version: 66.09
glider: 179
mission: 6
dive: 4
start: 1 4 111 19 31 43
data:
$ID,179
$MISSION,6
$DIVE,4
$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,220
$T_MISSION,260
$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,250
$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,-16209.13
$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,2840
$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,2200
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$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
$GPS1,040111,192706,3241.084,-11845.963,11,1.5,27,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.4
$GPS2,040111,193101,3241.082,-11845.949,13,1.0,13,13.3
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,DM1
$TGT_LATLONG,3241.417,-11846.566
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.161,0.052
$KALMAN_X,1293.9,902.7,501.3,-3030.5,1174.2
$KALMAN_Y,240.7,284.3,277.1,865.6,-66.7
$MHEAD_RNG_PITCHd_Wd,274.5,1145,-39.8,-15.000
$D_GRID,1168
$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,-1.60,-56.7,0.0,0.0,0,90,0.00,0.00,-66.90,0.000,6,0.000,0.000,146,2204,2982,0,0,0,0,0,0
$GC,91,-1.68,-123.7,2.8,-3.2,12,120,9.98,2.50,-6.00,0.000,4,0.277,0.054,2289,616,3252,0,0,0,0,0,0
$GC,358,-1.68,-123.7,95.3,-30.6,41,369,0.00,2.50,0.00,0.000,6,0.000,0.047,2279,2202,3254,0,0,0,0,0,0
$GC,557,-1.68,-123.7,157.5,-31.5,49,568,0.00,2.45,0.00,0.000,4,0.000,0.040,2279,588,3254,0,0,0,0,0,0
$GC,806,-1.68,-123.7,238.1,-32.0,56,815,0.12,2.53,0.00,0.000,6,0.224,0.046,2292,2206,3255,0,0,0,0,0,0
$GC,1146,-1.68,-123.7,336.8,-28.2,65,1154,0.00,2.42,0.00,0.000,4,0.000,0.041,2292,599,3255,0,0,0,0,0,0
$GC,1254,-1.68,-123.7,368.1,-27.8,66,1262,0.00,2.50,0.00,0.000,6,0.000,0.047,2282,2208,3255,0,0,0,0,0,0
$GC,1573,-1.68,-123.7,457.4,-28.2,72,1582,0.00,2.45,0.00,0.000,4,0.000,0.041,2282,601,3254,0,0,0,0,0,0
$GC,1607,-1.68,-123.7,466.8,-28.0,72,1616,0.00,2.50,0.00,0.000,6,0.000,0.046,2269,2209,3254,0,0,0,0,0,0
$GC,1943,-1.68,-123.7,559.9,-28.3,78,1952,0.12,2.47,0.00,0.000,4,0.229,0.043,2294,600,3254,0,0,0,0,0,0
$GC,2052,-1.68,-123.7,589.5,-26.9,79,2060,0.00,2.50,0.00,0.000,6,0.000,0.046,2284,2207,3254,0,0,0,0,0,0
$GC,2377,-1.68,-123.7,675.7,-26.5,85,2387,0.00,2.45,0.00,0.000,4,0.000,0.042,2284,612,3253,0,0,0,0,0,0
$GC,2472,-1.68,-123.7,700.1,-24.4,86,2480,0.00,2.47,0.00,0.000,6,0.000,0.047,2271,2205,3253,0,0,0,0,0,0
$GC,2807,-1.68,-123.7,785.8,-25.3,92,2816,0.00,2.45,0.00,0.000,4,0.000,0.043,2271,611,3252,0,0,0,0,0,0
$GC,2905,-1.68,-123.7,811.2,-25.1,93,2914,0.15,2.50,0.00,0.000,6,0.221,0.048,2291,2203,3253,0,0,0,0,0,0
$GC,3236,-1.68,-123.7,892.1,-24.7,99,3245,0.00,2.45,0.00,0.000,4,0.000,0.043,2290,612,3255,0,0,0,0,0,0
$GC,3308,-1.68,-123.7,909.8,-25.0,100,3316,0.00,2.50,0.00,0.000,6,0.000,0.047,2281,2207,3251,0,0,0,0,0,0
$STATE,3669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3669,begin apogee
$GC,3672,-0.19,0.0,999.4,24.5,106,3792,1.80,0.00,110.22,1.164,6,0.198,0.000,2772,1952,2748,0,0,0,0,0,0
$STATE,3792,end apogee,CONTROL_FINISHED_OK
$STATE,3792,begin climb
$GC,3793,1.68,123.7,1003.7,0.0,107,3920,1.75,2.83,114.18,1.139,4,0.067,0.055,3384,3570,2244,0,0,0,0,0,0
$GC,3976,1.68,123.7,971.0,29.1,109,3987,0.00,2.58,0.00,0.000,6,0.000,0.039,3396,1982,2238,0,0,0,0,0,0
