version: 66.09
glider: 179
mission: 6
dive: 22
start: 1 7 111 5 0 49
data:
$ID,179
$MISSION,6
$DIVE,22
$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,175
$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,-16232.398
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,070111,045427,3250.189,-11903.897,35,2.5,55,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.5
$GPS2,070111,050006,3250.198,-11903.842,40,0.9,45,13.4
$SPEED_LIMITS,0.159,0.305
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.278,-0.125
$KALMAN_X,32943.2,-663.4,-664.3,-59806.1,3370.1
$KALMAN_Y,-21826.5,10.1,426.6,39919.0,-2664.9
$MHEAD_RNG_PITCHd_Wd,100.9,13169,-20.7,-13.306
$D_GRID,1300
$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,-1.07,-170.3,0.0,0.0,0,84,0.00,0.00,-65.68,0.000,2,0.000,0.000,145,2252,2956,0,0,0,0,0,0
$GC,85,-1.07,-170.3,3.4,-4.7,11,118,10.95,2.35,-10.80,0.000,4,0.276,0.071,2488,3674,3446,0,0,0,0,0,0
$GC,271,-1.07,-170.3,57.0,-24.5,33,281,0.00,2.20,0.00,0.000,6,0.000,0.035,2493,2226,3448,0,0,0,0,0,0
$GC,463,-1.07,-170.3,101.9,-22.8,52,471,0.00,2.35,0.00,0.000,4,0.000,0.057,2475,3674,3451,0,0,0,0,0,0
$GC,500,-1.07,-170.3,111.2,-24.4,53,508,0.00,2.17,0.00,0.000,6,0.000,0.035,2477,2247,3448,0,0,0,0,0,0
$GC,821,-1.07,-170.3,186.2,-21.3,64,830,0.00,2.38,0.00,0.000,4,0.000,0.040,2476,681,3449,0,0,0,0,0,0
$GC,859,-1.07,-170.3,194.5,-20.6,65,868,0.15,2.45,0.00,0.000,6,0.186,0.043,2500,2250,3449,0,0,0,0,0,0
$GC,1192,-1.07,-170.3,259.1,-20.3,76,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,3449,0,0,0,0,0,0
$GC,1525,-1.07,-170.3,322.7,-18.6,85,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2251,3450,0,0,0,0,0,0
$GC,1827,-1.07,-170.3,378.4,-18.6,90,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2251,3450,0,0,0,0,0,0
$GC,2129,-1.07,-170.3,435.0,-18.7,95,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2251,3450,0,0,0,0,0,0
$GC,2430,-1.07,-170.3,488.8,-17.7,100,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2251,3450,0,0,0,0,0,0
$GC,2732,-1.07,-170.3,544.0,-18.4,105,2741,0.00,2.40,0.00,0.000,4,0.000,0.041,2500,681,3450,0,0,0,0,0,0
$GC,2772,-1.07,-170.3,551.3,-17.9,105,2780,0.00,2.45,0.00,0.000,6,0.000,0.043,2490,2254,3450,0,0,0,0,0,0
$GC,3102,-1.07,-170.3,606.4,-16.3,111,3111,0.00,2.25,0.00,0.000,4,0.000,0.060,2479,3673,3449,0,0,0,0,0,0
$GC,3126,-1.07,-170.3,610.3,-16.4,111,3134,0.00,2.12,0.00,0.000,6,0.000,0.037,2479,2248,3452,0,0,0,0,0,0
$GC,3472,-1.07,-170.3,669.4,-17.1,117,3481,0.00,2.40,0.00,0.000,4,0.000,0.042,2479,673,3449,0,0,0,0,0,0
$GC,3533,-1.07,-170.3,680.4,-17.2,117,3545,0.15,2.45,0.00,0.000,6,0.181,0.044,2510,2257,3447,0,0,0,0,0,0
