version: 66.09
glider: 179
mission: 6
dive: 6
start: 1 5 111 1 45 45
data:
$ID,179
$MISSION,6
$DIVE,6
$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,390
$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,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,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,-16211.649
$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,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,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$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
$GPS1,050111,013926,3241.134,-11847.418,88,2.1,108,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.4
$GPS2,050111,014502,3241.145,-11847.427,14,2.0,14,13.3
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.232,0.153
$KALMAN_X,4268.6,360.7,-166.8,-7091.9,2295.2
$KALMAN_Y,-1891.0,119.9,-162.5,3715.7,-1585.7
$MHEAD_RNG_PITCHd_Wd,290.0,37313,-16.1,-10.000
$D_GRID,1127
$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,-0.83,-170.3,0.0,0.0,0,79,0.00,0.00,-56.60,0.000,2,0.000,0.000,141,2206,2958,0,0,0,0,0,0
$GC,80,-0.83,-170.3,3.3,-5.3,10,115,11.48,2.40,-9.93,0.000,4,0.276,0.073,2556,3666,3446,0,0,0,0,0,0
$GC,194,-0.83,-170.3,32.7,-19.5,25,202,0.00,2.22,0.00,0.000,6,0.000,0.040,2556,2239,3448,0,0,0,0,0,0
$GC,386,-0.83,-170.3,70.8,-17.8,43,394,0.00,2.33,0.00,0.000,4,0.000,0.063,2546,3664,3449,0,0,0,0,0,0
$GC,414,-0.83,-170.3,75.6,-17.6,45,422,0.00,2.17,0.00,0.000,6,0.000,0.041,2546,2254,3449,0,0,0,0,0,0
$GC,615,-0.83,-170.3,112.4,-18.3,60,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2251,3450,0,0,0,0,0,0
$GC,919,-0.83,-170.3,162.7,-15.9,70,927,0.00,2.47,0.00,0.000,4,0.000,0.043,2546,669,3450,0,0,0,0,0,0
$GC,962,-0.83,-170.3,169.5,-14.8,71,971,0.15,2.47,0.00,0.000,6,0.162,0.047,2572,2239,3451,0,0,0,0,0,0
$GC,1284,-0.83,-170.3,212.8,-13.5,82,1292,0.00,2.33,0.00,0.000,4,0.000,0.063,2563,3683,3451,0,0,0,0,0,0
$GC,1322,-0.83,-170.3,218.3,-15.2,83,1330,0.00,2.22,0.00,0.000,6,0.000,0.040,2563,2238,3451,0,0,0,0,0,0
$GC,1648,-0.83,-170.3,262.9,-13.2,94,1656,0.00,2.40,0.00,0.000,4,0.000,0.044,2563,679,3451,0,0,0,0,0,0
$GC,1681,-0.83,-170.3,267.4,-14.0,95,1689,0.00,2.47,0.00,0.000,6,0.000,0.047,2554,2263,3451,0,0,0,0,0,0
$GC,2042,-0.83,-170.3,318.6,-14.3,105,2051,0.00,2.28,0.00,0.000,4,0.000,0.063,2543,3678,3451,0,0,0,0,0,0
$GC,2076,-0.83,-170.3,323.7,-15.5,105,2083,0.00,2.17,0.00,0.000,6,0.000,0.041,2544,2244,3449,0,0,0,0,0,0
$GC,2406,-0.83,-170.3,371.5,-14.4,111,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2243,3451,0,0,0,0,0,0
