version: 66.09
glider: 179
mission: 6
dive: 5
start: 1 4 111 21 57 19
data:
$ID,179
$MISSION,6
$DIVE,5
$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,330
$T_MISSION,360
$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,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,-16210.389
$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,45
$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
$GPS1,040111,215119,3240.834,-11846.780,55,1.8,55,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.1
$GPS2,040111,215636,3240.805,-11846.791,17,1.2,33,13.3
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,DM1
$TGT_LATLONG,3241.417,-11846.566
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.098,0.110
$KALMAN_X,2550.9,1177.3,-198.2,-5169.0,2288.3
$KALMAN_Y,-553.4,419.3,-236.4,1526.6,-1053.6
$MHEAD_RNG_PITCHd_Wd,305.1,1185,-31.7,-10.000
$D_GRID,1144
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.28,-47.0,0.0,0.0,0,79,0.00,0.00,-56.35,0.000,2,0.000,0.000,131,2206,2927,0,0,0,0,0,0
$GC,80,-1.32,-83.7,3.1,-4.8,10,104,10.80,2.42,-3.70,0.000,4,0.280,0.074,2402,3671,3096,0,0,0,0,0,0
$GC,343,-1.32,-83.7,77.8,-22.4,39,351,0.00,2.28,0.00,0.000,6,0.000,0.039,2396,2201,3091,0,0,0,0,0,0
$GC,538,-1.32,-83.7,122.3,-22.9,52,546,0.00,2.42,0.00,0.000,4,0.000,0.043,2398,621,3095,0,0,0,0,0,0
$GC,560,-1.32,-83.7,127.4,-22.4,52,571,0.12,2.50,0.00,0.000,6,0.208,0.047,2411,2198,3096,0,0,0,0,0,0
$GC,870,-1.32,-83.7,192.3,-21.1,63,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2198,3096,0,0,0,0,0,0
$GC,1174,-1.32,-83.7,254.9,-20.7,73,1183,0.00,2.45,0.00,0.000,4,0.000,0.043,2415,613,3096,0,0,0,0,0,0
$GC,1304,-1.32,-83.7,282.0,-20.8,77,1312,0.00,2.47,0.00,0.000,6,0.000,0.045,2401,2202,3097,0,0,0,0,0,0
$GC,1635,-1.32,-83.7,349.8,-20.5,84,1643,0.00,2.45,0.00,0.000,4,0.000,0.043,2401,615,3096,0,0,0,0,0,0
$GC,1663,-1.32,-83.7,356.2,-21.3,84,1672,0.00,2.47,0.00,0.000,6,0.000,0.045,2389,2200,3097,0,0,0,0,0,0
$GC,2005,-1.32,-83.7,425.4,-20.5,90,2015,0.00,2.42,0.00,0.000,4,0.000,0.042,2390,597,3095,0,0,0,0,0,0
$GC,2066,-1.32,-83.7,438.3,-19.7,90,2077,0.15,2.50,0.00,0.000,6,0.205,0.045,2406,2197,3097,0,0,0,0,0,0
$GC,2375,-1.32,-83.7,493.7,-18.1,96,2384,0.00,2.42,0.00,0.000,4,0.000,0.043,2410,618,3097,0,0,0,0,0,0
$GC,2424,-1.32,-83.7,503.0,-19.0,96,2433,0.00,2.50,0.00,0.000,6,0.000,0.045,2400,2212,3097,0,0,0,0,0,0
$GC,2739,-1.32,-83.7,559.6,-17.9,102,2748,0.00,2.45,0.00,0.000,4,0.000,0.043,2400,609,3097,0,0,0,0,0,0
$GC,2778,-1.32,-83.7,567.0,-18.7,102,2787,0.00,2.50,0.00,0.000,6,0.000,0.045,2388,2218,3096,0,0,0,0,0,0
$GC,3109,-1.32,-83.7,625.5,-17.5,108,3118,0.00,2.47,0.00,0.000,4,0.000,0.044,2388,603,3095,0,0,0,0,0,0
$GC,3158,-1.32,-83.7,634.2,-17.4,108,3167,0.15,2.50,0.00,0.000,6,0.206,0.047,2409,2200,3097,0,0,0,0,0,0
$GC,3473,-1.32,-83.7,685.7,-16.2,114,3481,0.00,2.45,0.00,0.000,4,0.000,0.044,2409,613,3097,0,0,0,0,0,0
$GC,3501,-1.32,-83.7,690.9,-18.6,114,3509,0.00,2.50,0.00,0.000,6,0.000,0.046,2399,2221,3096,0,0,0,0,0,0
