version: 66.09
glider: 179
mission: 6
dive: 9
start: 1 5 111 13 21 41
data:
$ID,179
$MISSION,6
$DIVE,9
$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,-16215.44
$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,2890
$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,1923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,37
$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
$GPS1,050111,131514,3242.831,-11849.714,117,2.3,136,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.9
$GPS2,050111,132058,3242.836,-11849.758,11,2.6,30,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.324,-0.013
$KALMAN_X,14263.9,-272.7,-48.3,-20204.7,5582.1
$KALMAN_Y,-5470.6,-48.6,-278.1,10707.7,-257.1
$MHEAD_RNG_PITCHd_Wd,254.5,32587,-19.3,-13.306
$D_GRID,1153
$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,-53.20,0.000,2,0.000,0.000,146,2108,2874,0,0,0,0,0,0
$GC,73,-0.98,-194.6,3.2,-4.6,9,104,11.10,2.58,-15.15,0.000,4,0.271,0.074,2554,3674,3544,0,0,0,0,0,0
$GC,203,-0.98,-194.6,35.5,-23.0,27,211,0.00,2.25,0.00,0.000,6,0.000,0.037,2554,2233,3550,0,0,0,0,0,0
$GC,395,-0.98,-194.6,71.8,-16.5,46,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2232,3547,0,0,0,0,0,0
$GC,591,-0.98,-194.6,106.4,-17.6,63,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2232,3549,0,0,0,0,0,0
$GC,895,-0.98,-194.6,159.3,-17.4,73,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2232,3549,0,0,0,0,0,0
$GC,1199,-0.98,-194.6,207.7,-15.2,83,1207,0.00,2.33,0.00,0.000,4,0.000,0.060,2544,3673,3549,0,0,0,0,0,0
$GC,1242,-0.98,-194.6,214.6,-15.6,84,1251,0.00,2.15,0.00,0.000,6,0.000,0.037,2543,2243,3549,0,0,0,0,0,0
$GC,1563,-0.98,-194.6,264.8,-15.6,95,1569,0.12,0.00,0.00,0.000,6,0.173,0.000,2574,2242,3549,0,0,0,0,0,0
$GC,1898,-0.98,-194.6,309.0,-13.0,105,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2239,3550,0,0,0,0,0,0
$GC,2199,-0.98,-194.6,346.7,-12.4,110,2208,0.00,2.28,0.00,0.000,4,0.000,0.060,2566,3668,3550,0,0,0,0,0,0
$GC,2254,-0.98,-194.6,353.9,-12.9,110,2261,0.00,2.15,0.00,0.000,6,0.000,0.037,2565,2255,3547,0,0,0,0,0,0
$GC,2562,-0.98,-194.6,392.1,-12.4,115,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2255,3550,0,0,0,0,0,0
$GC,2863,-0.98,-194.6,430.0,-12.6,120,2872,0.00,2.28,0.00,0.000,4,0.000,0.061,2556,3667,3550,0,0,0,0,0,0
$GC,2892,-0.98,-194.6,433.6,-13.4,120,2903,0.00,2.15,0.00,0.000,6,0.000,0.037,2556,2245,3550,0,0,0,0,0,0
$GC,3236,-0.98,-194.6,482.1,-14.2,126,3245,0.00,2.40,0.00,0.000,4,0.000,0.042,2556,682,3550,0,0,0,0,0,0
$GC,3265,-0.98,-194.6,486.6,-15.0,126,3273,0.00,2.42,0.00,0.000,6,0.000,0.044,2546,2239,3551,0,0,0,0,0,0
$GC,3600,-0.98,-194.6,538.1,-15.5,132,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2240,3551,0,0,0,0,0,0
$GC,3902,-0.98,-194.6,583.4,-14.8,137,3911,0.00,2.30,0.00,0.000,4,0.000,0.063,2535,3675,3549,0,0,0,0,0,0
