version: 66.09
glider: 179
mission: 6
dive: 12
start: 1 5 111 23 33 26
data:
$ID,179
$MISSION,6
$DIVE,12
$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,248
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-16219.696
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,050111,232704,3243.922,-11854.854,62,3.1,81,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.0
$GPS2,050111,233243,3243.893,-11854.816,10,1.6,15,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.221,0.238
$KALMAN_X,18526.3,-578.3,340.5,-32427.7,2432.7
$KALMAN_Y,-8818.3,424.3,-354.9,15617.2,-2033.8
$MHEAD_RNG_PITCHd_Wd,303.7,5608,-19.3,-13.306
$D_GRID,1062
$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,-1.04,-194.6,0.0,0.0,0,77,0.00,0.00,-59.08,0.000,2,0.000,0.000,139,2230,2919,0,0,0,0,0,0
$GC,78,-1.04,-194.6,3.4,-5.1,10,109,11.10,2.35,-13.82,0.000,4,0.278,0.070,2493,3683,3543,0,0,0,0,0,0
$GC,150,-1.04,-194.6,24.3,-28.3,22,158,0.00,2.28,0.00,0.000,6,0.000,0.036,2494,2242,3544,0,0,0,0,0,0
$GC,341,-1.04,-194.6,71.4,-21.5,41,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2242,3546,0,0,0,0,0,0
$GC,537,-1.04,-194.6,114.0,-22.0,56,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2242,3546,0,0,0,0,0,0
$GC,841,-1.04,-194.6,182.0,-22.4,66,850,0.00,2.33,0.00,0.000,4,0.000,0.060,2483,3676,3546,0,0,0,0,0,0
$GC,864,-1.04,-194.6,187.4,-23.3,66,871,0.00,2.17,0.00,0.000,6,0.000,0.037,2483,2254,3547,0,0,0,0,0,0
$GC,1174,-1.04,-194.6,252.7,-20.9,76,1182,0.00,2.40,0.00,0.000,4,0.000,0.041,2483,676,3547,0,0,0,0,0,0
$GC,1217,-1.04,-194.6,262.0,-20.1,77,1226,0.15,2.47,0.00,0.000,6,0.178,0.045,2505,2250,3548,0,0,0,0,0,0
$GC,1569,-1.04,-194.6,326.9,-18.2,87,1577,0.00,2.30,0.00,0.000,4,0.000,0.060,2500,3681,3548,0,0,0,0,0,0
$GC,1628,-1.04,-194.6,338.4,-18.8,87,1639,0.00,2.17,0.00,0.000,6,0.000,0.037,2499,2245,3548,0,0,0,0,0,0
$GC,1936,-1.04,-194.6,391.5,-17.1,93,1945,0.00,2.30,0.00,0.000,4,0.000,0.060,2495,3679,3548,0,0,0,0,0,0
$GC,1965,-1.04,-194.6,396.9,-19.0,93,1975,0.00,2.17,0.00,0.000,6,0.000,0.037,2489,2242,3548,0,0,0,0,0,0
$GC,2309,-1.04,-194.6,456.8,-17.3,99,2318,0.00,2.28,0.00,0.000,4,0.000,0.060,2478,3672,3548,0,0,0,0,0,0
$GC,2332,-1.04,-194.6,461.3,-18.3,99,2343,0.12,2.15,0.00,0.000,6,0.183,0.036,2507,2252,3548,0,0,0,0,0,0
$GC,2681,-1.04,-194.6,519.7,-16.9,105,2690,0.00,2.40,0.00,0.000,4,0.000,0.041,2507,685,3548,0,0,0,0,0,0
$GC,2715,-1.04,-194.6,525.7,-17.7,105,2723,0.00,2.45,0.00,0.000,6,0.000,0.046,2499,2247,3548,0,0,0,0,0,0
$GC,3051,-1.04,-194.6,584.7,-17.9,111,3062,0.00,2.28,0.00,0.000,4,0.000,0.062,2488,3678,3546,0,0,0,0,0,0
$GC,3113,-1.04,-194.6,596.8,-18.6,111,3124,0.00,2.17,0.00,0.000,6,0.000,0.037,2488,2248,3547,0,0,0,0,0,0
$GC,3421,-1.04,-194.6,654.0,-18.7,117,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2248,3547,0,0,0,0,0,0
$GC,3723,-1.04,-194.6,707.6,-17.7,122,3732,0.00,2.30,0.00,0.000,4,0.000,0.062,2477,3679,3547,0,0,0,0,0,0
$GC,3751,-1.04,-194.6,712.8,-18.2,122,3762,0.12,2.20,0.00,0.000,6,0.184,0.039,2507,2236,3546,0,0,0,0,0,0
$GC,4095,-1.04,-194.6,766.9,-15.6,128,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2236,3546,0,0,0,0,0,0
$GC,4397,-1.04,-194.6,812.5,-15.0,133,4405,0.00,2.33,0.00,0.000,4,0.000,0.063,2499,3680,3545,0,0,0,0,0,0
$GC,4463,-1.04,-194.6,822.6,-15.2,134,4471,0.00,2.20,0.00,0.000,6,0.000,0.039,2499,2241,3545,0,0,0,0,0,0
$GC,4831,-1.04,-194.6,877.7,-15.1,140,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2240,3544,0,0,0,0,0,0
$GC,5132,-1.04,-194.6,921.4,-14.4,145,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2240,3543,0,0,0,0,0,0
$GC,5434,-1.04,-194.6,964.3,-14.2,150,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2239,3543,0,0,0,0,0,0
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5617,-0.21,0.0,990.9,14.7,153,5797,0.90,0.00,170.27,1.174,6,0.142,0.000,2776,1917,2749,0,0,0,0,0,0