$GC,3841,-1.07,-170.3,728.3,-15.5,123,3850,0.00,2.25,0.00,0.000,4,0.000,0.060,2495,3673,3448,0,0,0,0,0,0
$GC,3885,-1.07,-170.3,735.4,-16.0,123,3895,0.00,2.15,0.00,0.000,6,0.000,0.037,2495,2243,3451,0,0,0,0,0,0
$GC,4211,-1.07,-170.3,786.0,-15.4,129,4222,0.00,2.38,0.00,0.000,4,0.000,0.043,2496,676,3447,0,0,0,0,0,0
$GC,4242,-1.07,-170.3,790.7,-15.3,129,4250,0.00,2.45,0.00,0.000,6,0.000,0.044,2484,2272,3448,0,0,0,0,0,0
$GC,4583,-1.07,-170.3,844.3,-15.7,135,4594,0.00,2.45,0.00,0.000,4,0.000,0.043,2483,672,3448,0,0,0,0,0,0
$GC,4651,-1.07,-170.3,855.0,-15.2,136,4660,0.08,2.47,0.00,0.000,6,0.168,0.045,2494,2258,3448,0,0,0,0,0,0
$GC,5020,-1.07,-170.3,907.7,-14.3,142,5028,0.00,2.28,0.00,0.000,4,0.000,0.061,2486,3678,3447,0,0,0,0,0,0
$GC,5070,-1.07,-170.3,915.5,-15.1,142,5077,0.00,2.15,0.00,0.000,6,0.000,0.038,2486,2249,3447,0,0,0,0,0,0
$GC,5384,-1.07,-170.3,963.7,-15.4,148,5393,0.00,2.42,0.00,0.000,4,0.000,0.044,2486,670,3446,0,0,0,0,0,0
$GC,5481,-1.07,-170.3,979.0,-15.2,149,5489,0.12,2.47,0.00,0.000,6,0.181,0.044,2504,2255,3446,0,0,0,0,0,0
$STATE,5569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5569,begin apogee
$GC,5572,-0.21,0.0,991.1,13.7,151,5732,0.88,0.00,149.65,1.171,6,0.145,0.000,2773,1907,2748,0,0,0,0,0,0
$STATE,5732,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5734,1.07,170.3,995.3,0.0,153,5901,1.23,2.70,155.93,1.149,4,0.065,0.047,3208,354,2052,0,0,0,0,0,0
$GC,5974,1.07,170.3,959.5,19345.8,157,5982,0.00,2.58,0.00,0.000,6,0.000,0.037,3208,1927,2047,0,0,0,0,0,0
$GC,6303,1.07,170.3,883.4,19345.8,163,6311,0.00,2.55,0.00,0.000,4,0.000,0.055,3208,3506,2044,0,0,0,0,0,0
$GC,6330,1.07,170.3,876.7,19345.8,163,6338,0.00,2.45,0.00,0.000,6,0.000,0.037,3220,1941,2044,0,0,0,0,0,0
$GC,6660,1.07,170.3,802.6,19345.8,169,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1937,2043,0,0,0,0,0,0
$GC,6961,1.07,170.3,735.4,19345.8,174,6970,0.00,2.53,0.00,0.000,4,0.000,0.055,3219,3514,2042,0,0,0,0,0,0
$GC,6989,1.07,170.3,728.7,19345.8,174,6998,0.15,2.45,0.00,0.000,6,0.213,0.037,3199,1927,2041,0,0,0,0,0,0
$GC,7319,1.07,170.3,657.7,19345.8,180,7327,0.00,2.53,0.00,0.000,4,0.000,0.055,3199,3517,2041,0,0,0,0,0,0
$GC,7368,1.07,170.3,646.2,19345.8,180,7376,0.00,2.47,0.00,0.000,6,0.000,0.038,3215,1902,2041,0,0,0,0,0,0
$GC,7675,1.07,170.3,576.8,19345.8,185,7684,0.00,2.55,0.00,0.000,4,0.000,0.054,3209,3510,2040,0,0,0,0,0,0
$GC,7724,1.07,170.3,565.2,19345.8,185,7732,0.00,2.42,0.00,0.000,6,0.000,0.037,3221,1929,2041,0,0,0,0,0,0
$GC,8032,1.07,170.3,500.5,19345.8,190,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1927,2040,0,0,0,0,0,0
$GC,8337,1.07,170.3,440.1,19345.8,195,8349,0.00,2.50,0.00,0.000,4,0.000,0.054,3221,3507,2039,0,0,0,0,0,0