$GC,2707,-0.83,-170.3,416.7,-15.0,116,2713,0.12,0.00,0.00,0.000,6,0.172,0.000,2574,2244,3451,0,0,0,0,0,0
$GC,3009,-0.83,-170.3,455.6,-12.8,121,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2243,3450,0,0,0,0,0,0
$GC,3311,-0.83,-170.3,493.1,-12.4,126,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2243,3450,0,0,0,0,0,0
$GC,3612,-0.83,-170.3,528.3,-11.5,131,3621,0.00,2.40,0.00,0.000,4,0.000,0.045,2575,681,3450,0,0,0,0,0,0
$GC,3641,-0.83,-170.3,531.7,-11.6,131,3652,0.00,2.47,0.00,0.000,6,0.000,0.048,2567,2250,3451,0,0,0,0,0,0
$GC,3984,-0.83,-170.3,572.4,-12.0,137,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2251,3446,0,0,0,0,0,0
$GC,4286,-0.83,-170.3,609.6,-12.3,142,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2248,3448,0,0,0,0,0,0
$GC,4588,-0.83,-170.3,646.1,-12.1,147,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2250,3446,0,0,0,0,0,0
$GC,4890,-0.83,-170.3,683.9,-12.5,152,4898,0.00,2.42,0.00,0.000,4,0.000,0.045,2567,673,3447,0,0,0,0,0,0
$GC,4929,-0.83,-170.3,688.8,-12.5,152,4938,0.00,2.50,0.00,0.000,6,0.000,0.049,2558,2268,3447,0,0,0,0,0,0
$GC,5260,-0.83,-170.3,730.1,-12.6,158,5269,0.00,2.28,0.00,0.000,4,0.000,0.063,2548,3676,3446,0,0,0,0,0,0
$GC,5305,-0.83,-170.3,735.9,-12.8,158,5313,0.00,2.20,0.00,0.000,6,0.000,0.042,2548,2245,3448,0,0,0,0,0,0
$GC,5624,-0.83,-170.3,774.5,-12.1,164,5633,0.00,2.40,0.00,0.000,4,0.000,0.046,2548,675,3449,0,0,0,0,0,0
$GC,5652,-0.83,-170.3,778.1,-13.7,164,5661,0.12,2.47,0.00,0.000,6,0.171,0.049,2569,2247,3446,0,0,0,0,0,0
$GC,5988,-0.83,-170.3,813.0,-10.3,170,5999,0.00,2.33,0.00,0.000,4,0.000,0.066,2560,3681,3448,0,0,0,0,0,0
$GC,6057,-0.83,-170.3,820.5,-11.1,171,6065,0.00,2.20,0.00,0.000,6,0.000,0.044,2560,2238,3446,0,0,0,0,0,0
$GC,6419,-0.83,-170.3,858.5,-10.4,177,6428,0.00,2.40,0.00,0.000,4,0.000,0.047,2559,676,3445,0,0,0,0,0,0
$GC,6463,-0.83,-170.3,863.2,-10.7,177,6472,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,2253,3448,0,0,0,0,0,0
$GC,6783,-0.83,-170.3,896.5,-10.5,183,6792,0.00,2.30,0.00,0.000,4,0.000,0.067,2537,3683,3444,0,0,0,0,0,0
$GC,6827,-0.83,-170.3,901.6,-10.3,183,6835,0.12,2.20,0.00,0.000,6,0.164,0.044,2572,2251,3444,0,0,0,0,0,0
$GC,7147,-0.83,-170.3,930.0,-8.8,189,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2250,3443,0,0,0,0,0,0
$GC,7448,-0.83,-170.3,957.0,-8.9,194,7459,0.00,2.45,0.00,0.000,4,0.000,0.047,2572,659,3446,0,0,0,0,0,0
$GC,7505,-0.83,-170.3,962.4,-9.4,194,7514,0.00,2.53,0.00,0.000,6,0.000,0.050,2565,2252,3443,0,0,0,0,0,0
$STATE,7812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7812,begin apogee
$GC,7815,-0.19,0.0,990.7,9.2,199,7975,0.65,0.00,150.15,1.169,6,0.132,0.000,2770,1996,2750,0,0,0,0,0,0
