version: 66.09
glider: 179
mission: 6
dive: 7
start: 1 5 111 6 4 9
data:
$ID,179
$MISSION,6
$DIVE,7
$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,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,-16212.911
$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,3057
$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,2100
$C_ROLL_CLIMB,1923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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
$GPS1,050111,055736,3242.179,-11849.562,173,1.0,180,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.5
$GPS2,050111,060326,3242.174,-11849.554,15,1.6,15,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.256,0.199
$KALMAN_X,6940.7,-1425.2,196.1,-11655.5,2343.7
$KALMAN_Y,-3146.9,-398.3,512.9,6718.0,-2046.7
$MHEAD_RNG_PITCHd_Wd,294.6,33497,-19.3,-13.306
$D_GRID,1115
$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,15,-0.98,-194.6,0.0,0.0,0,77,0.00,0.00,-59.17,0.000,2,0.000,0.000,141,2256,3046,0,0,0,0,0,0
$GC,78,-0.98,-194.6,3.8,-6.9,10,109,12.23,2.35,-10.15,0.000,4,0.276,0.077,2723,3656,3545,0,0,0,0,0,0
$GC,134,-0.98,-194.6,16.8,-9.8,20,142,0.00,2.47,0.00,0.000,6,0.000,0.040,2723,2086,3546,0,0,0,0,0,0
$GC,203,-0.98,-194.6,21.5,-6.6,31,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2086,3546,0,0,0,0,0,0
$GC,389,-0.98,-194.6,33.6,-6.5,49,394,0.00,2.62,0.00,0.000,4,0.000,0.062,2721,3664,3547,0,0,0,0,0,0
$GC,437,-0.98,-194.6,36.6,-6.5,53,445,0.00,2.47,0.00,0.000,6,0.000,0.041,2721,2093,3547,0,0,0,0,0,0
$GC,629,-0.98,-194.6,50.7,-7.6,72,633,0.00,2.58,0.00,0.000,4,0.000,0.062,2722,3653,3548,0,0,0,0,0,0
$GC,676,-0.98,-194.6,54.3,-7.2,76,684,0.00,2.42,0.00,0.000,6,0.000,0.040,2721,2099,3548,0,0,0,0,0,0
$GC,868,-0.98,-194.6,68.7,-7.2,95,872,0.00,2.55,0.00,0.000,4,0.000,0.060,2721,3659,3548,0,0,0,0,0,0
$GC,1113,-0.98,-194.6,90.4,-8.8,118,1118,0.00,2.42,0.00,0.000,6,0.000,0.038,2721,2093,3548,0,0,0,0,0,0
$GC,1318,-0.98,-194.6,109.0,-9.2,132,1327,0.00,2.50,0.00,0.000,4,0.000,0.059,2721,3669,3550,0,0,0,0,0,0
$GC,1565,-0.98,-194.6,134.3,-11.5,139,1576,0.00,2.40,0.00,0.000,6,0.000,0.039,2721,2097,3550,0,0,0,0,0,0
$GC,1875,-0.98,-194.6,166.3,-10.1,150,1884,0.00,2.50,0.00,0.000,4,0.000,0.058,2723,3665,3550,0,0,0,0,0,0
$GC,2122,-0.98,-194.6,189.9,-9.0,157,2134,0.00,2.40,0.00,0.000,6,0.000,0.040,2720,2094,3550,0,0,0,0,0,0
$GC,2433,-0.98,-194.6,216.3,-9.0,168,2442,0.00,2.50,0.00,0.000,4,0.000,0.059,2721,3668,3550,0,0,0,0,0,0
$GC,2637,-0.98,-194.6,237.5,-10.8,174,2645,0.00,2.40,0.00,0.000,6,0.000,0.039,2721,2095,3551,0,0,0,0,0,0
$GC,2953,-0.98,-194.6,274.1,-12.0,185,2961,0.00,2.50,0.00,0.000,4,0.000,0.058,2721,3671,3548,0,0,0,0,0,0
$GC,3173,-0.98,-194.6,299.6,-11.0,192,3183,0.00,2.40,0.00,0.000,6,0.000,0.039,2722,2093,3551,0,0,0,0,0,0
