version: 66.09
glider: 179
mission: 6
dive: 11
start: 1 5 111 20 22 14
data:
$ID,179
$MISSION,6
$DIVE,11
$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,275
$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,-16218.061
$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,24
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,050111,201617,3243.413,-11853.516,120,2.1,140,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.4
$GPS2,050111,202131,3243.391,-11853.509,43,1.2,43,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.254,0.203
$KALMAN_X,16666.3,420.3,-524.5,-28658.3,3473.7
$KALMAN_Y,-7620.5,792.4,159.4,12606.3,-2649.9
$MHEAD_RNG_PITCHd_Wd,295.3,7539,-19.3,-13.306
$D_GRID,1066
$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,-1.04,-194.6,0.0,0.0,0,71,0.00,0.00,-53.47,0.000,2,0.000,0.000,143,2276,2881,0,0,0,0,0,0
$GC,73,-1.04,-194.6,3.1,-4.2,9,104,11.12,2.28,-15.12,0.000,4,0.278,0.073,2499,3667,3539,0,0,0,0,0,0
$GC,139,-1.04,-194.6,22.0,-28.8,20,147,0.00,2.25,0.00,0.000,6,0.000,0.036,2500,2233,3544,0,0,0,0,0,0
$GC,330,-1.04,-194.6,73.7,-24.7,39,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2233,3544,0,0,0,0,0,0
$GC,515,-1.04,-194.6,115.7,-22.5,53,523,0.00,2.40,0.00,0.000,4,0.000,0.040,2499,677,3545,0,0,0,0,0,0
$GC,548,-1.04,-194.6,123.1,-23.2,54,556,0.00,2.47,0.00,0.000,6,0.000,0.045,2487,2240,3545,0,0,0,0,0,0
$GC,874,-1.04,-194.6,196.8,-22.5,65,883,0.00,2.30,0.00,0.000,4,0.000,0.060,2476,3683,3546,0,0,0,0,0,0
$GC,907,-1.04,-194.6,204.7,-23.3,66,916,0.15,2.20,0.00,0.000,6,0.181,0.037,2512,2242,3546,0,0,0,0,0,0
$GC,1245,-1.04,-194.6,271.6,-19.2,77,1256,0.00,2.40,0.00,0.000,4,0.000,0.041,2512,678,3547,0,0,0,0,0,0
$GC,1275,-1.04,-194.6,277.2,-18.1,77,1286,0.00,2.47,0.00,0.000,6,0.000,0.044,2503,2253,3547,0,0,0,0,0,0
$GC,1615,-1.04,-194.6,337.8,-17.9,86,1623,0.00,2.28,0.00,0.000,4,0.000,0.059,2492,3675,3547,0,0,0,0,0,0
$GC,1648,-1.04,-194.6,344.3,-19.6,86,1656,0.00,2.17,0.00,0.000,6,0.000,0.036,2492,2242,3547,0,0,0,0,0,0
$GC,1984,-1.04,-194.6,404.7,-17.9,92,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3547,0,0,0,0,0,0
$GC,2285,-1.04,-194.6,454.8,-16.5,97,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2241,3547,0,0,0,0,0,0
$GC,2587,-1.04,-194.6,503.9,-16.4,102,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3547,0,0,0,0,0,0
$GC,2888,-1.04,-194.6,554.4,-16.8,107,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3551,0,0,0,0,0,0
$GC,3190,-1.04,-194.6,605.4,-16.9,112,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3546,0,0,0,0,0,0
$GC,3492,-1.04,-194.6,655.0,-16.4,117,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2240,3546,0,0,0,0,0,0
$GC,3794,-1.04,-194.6,703.5,-16.0,122,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3545,0,0,0,0,0,0
$GC,4095,-1.04,-194.6,749.7,-15.2,127,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3545,0,0,0,0,0,0
$GC,4397,-1.04,-194.6,796.4,-15.5,132,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2241,3544,0,0,0,0,0,0
$GC,4699,-1.04,-194.6,841.5,-14.9,137,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2241,3543,0,0,0,0,0,0
$GC,5001,-1.04,-194.6,885.2,-14.4,142,5009,0.00,2.40,0.00,0.000,4,0.000,0.044,2494,679,3540,0,0,0,0,0,0
$GC,5034,-1.04,-194.6,890.1,-15.3,142,5043,0.12,2.47,0.00,0.000,6,0.178,0.046,2511,2258,3542,0,0,0,0,0,0
$GC,5371,-1.04,-194.6,933.8,-12.9,148,5380,0.00,2.28,0.00,0.000,4,0.000,0.063,2502,3679,3541,0,0,0,0,0,0
$GC,5399,-1.04,-194.6,937.8,-14.0,148,5410,0.00,2.17,0.00,0.000,6,0.000,0.040,2502,2243,3541,0,0,0,0,0,0
$GC,5743,-1.04,-194.6,984.6,-13.7,154,5751,0.00,2.42,0.00,0.000,4,0.000,0.045,2503,669,3541,0,0,0,0,0,0
$GC,5777,-1.04,-194.6,989.4,-14.5,154,5785,0.00,2.47,0.00,0.000,6,0.000,0.047,2492,2251,3540,0,0,0,0,0,0
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5791,-0.21,0.0,991.1,13.5,154,5971,0.93,0.00,169.57,1.171,6,0.145,0.000,2770,1928,2753,0,0,0,0,0,0
