version: 66.09
glider: 179
mission: 6
dive: 10
start: 1 5 111 16 58 4
data:
$ID,179
$MISSION,6
$DIVE,10
$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,-16216.798
$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,2850
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,050111,165136,3242.817,-11851.785,256,1.3,257,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.9
$GPS2,050111,165720,3242.850,-11851.774,16,1.1,16,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.289,0.148
$KALMAN_X,15108.0,752.1,-733.3,-24514.1,3991.4
$KALMAN_Y,-6594.7,557.2,518.8,10456.1,-1917.1
$MHEAD_RNG_PITCHd_Wd,283.8,10138,-19.3,-13.306
$D_GRID,1092
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.98,-194.6,0.0,0.0,0,70,0.00,0.00,-53.03,0.000,2,0.000,0.000,142,2253,2878,0,0,0,0,0,0
$GC,72,-0.98,-194.6,3.0,-3.7,9,103,11.12,2.50,-15.32,0.000,4,0.275,0.054,2525,668,3541,0,0,0,0,0,0
$GC,304,-0.98,-194.6,59.4,-23.9,37,309,0.00,2.53,0.00,0.000,6,0.000,0.044,2517,2240,3546,0,0,0,0,0,0
$GC,501,-0.98,-194.6,99.5,-20.5,56,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2240,3546,0,0,0,0,0,0
$GC,694,-0.98,-194.6,139.7,-21.3,63,702,0.00,2.42,0.00,0.000,4,0.000,0.040,2516,646,3547,0,0,0,0,0,0
$GC,716,-0.98,-194.6,145.0,-23.2,63,724,0.00,2.50,0.00,0.000,6,0.000,0.044,2504,2260,3548,0,0,0,0,0,0
$GC,1031,-0.98,-194.6,213.7,-21.1,74,1040,0.00,2.25,0.00,0.000,4,0.000,0.060,2493,3673,3548,0,0,0,0,0,0
$GC,1134,-0.98,-194.6,236.3,-21.7,77,1142,0.15,2.20,0.00,0.000,6,0.168,0.036,2526,2230,3548,0,0,0,0,0,0
$GC,1460,-0.98,-194.6,291.5,-16.6,88,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2229,3548,0,0,0,0,0,0
$GC,1762,-0.98,-194.6,340.4,-16.2,94,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2229,3549,0,0,0,0,0,0
$GC,2064,-0.98,-194.6,386.8,-15.3,99,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2229,3544,0,0,0,0,0,0
$GC,2366,-0.98,-194.6,432.3,-15.0,104,2375,0.00,2.33,0.00,0.000,4,0.000,0.060,2522,3678,3551,0,0,0,0,0,0
$GC,2384,-0.98,-194.6,435.1,-15.0,104,2392,0.00,2.17,0.00,0.000,6,0.000,0.037,2522,2248,3546,0,0,0,0,0,0
$GC,2736,-0.98,-194.6,489.9,-15.7,110,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2246,3549,0,0,0,0,0,0
$GC,3037,-0.98,-194.6,536.4,-15.4,115,3046,0.00,2.40,0.00,0.000,4,0.000,0.043,2522,675,3548,0,0,0,0,0,0
$GC,3082,-0.98,-194.6,543.1,-15.1,115,3091,0.00,2.47,0.00,0.000,6,0.000,0.044,2511,2258,3548,0,0,0,0,0,0
$GC,3407,-0.98,-194.6,593.8,-15.7,121,3419,0.00,2.28,0.00,0.000,4,0.000,0.061,2500,3675,3547,0,0,0,0,0,0
$GC,3454,-0.98,-194.6,601.8,-16.4,121,3462,0.12,2.17,0.00,0.000,6,0.169,0.037,2532,2242,3548,0,0,0,0,0,0
$GC,3778,-0.98,-194.6,649.5,-14.7,127,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2242,3547,0,0,0,0,0,0