$GC,3511,-0.98,-194.6,333.2,-9.8,198,3519,0.00,2.50,0.00,0.000,4,0.000,0.059,2721,3670,3551,0,0,0,0,0,0
$GC,3699,-0.98,-194.6,350.1,-8.7,200,3710,0.00,2.38,0.00,0.000,6,0.000,0.039,2721,2098,3550,0,0,0,0,0,0
$GC,4008,-0.98,-194.6,376.9,-8.8,206,4017,0.00,2.53,0.00,0.000,4,0.000,0.058,2721,3677,3550,0,0,0,0,0,0
$GC,4185,-0.98,-194.6,393.2,-9.1,208,4193,0.00,2.40,0.00,0.000,6,0.000,0.038,2721,2089,3549,0,0,0,0,0,0
$GC,4494,-0.98,-194.6,423.3,-10.0,213,4503,0.00,2.50,0.00,0.000,4,0.000,0.058,2721,3662,3551,0,0,0,0,0,0
$GC,4640,-0.98,-194.6,438.9,-10.9,215,4648,0.00,2.38,0.00,0.000,6,0.000,0.039,2722,2090,3549,0,0,0,0,0,0
$GC,4987,-0.98,-194.6,475.8,-10.7,221,4995,0.00,2.47,0.00,0.000,4,0.000,0.058,2721,3662,3549,0,0,0,0,0,0
$GC,5181,-0.98,-194.6,495.0,-9.6,224,5189,0.00,2.38,0.00,0.000,6,0.000,0.040,2722,2102,3549,0,0,0,0,0,0
$GC,5549,-0.98,-194.6,528.3,-9.1,230,5557,0.00,2.47,0.00,0.000,4,0.000,0.059,2721,3663,3549,0,0,0,0,0,0
$GC,5795,-0.98,-194.6,552.2,-10.1,233,5806,0.00,2.40,0.00,0.000,6,0.000,0.039,2722,2086,3548,0,0,0,0,0,0
$GC,6104,-0.98,-194.6,583.4,-10.2,239,6112,0.00,2.53,0.00,0.000,4,0.000,0.059,2721,3668,3547,0,0,0,0,0,0
$GC,6351,-0.98,-194.6,609.1,-9.8,242,6358,0.00,2.40,0.00,0.000,6,0.000,0.041,2721,2096,3547,0,0,0,0,0,0
$GC,6665,-0.98,-194.6,640.6,-10.0,248,6675,0.00,2.50,0.00,0.000,4,0.000,0.060,2722,3663,3548,0,0,0,0,0,0
$GC,6844,-0.98,-194.6,657.4,-9.0,250,6853,0.00,2.38,0.00,0.000,6,0.000,0.041,2721,2100,3548,0,0,0,0,0,0
$GC,7159,-0.98,-194.6,686.4,-9.4,256,7167,0.00,2.47,0.00,0.000,4,0.000,0.060,2721,3668,3545,0,0,0,0,0,0
$GC,7299,-0.98,-194.6,699.7,-9.8,258,7307,0.00,2.42,0.00,0.000,6,0.000,0.041,2721,2084,3545,0,0,0,0,0,0
$GC,7656,-0.98,-194.6,734.3,-9.8,264,7665,0.00,2.53,0.00,0.000,4,0.000,0.060,2721,3663,3545,0,0,0,0,0,0
$GC,7844,-0.98,-194.6,753.0,-9.9,266,7855,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2093,3544,0,0,0,0,0,0
$GC,8153,-0.98,-194.6,783.2,-9.9,272,8162,0.00,2.53,0.00,0.000,4,0.000,0.060,2721,3667,3544,0,0,0,0,0,0
$GC,8240,-0.98,-194.6,791.6,-9.6,273,8248,0.00,2.38,0.00,0.000,6,0.000,0.040,2722,2097,3544,0,0,0,0,0,0
$GC,8581,-0.98,-194.6,824.1,-9.6,279,8589,0.00,2.50,0.00,0.000,4,0.000,0.061,2721,3663,3544,0,0,0,0,0,0
$GC,8790,-0.98,-194.6,844.1,-9.6,282,8798,0.00,2.40,0.00,0.000,6,0.000,0.041,2721,2096,3543,0,0,0,0,0,0
$GC,9132,-0.98,-194.6,877.8,-10.0,288,9140,0.00,2.50,0.00,0.000,4,0.000,0.061,2721,3662,3543,0,0,0,0,0,0
$GC,9288,-0.98,-194.6,892.8,-9.5,290,9296,0.00,2.40,0.00,0.000,6,0.000,0.041,2721,2100,3542,0,0,0,0,0,0
$STATE,9304,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9304,begin apogee
$GC,9307,-0.19,0.0,894.4,9.3,290,9485,0.73,0.00,169.45,1.111,6,0.055,0.000,3008,1927,2748,0,0,0,0,0,0
$STATE,9485,end apogee,CONTROL_FINISHED_OK
$STATE,9485,begin climb
