version: 66.09
glider: 179
mission: 6
dive: 8
start: 1 5 111 9 42 5
data:
$ID,179
$MISSION,6
$DIVE,8
$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,-16214.174
$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,33
$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
$GPS1,050111,093550,3242.701,-11849.608,100,2.5,119,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-77.4
$GPS2,050111,094122,3242.690,-11849.629,14,3.6,33,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.316,0.075
$KALMAN_X,11071.9,-1617.8,84.2,-15612.7,5144.8
$KALMAN_Y,-4485.3,-446.8,-106.2,9682.1,-1382.0
$MHEAD_RNG_PITCHd_Wd,270.1,32897,-19.3,-13.306
$D_GRID,1129
$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,-0.98,-194.6,0.0,0.0,0,71,0.00,0.00,-53.35,0.000,2,0.000,0.000,143,2120,2865,0,0,0,0,0,0
$GC,73,-0.98,-194.6,3.1,-3.9,9,109,12.07,2.58,-15.50,0.000,4,0.275,0.073,2722,3659,3545,0,0,0,0,0,0
$GC,183,-0.98,-194.6,16.8,-6.6,29,190,0.00,2.47,0.00,0.000,6,0.000,0.041,2722,2088,3547,0,0,0,0,0,0
$GC,252,-0.98,-194.6,21.5,-6.8,40,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2088,3548,0,0,0,0,0,0
$GC,438,-0.98,-194.6,33.4,-6.2,58,442,0.00,2.60,0.00,0.000,4,0.000,0.062,2728,3661,3547,0,0,0,0,0,0
$GC,517,-0.98,-194.6,38.0,-5.4,65,525,0.00,2.45,0.00,0.000,6,0.000,0.039,2722,2098,3549,0,0,0,0,0,0
$GC,709,-0.98,-194.6,51.8,-8.4,84,714,0.00,2.55,0.00,0.000,4,0.000,0.060,2722,3658,3545,0,0,0,0,0,0
$GC,955,-0.98,-194.6,76.2,-9.9,107,959,0.00,2.42,0.00,0.000,6,0.000,0.038,2726,2097,3549,0,0,0,0,0,0
$GC,1151,-0.98,-194.6,94.6,-8.9,126,1156,0.00,2.55,0.00,0.000,4,0.000,0.058,2722,3656,3553,0,0,0,0,0,0
$GC,1397,-0.98,-194.6,116.2,-8.8,137,1405,0.00,2.38,0.00,0.000,6,0.000,0.040,2722,2091,3548,0,0,0,0,0,0
$GC,1706,-0.98,-194.6,142.1,-8.8,147,1715,0.00,2.53,0.00,0.000,4,0.000,0.058,2722,3667,3551,0,0,0,0,0,0
$GC,1938,-0.98,-194.6,165.3,-9.9,154,1946,0.00,2.40,0.00,0.000,6,0.000,0.039,2722,2102,3551,0,0,0,0,0,0
$GC,2260,-0.98,-194.6,196.7,-9.6,165,2268,0.00,2.50,0.00,0.000,4,0.000,0.060,2722,3669,3552,0,0,0,0,0,0
$GC,2448,-0.98,-194.6,215.2,-9.6,171,2456,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2086,3550,0,0,0,0,0,0
$GC,2781,-0.98,-194.6,246.7,-9.5,182,2789,0.00,2.50,0.00,0.000,4,0.000,0.057,2722,3666,3552,0,0,0,0,0,0
$GC,3001,-0.98,-194.6,268.0,-9.8,189,3009,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2098,3551,0,0,0,0,0,0
$GC,3333,-0.98,-194.6,299.9,-9.7,200,3342,0.00,2.45,0.00,0.000,4,0.000,0.059,2724,3657,3552,0,0,0,0,0,0
$GC,3510,-0.98,-194.6,319.4,-11.0,203,3519,0.00,2.38,0.00,0.000,6,0.000,0.039,2722,2087,3552,0,0,0,0,0,0
