version: 66.09
glider: 179
mission: 6
dive: 30
start: 1 7 111 15 35 49
data:
$ID,179
$MISSION,6
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,45
$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,-16242.563
$T_RSLEEP,7
$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,55
$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
$GPS1,070111,153028,3246.568,-11856.521,13,3.7,32,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.8
$GPS2,070111,153506,3246.560,-11856.465,14,1.2,30,13.3
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.191,-0.020
$KALMAN_X,30905.7,-697.2,370.1,-47303.5,17.2
$KALMAN_Y,-22087.4,1224.8,-139.3,32811.9,-45.7
$MHEAD_RNG_PITCHd_Wd,250.8,227,-24.5,-10.000
$D_GRID,1353
$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,-1.12,-77.2,0.0,0.0,0,82,0.00,0.00,-64.03,0.000,2,0.000,0.000,141,2233,2979,0,0,0,0,0,0
$GC,83,-1.19,-136.3,3.4,-4.9,11,110,10.60,2.30,-7.35,0.000,4,0.269,0.062,2452,3673,3305,0,0,0,0,0,0
$GC,124,-1.19,-136.3,16.9,-30.0,18,134,0.00,2.17,0.00,0.000,6,0.000,0.033,2451,2252,3305,0,0,0,0,0,0
$GC,200,-1.19,-136.3,38.7,-28.5,26,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2251,3306,0,0,0,0,0,0
$STATE,282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,282,begin apogee
$GC,285,-0.21,0.0,61.9,28.0,34,401,1.15,0.00,105.80,0.554,6,0.176,0.000,2774,1912,2747,0,0,0,0,0,0
$STATE,402,end apogee,CONTROL_FINISHED_OK
$STATE,402,begin climb
$GC,403,1.19,136.3,70.3,0.0,44,525,1.33,2.55,108.47,0.539,4,0.081,0.043,3236,362,2190,0,0,0,0,0,0
$GC,683,1.19,136.3,46.0,11.3,70,694,0.00,2.45,0.00,0.000,6,0.000,0.034,3236,1928,2185,0,0,0,0,0,0
$GC,875,1.19,136.3,23.0,11.9,89,883,0.00,2.50,0.00,0.000,4,0.000,0.049,3236,3508,2184,0,0,0,0,0,0
$STATE,1025,end climb,SURFACE_DEPTH_REACHED
$STATE,1025,begin surface coast
$FINISH,0.8,1.007095
$STATE,1046,end surface coast,CONTROL_FINISHED_OK
$STATE,1046,begin surface
$SM_CCo,1061,83.53,0.506,0,0,1525,300.00
$SM_GC,1.74,0.00,0.00,83.53,0.000,0.000,0.506,144,2240,1525,-8.46,-0.28,300.00
$IRIDIUM_FIX,3239.07,-11859.54,070111,141440
$TT8_MAMPS,0.117593
$HUMID,45.58
$INTERNAL_PRESSURE,9.65196
$TCM_TEMP,20.20
$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,9.3/483886/438986
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.3/297829/273156
$PA_DATA1,41.9/7836665/4555935
$PA_DATA0,97.1/7836665/223632
$24V_AH,24.3,18.151
$10V_AH,10.2,14.158
$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,21.450,14.400,214.275,83.525,0.000,27.512,34.579,122.444,0.000,0.000,31.277,0.000,468.028,329.835,599.836,30.132,33.328,534.635,0.000,235.202,0.000,0.996,0.000
$DEVICE_MAMPS,269.280,61.965,553.860,505.665,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,76.654,0.000,0.000,0.000,0.000,0.000,1496.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,72.098,0.000,0.000,0.000
$MEM,317880
$DATA_FILE_SIZE,3515,118
$CAP_FILE_SIZE,26731,0
$CFSIZE,260165632,255115264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,155526,3246.499,-11856.396,16,1.3,16,13.3