$GC,9486,0.98,194.6,906.0,0.0,293,9674,1.05,2.78,176.18,1.091,4,0.060,0.053,3371,3499,1955,0,0,0,0,0,0
$GC,9795,0.98,194.6,833.8,39.9,298,9803,0.00,2.55,0.00,0.000,6,0.000,0.036,3383,1930,1948,0,0,0,0,0,0
$GC,10114,0.98,194.6,724.3,34.0,304,10122,0.00,2.55,0.00,0.000,4,0.000,0.047,3395,337,1945,0,0,0,0,0,0
$GC,10141,0.98,194.6,714.8,33.0,304,10149,0.00,2.50,0.00,0.000,6,0.000,0.041,3395,1922,1944,0,0,0,0,0,0
$GC,10470,0.98,194.6,602.3,34.5,310,10479,0.00,2.50,0.00,0.000,4,0.000,0.047,3406,340,1943,0,0,0,0,0,0
$GC,10578,0.98,194.6,565.4,34.9,311,10587,0.15,2.50,0.00,0.000,6,0.233,0.041,3377,1933,1943,0,0,0,0,0,0
$GC,10892,0.98,194.6,466.5,31.4,317,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1933,1942,0,0,0,0,0,0
$GC,11193,0.98,194.6,372.8,31.3,322,11202,0.00,2.53,0.00,0.000,4,0.000,0.050,3387,338,1942,0,0,0,0,0,0
$GC,11258,0.98,194.6,352.0,32.9,323,11266,0.00,2.45,0.00,0.000,6,0.000,0.041,3387,1926,1942,0,0,0,0,0,0
$GC,11586,0.98,194.6,250.5,31.2,331,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1925,1940,0,0,0,0,0,0
$GC,11889,0.98,194.6,160.8,28.6,341,11897,0.00,2.53,0.00,0.000,4,0.000,0.057,3387,3510,1942,0,0,0,0,0,0
$GC,11905,0.98,194.6,156.0,28.5,341,11913,0.00,2.47,0.00,0.000,6,0.000,0.040,3399,1915,1942,0,0,0,0,0,0
$GC,12216,0.98,194.6,70.5,27.3,357,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1913,1942,0,0,0,0,0,0
$GC,12402,0.98,194.6,24.5,19.9,375,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1912,1942,0,0,0,0,0,0
$STATE,12507,end climb,SURFACE_DEPTH_REACHED
$STATE,12507,begin surface coast
$FINISH,1.0,1.025182
$STATE,12518,end surface coast,CONTROL_FINISHED_OK
$STATE,12518,begin surface
$SM_CCo,12532,30.55,0.556,0,0,1728,250.45
$SM_GC,1.67,0.00,0.00,30.55,0.000,0.000,0.556,139,2116,1728,-9.11,0.54,250.45
$IRIDIUM_FIX,3218.62,-12023.66,050111,010157
$TT8_MAMPS,0.120589
$HUMID,53.81
$INTERNAL_PRESSURE,9.60313
$TCM_TEMP,19.00
$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,8.9/483886/440703
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.1/297829/276781
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,35.8/7836665/5032912
$24V_AH,22.9,15.340
$10V_AH,10.2,9.310
$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,23.100,124.100,345.625,30.550,0.000,28.163,39.096,184.076,38.250,0.000,16.465,0.000,9737.440,453.087,2620.160,96.326,33.324,1550.240,0.000,1619.852,0.000,243.720,0.000
$DEVICE_MAMPS,276.165,77.265,1110.780,556.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,268.850,0.000,0.000,0.000,0.000,0.000,13159.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.573,0.000,0.000,0.000
$MEM,316876
$DATA_FILE_SIZE,13499,394
$CAP_FILE_SIZE,137375,0
$CFSIZE,260165632,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,093550,3242.701,-11849.608,100,2.5,119,13.3