version: 66.09
glider: 179
mission: 6
dive: 16
start: 1 6 111 12 1 50
data:
$ID,179
$MISSION,6
$DIVE,16
$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,-16224.835
$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,48
$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
$GPS1,060111,115606,3246.390,-11901.014,114,1.3,115,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.7
$GPS2,060111,120107,3246.365,-11901.021,9,1.4,14,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.278,0.168
$KALMAN_X,24361.1,-61.3,-140.7,-47961.5,3206.7
$KALMAN_Y,-13825.4,367.9,-191.3,25093.1,-1634.2
$MHEAD_RNG_PITCHd_Wd,287.8,14560,-19.3,-13.306
$D_GRID,970
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,140,2230,2950,0,0,0,0,0,0
$GC,84,-1.04,-194.6,3.5,-5.7,11,115,11.15,2.42,-12.65,0.000,4,0.278,0.051,2505,675,3541,0,0,0,0,0,0
$GC,155,-1.04,-194.6,25.5,-26.2,23,160,0.00,2.53,0.00,0.000,6,0.000,0.046,2495,2235,3544,0,0,0,0,0,0
$GC,352,-1.04,-194.6,76.4,-25.0,42,357,0.00,2.38,0.00,0.000,4,0.000,0.060,2485,3683,3545,0,0,0,0,0,0
$GC,384,-1.04,-194.6,84.4,-24.6,45,388,0.00,2.22,0.00,0.000,6,0.000,0.035,2484,2248,3545,0,0,0,0,0,0
$GC,578,-1.04,-194.6,131.7,-24.6,56,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2247,3545,0,0,0,0,0,0
$GC,882,-1.04,-194.6,199.9,-22.0,66,891,0.00,2.33,0.00,0.000,4,0.000,0.060,2469,3684,3546,0,0,0,0,0,0
$GC,915,-1.04,-194.6,207.6,-23.5,67,924,0.15,2.20,0.00,0.000,6,0.184,0.036,2509,2237,3547,0,0,0,0,0,0
$GC,1247,-1.04,-194.6,270.3,-18.5,78,1258,0.00,2.40,0.00,0.000,4,0.000,0.040,2508,672,3547,0,0,0,0,0,0
$GC,1293,-1.04,-194.6,278.8,-17.5,79,1301,0.00,2.47,0.00,0.000,6,0.000,0.044,2500,2258,3548,0,0,0,0,0,0
$GC,1613,-1.04,-194.6,335.2,-17.4,87,1622,0.00,2.25,0.00,0.000,4,0.000,0.059,2488,3675,3547,0,0,0,0,0,0
$GC,1651,-1.04,-194.6,342.5,-18.8,87,1660,0.00,2.17,0.00,0.000,6,0.000,0.036,2488,2243,3547,0,0,0,0,0,0
$GC,1976,-1.04,-194.6,402.0,-18.4,93,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2241,3546,0,0,0,0,0,0
$GC,2278,-1.04,-194.6,454.6,-17.3,98,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2241,3547,0,0,0,0,0,0
$GC,2580,-1.04,-194.6,511.1,-18.8,103,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2241,3548,0,0,0,0,0,0
$GC,2882,-1.04,-194.6,567.9,-18.9,108,2891,0.00,2.30,0.00,0.000,4,0.000,0.059,2477,3686,3547,0,0,0,0,0,0
$GC,2910,-1.04,-194.6,573.7,-19.6,108,2921,0.12,2.17,0.00,0.000,6,0.184,0.038,2507,2253,3547,0,0,0,0,0,0
$GC,3254,-1.04,-194.6,631.6,-16.6,114,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2251,3546,0,0,0,0,0,0
$GC,3556,-1.04,-194.6,681.4,-16.5,119,3565,0.00,2.28,0.00,0.000,4,0.000,0.061,2498,3674,3546,0,0,0,0,0,0
$GC,3617,-1.04,-194.6,691.6,-17.7,119,3628,0.00,2.15,0.00,0.000,6,0.000,0.038,2498,2242,3546,0,0,0,0,0,0
$GC,3925,-1.04,-194.6,744.7,-17.3,125,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2242,3545,0,0,0,0,0,0
$GC,4227,-1.04,-194.6,797.2,-17.3,130,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2242,3544,0,0,0,0,0,0
$GC,4528,-1.04,-194.6,846.0,-16.2,135,4537,0.00,2.30,0.00,0.000,4,0.000,0.060,2487,3678,3545,0,0,0,0,0,0
$GC,4562,-1.04,-194.6,851.6,-17.3,135,4571,0.00,2.17,0.00,0.000,6,0.000,0.038,2487,2243,3543,0,0,0,0,0,0
$GC,4898,-1.04,-194.6,907.4,-16.6,141,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2238,3543,0,0,0,0,0,0
$GC,5200,-1.04,-194.6,955.1,-15.6,146,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2240,3540,0,0,0,0,0,0
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5323,-0.21,0.0,973.4,15.4,148,5503,0.95,0.00,169.50,1.159,6,0.148,0.000,2777,1922,2748,0,0,0,0,0,0
$STATE,5503,end apogee,CONTROL_FINISHED_OK
$STATE,5503,begin climb
$GC,5504,1.04,194.6,979.9,0.0,150,5698,1.17,2.78,177.52,1.137,4,0.056,0.047,3202,362,1954,0,0,0,0,0,0
$GC,5734,1.04,194.6,947.7,23.5,154,5742,0.00,2.62,0.00,0.000,6,0.000,0.037,3202,1930,1948,0,0,0,0,0,0