$STATE,7976,end apogee,CONTROL_FINISHED_OK
$STATE,7976,begin climb
$GC,7977,0.83,170.3,994.0,0.0,201,8148,0.98,2.80,158.35,1.147,4,0.070,0.049,3119,432,2052,0,0,0,0,0,0
$GC,8157,0.83,170.3,976.7,28904.2,204,8165,0.00,2.70,0.00,0.000,6,0.000,0.042,3116,2008,2053,0,0,0,0,0,0
$GC,8486,0.83,170.3,918.7,28904.2,210,8494,0.00,2.58,0.00,0.000,4,0.000,0.051,3122,431,2044,0,0,0,0,0,0
$GC,8524,0.83,170.3,911.9,28904.2,210,8534,0.00,2.55,0.00,0.000,6,0.000,0.044,3122,2008,2042,0,0,0,0,0,0
$GC,8844,0.83,170.3,855.5,28904.2,216,8853,0.00,2.58,0.00,0.000,4,0.000,0.061,3122,3583,2042,0,0,0,0,0,0
$GC,8909,0.83,170.3,843.2,28904.2,217,8917,0.00,2.50,0.00,0.000,6,0.000,0.041,3135,1998,2041,0,0,0,0,0,0
$GC,9265,0.83,170.3,780.8,28904.2,223,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1994,2040,0,0,0,0,0,0
$GC,9567,0.83,170.3,728.9,28904.2,228,9575,0.00,2.58,0.00,0.000,4,0.000,0.060,3134,3582,2040,0,0,0,0,0,0
$GC,9605,0.83,170.3,721.8,28904.2,228,9613,0.15,2.47,0.00,0.000,6,0.194,0.041,3111,2000,2040,0,0,0,0,0,0
$GC,9924,0.83,170.3,673.6,28904.2,234,9932,0.00,2.55,0.00,0.000,4,0.000,0.061,3111,3583,2040,0,0,0,0,0,0
$GC,9951,0.83,170.3,669.2,28904.2,234,9960,0.00,2.47,0.00,0.000,6,0.000,0.041,3121,1990,2040,0,0,0,0,0,0
$GC,10281,0.83,170.3,616.5,28904.2,240,10289,0.00,2.47,0.00,0.000,4,0.000,0.053,3122,422,2040,0,0,0,0,0,0
$GC,10329,0.83,170.3,608.6,28904.2,240,10337,0.00,2.47,0.00,0.000,6,0.000,0.043,3122,2003,2040,0,0,0,0,0,0
$GC,10637,0.83,170.3,561.0,28904.2,245,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2003,2039,0,0,0,0,0,0
$GC,10939,0.83,170.3,514.6,28904.2,250,10947,0.00,2.53,0.00,0.000,4,0.000,0.052,3122,415,2039,0,0,0,0,0,0
$GC,10971,0.83,170.3,509.5,28904.2,250,10980,0.00,2.47,0.00,0.000,6,0.000,0.044,3122,2002,2039,0,0,0,0,0,0
$GC,11296,0.83,170.3,460.9,28904.2,256,11304,0.00,2.55,0.00,0.000,4,0.000,0.060,3122,3585,2039,0,0,0,0,0,0
$GC,11366,0.83,170.3,449.3,28904.2,257,11374,0.00,2.45,0.00,0.000,6,0.000,0.041,3134,1997,2039,0,0,0,0,0,0
$GC,11717,0.83,170.3,394.8,28904.2,263,11725,0.00,2.55,0.00,0.000,4,0.000,0.060,3134,3582,2039,0,0,0,0,0,0
$GC,11755,0.83,170.3,388.2,28904.2,263,11764,0.15,2.45,0.00,0.000,6,0.191,0.041,3110,2001,2037,0,0,0,0,0,0
$GC,12074,0.83,170.3,343.1,28904.2,269,12083,0.00,2.47,0.00,0.000,4,0.000,0.054,3110,425,2039,0,0,0,0,0,0
$GC,12123,0.83,170.3,336.2,28904.2,269,12131,0.00,2.42,0.00,0.000,6,0.000,0.042,3106,2003,2038,0,0,0,0,0,0
$GC,12431,0.83,170.3,293.8,28904.2,274,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2003,2038,0,0,0,0,0,0
