version: 66.11
glider: 179
mission: 9
dive: 5
start: 6 11 112 23 7 9
data:
$ID,179
$MISSION,9
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,3
$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,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-18442.666
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3000
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2737
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.870029
$PRESSURE_SLOPE,0.0001164844
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$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,49
$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
$GPS1,110612,230136,4653.979,-12456.970,42,1.5,47,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.3
$GPS2,110612,230626,4653.928,-12456.977,11,1.9,11,18.4
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,DOGLEG
$TGT_LATLONG,4652.000,-12503.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.232,-0.116
$KALMAN_X,836.7,642.8,316.6,-3116.5,-135.8
$KALMAN_Y,-1252.6,-775.2,-430.9,772.3,-6.9
$MHEAD_RNG_PITCHd_Wd,247.3,8422,-17.5,-10.000
$D_GRID,662
$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,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.91,-146.0,0.0,0.0,0,83,0.00,0.00,-68.62,0.000,2,0.000,0.000,144,2094,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.91,-146.0,4.0,-8.5,12,116,12.93,2.25,-10.88,0.000,4,0.286,0.060,2697,700,3337,0,0,0,0,0,0,24.90,25.41,25.84
$GC,125,-0.57,-146.0,20.8,-36.5,19,139,0.45,2.28,0.00,0.000,6,0.157,0.047,2809,2100,3339,0,0,0,0,0,0,25.08,25.39,28.83
$GC,438,-0.61,-146.0,54.5,-9.9,80,450,0.00,2.33,0.00,0.000,4,0.000,0.062,2801,3512,3338,0,0,0,0,0,0,28.83,25.54,28.83
$GC,674,-0.67,-146.0,79.5,-10.5,126,686,0.00,2.20,0.00,0.000,6,0.000,0.039,2802,2095,3339,0,0,0,0,0,0,28.83,25.84,28.83
$GC,985,-0.72,-146.0,108.3,-8.6,187,999,0.10,2.35,0.00,0.000,4,0.106,0.061,2747,3518,3339,0,0,0,0,0,0,26.13,25.68,28.83
$GC,1117,-0.72,-146.0,122.5,-10.9,212,1129,0.00,2.20,0.00,0.000,6,0.000,0.039,2748,2095,3339,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1428,-0.72,-146.0,155.1,-10.3,273,1440,0.00,2.33,0.00,0.000,4,0.000,0.063,2738,3510,3339,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1514,-0.72,-146.0,164.2,-10.6,289,1527,0.00,2.17,0.00,0.000,6,0.000,0.040,2740,2098,3339,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1830,-0.72,-146.0,202.4,-12.1,349,1846,0.12,2.30,0.00,0.000,4,0.171,0.061,2764,3503,3337,0,0,0,0,0,0,25.94,25.72,28.83
$GC,1945,-0.77,-146.0,214.1,-9.8,360,1959,0.00,2.15,0.00,0.000,6,0.000,0.040,2764,2094,3340,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2255,-0.80,-146.0,246.1,-10.6,391,2270,0.00,2.33,0.00,0.000,4,0.000,0.063,2754,3514,3339,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2343,-0.84,-146.0,254.9,-10.5,399,2356,0.00,2.17,0.00,0.000,6,0.000,0.041,2754,2102,3339,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2650,-0.86,-146.0,286.9,-10.0,430,2664,0.00,2.30,0.00,0.000,4,0.000,0.063,2744,3519,3339,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2768,-0.89,-146.0,299.2,-11.0,441,2779,0.00,2.20,0.00,0.000,6,0.000,0.040,2744,2093,3339,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3073,-0.89,-146.0,335.7,-11.8,472,3088,0.00,2.33,0.00,0.000,4,0.000,0.063,2733,3508,3339,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3161,-0.89,-146.0,345.8,-12.2,480,3173,0.00,2.17,0.00,0.000,6,0.000,0.041,2739,2104,3341,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,3285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3285,begin apogee
$GC,3288,-0.21,0.0,361.1,-11.5,493,3422,0.62,0.00,124.68,0.772,6,0.132,0.000,2924,2217,2737,0,0,0,0,0,0,25.37,28.83,23.68
$STATE,3423,end apogee,CONTROL_FINISHED_OK
