version: 66.09
glider: 179
mission: 6
dive: 23
start: 1 7 111 8 9 20
data:
$ID,179
$MISSION,6
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$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,120
$T_MISSION,150
$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,-16233.756
$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,31
$R_STBD_OVSHOOT,37
$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
$GPS1,070111,080337,3249.299,-11901.417,106,2.0,107,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-76.1
$GPS2,070111,080836,3249.282,-11901.401,35,0.9,39,13.4
$SPEED_LIMITS,0.159,0.305
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.258,-0.163
$KALMAN_X,32518.1,-711.0,-862.1,-55341.4,1194.5
$KALMAN_Y,-22008.6,544.5,494.0,37805.6,-913.2
$MHEAD_RNG_PITCHd_Wd,108.8,9052,-20.7,-13.333
$D_GRID,1380
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.07,-170.3,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,139,2257,2923,0,0,0,0,0,0
$GC,83,-1.07,-170.3,3.2,-4.4,11,116,11.02,2.30,-11.75,0.000,4,0.276,0.073,2487,3674,3446,0,0,0,0,0,0
$GC,274,-1.07,-170.3,60.2,-27.7,34,282,0.00,2.20,0.00,0.000,6,0.000,0.034,2486,2227,3450,0,0,0,0,0,0
$GC,476,-1.07,-170.3,108.5,-23.8,51,484,0.00,2.38,0.00,0.000,4,0.000,0.041,2486,679,3449,0,0,0,0,0,0
$GC,530,-1.07,-170.3,121.2,-22.5,52,541,0.12,2.42,0.00,0.000,6,0.187,0.043,2502,2239,3449,0,0,0,0,0,0
$GC,840,-1.07,-170.3,183.4,-20.4,63,849,0.00,2.30,0.00,0.000,4,0.000,0.059,2493,3677,3447,0,0,0,0,0,0
$GC,874,-1.07,-170.3,190.9,-22.4,64,882,0.00,2.17,0.00,0.000,6,0.000,0.036,2493,2236,3449,0,0,0,0,0,0
$GC,1205,-1.07,-170.3,260.0,-20.6,75,1216,0.00,2.38,0.00,0.000,4,0.000,0.041,2493,672,3450,0,0,0,0,0,0
$GC,1241,-1.07,-170.3,267.3,-20.1,76,1249,0.00,2.47,0.00,0.000,6,0.000,0.043,2481,2258,3450,0,0,0,0,0,0
$GC,1602,-1.07,-170.3,341.2,-20.2,85,1611,0.00,2.42,0.00,0.000,4,0.000,0.040,2482,676,3445,0,0,0,0,0,0
$GC,1631,-1.07,-170.3,347.1,-20.3,85,1640,0.12,2.45,0.00,0.000,6,0.188,0.042,2498,2251,3450,0,0,0,0,0,0
$GC,1972,-1.07,-170.3,406.7,-17.2,91,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2251,3450,0,0,0,0,0,0
$GC,2274,-1.07,-170.3,459.2,-17.6,96,2285,0.00,2.42,0.00,0.000,4,0.000,0.041,2499,677,3450,0,0,0,0,0,0
$GC,2305,-1.07,-170.3,464.8,-18.3,96,2314,0.00,2.45,0.00,0.000,6,0.000,0.042,2493,2259,3450,0,0,0,0,0,0
$STATE,2404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2404,begin apogee
$GC,2407,-0.21,0.0,482.9,18.3,98,2557,0.95,0.00,139.38,0.842,6,0.153,0.000,2774,1926,2749,0,0,0,0,0,0
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2558,begin climb
$GC,2559,1.07,170.3,489.6,0.0,100,2715,1.23,2.65,144.25,0.825,4,0.070,0.047,3208,356,2053,0,0,0,0,0,0
$GC,2862,1.07,170.3,446.6,20.4,104,2871,0.00,2.50,0.00,0.000,6,0.000,0.037,3208,1932,2047,0,0,0,0,0,0
$GC,3202,1.07,170.3,376.4,20.7,110,3211,0.00,2.53,0.00,0.000,4,0.000,0.052,3208,3509,2045,0,0,0,0,0,0
$GC,3225,1.07,170.3,371.9,20.1,110,3233,0.00,2.47,0.00,0.000,6,0.000,0.035,3220,1924,2044,0,0,0,0,0,0
$GC,3559,1.07,170.3,307.1,19.2,116,3567,0.00,2.47,0.00,0.000,4,0.000,0.047,3232,341,2043,0,0,0,0,0,0
$GC,3608,1.07,170.3,297.4,19.5,116,3616,0.15,2.45,0.00,0.000,6,0.197,0.037,3199,1920,2043,0,0,0,0,0,0
$GC,3917,1.07,170.3,239.5,18.7,126,3925,0.00,2.50,0.00,0.000,4,0.000,0.054,3199,3509,2043,0,0,0,0,0,0
$GC,3966,1.07,170.3,229.5,20.9,127,3974,0.00,2.45,0.00,0.000,6,0.000,0.036,3209,1923,2042,0,0,0,0,0,0
$GC,4275,1.07,170.3,172.6,17.6,137,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1917,2042,0,0,0,0,0,0
$GC,4578,1.07,170.3,120.4,17.5,147,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1920,2042,0,0,0,0,0,0
$GC,4885,1.07,170.3,71.7,16.0,167,4893,0.00,2.47,0.00,0.000,4,0.000,0.049,3216,334,2042,0,0,0,0,0,0
$GC,4999,1.07,170.3,52.9,15.3,177,5007,0.00,2.45,0.00,0.000,6,0.000,0.036,3216,1933,2041,0,0,0,0,0,0
$GC,5190,1.07,170.3,27.2,13.4,195,5199,0.00,2.47,0.00,0.000,4,0.000,0.052,3216,3514,2038,0,0,0,0,0,0
$GC,5336,1.07,170.3,5.4,14.7,217,5344,0.10,2.45,0.00,0.000,6,0.182,0.034,3201,1924,2041,0,0,0,0,0,0
$STATE,5357,end climb,SURFACE_DEPTH_REACHED
$STATE,5357,begin surface coast
$FINISH,0.9,1.000388
$STATE,5379,end surface coast,CONTROL_FINISHED_OK
$STATE,5379,begin surface
$SM_CCo,5392,67.65,0.546,0,0,1525,300.25
$SM_GC,2.13,0.00,0.00,67.65,0.000,0.000,0.546,152,2253,1525,-8.45,0.08,300.25
$IRIDIUM_FIX,3233.95,-11907.51,070111,040449
$TT8_MAMPS,0.118342
$HUMID,49.01
$INTERNAL_PRESSURE,9.59336
$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,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,9.2/483886/439364
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.2/297829/273543
$PA_DATA1,31.2/7836665/5388716
$PA_DATA0,97.1/7836665/223632
$24V_AH,23.7,17.638
$10V_AH,10.1,13.501
$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,21.975,59.225,283.625,67.650,0.000,28.102,33.611,133.436,17.000,0.000,40.187,0.000,4072.147,393.030,1243.339,49.618,33.338,906.089,0.000,604.359,0.000,109.719,0.000
$DEVICE_MAMPS,276.165,72.675,842.265,546.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,152.772,0.000,0.000,0.000,0.000,0.000,5925.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.554,0.000,0.000,0.000
$MEM,317692
$DATA_FILE_SIZE,6800,225
$CAP_FILE_SIZE,65204,0
$CFSIZE,260165632,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,094107,3248.765,-11900.309,19,1.1,30,13.3