$GC,3842,-1.32,-83.7,750.7,-17.4,120,3851,0.00,2.42,0.00,0.000,4,0.000,0.044,2398,622,3096,0,0,0,0,0,0
$GC,3898,-1.32,-83.7,760.5,-17.9,120,3906,0.00,2.47,0.00,0.000,6,0.000,0.047,2386,2197,3096,0,0,0,0,0,0
$GC,4205,-1.32,-83.7,814.5,-17.6,125,4216,0.00,2.42,0.00,0.000,4,0.000,0.045,2386,616,3095,0,0,0,0,0,0
$GC,4247,-1.32,-83.7,822.1,-18.5,125,4255,0.15,2.47,0.00,0.000,6,0.207,0.047,2408,2201,3095,0,0,0,0,0,0
$GC,4572,-1.32,-83.7,875.9,-16.3,131,4581,0.00,2.45,0.00,0.000,4,0.000,0.044,2408,618,3095,0,0,0,0,0,0
$GC,4664,-1.32,-83.7,891.6,-16.7,132,4672,0.00,2.50,0.00,0.000,6,0.000,0.047,2394,2210,3095,0,0,0,0,0,0
$GC,4999,-1.32,-83.7,947.0,-16.4,138,5008,0.00,2.47,0.00,0.000,4,0.000,0.046,2398,604,3095,0,0,0,0,0,0
$GC,5022,-1.32,-83.7,950.8,-15.7,138,5033,0.00,2.50,0.00,0.000,6,0.000,0.047,2386,2201,3092,0,0,0,0,0,0
$STATE,5310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5310,begin apogee
$GC,5313,-0.19,0.0,998.3,16.5,143,5398,1.38,0.00,76.32,1.167,6,0.184,0.000,2768,1961,2748,0,0,0,0,0,0
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5399,begin climb
$GC,5400,1.32,83.7,1000.7,0.0,144,5488,1.42,0.00,79.40,1.141,6,0.070,0.000,3259,1961,2405,0,0,0,0,0,0
$GC,5799,1.32,83.7,939.9,17.4,151,5807,0.00,2.62,0.00,0.000,4,0.000,0.058,3259,3564,2394,0,0,0,0,0,0
$GC,5848,1.32,83.7,930.9,19.4,151,5856,0.00,2.53,0.00,0.000,6,0.000,0.042,3270,1976,2394,0,0,0,0,0,0
$GC,6155,1.32,83.7,880.7,16.0,156,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1972,2391,0,0,0,0,0,0
$GC,6457,1.32,83.7,833.6,15.6,161,6465,0.00,2.47,0.00,0.000,4,0.000,0.050,3283,396,2390,0,0,0,0,0,0
$GC,6581,1.32,83.7,813.8,16.1,163,6590,0.00,2.50,0.00,0.000,6,0.000,0.044,3283,1986,2390,0,0,0,0,0,0
$GC,6943,1.32,83.7,757.0,15.5,169,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1986,2388,0,0,0,0,0,0
$GC,7245,1.32,83.7,710.8,15.2,174,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1986,2388,0,0,0,0,0,0
$GC,7546,1.32,83.7,665.9,14.9,179,7555,0.00,2.53,0.00,0.000,4,0.000,0.050,3295,387,2388,0,0,0,0,0,0
$GC,7574,1.32,83.7,661.6,14.6,179,7583,0.12,2.50,0.00,0.000,6,0.233,0.044,3271,1982,2387,0,0,0,0,0,0
$GC,7904,1.32,83.7,616.9,13.2,185,7913,0.00,2.50,0.00,0.000,4,0.000,0.050,3281,388,2387,0,0,0,0,0,0
$GC,7953,1.32,83.7,610.4,13.6,185,7962,0.00,2.47,0.00,0.000,6,0.000,0.044,3281,1976,2387,0,0,0,0,0,0
$GC,8261,1.32,83.7,566.5,14.4,190,8269,0.00,2.47,0.00,0.000,4,0.000,0.050,3293,397,2387,0,0,0,0,0,0
$GC,8433,1.32,83.7,539.2,16.3,192,8441,0.00,2.47,0.00,0.000,6,0.000,0.044,3293,1981,2386,0,0,0,0,0,0
$GC,8746,1.32,83.7,490.0,15.7,198,8755,0.00,2.50,0.00,0.000,4,0.000,0.050,3305,392,2386,0,0,0,0,0,0
$GC,8902,1.32,83.7,465.4,15.2,200,8911,0.17,2.47,0.00,0.000,6,0.223,0.043,3266,1982,2386,0,0,0,0,0,0
$GC,9233,1.32,83.7,420.4,13.6,206,9241,0.00,2.50,0.00,0.000,4,0.000,0.058,3267,3566,2386,0,0,0,0,0,0
$GC,9383,1.32,83.7,397.8,15.3,208,9392,0.00,2.45,0.00,0.000,6,0.000,0.041,3277,1972,2386,0,0,0,0,0,0