$STATE,3423,begin climb
$GC,3424,0.91,146.0,366.7,0.0,506,3562,1.05,0.00,125.70,0.753,6,0.054,0.000,3302,2217,2142,0,0,0,0,0,0,24.61,28.83,23.41
$GC,3857,0.76,146.0,328.7,13.0,550,3871,0.20,2.28,0.00,0.000,4,0.193,0.046,3261,801,2135,0,0,0,0,0,0,24.89,25.24,28.83
$GC,4020,0.67,146.0,311.1,10.5,566,4035,0.15,2.25,0.00,0.000,6,0.175,0.044,3223,2195,2133,0,0,0,0,0,0,25.09,25.46,28.83
$GC,4330,0.66,176.2,284.0,8.6,597,4367,0.00,2.28,25.73,0.703,4,0.000,0.048,3231,801,2017,0,0,0,0,0,0,28.83,25.32,24.51
$GC,4380,0.63,193.9,279.8,9.2,601,4411,0.00,2.28,15.82,0.670,6,0.000,0.044,3231,2211,1946,0,0,0,0,0,0,28.83,25.40,24.34
$GC,4706,0.60,193.9,243.0,11.5,634,4719,0.12,2.28,0.00,0.000,4,0.179,0.047,3207,804,1944,0,0,0,0,0,0,25.40,25.47,28.83
$GC,4818,0.60,193.9,231.5,10.0,645,4833,0.00,2.25,0.00,0.000,6,0.000,0.043,3207,2206,1939,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5128,0.60,193.9,200.8,10.1,676,5143,0.00,2.25,0.00,0.000,4,0.000,0.049,3223,803,1939,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5181,0.60,193.9,195.2,10.6,685,5194,0.10,2.22,0.00,0.000,6,0.170,0.044,3197,2207,1938,0,0,0,0,0,0,25.55,25.77,28.83
$GC,5493,0.60,193.9,162.6,11.3,746,5505,0.00,2.22,0.00,0.000,4,0.000,0.049,3205,801,1941,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5554,0.61,193.9,155.8,10.4,757,5566,0.00,2.22,0.00,0.000,6,0.000,0.044,3205,2210,1937,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5865,0.61,193.9,124.3,11.1,818,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2210,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6176,0.67,230.3,94.1,8.3,879,6220,0.00,2.30,29.77,0.615,4,0.000,0.059,3209,3606,1797,0,0,0,0,0,0,28.83,25.61,24.89
$GC,6238,0.71,261.4,89.3,8.6,889,6276,0.00,2.22,26.20,0.596,6,0.000,0.040,3216,2188,1672,0,0,0,0,0,0,28.83,25.71,24.59
$GC,6575,0.78,284.7,60.7,8.9,954,6607,0.10,2.25,19.33,0.575,4,0.106,0.048,3269,800,1576,0,0,0,0,0,0,25.80,25.36,24.63
$GC,6800,0.78,284.7,34.8,11.3,997,6813,0.00,2.25,0.00,0.000,6,0.000,0.043,3269,2209,1572,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7113,0.93,371.9,8.3,6.0,1058,7188,0.00,2.33,68.43,0.557,4,0.000,0.048,3279,810,1220,0,0,0,0,0,0,28.83,24.96,24.32
$STATE,7190,end climb,SURFACE_DEPTH_REACHED
$STATE,7190,begin surface coast
$FINISH,0.6,1.023088
$STATE,7221,end surface coast,CONTROL_FINISHED_OK
$STATE,7221,begin surface
$SM_CCo,7237,19.88,0.308,1,0,1106,400.08
$SM_GC,1.69,8.93,2.15,19.88,0.053,0.044,0.308,145,2093,1106,-8.88,-1.10,400.08,0,0,0,0,1,0,25.13,25.14,24.37
$IRIDIUM_FIX,4641.78,-12452.28,110612,202044
$TT8_MAMPS,0.135569,0.135569
$HUMID,42.24
$INTERNAL_PRESSURE,9.04647
$TCM_TEMP,19.00
$XPDR_PINGS,0
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,29571.15 27714.73
$PA_BOOTCOUNT,133
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.608/111.451
$PA_USBA,0.00/0.286/117.609/111.349
$PA_HOME,0.09/0.043/0.460/0.393
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.09/0.026/0.285/0.244
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.00/0.058/117.213/111.201
$24V_AH,23.4,20.189
$10V_AH,9.9,18.224
$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,24.875,72.250,435.650,19.875,0.000,24.392,36.748,132.715,0.000,0.000,12.725,0.000,4278.760,549.017,2645.017,70.588,33.209,1647.867,0.000,1685.064,0.000,0.534,0.000
$DEVICE_MAMPS,286.110,80.325,771.885,308.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,734.979,0.000,0.000,0.000,0.000,0.000,7650.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,77.713,0.000,0.000,0.000
$MEM,296992
$DATA_FILE_SIZE,43358,1077
$CAP_FILE_SIZE,105081,0
$CFSIZE,260165632,257998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,178.6,1
$GPS,120612,010858,4653.904,-12458.202,9,2.6,28,18.4