$GC,4080,-0.98,-194.6,691.1,-13.8,132,4089,0.00,2.40,0.00,0.000,4,0.000,0.044,2528,678,3544,0,0,0,0,0,0
$GC,4109,-0.98,-194.6,695.4,-14.7,132,4120,0.00,2.47,0.00,0.000,6,0.000,0.046,2523,2268,3546,0,0,0,0,0,0
$GC,4453,-0.98,-194.6,745.2,-14.6,138,4461,0.00,2.28,0.00,0.000,4,0.000,0.063,2512,3680,3546,0,0,0,0,0,0
$GC,4491,-0.98,-194.6,751.2,-15.3,138,4499,0.00,2.15,0.00,0.000,6,0.000,0.040,2512,2254,3548,0,0,0,0,0,0
$GC,4815,-0.98,-194.6,800.0,-15.1,144,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2253,3545,0,0,0,0,0,0
$GC,5117,-0.98,-194.6,845.8,-15.2,149,5126,0.00,2.42,0.00,0.000,4,0.000,0.044,2512,676,3544,0,0,0,0,0,0
$GC,5151,-0.98,-194.6,851.3,-16.3,149,5160,0.12,2.45,0.00,0.000,6,0.171,0.046,2533,2249,3545,0,0,0,0,0,0
$GC,5487,-0.98,-194.6,898.1,-13.9,155,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2249,3543,0,0,0,0,0,0
$GC,5789,-0.98,-194.6,938.1,-13.1,160,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2249,3542,0,0,0,0,0,0
$GC,6091,-0.98,-194.6,976.9,-12.8,165,6100,0.00,2.30,0.00,0.000,4,0.000,0.063,2524,3675,3540,0,0,0,0,0,0
$GC,6120,-0.98,-194.6,980.5,-13.3,165,6130,0.00,2.20,0.00,0.000,6,0.000,0.040,2524,2238,3541,0,0,0,0,0,0
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6223,-0.19,0.0,993.6,12.9,167,6403,0.82,0.00,170.57,1.174,6,0.137,0.000,2781,1923,2748,0,0,0,0,0,0
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6405,0.98,194.6,1001.4,0.0,169,6599,1.10,2.78,178.77,1.157,4,0.056,0.047,3181,363,1953,0,0,0,0,0,0
$GC,6607,0.98,194.6,978.9,21.9,173,6616,0.00,2.65,0.00,0.000,6,0.000,0.037,3182,1927,1951,0,0,0,0,0,0
$GC,6959,0.98,194.6,902.0,21.9,179,6967,0.00,2.60,0.00,0.000,4,0.000,0.056,3181,3513,1945,0,0,0,0,0,0
$GC,6986,0.98,194.6,895.8,22.1,179,6994,0.00,2.50,0.00,0.000,6,0.000,0.037,3193,1928,1944,0,0,0,0,0,0
$GC,7315,0.98,194.6,822.6,22.2,185,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1924,1943,0,0,0,0,0,0
$GC,7617,0.98,194.6,756.1,21.9,190,7626,0.00,2.50,0.00,0.000,4,0.000,0.050,3205,344,1943,0,0,0,0,0,0
$GC,7639,0.98,194.6,751.0,22.7,190,7647,0.15,2.47,0.00,0.000,6,0.189,0.040,3172,1930,1943,0,0,0,0,0,0
$GC,7974,0.98,194.6,684.0,19.9,196,7983,0.00,2.53,0.00,0.000,4,0.000,0.057,3172,3503,1942,0,0,0,0,0,0
$GC,8040,0.98,194.6,669.2,23.0,197,8048,0.00,2.47,0.00,0.000,6,0.000,0.039,3181,1914,1941,0,0,0,0,0,0
$GC,8396,0.98,194.6,595.9,20.5,203,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1910,1942,0,0,0,0,0,0
$GC,8698,0.98,194.6,534.7,20.4,208,8706,0.00,2.53,0.00,0.000,4,0.000,0.057,3181,3500,1941,0,0,0,0,0,0
$GC,8778,0.98,194.6,516.6,22.8,209,8786,0.00,2.45,0.00,0.000,6,0.000,0.039,3193,1914,1941,0,0,0,0,0,0
