version: 66.09
glider: 179
mission: 6
dive: 19
start: 1 6 111 20 40 47
data:
$ID,179
$MISSION,6
$DIVE,19
$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,-16228.62
$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,34
$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
$GPS1,060111,203024,3249.432,-11904.742,50,1.9,68,13.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.9
$GPS2,060111,204004,3249.466,-11904.651,14,7.3,33,13.4
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.238,0.281
$KALMAN_X,29136.3,-288.2,-298.3,-58024.5,3429.9
$KALMAN_Y,-18736.4,489.7,304.9,35119.6,-4009.4
$MHEAD_RNG_PITCHd_Wd,306.4,6513,-18.4,-14.348
$D_GRID,1170
$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,-243.3,0.0,0.0,0,82,0.00,0.00,-64.72,0.000,2,0.000,0.000,136,2260,2962,0,0,0,0,0,0
$GC,84,-1.06,-243.3,3.6,-5.6,11,122,11.10,2.55,-16.52,0.000,4,0.278,0.054,2500,666,3743,0,0,0,0,0,0
$GC,147,-1.06,-243.3,24.0,-32.1,21,155,0.00,2.53,0.00,0.000,6,0.000,0.046,2490,2241,3744,0,0,0,0,0,0
$GC,339,-1.06,-243.3,80.7,-29.0,39,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2241,3746,0,0,0,0,0,0
$GC,544,-1.06,-243.3,133.4,-25.7,51,552,0.00,2.33,0.00,0.000,4,0.000,0.060,2479,3677,3741,0,0,0,0,0,0
$GC,598,-1.06,-243.3,147.3,-25.5,52,609,0.00,2.20,0.00,0.000,6,0.000,0.036,2479,2238,3747,0,0,0,0,0,0
$GC,908,-1.06,-243.3,220.7,-22.9,63,916,0.00,2.40,0.00,0.000,4,0.000,0.039,2479,669,3747,0,0,0,0,0,0
$GC,931,-1.06,-243.3,225.9,-22.7,63,941,0.10,2.47,0.00,0.000,6,0.164,0.045,2497,2250,3747,0,0,0,0,0,0
$GC,1249,-1.06,-243.3,290.4,-19.9,74,1257,0.00,2.30,0.00,0.000,4,0.000,0.061,2488,3679,3745,0,0,0,0,0,0
$GC,1320,-1.06,-243.3,305.3,-21.4,76,1327,0.00,2.17,0.00,0.000,6,0.000,0.035,2488,2248,3748,0,0,0,0,0,0
$GC,1677,-1.06,-243.3,379.5,-20.8,82,1685,0.00,2.30,0.00,0.000,4,0.000,0.060,2477,3689,3747,0,0,0,0,0,0
$GC,1716,-1.06,-243.3,388.2,-21.7,82,1725,0.10,2.20,0.00,0.000,6,0.194,0.036,2500,2239,3746,0,0,0,0,0,0
$GC,2047,-1.06,-243.3,449.4,-18.2,88,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2239,3746,0,0,0,0,0,0
$GC,2348,-1.06,-243.3,504.3,-18.0,93,2357,0.00,2.30,0.00,0.000,4,0.000,0.060,2492,3676,3747,0,0,0,0,0,0
$GC,2382,-1.06,-243.3,510.8,-18.9,93,2391,0.00,2.17,0.00,0.000,6,0.000,0.037,2492,2238,3747,0,0,0,0,0,0
$GC,2718,-1.06,-243.3,574.4,-18.9,99,2727,0.00,2.33,0.00,0.000,4,0.000,0.060,2481,3687,3746,0,0,0,0,0,0
$GC,2774,-1.06,-243.3,585.6,-20.0,99,2783,0.00,2.17,0.00,0.000,6,0.000,0.037,2481,2247,3747,0,0,0,0,0,0
$GC,3089,-1.06,-243.3,649.0,-20.0,105,3099,0.00,2.30,0.00,0.000,4,0.000,0.061,2470,3689,3746,0,0,0,0,0,0
$GC,3114,-1.06,-243.3,654.1,-20.5,105,3123,0.15,2.20,0.00,0.000,6,0.179,0.037,2506,2237,3746,0,0,0,0,0,0
$GC,3461,-1.06,-243.3,713.1,-16.7,111,3470,0.00,2.30,0.00,0.000,4,0.000,0.062,2498,3678,3746,0,0,0,0,0,0
$GC,3516,-1.06,-243.3,722.8,-17.8,111,3524,0.00,2.17,0.00,0.000,6,0.000,0.039,2498,2242,3746,0,0,0,0,0,0
$GC,3830,-1.06,-243.3,776.5,-17.2,117,3838,0.00,2.33,0.00,0.000,4,0.000,0.063,2487,3681,3745,0,0,0,0,0,0
$GC,3873,-1.06,-243.3,784.4,-17.6,117,3884,0.00,2.17,0.00,0.000,6,0.000,0.038,2488,2250,3745,0,0,0,0,0,0
$GC,4200,-1.06,-243.3,843.0,-17.9,123,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2247,3744,0,0,0,0,0,0
$GC,4502,-1.06,-243.3,896.9,-17.8,128,4511,0.00,2.30,0.00,0.000,4,0.000,0.063,2476,3679,3743,0,0,0,0,0,0
$GC,4546,-1.06,-243.3,905.3,-18.9,128,4556,0.12,2.17,0.00,0.000,6,0.183,0.039,2506,2252,3743,0,0,0,0,0,0
$GC,4872,-1.06,-243.3,957.4,-15.8,134,4883,0.00,2.30,0.00,0.000,4,0.000,0.063,2497,3686,3741,0,0,0,0,0,0
$GC,4892,-1.06,-243.3,960.4,-15.4,134,4901,0.00,2.20,0.00,0.000,6,0.000,0.039,2497,2239,3745,0,0,0,0,0,0
