version: 66.09
glider: 179
mission: 6
dive: 13
start: 1 6 111 2 40 20
data:
$ID,179
$MISSION,6
$DIVE,13
$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,300
$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,-16220.957
$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,42
$R_STBD_OVSHOOT,34
$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
$GPS1,060111,023402,3244.869,-11855.816,50,1.9,50,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.1
$GPS2,060111,023937,3244.833,-11855.784,42,1.0,42,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.267,0.185
$KALMAN_X,21384.5,-1312.6,-5.0,-35722.5,3897.1
$KALMAN_Y,-10498.0,-182.7,140.9,19151.7,-2590.0
$MHEAD_RNG_PITCHd_Wd,291.5,3377,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.04,-194.6,0.0,0.0,0,83,0.00,0.00,-64.45,0.000,2,0.000,0.000,142,2227,2924,0,0,0,0,0,0
$GC,84,-1.04,-194.6,3.2,-4.0,11,115,11.00,2.38,-13.98,0.000,4,0.275,0.073,2498,3668,3544,0,0,0,0,0,0
$GC,183,-1.04,-194.6,31.9,-30.0,26,187,0.00,2.22,0.00,0.000,6,0.000,0.037,2498,2249,3545,0,0,0,0,0,0
$GC,379,-1.04,-194.6,80.0,-20.6,45,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2248,3546,0,0,0,0,0,0
$GC,573,-1.04,-194.6,120.7,-21.2,58,582,0.00,2.30,0.00,0.000,4,0.000,0.060,2487,3665,3547,0,0,0,0,0,0
$GC,606,-1.04,-194.6,128.5,-23.4,59,614,0.00,2.17,0.00,0.000,6,0.000,0.037,2487,2243,3547,0,0,0,0,0,0
$GC,932,-1.04,-194.6,200.3,-21.9,70,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2242,3548,0,0,0,0,0,0
$GC,1236,-1.04,-194.6,262.1,-20.4,80,1245,0.00,2.40,0.00,0.000,4,0.000,0.041,2487,678,3549,0,0,0,0,0,0
$GC,1276,-1.04,-194.6,270.8,-21.4,81,1284,0.10,2.47,0.00,0.000,6,0.164,0.045,2505,2251,3549,0,0,0,0,0,0
$GC,1637,-1.04,-194.6,339.9,-19.6,90,1646,0.00,2.30,0.00,0.000,4,0.000,0.060,2495,3687,3549,0,0,0,0,0,0
$GC,1697,-1.04,-194.6,352.6,-20.9,90,1708,0.00,2.20,0.00,0.000,6,0.000,0.035,2496,2237,3549,0,0,0,0,0,0
$GC,2005,-1.04,-194.6,414.9,-20.1,96,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2236,3549,0,0,0,0,0,0
$GC,2307,-1.04,-194.6,472.2,-19.0,101,2318,0.00,2.33,0.00,0.000,4,0.000,0.060,2484,3681,3549,0,0,0,0,0,0
$GC,2327,-1.04,-194.6,476.3,-19.1,101,2335,0.00,2.17,0.00,0.000,6,0.000,0.037,2485,2247,3549,0,0,0,0,0,0
$GC,2678,-1.04,-194.6,546.7,-19.8,107,2690,0.00,2.38,0.00,0.000,4,0.000,0.041,2485,682,3549,0,0,0,0,0,0
$GC,2704,-1.04,-194.6,552.0,-20.4,107,2713,0.10,2.47,0.00,0.000,6,0.160,0.045,2506,2261,3550,0,0,0,0,0,0
$GC,3051,-1.04,-194.6,613.6,-17.5,113,3062,0.00,2.28,0.00,0.000,4,0.000,0.062,2494,3677,3549,0,0,0,0,0,0
$GC,3118,-1.04,-194.6,626.0,-17.8,114,3126,0.00,2.15,0.00,0.000,6,0.000,0.039,2494,2255,3549,0,0,0,0,0,0
$GC,3486,-1.04,-194.6,690.6,-17.5,120,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2254,3548,0,0,0,0,0,0
$GC,3787,-1.04,-194.6,742.1,-17.0,125,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2254,3550,0,0,0,0,0,0
$GC,4089,-1.04,-194.6,790.9,-16.1,130,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2254,3547,0,0,0,0,0,0
$GC,4391,-1.04,-194.6,834.8,-14.4,135,4400,0.00,2.30,0.00,0.000,4,0.000,0.063,2484,3682,3546,0,0,0,0,0,0
$GC,4425,-1.04,-194.6,840.0,-15.8,135,4434,0.00,2.17,0.00,0.000,6,0.000,0.039,2484,2243,3546,0,0,0,0,0,0
$GC,4761,-1.04,-194.6,891.5,-15.3,141,4770,0.12,2.42,0.00,0.000,4,0.190,0.044,2513,674,3546,0,0,0,0,0,0
$GC,4790,-1.04,-194.6,895.7,-13.9,141,4801,0.00,2.47,0.00,0.000,6,0.000,0.047,2505,2249,3546,0,0,0,0,0,0
$GC,5133,-1.04,-194.6,943.6,-14.1,147,5142,0.00,2.30,0.00,0.000,4,0.000,0.063,2494,3675,3544,0,0,0,0,0,0
$GC,5162,-1.04,-194.6,947.9,-16.2,147,5174,0.00,2.15,0.00,0.000,6,0.000,0.038,2494,2255,3544,0,0,0,0,0,0
$STATE,5446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5446,begin apogee
