version: 66.09
glider: 179
mission: 6
dive: 17
start: 1 6 111 15 0 33
data:
$ID,179
$MISSION,6
$DIVE,17
$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,230
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,-16226.097
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,060111,145451,3246.961,-11902.453,66,4.7,86,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-76.8
$GPS2,060111,145950,3246.969,-11902.438,14,1.8,14,13.3
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.246,0.274
$KALMAN_X,25750.2,120.1,-10.9,-51884.9,2523.5
$KALMAN_Y,-15931.6,874.6,116.2,27506.2,-2849.5
$MHEAD_RNG_PITCHd_Wd,304.8,12215,-18.4,-14.348
$D_GRID,987
$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,-1.06,-243.3,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,137,2259,2941,0,0,0,0,0,0
$GC,84,-1.06,-243.3,3.1,-3.4,11,114,11.10,0.00,-17.23,0.000,6,0.277,0.000,2499,2259,3741,0,0,0,0,0,0
$GC,180,-1.06,-243.3,33.9,-31.0,25,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2259,3744,0,0,0,0,0,0
$GC,367,-1.06,-243.3,86.3,-24.2,43,371,0.00,2.50,0.00,0.000,4,0.000,0.040,2501,675,3746,0,0,0,0,0,0
$GC,393,-1.06,-243.3,92.8,-24.5,45,401,0.00,2.50,0.00,0.000,6,0.000,0.044,2491,2232,3746,0,0,0,0,0,0
$GC,582,-1.06,-243.3,136.0,-23.7,54,590,0.00,2.35,0.00,0.000,4,0.000,0.060,2479,3683,3747,0,0,0,0,0,0
$GC,631,-1.06,-243.3,148.8,-26.1,55,639,0.00,2.22,0.00,0.000,6,0.000,0.036,2479,2231,3747,0,0,0,0,0,0
$GC,952,-1.06,-243.3,225.6,-23.7,66,961,0.00,2.35,0.00,0.000,4,0.000,0.060,2468,3681,3747,0,0,0,0,0,0
$GC,991,-1.06,-243.3,235.0,-24.1,67,1000,0.15,2.17,0.00,0.000,6,0.180,0.036,2509,2250,3747,0,0,0,0,0,0
$GC,1318,-1.06,-243.3,300.6,-19.6,78,1329,0.00,2.28,0.00,0.000,4,0.000,0.060,2495,3674,3747,0,0,0,0,0,0
$GC,1344,-1.06,-243.3,305.8,-19.7,78,1351,0.00,2.17,0.00,0.000,6,0.000,0.036,2495,2242,3748,0,0,0,0,0,0
$GC,1684,-1.06,-243.3,371.5,-19.4,84,1693,0.00,2.30,0.00,0.000,4,0.000,0.060,2485,3680,3748,0,0,0,0,0,0
$GC,1718,-1.06,-243.3,378.3,-20.5,84,1726,0.00,2.17,0.00,0.000,6,0.000,0.037,2485,2246,3748,0,0,0,0,0,0
$GC,2054,-1.06,-243.3,445.4,-20.1,90,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2245,3748,0,0,0,0,0,0
$GC,2355,-1.06,-243.3,505.6,-19.9,95,2364,0.00,2.30,0.00,0.000,4,0.000,0.061,2474,3675,3748,0,0,0,0,0,0
$GC,2405,-1.06,-243.3,516.5,-21.9,95,2416,0.12,2.17,0.00,0.000,6,0.181,0.037,2503,2246,3748,0,0,0,0,0,0
$GC,2728,-1.06,-243.3,574.7,-17.9,101,2736,0.00,2.30,0.00,0.000,4,0.000,0.062,2495,3680,3749,0,0,0,0,0,0
$GC,2767,-1.06,-243.3,582.1,-18.2,101,2775,0.00,2.17,0.00,0.000,6,0.000,0.039,2495,2254,3748,0,0,0,0,0,0
$GC,3098,-1.06,-243.3,644.1,-18.8,107,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2253,3747,0,0,0,0,0,0
$GC,3399,-1.06,-243.3,698.9,-18.1,112,3408,0.00,2.28,0.00,0.000,4,0.000,0.061,2484,3674,3747,0,0,0,0,0,0
$GC,3460,-1.06,-243.3,710.1,-18.7,112,3472,0.00,2.17,0.00,0.000,6,0.000,0.038,2484,2244,3744,0,0,0,0,0,0
$GC,3768,-1.06,-243.3,766.9,-18.5,118,3777,0.00,2.30,0.00,0.000,4,0.000,0.062,2473,3676,3746,0,0,0,0,0,0
$GC,3802,-1.06,-243.3,773.6,-20.1,118,3811,0.12,2.15,0.00,0.000,6,0.181,0.038,2503,2251,3745,0,0,0,0,0,0
$GC,4138,-1.06,-243.3,827.5,-15.7,124,4147,0.00,2.30,0.00,0.000,4,0.000,0.062,2494,3684,3745,0,0,0,0,0,0
$GC,4167,-1.06,-243.3,832.3,-17.6,124,4178,0.00,2.17,0.00,0.000,6,0.000,0.038,2494,2254,3745,0,0,0,0,0,0
$GC,4511,-1.06,-243.3,891.0,-17.2,130,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2253,3744,0,0,0,0,0,0
$GC,4812,-1.06,-243.3,939.2,-15.9,135,4821,0.00,2.28,0.00,0.000,4,0.000,0.063,2481,3675,3744,0,0,0,0,0,0
$GC,4841,-1.06,-243.3,944.0,-17.3,135,4849,0.00,2.17,0.00,0.000,6,0.000,0.039,2484,2248,3744,0,0,0,0,0,0
