version: 66.09
glider: 179
mission: 6
dive: 25
start: 1 7 111 11 24 5
data:
$ID,179
$MISSION,6
$DIVE,25
$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,-16236.273
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,070111,111827,3248.056,-11859.213,41,3.6,60,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.6
$GPS2,070111,112322,3248.055,-11859.217,16,3.7,35,13.3
$SPEED_LIMITS,0.159,0.305
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.270,-0.142
$KALMAN_X,31617.6,-962.4,-27.9,-51623.8,651.3
$KALMAN_Y,-22058.3,1199.3,150.9,35278.2,-784.3
$MHEAD_RNG_PITCHd_Wd,104.5,4962,-20.7,-13.333
$D_GRID,1391
$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,-1.07,-170.3,0.0,0.0,0,83,0.00,0.00,-65.38,0.000,2,0.000,0.000,140,2249,2965,0,0,0,0,0,0
$GC,85,-1.07,-170.3,3.4,-3.7,11,117,10.82,2.33,-10.73,0.000,4,0.272,0.070,2486,3659,3445,0,0,0,0,0,0
$GC,334,-1.07,-170.3,72.2,-24.2,39,345,0.00,2.17,0.00,0.000,6,0.000,0.034,2486,2232,3447,0,0,0,0,0,0
$GC,545,-1.07,-170.3,121.1,-22.7,54,552,0.00,2.38,0.00,0.000,4,0.000,0.040,2486,675,3448,0,0,0,0,0,0
$GC,588,-1.07,-170.3,130.9,-21.7,55,596,0.00,2.42,0.00,0.000,6,0.000,0.041,2474,2242,3448,0,0,0,0,0,0
$GC,910,-1.07,-170.3,205.7,-23.5,66,915,0.12,0.00,0.00,0.000,6,0.197,0.000,2502,2243,3446,0,0,0,0,0,0
$GC,1213,-1.07,-170.3,262.1,-17.2,76,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2243,3449,0,0,0,0,0,0
$GC,1516,-1.07,-170.3,314.4,-17.8,85,1525,0.00,2.25,0.00,0.000,4,0.000,0.057,2493,3674,3449,0,0,0,0,0,0
$GC,1550,-1.07,-170.3,321.1,-19.6,85,1559,0.00,2.12,0.00,0.000,6,0.000,0.034,2492,2252,3449,0,0,0,0,0,0
$GC,1886,-1.07,-170.3,387.3,-19.7,91,1897,0.00,2.38,0.00,0.000,4,0.000,0.040,2493,676,3452,0,0,0,0,0,0
$GC,1943,-1.07,-170.3,398.4,-19.7,91,1952,0.00,2.45,0.00,0.000,6,0.000,0.041,2482,2252,3447,0,0,0,0,0,0
$GC,2252,-1.07,-170.3,460.2,-20.2,96,2261,0.00,2.25,0.00,0.000,4,0.000,0.057,2470,3674,3449,0,0,0,0,0,0
$GC,2281,-1.07,-170.3,466.6,-21.9,96,2293,0.10,2.15,0.00,0.000,6,0.199,0.035,2497,2244,3449,0,0,0,0,0,0
$STATE,2383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2383,begin apogee
$GC,2386,-0.21,0.0,485.8,18.2,98,2536,0.90,0.00,139.23,0.844,6,0.151,0.000,2773,1920,2746,0,0,0,0,0,0
$STATE,2537,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2538,1.07,170.3,492.7,0.0,100,2694,1.23,2.60,143.95,0.825,4,0.072,0.044,3206,362,2052,0,0,0,0,0,0
$GC,2810,1.07,170.3,456.4,19.6,103,2818,0.00,2.47,0.00,0.000,6,0.000,0.034,3206,1927,2046,0,0,0,0,0,0
$GC,3117,1.07,170.3,394.9,20.1,108,3126,0.00,2.53,0.00,0.000,4,0.000,0.053,3206,3509,2044,0,0,0,0,0,0
$GC,3177,1.07,170.3,382.1,22.2,109,3187,0.00,2.42,0.00,0.000,6,0.000,0.034,3218,1936,2044,0,0,0,0,0,0
$GC,3541,1.07,170.3,308.1,20.3,115,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1933,2042,0,0,0,0,0,0
$GC,3844,1.07,170.3,249.7,18.9,124,3852,0.00,2.50,0.00,0.000,4,0.000,0.054,3218,3516,2041,0,0,0,0,0,0
$GC,3871,1.07,170.3,244.3,20.3,125,3880,0.15,2.45,0.00,0.000,6,0.204,0.035,3197,1925,2041,0,0,0,0,0,0
$GC,4203,1.07,170.3,185.1,17.6,136,4211,0.00,2.47,0.00,0.000,4,0.000,0.047,3207,331,2041,0,0,0,0,0,0
$GC,4219,1.07,170.3,182.1,17.5,136,4228,0.00,2.42,0.00,0.000,6,0.000,0.037,3206,1926,2042,0,0,0,0,0,0
$GC,4529,1.07,170.3,128.8,16.9,146,4537,0.00,2.47,0.00,0.000,4,0.000,0.053,3207,3514,2041,0,0,0,0,0,0
$GC,4621,1.07,170.3,111.6,19.3,149,4629,0.00,2.45,0.00,0.000,6,0.000,0.036,3219,1904,2041,0,0,0,0,0,0
$GC,4937,1.07,170.3,56.6,16.0,174,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1902,2040,0,0,0,0,0,0
$GC,5123,1.11,199.2,30.8,11.8,192,5154,0.00,2.55,22.12,0.559,4,0.000,0.049,3219,3509,1937,0,0,0,0,0,0
$STATE,5295,end climb,SURFACE_DEPTH_REACHED
$STATE,5296,begin surface coast
$FINISH,1.0,1.014677
$STATE,5312,end surface coast,CONTROL_FINISHED_OK
$STATE,5312,begin surface
$SM_CCo,5326,56.20,0.542,0,0,1524,300.00
$SM_GC,1.95,0.00,0.00,56.20,0.000,0.000,0.542,137,2248,1524,-8.48,-0.14,300.00
$IRIDIUM_FIX,3246.76,-11859.79,070111,090903
$TT8_MAMPS,0.117593
$HUMID,49.76
$INTERNAL_PRESSURE,9.60313
$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,9.2/483886/439212
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.2/297829/273319
$PA_DATA1,37.7/7836665/4885725
$PA_DATA0,97.1/7836665/223632
$24V_AH,23.7,17.823
$10V_AH,10.2,13.837
$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,21.725,52.650,305.300,56.200,0.000,22.590,33.717,131.835,17.500,0.000,37.095,0.000,4000.753,391.325,1235.768,52.543,33.326,899.175,0.000,597.262,0.000,112.447,0.000
$DEVICE_MAMPS,271.575,69.615,843.795,542.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,149.040,0.000,0.000,0.000,0.000,0.000,5796.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.730,0.000,0.000,0.000
$MEM,317696
$DATA_FILE_SIZE,6811,220
$CAP_FILE_SIZE,63913,0
$CFSIZE,260165632,255225856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,125515,3247.407,-11858.093,50,2.2,69,13.3