$GC,3978,-0.98,-194.6,594.5,-14.7,138,3986,0.15,2.17,0.00,0.000,6,0.156,0.038,2574,2244,3548,0,0,0,0,0,0
$GC,4335,-0.98,-194.6,639.3,-12.5,144,4344,0.00,2.30,0.00,0.000,4,0.000,0.063,2566,3675,3548,0,0,0,0,0,0
$GC,4374,-0.98,-194.6,644.2,-12.7,144,4381,0.00,2.17,0.00,0.000,6,0.000,0.038,2566,2247,3548,0,0,0,0,0,0
$GC,4699,-0.98,-194.6,685.1,-12.7,150,4707,0.00,2.42,0.00,0.000,4,0.000,0.044,2567,673,3549,0,0,0,0,0,0
$GC,4727,-0.98,-194.6,688.9,-13.1,150,4735,0.00,2.47,0.00,0.000,6,0.000,0.045,2558,2255,3547,0,0,0,0,0,0
$GC,5062,-0.98,-194.6,731.8,-12.8,156,5073,0.00,2.28,0.00,0.000,4,0.000,0.063,2548,3680,3547,0,0,0,0,0,0
$GC,5125,-0.98,-194.6,740.2,-13.4,156,5137,0.00,2.20,0.00,0.000,6,0.000,0.038,2548,2237,3547,0,0,0,0,0,0
$GC,5433,-0.98,-194.6,779.9,-12.9,162,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2236,3546,0,0,0,0,0,0
$GC,5736,-0.98,-194.6,817.3,-12.3,167,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2236,3546,0,0,0,0,0,0
$GC,6037,-0.98,-194.6,853.3,-11.9,172,6046,0.00,2.33,0.00,0.000,4,0.000,0.063,2538,3681,3545,0,0,0,0,0,0
$GC,6082,-0.98,-194.6,859.1,-13.1,172,6090,0.12,2.20,0.00,0.000,6,0.163,0.040,2569,2241,3545,0,0,0,0,0,0
$GC,6402,-0.98,-194.6,892.7,-10.4,178,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2241,3542,0,0,0,0,0,0
$GC,6703,-0.98,-194.6,925.4,-10.9,183,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2241,3544,0,0,0,0,0,0
$GC,7005,-0.98,-194.6,957.8,-10.8,188,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2241,3544,0,0,0,0,0,0
$GC,7307,-0.98,-194.6,988.5,-10.1,193,7315,0.00,2.33,0.00,0.000,4,0.000,0.065,2562,3686,3543,0,0,0,0,0,0
$STATE,7324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7324,begin apogee
$GC,7329,-0.19,0.0,990.2,9.7,193,7509,0.82,0.00,171.30,1.170,6,0.128,0.000,2825,1920,2747,0,0,0,0,0,0
$STATE,7510,end apogee,CONTROL_FINISHED_OK
$STATE,7510,begin climb
$GC,7511,0.98,194.6,997.1,0.0,196,7702,1.08,2.88,178.10,1.156,4,0.048,0.054,3210,3506,1955,0,0,0,0,0,0
$GC,7919,0.98,194.6,917.3,27.8,202,7927,0.00,2.55,0.00,0.000,6,0.000,0.038,3222,1925,1947,0,0,0,0,0,0
$GC,8238,0.98,194.6,839.9,24.2,208,8246,0.00,2.55,0.00,0.000,4,0.000,0.050,3234,334,1944,0,0,0,0,0,0
$GC,8255,0.98,194.6,835.8,23.6,208,8262,0.00,2.55,0.00,0.000,6,0.000,0.041,3234,1939,1941,0,0,0,0,0,0
$GC,8599,0.98,194.6,752.7,24.0,214,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1939,1944,0,0,0,0,0,0
$GC,8901,0.98,194.6,681.3,23.6,219,8909,0.00,2.53,0.00,0.000,4,0.000,0.057,3235,3513,1946,0,0,0,0,0,0
$GC,8934,0.98,194.6,672.7,26.7,219,8943,0.17,2.47,0.00,0.000,6,0.210,0.038,3208,1922,1943,0,0,0,0,0,0
$GC,9259,0.98,194.6,601.9,21.4,225,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1918,1946,0,0,0,0,0,0
