version: 66.09
glider: 179
mission: 6
dive: 3
start: 1 4 111 17 49 48
data:
$ID,179
$MISSION,6
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,100
$T_MISSION,130
$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,45
$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,-16163.087
$T_RSLEEP,3
$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,26
$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,1923
$C_ROLL_CLIMB,1923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$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
$GPS1,040111,174507,3240.774,-11845.466,8,1.7,13,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.5
$GPS2,040111,174907,3240.786,-11845.435,12,1.7,12,13.3
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,DM1
$TGT_LATLONG,3241.417,-11846.566
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.370,0.052
$KALMAN_X,447.2,419.5,391.8,-791.4,1040.6
$KALMAN_Y,203.3,190.4,177.4,541.4,475.1
$MHEAD_RNG_PITCHd_Wd,264.7,2117,-19.1,-15.000
$D_GRID,1155
$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,-1.03,-243.3,0.0,0.0,0,136,0.00,0.00,-112.97,0.000,2,0.000,0.000,143,1913,3198,0,0,0,0,0,0
$GC,138,-1.03,-243.3,3.8,-8.4,20,167,10.98,2.47,-9.85,0.000,4,0.274,0.057,2509,337,3742,0,0,0,0,0,0
$GC,368,-1.03,-243.3,60.7,-17.9,44,376,0.00,2.47,0.00,0.000,6,0.000,0.042,2500,1913,3744,0,0,0,0,0,0
$GC,560,-1.03,-243.3,98.1,-19.7,62,568,0.00,2.58,0.00,0.000,4,0.000,0.060,2488,3528,3745,0,0,0,0,0,0
$GC,646,-1.03,-243.3,116.9,-21.8,65,656,0.00,2.47,0.00,0.000,6,0.000,0.040,2488,1913,3742,0,0,0,0,0,0
$GC,956,-1.03,-243.3,180.0,-19.4,76,967,0.10,2.55,0.00,0.000,4,0.187,0.061,2502,3512,3747,0,0,0,0,0,0
$GC,1094,-1.03,-243.3,205.3,-17.9,80,1101,0.00,2.42,0.00,0.000,6,0.000,0.038,2503,1921,3744,0,0,0,0,0,0
$GC,1420,-1.03,-243.3,262.8,-17.3,91,1430,0.00,2.55,0.00,0.000,4,0.000,0.062,2490,3513,3743,0,0,0,0,0,0
$GC,1552,-1.03,-243.3,287.2,-18.3,95,1560,0.00,2.42,0.00,0.000,6,0.000,0.039,2490,1918,3745,0,0,0,0,0,0
$GC,1882,-1.03,-243.3,348.1,-18.2,102,1893,0.00,2.55,0.00,0.000,4,0.000,0.061,2479,3518,3744,0,0,0,0,0,0
$GC,1929,-1.03,-243.3,357.0,-18.3,102,1937,0.15,2.42,0.00,0.000,6,0.164,0.039,2517,1918,3744,0,0,0,0,0,0
$GC,2248,-1.03,-243.3,405.2,-14.8,108,2256,0.00,2.55,0.00,0.000,4,0.000,0.063,2508,3514,3744,0,0,0,0,0,0
$GC,2388,-1.03,-243.3,428.1,-17.0,110,2396,0.00,2.42,0.00,0.000,6,0.000,0.038,2508,1923,3743,0,0,0,0,0,0
$STATE,2557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2557,begin apogee
$GC,2560,-0.19,0.0,457.4,17.5,113,2766,0.85,0.00,197.32,0.809,6,0.133,0.000,2776,1917,2748,0,0,0,0,0,0
$STATE,2767,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2768,1.03,243.3,470.1,0.0,116,2984,1.15,2.65,203.80,0.793,4,0.057,0.048,3199,350,1756,0,0,0,0,0,0
$GC,3079,1.03,243.3,427.6,21.7,121,3087,0.00,2.58,0.00,0.000,6,0.000,0.041,3199,1951,1751,0,0,0,0,0,0
$GC,3414,1.03,243.3,350.7,23.1,127,3421,0.00,2.47,0.00,0.000,4,0.000,0.054,3199,3497,1748,0,0,0,0,0,0
$GC,3504,1.03,243.3,328.3,25.0,128,3513,0.00,2.42,0.00,0.000,6,0.000,0.040,3210,1933,1748,0,0,0,0,0,0
$GC,3835,1.03,243.3,251.5,23.5,137,3843,0.00,2.50,0.00,0.000,4,0.000,0.051,3216,341,1747,0,0,0,0,0,0
$GC,3873,1.03,243.3,242.9,22.4,138,3881,0.12,2.45,0.00,0.000,6,0.182,0.041,3188,1919,1747,0,0,0,0,0,0
$GC,4193,1.03,243.3,179.5,19.6,149,4202,0.00,2.53,0.00,0.000,4,0.000,0.056,3185,3507,1749,0,0,0,0,0,0
$GC,4258,1.03,243.3,165.7,21.3,151,4266,0.00,2.45,0.00,0.000,6,0.000,0.041,3197,1918,1747,0,0,0,0,0,0
$GC,4583,1.03,243.3,100.9,19.9,162,4592,0.00,2.45,0.00,0.000,4,0.000,0.050,3210,343,1746,0,0,0,0,0,0
$GC,4606,1.03,243.3,96.4,20.4,162,4616,0.00,2.45,0.00,0.000,6,0.000,0.041,3210,1927,1746,0,0,0,0,0,0
$GC,4921,1.03,243.3,32.1,17.7,193,4930,0.00,2.50,0.00,0.000,4,0.000,0.055,3214,3510,1746,0,0,0,0,0,0
$GC,5041,1.03,243.3,9.0,20.4,208,5051,0.12,2.45,0.00,0.000,6,0.196,0.041,3187,1921,1746,0,0,0,0,0,0
$STATE,5075,end climb,SURFACE_DEPTH_REACHED
$STATE,5075,begin surface coast
$FINISH,1.0,1.025205
$STATE,5092,end surface coast,CONTROL_FINISHED_OK
$STATE,5092,begin surface
$SM_CCo,5108,28.58,0.535,0,0,1523,300.00
$SM_GC,1.72,0.00,0.00,28.58,0.000,0.000,0.535,143,1915,1523,-8.46,-0.23,300.00
$IRIDIUM_FIX,3246.76,-11723.27,040111,171743
$TT8_MAMPS,0.117593
$HUMID,54.29
$INTERNAL_PRESSURE,9.63243
$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,91
$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,8.8/483886/441243
$PA_ROOT,80.3/126931/24979
$PA_LOG,6.7/297829/277832
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,4.9/7836665/7450055
$24V_AH,23.8,14.882
$10V_AH,10.2,7.832
$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,21.650,59.800,401.125,28.575,0.000,0.000,0.000,0.000,16.000,0.000,13.028,0.000,3582.627,469.405,1097.816,31.481,31.401,1043.330,0.000,702.106,0.000,103.258,0.000
$DEVICE_MAMPS,273.870,62.730,808.605,534.735,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,145.807,0.000,0.000,0.000,0.000,0.000,5225.080,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.594,0.000,0.000,0.000
$MEM,316568
$DATA_FILE_SIZE,6819,217
$CAP_FILE_SIZE,73304,0
$CFSIZE,260165632,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,191629,3241.073,-11846.035,27,5.5,46,13.3