$GC,12734,0.83,170.3,252.7,28904.2,284,12742,0.00,2.53,0.00,0.000,4,0.000,0.058,3110,3587,2038,0,0,0,0,0,0
$GC,12846,0.83,170.3,235.9,28904.2,287,12854,0.00,2.45,0.00,0.000,6,0.000,0.041,3120,2000,2038,0,0,0,0,0,0
$GC,13155,0.83,170.3,195.3,28904.2,297,13164,0.00,2.47,0.00,0.000,4,0.000,0.051,3122,422,2038,0,0,0,0,0,0
$GC,13172,0.83,170.3,193.2,28904.2,297,13180,0.00,2.45,0.00,0.000,6,0.000,0.043,3122,2002,2038,0,0,0,0,0,0
$GC,13481,0.83,170.3,152.6,28904.2,307,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2002,2036,0,0,0,0,0,0
$GC,13785,0.83,170.3,115.3,28904.2,317,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2002,2038,0,0,0,0,0,0
$GC,14092,0.83,170.3,82.1,28904.2,337,14100,0.00,2.50,0.00,0.000,4,0.000,0.057,3122,3590,2038,0,0,0,0,0,0
$GC,14173,0.83,170.3,71.9,28904.2,344,14181,0.00,2.45,0.00,0.000,6,0.000,0.038,3122,2002,2038,0,0,0,0,0,0
$GC,14365,0.83,170.3,50.5,28904.2,362,14373,0.00,2.47,0.00,0.000,4,0.000,0.050,3122,412,2038,0,0,0,0,0,0
$GC,14425,0.83,170.3,44.7,28904.2,367,14433,0.00,2.42,0.00,0.000,6,0.000,0.041,3122,2001,2038,0,0,0,0,0,0
$GC,14617,0.83,170.3,27.0,28904.2,385,14625,0.00,2.53,0.00,0.000,4,0.000,0.056,3122,3591,2038,0,0,0,0,0,0
$GC,14773,0.83,170.3,10.4,28904.2,407,14784,0.00,2.45,0.00,0.000,6,0.000,0.038,3132,1988,2036,0,0,0,0,0,0
$STATE,14845,end climb,SURFACE_DEPTH_REACHED
$STATE,14846,begin surface coast
$FINISH,2.4,1.025192
$STATE,14851,end surface coast,CONTROL_FINISHED_OK
$STATE,14851,begin surface
$SM_CCo,14868,45.05,0.550,0,0,1727,250.21
$SM_GC,2.23,0.00,0.00,45.05,0.000,0.000,0.550,142,2256,1727,-8.43,0.17,250.21
$IRIDIUM_FIX,3221.17,-11900.30,040111,212142
$TT8_MAMPS,0.117593
$HUMID,51.10
$INTERNAL_PRESSURE,9.62266
$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,8.9/483886/440835
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.0/297829/277022
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,28.6/7836665/5592810
$24V_AH,22.8,15.209
$10V_AH,10.2,8.937
$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,22.575,142.125,308.500,45.050,0.000,30.782,31.281,178.306,43.000,0.000,15.098,0.000,12447.390,432.786,2267.621,95.024,33.336,1463.834,0.000,1112.246,0.000,273.760,0.000
$DEVICE_MAMPS,276.165,73.440,1168.920,550.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,288.830,0.000,0.000,0.000,0.000,0.000,15421.880,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,90.510,0.000,0.000,0.000
$MEM,316876
$DATA_FILE_SIZE,13446,421
$CAP_FILE_SIZE,134341,0
$CFSIZE,260165632,256155648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,055736,3242.179,-11849.562,173,1.0,180,13.3