068,0.046,3204,360,2054,0,0,0,0,0,0
$GC,2703,1.07,170.3,452.0,19.9,101,2711,0.00,2.50,0.00,0.000,6,0.000,0.035,3204,1930,2046,0,0,0,0,0,0
$GC,3010,1.07,170.3,391.3,19.8,106,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1930,2044,0,0,0,0,0,0
$GC,3312,1.07,170.3,333.7,19.1,111,3320,0.00,2.50,0.00,0.000,4,0.000,0.053,3203,3510,2043,0,0,0,0,0,0
$GC,3345,1.07,170.3,326.8,21.6,111,3353,0.00,2.45,0.00,0.000,6,0.000,0.035,3215,1929,2042,0,0,0,0,0,0
$GC,3670,1.07,170.3,261.9,19.6,120,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1923,2042,0,0,0,0,0,0
$GC,3973,1.07,170.3,202.5,19.4,130,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1924,2042,0,0,0,0,0,0
$GC,4277,1.07,170.3,148.9,17.1,140,4285,0.00,2.50,0.00,0.000,4,0.000,0.051,3216,3504,2041,0,0,0,0,0,0
$GC,4326,1.07,170.3,139.2,20.1,141,4334,0.12,2.42,0.00,0.000,6,0.209,0.036,3201,1924,2041,0,0,0,0,0,0
$GC,4637,1.07,170.3,83.5,17.1,157,4645,0.00,2.45,0.00,0.000,4,0.000,0.047,3211,338,2040,0,0,0,0,0,0
$GC,4654,1.07,170.3,80.8,16.2,158,4661,0.00,2.42,0.00,0.000,6,0.000,0.035,3211,1924,2041,0,0,0,0,0,0
$GC,4845,1.07,170.3,52.1,14.6,176,4854,0.00,2.47,0.00,0.000,4,0.000,0.047,3221,328,2040,0,0,0,0,0,0
$GC,4873,1.07,170.3,48.0,14.8,178,4882,0.00,2.42,0.00,0.000,6,0.000,0.037,3217,1931,2040,0,0,0,0,0,0
$GC,5066,1.08,178.3,22.6,12.9,196,5082,0.00,2.45,6.07,0.485,4,0.000,0.050,3216,3503,2020,0,0,0,0,0,0
$GC,5096,1.08,178.3,18.3,14.2,199,5107,0.12,2.42,0.00,0.000,6,0.203,0.035,3201,1911,2017,0,0,0,0,0,0
$GC,5169,1.10,192.1,8.7,12.6,212,5184,0.00,0.00,12.57,0.532,6,0.000,0.000,3201,1908,1964,0,0,0,0,0,0
$STATE,5213,end climb,SURFACE_DEPTH_REACHED
$STATE,5213,begin surface coast
$FINISH,0.9,1.002633
$STATE,5234,end surface coast,CONTROL_FINISHED_OK
$STATE,5234,begin surface
$SM_CCo,5248,59.83,0.545,0,0,1531,300.00
$SM_GC,2.06,0.00,0.00,59.83,0.000,0.000,0.545,140,2248,1531,-8.47,-0.03,300.00
$IRIDIUM_FIX,3233.95,-11851.34,070111,080846
$TT8_MAMPS,0.118342
$HUMID,49.01
$INTERNAL_PRESSURE,9.59336
$TCM_TEMP,19.40
$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,94
$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,9.2/483886/439288
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.2/297829/273433
$PA_DATA1,34.4/7836665/5139006
$PA_DATA0,97.1/7836665/223632
$24V_AH,23.7,17.731
$10V_AH,10.2,13.668
$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,21.650,44.850,301.775,59.825,0.000,57.461,38.830,146.876,13.000,0.000,34.349,0.000,4082.347,387.284,1202.588,48.276,33.326,857.657,0.000,530.839,0.000,83.328,0.000
$DEVICE_MAMPS,272.340,71.145,842.265,545.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,151.766,0.000,0.000,0.000,0.000,0.000,5811.310,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.203,0.000,0.000,0.000
$MEM,317768
$DATA_FILE_SIZE,6820,224
$CAP_FILE_SIZE,60926,0
$CFSIZE,260165632,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,111827,3248.056,-11859.213,41,3.6,60,13.3