$GC,9118,0.98,194.6,444.0,21.4,215,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1910,1941,0,0,0,0,0,0
$GC,9420,0.98,194.6,380.8,20.8,220,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1910,1940,0,0,0,0,0,0
$GC,9722,0.98,194.6,318.6,20.5,225,9731,0.00,2.55,0.00,0.000,4,0.000,0.056,3193,3504,1942,0,0,0,0,0,0
$GC,9819,0.98,194.6,298.0,22.4,226,9828,0.15,2.42,0.00,0.000,6,0.200,0.038,3172,1920,1941,0,0,0,0,0,0
$GC,10145,0.98,194.6,238.1,17.7,237,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1917,1940,0,0,0,0,0,0
$GC,10449,0.98,194.6,186.5,16.1,247,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1917,1941,0,0,0,0,0,0
$GC,10752,0.98,194.6,137.5,15.7,257,10761,0.00,2.53,0.00,0.000,4,0.000,0.054,3172,3506,1940,0,0,0,0,0,0
$GC,10854,0.98,194.6,119.3,18.1,260,10862,0.00,2.42,0.00,0.000,6,0.000,0.039,3181,1909,1940,0,0,0,0,0,0
$GC,11169,0.98,194.6,69.0,14.5,282,11173,0.00,2.47,0.00,0.000,4,0.000,0.049,3193,343,1941,0,0,0,0,0,0
$GC,11195,0.98,194.6,65.4,15.0,284,11203,0.00,2.45,0.00,0.000,6,0.000,0.039,3195,1916,1940,0,0,0,0,0,0
$GC,11386,1.00,206.3,40.4,12.8,303,11399,0.00,0.00,8.35,0.537,6,0.000,0.000,3192,1916,1907,0,0,0,0,0,0
$GC,11584,1.00,211.2,15.7,13.1,325,11592,0.00,0.00,6.18,0.490,6,0.000,0.000,3193,1916,1887,0,0,0,0,0,0
$GC,11654,1.00,211.2,5.7,14.4,338,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1915,1886,0,0,0,0,0,0
$STATE,11674,end climb,SURFACE_DEPTH_REACHED
$STATE,11674,begin surface coast
$FINISH,0.9,1.002131
$STATE,11696,end surface coast,CONTROL_FINISHED_OK
$STATE,11696,begin surface
$SM_CCo,11709,25.73,0.552,0,0,1727,250.21
$SM_GC,1.97,0.00,0.00,25.73,0.000,0.000,0.552,145,2271,1727,-8.46,0.59,250.21
$IRIDIUM_FIX,3233.95,-11854.82,050111,131339
$TT8_MAMPS,0.116844
$HUMID,51.69
$INTERNAL_PRESSURE,9.60313
$TCM_TEMP,19.50
$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,9.0/483886/440528
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.3/297829/276122
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,54.4/7836665/3572688
$24V_AH,22.8,15.750
$10V_AH,10.2,10.147
$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,22.025,88.200,363.875,25.725,0.000,28.203,29.368,194.482,43.250,0.000,16.949,0.000,9706.226,429.580,1860.586,81.376,33.325,1226.087,0.000,912.811,0.000,275.416,0.000
$DEVICE_MAMPS,274.635,63.495,1173.510,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,236.653,0.000,0.000,0.000,0.000,0.000,12385.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.126,0.000,0.000,0.000
$MEM,316732
$DATA_FILE_SIZE,10138,346
$CAP_FILE_SIZE,109665,0
$CFSIZE,260165632,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,201617,3243.413,-11853.516,120,2.1,140,13.3