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5972,1.04,194.6,997.2,0.0,157,6161,1.17,0.00,179.88,1.151,6,0.057,0.000,3186,1928,1954,0,0,0,0,0,0
$GC,6422,1.04,194.6,914.5,21133.4,165,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1928,1946,0,0,0,0,0,0
$GC,6724,1.04,194.6,845.7,21133.4,170,6732,0.00,2.58,0.00,0.000,4,0.000,0.058,3186,3510,1944,0,0,0,0,0,0
$GC,6746,1.04,194.6,840.4,21133.4,170,6754,0.00,2.53,0.00,0.000,6,0.000,0.041,3198,1919,1944,0,0,0,0,0,0
$GC,7081,1.04,194.6,763.6,21133.4,176,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1915,1943,0,0,0,0,0,0
$GC,7383,1.04,194.6,696.7,21133.4,181,7391,0.00,2.58,0.00,0.000,4,0.000,0.057,3198,3515,1943,0,0,0,0,0,0
$GC,7480,1.04,194.6,673.5,21133.4,182,7488,0.00,2.47,0.00,0.000,6,0.000,0.040,3210,1922,1942,0,0,0,0,0,0
$GC,7804,1.04,194.6,599.2,21133.4,188,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1918,1946,0,0,0,0,0,0
$GC,8106,1.04,194.6,531.6,21133.4,193,8114,0.00,2.50,0.00,0.000,4,0.000,0.052,3217,341,1940,0,0,0,0,0,0
$GC,8128,1.04,194.6,526.4,21133.4,193,8136,0.00,2.45,0.00,0.000,6,0.000,0.041,3214,1927,1941,0,0,0,0,0,0
$GC,8462,1.04,194.6,452.1,21133.4,199,8470,0.00,2.50,0.00,0.000,4,0.000,0.057,3213,3507,1942,0,0,0,0,0,0
$GC,8506,1.04,194.6,441.7,21133.4,199,8514,0.17,2.45,0.00,0.000,6,0.207,0.038,3189,1918,1941,0,0,0,0,0,0
$GC,8820,1.04,194.6,378.6,21133.4,205,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1915,1942,0,0,0,0,0,0
$GC,9122,1.04,194.6,319.1,21133.4,210,9130,0.00,2.55,0.00,0.000,4,0.000,0.056,3188,3506,1941,0,0,0,0,0,0
$GC,9176,1.04,194.6,308.3,21133.4,210,9187,0.00,2.45,0.00,0.000,6,0.000,0.039,3198,1917,1941,0,0,0,0,0,0
$GC,9485,1.04,194.6,249.2,21133.4,220,9493,0.00,2.53,0.00,0.000,4,0.000,0.056,3199,3513,1940,0,0,0,0,0,0
$GC,9528,1.04,194.6,240.3,21133.4,221,9537,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,1927,1942,0,0,0,0,0,0
$GC,9844,1.04,194.6,178.8,21133.4,232,9852,0.00,2.47,0.00,0.000,4,0.000,0.052,3216,339,1941,0,0,0,0,0,0
$GC,9925,1.04,194.6,163.5,21133.4,234,9933,0.00,2.45,0.00,0.000,6,0.000,0.038,3216,1933,1944,0,0,0,0,0,0
$GC,10234,1.04,194.6,108.6,21133.4,244,10242,0.00,2.47,0.00,0.000,4,0.000,0.055,3216,3512,1940,0,0,0,0,0,0
$GC,10282,1.04,194.6,99.1,21133.4,245,10291,0.17,2.45,0.00,0.000,6,0.202,0.037,3187,1908,1938,0,0,0,0,0,0
$GC,10598,1.04,194.6,50.2,21133.4,275,10603,0.00,2.45,0.00,0.000,4,0.000,0.050,3197,353,1941,0,0,0,0,0,0
$GC,10619,1.04,194.6,47.4,21133.4,277,10624,0.00,2.42,0.00,0.000,6,0.000,0.038,3197,1920,1941,0,0,0,0,0,0
$GC,10816,1.04,194.6,20.1,21133.4,296,10820,0.00,2.53,0.00,0.000,4,0.000,0.054,3196,3500,1940,0,0,0,0,0,0
$STATE,10927,end climb,SURFACE_DEPTH_REACHED
$STATE,10927,begin surface coast
$FINISH,1.4,1.025133
$STATE,10933,end surface coast,CONTROL_FINISHED_OK
$STATE,10933,begin surface
$SM_CCo,10948,42.42,0.557,0,0,1623,275.23
$SM_GC,2.36,0.00,0.00,42.42,0.000,0.000,0.557,142,2231,1623,-8.47,-0.62,275.23
$IRIDIUM_FIX,3233.95,-11843.37,050111,161657
$TT8_MAMPS,0.117593
$HUMID,51.26
$INTERNAL_PRESSURE,9.59336
$TCM_TEMP,19.30
$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,9.0/483886/440412
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.4/297829/275903
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,60.8/7836665/3072136
$24V_AH,22.8,15.886
$10V_AH,10.1,10.465
$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,22.125,87.150,349.450,42.425,0.000,26.424,28.841,139.444,35.500,0.000,44.829,0.000,9154.851,444.432,1635.948,65.930,33.324,1159.713,0.000,764.325,0.000,226.769,0.000
$DEVICE_MAMPS,277.695,73.440,1171.215,556.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,216.726,0.000,0.000,0.000,0.000,0.000,11476.790,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.476,0.000,0.000,0.000
$MEM,316372
$DATA_FILE_SIZE,10131,317
$CAP_FILE_SIZE,97769,0
$CFSIZE,260165632,255889408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,232704,3243.922,-11854.854,62,3.1,81,13.3