$GC,9719,1.32,83.7,354.6,12.5,214,9727,0.00,2.45,0.00,0.000,4,0.000,0.050,3288,396,2386,0,0,0,0,0,0
$GC,9789,1.32,83.7,346.0,11.8,215,9797,0.00,2.45,0.00,0.000,6,0.000,0.043,3289,1980,2383,0,0,0,0,0,0
$GC,10140,1.32,83.7,303.8,11.8,221,10148,0.00,2.47,0.00,0.000,4,0.000,0.049,3300,399,2386,0,0,0,0,0,0
$GC,10162,1.32,83.7,301.2,11.7,221,10171,0.15,2.45,0.00,0.000,6,0.221,0.043,3270,1983,2386,0,0,0,0,0,0
$GC,10499,1.32,83.7,263.2,11.2,232,10508,0.00,2.50,0.00,0.000,4,0.000,0.049,3278,390,2386,0,0,0,0,0,0
$GC,10746,1.32,83.7,235.7,11.0,239,10756,0.00,2.45,0.00,0.000,6,0.000,0.042,3279,1979,2386,0,0,0,0,0,0
$GC,11055,1.32,85.9,205.5,9.7,250,11063,0.00,2.47,0.00,0.000,4,0.000,0.050,3292,388,2386,0,0,0,0,0,0
$GC,11285,1.32,85.9,181.0,10.8,257,11293,0.00,2.45,0.00,0.000,6,0.000,0.042,3293,1982,2385,0,0,0,0,0,0
$GC,11606,1.32,85.9,147.2,10.1,268,11614,0.00,2.47,0.00,0.000,4,0.000,0.048,3309,397,2385,0,0,0,0,0,0
$GC,11762,1.32,85.9,131.7,10.6,273,11770,0.15,2.42,0.00,0.000,6,0.220,0.041,3271,1973,2384,0,0,0,0,0,0
$GC,12093,1.33,94.2,102.4,8.8,284,12110,0.00,2.50,6.53,0.535,4,0.000,0.047,3281,397,2363,0,0,0,0,0,0
$GC,12151,1.34,97.5,97.1,9.5,287,12165,0.00,2.42,4.78,0.476,6,0.000,0.041,3281,1980,2350,0,0,0,0,0,0
$GC,12355,1.34,99.0,78.6,9.8,307,12363,0.00,2.47,0.00,0.000,4,0.000,0.056,3281,3556,2349,0,0,0,0,0,0
$GC,12602,1.38,127.7,55.5,5.9,329,12637,0.00,2.42,26.15,0.581,6,0.000,0.038,3293,1966,2228,0,0,0,0,0,0
$GC,12828,1.39,139.3,35.7,8.4,351,12847,0.00,2.55,11.00,0.539,4,0.000,0.054,3293,3554,2179,0,0,0,0,0,0
$GC,13043,1.39,139.3,9.8,13.2,377,13054,0.00,2.45,0.00,0.000,6,0.000,0.038,3309,1977,2176,0,0,0,0,0,0
$STATE,13099,end climb,SURFACE_DEPTH_REACHED
$STATE,13099,begin surface coast
$FINISH,0.8,1.002036
$STATE,13121,end surface coast,CONTROL_FINISHED_OK
$STATE,13121,begin surface
$SM_CCo,13138,62.15,0.540,0,0,1727,250.70
$SM_GC,2.01,0.00,0.00,62.15,0.000,0.000,0.540,144,2203,1727,-8.43,0.08,250.70
$IRIDIUM_FIX,3239.07,-11842.36,040111,191939
$TT8_MAMPS,0.117593
$HUMID,51.10
$INTERNAL_PRESSURE,9.6129
$TCM_TEMP,19.70
$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,8.9/483886/440996
$PA_ROOT,80.3/126931/24979
$PA_LOG,6.9/297829/277353
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,18.9/7836665/6356396
$24V_AH,23.5,15.081
$10V_AH,10.1,8.495
$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,23.450,139.050,204.175,62.150,0.000,29.803,35.146,146.030,42.500,0.000,34.166,0.000,10652.618,371.688,2411.067,80.617,33.337,1409.511,0.000,1320.128,0.000,271.106,0.000
$DEVICE_MAMPS,279.990,74.205,1166.625,540.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,267.615,0.000,0.000,0.000,0.000,0.000,13613.950,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,90.688,0.000,0.000,0.000
$MEM,316492
$DATA_FILE_SIZE,13466,391
$CAP_FILE_SIZE,132061,0
$CFSIZE,260165632,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050111,013926,3241.134,-11847.418,88,2.1,108,13.3