$STATE,5123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5123,begin apogee
$GC,5126,-0.21,0.0,998.0,16.2,138,5348,0.90,0.00,212.12,1.174,6,0.139,0.000,2782,1927,2752,0,0,0,0,0,0
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5350,1.06,243.3,1010.4,0.0,141,5588,1.20,2.80,223.88,1.154,4,0.057,0.047,3206,353,1757,0,0,0,0,0,0
$GC,5693,1.06,243.3,950.5,17982.5,147,5701,0.00,2.60,0.00,0.000,6,0.000,0.038,3206,1940,1751,0,0,0,0,0,0
$GC,6049,1.06,243.3,854.3,17982.5,153,6057,0.00,2.53,0.00,0.000,4,0.000,0.055,3206,3502,1749,0,0,0,0,0,0
$GC,6082,1.06,243.3,844.8,17982.5,153,6090,0.00,2.47,0.00,0.000,6,0.000,0.037,3217,1930,1749,0,0,0,0,0,0
$GC,6406,1.06,243.3,756.0,17982.5,159,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1927,1747,0,0,0,0,0,0
$GC,6708,1.06,243.3,675.6,17982.5,164,6716,0.00,2.53,0.00,0.000,4,0.000,0.055,3214,3507,1748,0,0,0,0,0,0
$GC,6746,1.06,243.3,664.7,17982.5,164,6755,0.15,2.47,0.00,0.000,6,0.209,0.038,3196,1915,1748,0,0,0,0,0,0
$GC,7065,1.06,243.3,583.2,17982.5,170,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1911,1748,0,0,0,0,0,0
$GC,7367,1.06,243.3,510.3,17982.5,175,7377,0.00,2.55,0.00,0.000,4,0.000,0.055,3197,3506,1747,0,0,0,0,0,0
$GC,7391,1.06,243.3,504.1,17982.5,175,7399,0.00,2.45,0.00,0.000,6,0.000,0.038,3207,1914,1749,0,0,0,0,0,0
$GC,7725,1.06,243.3,420.3,17982.5,181,7734,0.00,2.55,0.00,0.000,4,0.000,0.055,3207,3508,1747,0,0,0,0,0,0
$GC,7748,1.06,243.3,414.3,17982.5,181,7756,0.00,2.42,0.00,0.000,6,0.000,0.037,3218,1919,1747,0,0,0,0,0,0
$GC,8083,1.06,243.3,330.0,17982.5,187,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1916,1747,0,0,0,0,0,0
$GC,8385,1.06,243.3,254.3,17982.5,194,8394,0.00,2.53,0.00,0.000,4,0.000,0.054,3218,3518,1745,0,0,0,0,0,0
$GC,8418,1.06,243.3,245.3,17982.5,195,8427,0.15,2.45,0.00,0.000,6,0.204,0.038,3197,1915,1745,0,0,0,0,0,0
$GC,8744,1.06,243.3,167.7,17982.5,206,8752,0.00,2.53,0.00,0.000,4,0.000,0.055,3196,3508,1746,0,0,0,0,0,0
$GC,8787,1.06,243.3,157.7,17982.5,207,8796,0.00,2.40,0.00,0.000,6,0.000,0.037,3207,1919,1746,0,0,0,0,0,0
$GC,9104,1.06,243.3,89.2,17982.5,220,9112,0.00,2.45,0.00,0.000,4,0.000,0.050,3216,346,1746,0,0,0,0,0,0
$GC,9195,1.06,243.3,69.3,17982.5,228,9203,0.00,2.42,0.00,0.000,6,0.000,0.037,3216,1930,1746,0,0,0,0,0,0
$GC,9388,1.06,243.3,31.7,17982.5,246,9396,0.00,2.47,0.00,0.000,4,0.000,0.054,3216,3508,1746,0,0,0,0,0,0
$GC,9415,1.06,243.3,26.2,17982.5,248,9424,0.15,2.40,0.00,0.000,6,0.196,0.037,3199,1918,1746,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,1.3,1.025193
$STATE,9557,end surface coast,CONTROL_FINISHED_OK
$STATE,9557,begin surface
$SM_CCo,9571,32.20,0.552,0,0,1525,300.00
$SM_GC,2.33,0.00,0.00,32.20,0.000,0.000,0.552,147,2262,1525,-8.44,0.34,300.00
$IRIDIUM_FIX,3241.63,-11906.51,060111,202044
$TT8_MAMPS,0.119091
$HUMID,51.73
$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,9.2/483886/439523
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.9/297829/274241
$PA_DATA1,12.1/7836665/6886745
$PA_DATA0,97.1/7836665/223597
$24V_AH,22.8,17.093
$10V_AH,10.2,12.877
$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,22.300,100.875,436.000,32.200,0.000,63.763,64.679,256.810,42.750,0.000,35.127,0.000,7699.659,492.423,1913.285,76.072,33.344,1271.273,0.000,818.136,0.000,272.820,0.000
$DEVICE_MAMPS,277.695,63.495,1173.510,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,184.756,0.000,0.000,0.000,0.000,0.000,10302.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.987,0.000,0.000,0.000
$MEM,317684
$DATA_FILE_SIZE,10169,271
$CAP_FILE_SIZE,106135,0
$CFSIZE,260165632,255459328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,232222,3250.520,-11905.518,54,3.1,74,13.4