$GC,3825,-0.98,-194.6,354.8,-11.4,209,3834,0.00,2.50,0.00,0.000,4,0.000,0.059,2722,3658,3553,0,0,0,0,0,0
$GC,3982,-0.98,-194.6,371.8,-10.3,211,3990,0.00,2.38,0.00,0.000,6,0.000,0.040,2720,2106,3552,0,0,0,0,0,0
$GC,4318,-0.98,-194.6,401.1,-8.4,217,4326,0.00,2.53,0.00,0.000,4,0.000,0.058,2722,3666,3549,0,0,0,0,0,0
$GC,4398,-0.98,-194.6,407.2,-7.0,218,4406,0.00,2.38,0.00,0.000,6,0.000,0.039,2722,2090,3552,0,0,0,0,0,0
$GC,4740,-0.98,-194.6,434.0,-8.1,224,4748,0.00,2.50,0.00,0.000,4,0.000,0.059,2722,3666,3551,0,0,0,0,0,0
$GC,4928,-0.98,-194.6,451.7,-9.7,227,4936,0.00,2.38,0.00,0.000,6,0.000,0.039,2722,2104,3551,0,0,0,0,0,0
$GC,5291,-0.98,-194.6,488.0,-10.1,233,5299,0.00,2.47,0.00,0.000,4,0.000,0.060,2722,3658,3551,0,0,0,0,0,0
$GC,5463,-0.98,-194.6,506.2,-10.7,235,5471,0.00,2.38,0.00,0.000,6,0.000,0.040,2722,2087,3551,0,0,0,0,0,0
$GC,5783,-0.98,-194.6,539.0,-10.3,241,5791,0.00,2.50,0.00,0.000,4,0.000,0.058,2722,3662,3548,0,0,0,0,0,0
$GC,5892,-0.98,-194.6,550.3,-10.1,242,5900,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2092,3551,0,0,0,0,0,0
$GC,6211,-0.98,-194.6,583.9,-10.6,248,6222,0.00,2.50,0.00,0.000,4,0.000,0.059,2722,3662,3550,0,0,0,0,0,0
$GC,6375,-0.98,-194.6,601.2,-11.1,250,6383,0.00,2.38,0.00,0.000,6,0.000,0.040,2722,2092,3550,0,0,0,0,0,0
$GC,6705,-0.98,-194.6,636.5,-10.8,256,6714,0.00,2.50,0.00,0.000,4,0.000,0.059,2723,3661,3549,0,0,0,0,0,0
$GC,6851,-0.98,-194.6,651.9,-10.9,258,6859,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2090,3549,0,0,0,0,0,0
$GC,7197,-0.98,-194.6,686.8,-10.1,264,7206,0.00,2.50,0.00,0.000,4,0.000,0.060,2722,3661,3549,0,0,0,0,0,0
$GC,7391,-0.98,-194.6,707.0,-10.4,267,7399,0.00,2.38,0.00,0.000,6,0.000,0.041,2722,2102,3548,0,0,0,0,0,0
$GC,7754,-0.98,-194.6,742.1,-9.7,273,7762,0.00,2.47,0.00,0.000,4,0.000,0.060,2722,3655,3548,0,0,0,0,0,0
$GC,7921,-0.98,-194.6,758.3,-9.5,275,7933,0.00,2.40,0.00,0.000,6,0.000,0.041,2722,2096,3547,0,0,0,0,0,0
$GC,8254,-0.98,-194.6,790.5,-10.0,281,8266,0.00,2.50,0.00,0.000,4,0.000,0.060,2722,3659,3547,0,0,0,0,0,0
$GC,8458,-0.98,-194.6,811.2,-9.2,284,8470,0.00,2.40,0.00,0.000,6,0.000,0.040,2722,2093,3547,0,0,0,0,0,0
$GC,8823,-0.98,-194.6,846.5,-9.8,290,8837,0.00,2.50,0.00,0.000,4,0.000,0.061,2722,3651,3546,0,0,0,0,0,0
$GC,9009,-0.98,-194.6,865.3,-9.8,292,9015,0.00,2.40,0.00,0.000,6,0.000,0.041,2722,2091,3546,0,0,0,0,0,0
$STATE,9321,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9321,begin apogee
$GC,9324,-0.19,0.0,893.9,9.2,298,9499,0.73,0.00,169.18,1.108,6,0.056,0.000,3008,1926,2748,0,0,0,0,0,0
$STATE,9500,end apogee,CONTROL_FINISHED_OK
$STATE,9500,begin climb
$GC,9501,0.98,194.6,905.6,0.0,300,9685,1.05,2.72,176.00,1.089,4,0.056,0.044,3385,350,1955,0,0,0,0,0,0