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5123,-0.21,0.0,992.4,17.4,140,5344,0.95,0.00,211.88,1.171,6,0.145,0.000,2772,1920,2749,0,0,0,0,0,0
$STATE,5346,end apogee,CONTROL_FINISHED_OK
$STATE,5346,begin climb
$GC,5347,1.06,243.3,1003.4,0.0,143,5584,1.20,2.75,224.48,1.151,4,0.056,0.047,3205,346,1753,0,0,0,0,0,0
$GC,5668,1.06,243.3,946.5,27.7,148,5676,0.00,2.62,0.00,0.000,6,0.000,0.038,3206,1933,1751,0,0,0,0,0,0
$GC,5975,1.06,243.3,863.3,27.2,153,5984,0.00,2.58,0.00,0.000,4,0.000,0.054,3206,3509,1748,0,0,0,0,0,0
$GC,6013,1.06,243.3,852.1,29.3,153,6021,0.00,2.50,0.00,0.000,6,0.000,0.037,3218,1932,1751,0,0,0,0,0,0
$GC,6332,1.06,243.3,763.2,28.1,159,6341,0.00,2.55,0.00,0.000,4,0.000,0.051,3230,337,1748,0,0,0,0,0,0
$GC,6349,1.06,243.3,758.2,27.8,159,6358,0.17,2.50,0.00,0.000,6,0.196,0.040,3190,1933,1747,0,0,0,0,0,0
$GC,6690,1.06,243.3,673.7,24.6,165,6698,0.00,2.53,0.00,0.000,4,0.000,0.056,3190,3510,1747,0,0,0,0,0,0
$GC,6739,1.06,243.3,661.2,26.0,165,6747,0.00,2.47,0.00,0.000,6,0.000,0.038,3200,1916,1744,0,0,0,0,0,0
$GC,7047,1.06,243.3,586.8,23.9,170,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1914,1750,0,0,0,0,0,0
$GC,7349,1.06,243.3,516.1,23.3,175,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1913,1747,0,0,0,0,0,0
$GC,7651,1.06,243.3,442.3,24.7,180,7659,0.00,2.53,0.00,0.000,4,0.000,0.055,3200,3506,1747,0,0,0,0,0,0
$GC,7704,1.06,243.3,428.1,26.4,180,7715,0.00,2.42,0.00,0.000,6,0.000,0.037,3211,1921,1746,0,0,0,0,0,0
$GC,8012,1.06,243.3,350.6,25.3,186,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1916,1746,0,0,0,0,0,0
$GC,8314,1.06,243.3,275.9,24.6,192,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1916,1745,0,0,0,0,0,0
$GC,8617,1.06,243.3,204.3,23.8,202,8626,0.00,2.53,0.00,0.000,4,0.000,0.054,3212,3511,1746,0,0,0,0,0,0
$GC,8639,1.06,243.3,199.1,22.5,202,8650,0.12,2.42,0.00,0.000,6,0.208,0.037,3197,1920,1746,0,0,0,0,0,0
$GC,8948,1.06,243.3,132.3,21.4,213,8956,0.00,2.53,0.00,0.000,4,0.000,0.054,3197,3509,1746,0,0,0,0,0,0
$GC,8976,1.06,243.3,126.4,20.5,214,8984,0.00,2.40,0.00,0.000,6,0.000,0.038,3207,1924,1746,0,0,0,0,0,0
$GC,9291,1.06,243.3,59.6,19.7,235,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1919,1746,0,0,0,0,0,0
$GC,9476,1.06,243.3,25.1,17.8,253,9481,0.00,2.53,0.00,0.000,4,0.000,0.053,3207,3501,1746,0,0,0,0,0,0
$GC,9519,1.06,243.3,17.7,18.0,258,9527,0.00,2.42,0.00,0.000,6,0.000,0.037,3216,1935,1746,0,0,0,0,0,0
$GC,9589,1.06,243.3,5.2,17.5,271,9597,0.00,2.53,0.00,0.000,4,0.000,0.051,3217,337,1746,0,0,0,0,0,0
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,1.0,1.000948
$STATE,9621,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9637,28.95,0.552,0,0,1525,300.00
$SM_GC,2.14,0.00,0.00,28.95,0.000,0.000,0.552,139,2249,1525,-8.47,-0.03,300.00
$IRIDIUM_FIX,3241.63,-11912.24,060111,111129
$TT8_MAMPS,0.118342
$HUMID,51.45
$INTERNAL_PRESSURE,9.5836
$TCM_TEMP,19.10
$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,9.1/483886/439743
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.8/297829/274655
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,97.1/7836665/223597
$24V_AH,22.8,16.754
$10V_AH,10.1,12.292
$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,22.275,96.075,436.350,28.950,0.000,28.542,29.844,151.914,42.000,0.000,15.622,0.000,7779.780,506.524,1606.710,70.345,33.335,1234.680,0.000,771.431,0.000,267.887,0.000
$DEVICE_MAMPS,276.930,62.730,1171.215,552.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,188.339,0.000,0.000,0.000,0.000,0.000,10126.061,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.058,0.000,0.000,0.000
$MEM,317592
$DATA_FILE_SIZE,10158,277
$CAP_FILE_SIZE,99928,0
$CFSIZE,260165632,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,174337,3248.199,-11903.742,93,1.7,101,13.4