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5799,1.04,194.6,998.2,0.0,155,5993,1.17,2.75,178.90,1.154,4,0.057,0.047,3199,356,1954,0,0,0,0,0,0
$GC,6039,1.04,194.6,964.5,23.7,159,6047,0.00,2.62,0.00,0.000,6,0.000,0.039,3195,1931,1949,0,0,0,0,0,0
$GC,6352,1.04,194.6,890.2,23.8,165,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1932,1946,0,0,0,0,0,0
$GC,6654,1.04,194.6,818.5,23.8,170,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1932,1942,0,0,0,0,0,0
$GC,6956,1.04,194.6,749.3,22.7,175,6964,0.00,2.53,0.00,0.000,4,0.000,0.056,3199,3513,1943,0,0,0,0,0,0
$GC,6989,1.04,194.6,741.4,24.0,175,6997,0.00,2.47,0.00,0.000,6,0.000,0.037,3212,1929,1943,0,0,0,0,0,0
$GC,7313,1.04,194.6,668.9,22.2,181,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1925,1943,0,0,0,0,0,0
$GC,7614,1.04,194.6,602.9,22.0,186,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1925,1943,0,0,0,0,0,0
$GC,7916,1.04,194.6,538.6,21.3,191,7925,0.00,2.53,0.00,0.000,4,0.000,0.056,3212,3513,1942,0,0,0,0,0,0
$GC,7944,1.04,194.6,532.3,22.8,191,7954,0.15,2.47,0.00,0.000,6,0.207,0.038,3190,1918,1943,0,0,0,0,0,0
$GC,8275,1.04,194.6,466.9,19.5,197,8284,0.00,2.47,0.00,0.000,4,0.000,0.050,3201,340,1942,0,0,0,0,0,0
$GC,8303,1.04,194.6,461.3,19.1,197,8311,0.00,2.47,0.00,0.000,6,0.000,0.041,3201,1936,1942,0,0,0,0,0,0
$GC,8633,1.04,194.6,396.2,19.8,203,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1935,1942,0,0,0,0,0,0
$GC,8935,1.04,194.6,335.0,20.4,208,8943,0.00,2.50,0.00,0.000,4,0.000,0.055,3201,3507,1942,0,0,0,0,0,0
$GC,8983,1.04,194.6,324.2,22.5,208,8991,0.00,2.45,0.00,0.000,6,0.000,0.038,3212,1918,1941,0,0,0,0,0,0
$GC,9292,1.04,194.6,259.4,21.0,216,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1913,1942,0,0,0,0,0,0
$GC,9597,1.04,194.6,197.6,20.0,226,9608,0.00,2.45,0.00,0.000,4,0.000,0.052,3217,338,1943,0,0,0,0,0,0
$GC,9681,1.04,194.6,180.8,20.4,228,9691,0.12,2.45,0.00,0.000,6,0.190,0.039,3185,1929,1940,0,0,0,0,0,0
$GC,9990,1.04,194.6,125.8,17.6,238,9998,0.00,2.47,0.00,0.000,4,0.000,0.055,3189,3509,1941,0,0,0,0,0,0
$GC,10033,1.04,194.6,117.9,17.9,239,10042,0.00,2.45,0.00,0.000,6,0.000,0.037,3199,1910,1941,0,0,0,0,0,0
$GC,10354,1.04,194.6,57.9,17.8,264,10358,0.00,2.55,0.00,0.000,4,0.000,0.054,3199,3502,1942,0,0,0,0,0,0
$GC,10438,1.04,194.6,41.9,19.4,272,10443,0.00,2.45,0.00,0.000,6,0.000,0.036,3210,1926,1939,0,0,0,0,0,0
$GC,10632,1.04,194.6,11.7,14.8,295,10639,0.00,2.53,0.00,0.000,4,0.000,0.052,3210,3503,1941,0,0,0,0,0,0
$STATE,10684,end climb,SURFACE_DEPTH_REACHED
$STATE,10685,begin surface coast
$FINISH,0.8,1.008559
$STATE,10701,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10716,52.70,0.557,0,0,1524,300.00
$SM_GC,1.85,0.00,0.00,52.70,0.000,0.000,0.557,144,2228,1524,-8.46,-0.62,300.00
$IRIDIUM_FIX,3239.07,-11920.21,050111,202036
$TT8_MAMPS,0.116844
$HUMID,50.74
$INTERNAL_PRESSURE,9.57383
$TCM_TEMP,19.30
$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,92
$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,9.0/483886/440297
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.4/297829/275688
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,67.1/7836665/2581142
$24V_AH,22.8,16.028
$10V_AH,10.1,10.777
$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,22.150,90.750,349.175,52.700,0.000,31.242,34.411,184.114,39.750,0.000,16.841,0.000,8868.065,459.592,1703.112,75.125,33.334,1197.771,0.000,796.851,0.000,253.637,0.000
$DEVICE_MAMPS,277.695,69.615,1174.275,556.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,210.280,0.000,0.000,0.000,0.000,0.000,11229.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.653,0.000,0.000,0.000
$MEM,317828
$DATA_FILE_SIZE,10154,308
$CAP_FILE_SIZE,100836,0
$CFSIZE,260165632,255832064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,023402,3244.869,-11855.816,50,1.9,50,13.3