$GC,6058,1.04,194.6,869.8,24.1,160,6066,0.00,2.58,0.00,0.000,4,0.000,0.054,3203,3509,1946,0,0,0,0,0,0
$GC,6101,1.04,194.6,858.8,26.1,160,6109,0.00,2.50,0.00,0.000,6,0.000,0.037,3214,1937,1945,0,0,0,0,0,0
$GC,6414,1.04,194.6,784.2,23.9,166,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1934,1943,0,0,0,0,0,0
$GC,6716,1.04,194.6,716.1,22.5,171,6722,0.12,0.00,0.00,0.000,6,0.207,0.000,3187,1934,1943,0,0,0,0,0,0
$GC,7019,1.04,194.6,651.8,21.2,176,7027,0.00,2.53,0.00,0.000,4,0.000,0.055,3188,3510,1943,0,0,0,0,0,0
$GC,7057,1.04,194.6,643.2,22.6,176,7065,0.00,2.47,0.00,0.000,6,0.000,0.037,3197,1917,1943,0,0,0,0,0,0
$GC,7375,1.04,194.6,571.2,22.5,182,7384,0.00,2.47,0.00,0.000,4,0.000,0.050,3210,340,1943,0,0,0,0,0,0
$GC,7403,1.04,194.6,564.7,22.2,182,7412,0.00,2.47,0.00,0.000,6,0.000,0.041,3213,1930,1942,0,0,0,0,0,0
$GC,7733,1.04,194.6,487.0,23.6,188,7742,0.00,2.50,0.00,0.000,4,0.000,0.055,3210,3507,1943,0,0,0,0,0,0
$GC,7798,1.04,194.6,470.9,24.5,189,7807,0.15,2.42,0.00,0.000,6,0.209,0.038,3188,1926,1942,0,0,0,0,0,0
$GC,8155,1.04,194.6,393.7,21.2,195,8163,0.00,2.47,0.00,0.000,4,0.000,0.050,3199,339,1942,0,0,0,0,0,0
$GC,8188,1.04,194.6,386.5,21.5,195,8196,0.00,2.42,0.00,0.000,6,0.000,0.039,3198,1921,1942,0,0,0,0,0,0
$GC,8512,1.04,194.6,318.9,20.7,201,8520,0.00,2.50,0.00,0.000,4,0.000,0.054,3198,3519,1942,0,0,0,0,0,0
$GC,8539,1.04,194.6,312.7,22.7,201,8547,0.00,2.45,0.00,0.000,6,0.000,0.038,3210,1918,1942,0,0,0,0,0,0
$GC,8875,1.04,194.6,240.1,21.2,211,8883,0.00,2.47,0.00,0.000,4,0.000,0.053,3217,344,1941,0,0,0,0,0,0
$GC,8924,1.04,194.6,229.2,21.5,212,8932,0.00,2.45,0.00,0.000,6,0.000,0.039,3217,1938,1941,0,0,0,0,0,0
$GC,9233,1.04,194.6,165.1,20.6,222,9241,0.00,2.47,0.00,0.000,4,0.000,0.054,3216,3510,1941,0,0,0,0,0,0
$GC,9319,1.04,194.6,145.5,22.5,224,9330,0.17,2.42,0.00,0.000,6,0.202,0.037,3187,1914,1941,0,0,0,0,0,0
$GC,9629,1.04,194.6,87.3,20.3,239,9633,0.00,2.55,0.00,0.000,4,0.000,0.053,3184,3504,1941,0,0,0,0,0,0
$GC,9682,1.04,194.6,76.4,21.5,244,9687,0.00,2.45,0.00,0.000,6,0.000,0.037,3197,1919,1942,0,0,0,0,0,0
$GC,9879,1.04,194.6,46.6,14.0,263,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1917,1941,0,0,0,0,0,0
$GC,10065,1.04,194.6,20.5,14.3,281,10070,0.00,2.47,0.00,0.000,4,0.000,0.048,3209,344,1941,0,0,0,0,0,0
$GC,10102,1.04,194.6,15.1,14.4,287,10110,0.00,2.42,0.00,0.000,6,0.000,0.037,3209,1919,1941,0,0,0,0,0,0
$GC,10172,1.04,194.6,5.5,14.3,300,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1920,1940,0,0,0,0,0,0
$STATE,10192,end climb,SURFACE_DEPTH_REACHED
$STATE,10192,begin surface coast
$FINISH,0.9,1.005809
$STATE,10209,end surface coast,CONTROL_FINISHED_OK
$STATE,10209,begin surface
$SM_CCo,10222,54.45,0.552,0,0,1524,300.49
$SM_GC,1.74,0.00,0.00,54.45,0.000,0.000,0.552,138,2259,1524,-8.48,0.40,300.49
$IRIDIUM_FIX,3246.76,-11841.34,060111,080816
$TT8_MAMPS,0.116844
$HUMID,50.39
$INTERNAL_PRESSURE,9.5836
$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,9.1/483886/439836
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.7/297829/274846
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,91.6/7836665/657499
$24V_AH,22.9,16.590
$10V_AH,10.1,12.009
$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,22.300,92.625,347.025,54.450,0.000,30.770,28.937,151.784,34.250,0.000,15.806,0.000,8430.649,463.490,1614.525,66.302,33.336,1173.578,0.000,784.169,0.000,217.886,0.000
$DEVICE_MAMPS,278.460,61.200,1158.975,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,209.464,0.000,0.000,0.000,0.000,0.000,10727.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.211,0.000,0.000,0.000
$MEM,317568
$DATA_FILE_SIZE,10109,307
$CAP_FILE_SIZE,98863,0
$CFSIZE,260165632,255614976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,145451,3246.961,-11902.453,66,4.7,86,13.3