$GC,8363,1.07,170.3,433.8,19345.8,195,8375,0.15,2.45,0.00,0.000,6,0.216,0.037,3200,1908,2038,0,0,0,0,0,0
$GC,8706,1.07,170.3,368.7,19345.8,201,8718,0.00,2.53,0.00,0.000,4,0.000,0.056,3201,3507,2040,0,0,0,0,0,0
$GC,8748,1.07,170.3,359.4,19345.8,201,8760,0.00,2.40,0.00,0.000,6,0.000,0.038,3210,1931,2040,0,0,0,0,0,0
$GC,9074,1.07,170.3,297.3,19345.8,207,9086,0.00,2.50,0.00,0.000,4,0.000,0.052,3217,337,2040,0,0,0,0,0,0
$GC,9117,1.07,170.3,288.1,19345.8,208,9128,0.00,2.42,0.00,0.000,6,0.000,0.038,3217,1929,2040,0,0,0,0,0,0
$GC,9445,1.07,170.3,224.8,19345.8,219,9457,0.00,2.50,0.00,0.000,4,0.000,0.056,3216,3513,2040,0,0,0,0,0,0
$GC,9519,1.07,170.3,208.7,19345.8,221,9524,0.10,2.45,0.00,0.000,6,0.198,0.037,3202,1929,2041,0,0,0,0,0,0
$GC,9844,1.07,170.3,149.4,19345.8,232,9848,0.00,2.53,0.00,0.000,4,0.000,0.054,3202,3500,2039,0,0,0,0,0,0
$GC,9902,1.07,170.3,137.6,19345.8,233,9910,0.00,2.45,0.00,0.000,6,0.000,0.036,3212,1920,2037,0,0,0,0,0,0
$GC,10213,1.07,170.3,82.7,19345.8,250,10217,0.00,2.55,0.00,0.000,4,0.000,0.054,3212,3502,2040,0,0,0,0,0,0
$GC,10249,1.07,170.3,76.2,19345.8,253,10257,0.00,2.45,0.00,0.000,6,0.000,0.036,3224,1916,2040,0,0,0,0,0,0
$GC,10441,1.07,170.3,46.3,19345.8,272,10446,0.00,2.53,0.00,0.000,4,0.000,0.053,3224,3499,2040,0,0,0,0,0,0
$GC,10558,1.07,170.3,27.3,19345.8,283,10563,0.12,2.42,0.00,0.000,6,0.190,0.036,3202,1930,2040,0,0,0,0,0,0
$STATE,10753,end climb,SURFACE_DEPTH_REACHED
$STATE,10753,begin surface coast
$FINISH,2.4,1.025223
$STATE,10759,end surface coast,CONTROL_FINISHED_OK
$STATE,10759,begin surface
$SM_CCo,10773,70.82,0.555,0,0,1527,300.00
$SM_GC,2.23,0.00,0.00,70.82,0.000,0.000,0.555,139,2260,1527,-8.47,0.25,300.00
$IRIDIUM_FIX,3231.39,-11911.98,070111,020232
$TT8_MAMPS,0.116095
$HUMID,50.51
$INTERNAL_PRESSURE,9.5836
$TCM_TEMP,19.20
$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,94
$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,9.2/483886/439442
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.1/297829/273656
$PA_DATA1,28.0/7836665/5645819
$PA_DATA0,97.1/7836665/223632
$24V_AH,22.9,17.548
$10V_AH,10.1,13.328
$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,23.075,112.350,305.575,70.825,0.000,27.283,29.670,159.340,43.000,0.000,46.204,0.000,8683.341,456.537,1966.532,75.454,33.338,1273.851,0.000,905.606,0.000,274.204,0.000
$DEVICE_MAMPS,276.165,71.145,1171.215,554.625,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,215.182,0.000,0.000,0.000,0.000,0.000,2446.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,60.363,0.000,0.000,0.000
$MEM,317696
$DATA_FILE_SIZE,10134,315
$CAP_FILE_SIZE,112901,0
$CFSIZE,260165632,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,080337,3249.299,-11901.417,106,2.0,107,13.4