$GC,9923,0.98,194.6,796.8,34.2,306,9928,0.00,2.55,0.00,0.000,6,0.000,0.041,3385,1910,1947,0,0,0,0,0,0
$GC,10241,0.98,194.6,692.8,32.4,312,10245,0.00,2.55,0.00,0.000,4,0.000,0.047,3396,343,1944,0,0,0,0,0,0
$GC,10305,0.98,194.6,671.9,32.3,313,10309,0.00,2.55,0.00,0.000,6,0.000,0.042,3397,1931,1944,0,0,0,0,0,0
$GC,10670,0.98,194.6,554.6,31.7,319,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1930,1946,0,0,0,0,0,0
$GC,10972,0.98,194.6,458.3,31.6,324,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1930,1944,0,0,0,0,0,0
$GC,11274,0.98,194.6,362.3,32.0,329,11278,0.00,2.53,0.00,0.000,4,0.000,0.050,3409,351,1947,0,0,0,0,0,0
$GC,11439,0.98,194.6,307.8,33.1,331,11444,0.12,2.47,0.00,0.000,6,0.218,0.041,3379,1923,1943,0,0,0,0,0,0
$GC,11769,0.98,194.6,209.3,28.7,342,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1923,1943,0,0,0,0,0,0
$GC,12072,0.98,194.6,124.6,26.9,352,12077,0.00,2.55,0.00,0.000,4,0.000,0.054,3379,3513,1942,0,0,0,0,0,0
$GC,12088,0.98,194.6,120.0,27.5,352,12093,0.00,2.47,0.00,0.000,6,0.000,0.038,3389,1927,1940,0,0,0,0,0,0
$GC,12403,0.98,194.6,38.4,20.6,378,12407,0.00,2.50,0.00,0.000,4,0.000,0.048,3401,340,1942,0,0,0,0,0,0
$GC,12439,0.98,194.6,30.9,20.0,381,12448,0.00,2.47,0.00,0.000,6,0.000,0.039,3400,1930,1942,0,0,0,0,0,0
$STATE,12576,end climb,SURFACE_DEPTH_REACHED
$STATE,12576,begin surface coast
$FINISH,1.0,1.025179
$STATE,12587,end surface coast,CONTROL_FINISHED_OK
$STATE,12587,begin surface
$SM_CCo,12601,32.85,0.560,0,0,1728,250.45
$SM_GC,1.59,0.00,0.00,32.85,0.000,0.000,0.560,146,2105,1728,-9.10,0.17,250.45
$IRIDIUM_FIX,3213.52,-12612.90,050111,050511
$TT8_MAMPS,0.125832
$HUMID,53.89
$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,92
$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,8.9/483886/440779
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.1/297829/276600
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,40.3/7836665/4678477
$24V_AH,22.9,15.470
$10V_AH,10.1,9.444
$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,22.875,119.125,345.175,32.850,0.000,30.147,32.640,153.776,38.250,0.000,34.945,0.000,9791.438,449.598,2634.797,83.138,33.334,1493.842,0.000,1634.051,0.000,244.247,0.000
$DEVICE_MAMPS,274.635,73.440,1107.720,559.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,276.412,0.000,0.000,0.000,0.000,0.000,4658.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,58.124,0.000,0.000,0.000
$MEM,316400
$DATA_FILE_SIZE,13449,404
$CAP_FILE_SIZE,137012,0
$CFSIZE,260165632,256024576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,131514,3242.831,-11849.714,117,2.3,136,13.3