$GC,4283,1.68,123.7,884.0,28.1,115,4292,0.00,2.53,0.00,0.000,4,0.000,0.049,3408,392,2232,0,0,0,0,0,0
$GC,4429,1.68,123.7,843.5,27.9,117,4437,0.00,2.53,0.00,0.000,6,0.000,0.044,3408,1984,2231,0,0,0,0,0,0
$GC,4769,1.68,123.7,752.4,26.5,123,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1984,2230,0,0,0,0,0,0
$GC,5071,1.68,123.7,676.3,25.2,128,5079,0.00,2.50,0.00,0.000,4,0.000,0.048,3420,391,2229,0,0,0,0,0,0
$GC,5103,1.68,123.7,667.9,25.3,128,5112,0.17,2.50,0.00,0.000,6,0.231,0.044,3385,1986,2229,0,0,0,0,0,0
$GC,5429,1.68,123.7,592.2,23.4,134,5437,0.00,2.50,0.00,0.000,4,0.000,0.048,3396,391,2229,0,0,0,0,0,0
$GC,5515,1.68,123.7,572.0,23.9,135,5523,0.00,2.47,0.00,0.000,6,0.000,0.044,3394,1977,2228,0,0,0,0,0,0
$GC,5850,1.68,123.7,492.6,23.8,141,5858,0.00,2.50,0.00,0.000,4,0.000,0.050,3406,387,2228,0,0,0,0,0,0
$GC,5946,1.68,123.7,468.6,24.1,142,5955,0.00,2.47,0.00,0.000,6,0.000,0.044,3406,1977,2227,0,0,0,0,0,0
$GC,6271,1.68,123.7,391.9,23.6,148,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1975,2227,0,0,0,0,0,0
$GC,6573,1.68,123.7,319.5,24.2,153,6581,0.00,2.50,0.00,0.000,4,0.000,0.057,3406,3558,2225,0,0,0,0,0,0
$GC,6605,1.68,123.7,311.0,25.6,153,6614,0.15,2.45,0.00,0.000,6,0.244,0.041,3388,1964,2226,0,0,0,0,0,0
$GC,6931,1.68,123.7,236.2,22.7,163,6939,0.00,2.45,0.00,0.000,4,0.000,0.050,3398,385,2226,0,0,0,0,0,0
$GC,7151,1.68,123.7,188.4,22.1,170,7160,0.00,2.45,0.00,0.000,6,0.000,0.043,3398,1974,2226,0,0,0,0,0,0
$GC,7483,1.68,123.7,122.2,19.4,181,7491,0.00,2.53,0.00,0.000,4,0.000,0.057,3398,3567,2226,0,0,0,0,0,0
$GC,7511,1.68,123.7,116.7,20.3,182,7519,0.00,2.45,0.00,0.000,6,0.000,0.040,3410,1975,2225,0,0,0,0,0,0
$GC,7827,1.68,123.7,59.5,18.1,205,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1972,2225,0,0,0,0,0,0
$GC,8014,1.72,150.7,34.3,10.2,223,8043,0.00,2.55,20.85,0.567,4,0.000,0.054,3410,3563,2133,0,0,0,0,0,0
$GC,8202,1.72,150.7,4.8,17.6,248,8213,0.00,2.45,0.00,0.000,6,0.000,0.040,3420,1958,2129,0,0,0,0,0,0
$STATE,8215,end climb,SURFACE_DEPTH_REACHED
$STATE,8215,begin surface coast
$FINISH,0.8,1.025206
$STATE,8231,end surface coast,CONTROL_FINISHED_OK
$STATE,8231,begin surface
$SM_CCo,8249,55.67,0.545,0,0,1729,250.45
$SM_GC,2.42,0.00,0.00,55.67,0.000,0.000,0.545,142,2203,1729,-8.43,0.08,250.45
$IRIDIUM_FIX,3236.51,-11844.61,040111,191958
$TT8_MAMPS,0.131075
$HUMID,53.74
$INTERNAL_PRESSURE,9.60313
$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,8.8/483886/441142
$PA_ROOT,80.3/126931/24979
$PA_LOG,6.8/297829/277648
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,10.3/7836665/7033000
$24V_AH,23.4,14.995
$10V_AH,10.2,8.099
$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,23.275,85.625,245.250,55.675,0.000,0.000,0.000,0.000,41.250,0.000,14.015,0.000,6446.297,368.261,1489.011,46.537,32.314,1079.115,0.000,904.663,0.000,262.270,0.000
$DEVICE_MAMPS,276.930,58.905,1164.330,544.680,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,172.170,0.000,0.000,0.000,0.000,0.000,8364.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,90.504,0.000,0.000,0.000
$MEM,316636
$DATA_FILE_SIZE,6843,253
$CAP_FILE_SIZE,105498,0
$CFSIZE,260165632,256315392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,215119,3240.834,-11846.780,55,1.8,55,13.3