$GC,5449,-0.21,0.0,992.1,15.5,152,5629,0.93,0.00,170.95,1.176,6,0.144,0.000,2777,1917,2747,0,0,0,0,0,0
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5630,1.04,194.6,1001.0,0.0,154,5824,1.17,2.78,178.18,1.154,4,0.055,0.047,3201,360,1953,0,0,0,0,0,0
$GC,5887,1.04,194.6,966.2,21.6,159,5895,0.00,2.60,0.00,0.000,6,0.000,0.038,3201,1926,1948,0,0,0,0,0,0
$GC,6248,1.04,194.6,882.4,23.5,165,6257,0.00,2.58,0.00,0.000,4,0.000,0.057,3201,3513,1944,0,0,0,0,0,0
$GC,6276,1.04,194.6,875.5,25.2,165,6284,0.00,2.50,0.00,0.000,6,0.000,0.037,3213,1937,1943,0,0,0,0,0,0
$GC,6605,1.04,194.6,797.6,23.6,171,6613,0.00,2.55,0.00,0.000,4,0.000,0.052,3217,340,1942,0,0,0,0,0,0
$GC,6627,1.04,194.6,792.2,24.7,171,6636,0.12,2.47,0.00,0.000,6,0.197,0.040,3189,1927,1941,0,0,0,0,0,0
$GC,6962,1.04,194.6,717.8,22.4,177,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1927,1942,0,0,0,0,0,0
$GC,7264,1.04,194.6,653.6,21.2,182,7272,0.00,2.53,0.00,0.000,4,0.000,0.058,3190,3513,1945,0,0,0,0,0,0
$GC,7302,1.04,194.6,645.0,23.3,182,7311,0.00,2.47,0.00,0.000,6,0.000,0.039,3200,1911,1942,0,0,0,0,0,0
$GC,7621,1.04,194.6,578.9,20.4,188,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1908,1939,0,0,0,0,0,0
$GC,7923,1.04,194.6,516.7,20.5,193,7932,0.00,2.53,0.00,0.000,4,0.000,0.057,3199,3504,1941,0,0,0,0,0,0
$GC,7956,1.04,194.6,509.5,22.3,193,7964,0.00,2.45,0.00,0.000,6,0.000,0.037,3212,1923,1941,0,0,0,0,0,0
$GC,8281,1.04,194.6,440.6,21.1,199,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1921,1939,0,0,0,0,0,0
$GC,8582,1.04,194.6,376.3,21.5,204,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1921,1939,0,0,0,0,0,0
$GC,8884,1.04,194.6,310.8,21.6,209,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1921,1941,0,0,0,0,0,0
$GC,9187,1.04,194.6,248.7,20.0,218,9195,0.00,2.47,0.00,0.000,4,0.000,0.051,3217,343,1941,0,0,0,0,0,0
$GC,9225,1.04,194.6,240.7,20.7,219,9234,0.10,2.45,0.00,0.000,6,0.194,0.040,3195,1925,1941,0,0,0,0,0,0
$GC,9546,1.04,194.6,178.8,19.4,230,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1927,1940,0,0,0,0,0,0
$GC,9850,1.04,194.6,121.6,18.5,240,9858,0.00,2.50,0.00,0.000,4,0.000,0.056,3194,3506,1940,0,0,0,0,0,0
$GC,9976,1.04,194.6,95.8,21.0,244,9980,0.00,2.42,0.00,0.000,6,0.000,0.037,3204,1919,1940,0,0,0,0,0,0
$GC,10166,1.04,194.6,61.4,16.9,262,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1917,1941,0,0,0,0,0,0
$GC,10353,1.04,194.6,30.4,14.7,280,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1917,1940,0,0,0,0,0,0
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,1.0,1.012888
$STATE,10558,end surface coast,CONTROL_FINISHED_OK
$STATE,10558,begin surface
$SM_CCo,10571,50.38,0.552,0,0,1524,300.00
$SM_GC,1.91,0.00,0.00,50.38,0.000,0.000,0.552,148,2260,1524,-8.46,0.28,300.00
$IRIDIUM_FIX,3231.39,-11824.98,050111,232331
$TT8_MAMPS,0.117593
$HUMID,51.10
$INTERNAL_PRESSURE,9.57383
$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,9.0/483886/440184
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.5/297829/275479
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,73.2/7836665/2097301
$24V_AH,22.8,16.167
$10V_AH,10.2,11.084
$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,21.850,82.350,349.125,50.375,0.000,31.301,33.780,152.109,42.250,0.000,43.461,0.000,8721.796,444.737,1717.114,71.219,33.349,1177.082,0.000,822.330,0.000,268.569,0.000
$DEVICE_MAMPS,274.635,72.675,1175.805,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,213.227,0.000,0.000,0.000,0.000,0.000,11060.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.387,0.000,0.000,0.000
$MEM,317736
$DATA_FILE_SIZE,10146,312
$CAP_FILE_SIZE,100180,0
$CFSIZE,260165632,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,053857,3245.798,-11857.354,57,2.1,77,13.3