$GC,9560,0.98,194.6,538.7,20.9,230,9569,0.00,2.55,0.00,0.000,4,0.000,0.055,3208,3504,1942,0,0,0,0,0,0
$GC,9599,0.98,194.6,530.4,22.5,230,9607,0.00,2.47,0.00,0.000,6,0.000,0.040,3217,1918,1942,0,0,0,0,0,0
$GC,9918,0.98,194.6,462.5,21.3,236,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1917,1942,0,0,0,0,0,0
$GC,10219,0.98,194.6,397.5,21.6,241,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1917,1942,0,0,0,0,0,0
$GC,10521,0.98,194.6,331.3,22.2,246,10529,0.00,2.55,0.00,0.000,4,0.000,0.055,3217,3512,1941,0,0,0,0,0,0
$GC,10565,0.98,194.6,320.9,23.7,246,10573,0.00,2.45,0.00,0.000,6,0.000,0.038,3229,1909,1941,0,0,0,0,0,0
$GC,10879,0.98,194.6,248.7,23.1,255,10887,0.00,2.47,0.00,0.000,4,0.000,0.050,3237,332,1942,0,0,0,0,0,0
$GC,10928,0.98,194.6,237.6,22.9,256,10936,0.12,2.45,0.00,0.000,6,0.206,0.041,3213,1923,1942,0,0,0,0,0,0
$GC,11237,0.98,194.6,176.9,18.6,266,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1921,1941,0,0,0,0,0,0
$GC,11540,0.98,194.6,119.4,19.4,276,11548,0.00,2.50,0.00,0.000,4,0.000,0.056,3213,3501,1943,0,0,0,0,0,0
$GC,11658,0.98,194.6,94.5,20.2,279,11667,0.00,2.42,0.00,0.000,6,0.000,0.038,3222,1915,1941,0,0,0,0,0,0
$GC,11974,1.01,217.2,48.4,12.3,310,11997,0.00,0.00,17.75,0.578,6,0.000,0.000,3222,1910,1865,0,0,0,0,0,0
$GC,12181,1.01,217.2,17.8,15.4,331,12189,0.00,2.47,0.00,0.000,4,0.000,0.049,3235,344,1862,0,0,0,0,0,0
$GC,12235,1.01,217.2,8.8,15.9,341,12243,0.00,2.45,0.00,0.000,6,0.000,0.037,3235,1920,1861,0,0,0,0,0,0
$STATE,12267,end climb,SURFACE_DEPTH_REACHED
$STATE,12267,begin surface coast
$FINISH,0.9,1.018478
$STATE,12283,end surface coast,CONTROL_FINISHED_OK
$STATE,12283,begin surface
$SM_CCo,12296,24.35,0.555,0,0,1729,250.45
$SM_GC,2.39,0.00,0.00,24.35,0.000,0.000,0.555,142,2253,1729,-8.59,0.08,250.45
$IRIDIUM_FIX,3233.95,-11926.91,050111,090920
$TT8_MAMPS,0.118342
$HUMID,51.45
$INTERNAL_PRESSURE,9.6129
$TCM_TEMP,19.40
$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,8.9/483886/440651
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.2/297829/276354
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,47.6/7836665/4108782
$24V_AH,22.8,15.609
$10V_AH,10.1,9.801
$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,22.125,91.725,367.150,24.350,0.000,28.111,33.242,171.479,42.500,0.000,32.503,0.000,10264.296,443.848,1875.163,74.621,33.344,1249.519,0.000,908.566,0.000,270.150,0.000
$DEVICE_MAMPS,270.810,74.205,1169.685,555.390,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,238.974,0.000,0.000,0.000,0.000,0.000,12860.261,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.754,0.000,0.000,0.000
$MEM,316324
$DATA_FILE_SIZE,10128,350
$CAP_FILE_SIZE,111315,0
$CFSIZE,260165632,255987712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,165136,3242.817,-11851.785,256,1.3,257,13.3