version: 66.11
glider: 179
mission: 9
dive: 8
start: 6 12 112 7 52 42
data:
$ID,179
$MISSION,9
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,2.5
$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,330
$T_MISSION,380
$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,140
$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,350
$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,-18524.852
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,46
$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
$GPS1,120612,074504,4651.534,-12500.367,34,4.0,54,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.9
$GPS2,120612,075155,4651.559,-12500.371,11,1.1,16,18.4
$SPEED_LIMITS,0.100,0.252
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.153,-0.200
$KALMAN_X,2797.0,-302.3,224.1,-8333.9,340.3
$KALMAN_Y,-1528.1,508.7,-494.0,-4554.8,-180.0
$MHEAD_RNG_PITCHd_Wd,202.6,24658,-18.2,-10.000
$D_GRID,565
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.93,-136.3,0.0,0.0,0,73,0.00,0.00,-59.17,0.000,2,0.000,0.000,141,2268,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.93,-136.3,3.8,-8.0,10,101,13.32,0.00,-10.82,0.000,6,0.293,0.000,2693,2269,3293,0,0,0,0,0,0,24.77,28.83,25.79
$GC,401,-0.82,-136.3,77.3,-19.7,74,411,0.12,0.00,0.00,0.000,6,0.196,0.000,2726,2269,3296,0,0,0,0,0,0,25.38,28.83,28.83
$GC,710,-0.79,-136.3,126.6,-13.2,135,721,0.00,2.28,0.00,0.000,4,0.000,0.061,2717,3640,3297,0,0,0,0,0,0,28.83,25.53,28.83
$GC,850,-0.77,-136.3,146.0,-13.6,162,861,0.12,2.15,0.00,0.000,6,0.162,0.039,2747,2243,3297,0,0,0,0,0,0,25.52,25.83,28.83
$GC,1160,-0.77,-136.3,181.1,-10.3,223,1170,0.00,2.20,0.00,0.000,4,0.000,0.044,2747,849,3298,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1184,-0.77,-136.3,183.5,-10.3,227,1194,0.00,2.20,0.00,0.000,6,0.000,0.045,2740,2232,3298,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1493,-0.77,-136.3,217.1,-11.4,273,1501,0.00,2.35,0.00,0.000,4,0.000,0.062,2730,3662,3297,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1560,-0.77,-136.3,225.0,-12.0,279,1568,0.00,2.20,0.00,0.000,6,0.000,0.039,2729,2237,3299,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1864,-0.77,-136.3,262.0,-12.3,309,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2235,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.77,-136.3,297.7,-10.9,339,2173,0.00,2.35,0.00,0.000,4,0.000,0.062,2719,3656,3297,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2242,-0.77,-136.3,306.2,-11.2,346,2250,0.12,2.20,0.00,0.000,6,0.164,0.039,2745,2242,3298,0,0,0,0,0,0,25.68,26.02,28.83
$GC,2547,-0.79,-136.3,336.7,-10.4,376,2555,0.00,2.17,0.00,0.000,4,0.000,0.046,2749,850,3297,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2599,-0.82,-136.3,341.7,-10.7,380,2609,0.00,2.22,0.00,0.000,6,0.000,0.047,2742,2251,3297,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2904,-0.82,-136.3,375.7,-11.1,411,2912,0.00,2.33,0.00,0.000,4,0.000,0.062,2731,3666,3297,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2945,-0.82,-136.3,379.9,-11.4,414,2956,0.00,2.20,0.00,0.000,6,0.000,0.039,2732,2245,3296,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3251,-0.82,-136.3,417.1,-12.0,445,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2245,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.82,-136.3,452.2,-11.0,475,3559,0.00,2.35,0.00,0.000,4,0.000,0.063,2721,3665,3296,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3578,-0.82,-136.3,455.4,-11.3,477,3586,0.00,2.20,0.00,0.000,6,0.000,0.039,2721,2250,3296,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3883,-0.82,-136.3,489.5,-11.2,507,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2249,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.82,-136.3,522.7,-11.5,537,4191,0.00,2.33,0.00,0.000,4,0.000,0.064,2710,3661,3295,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4250,-0.82,-136.3,530.7,-12.0,543,4258,0.00,2.17,0.00,0.000,6,0.000,0.041,2710,2254,3295,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4557,-0.21,0.0,566.0,-11.3,573,4690,0.73,0.00,119.57,0.907,6,0.140,0.000,2929,2098,2738,0,0,0,0,0,0,25.32,28.83,23.39
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4692,0.93,136.3,570.6,0.0,586,4831,1.08,2.45,121.70,0.890,4,0.061,0.047,3313,705,2180,0,0,0,0,0,0,24.49,23.89,23.02
$GC,4920,0.77,136.3,555.8,15.0,609,4928,0.28,2.30,0.00,0.000,6,0.187,0.040,3252,2108,2175,0,0,0,0,0,0,24.34,24.70,28.83
$GC,5225,0.69,136.3,517.4,12.5,639,5233,0.12,2.33,0.00,0.000,4,0.203,0.047,3229,688,2170,0,0,0,0,0,0,25.06,25.22,28.83
$GC,5266,0.62,136.3,513.1,11.8,642,5277,0.00,2.25,0.00,0.000,6,0.000,0.042,3228,2103,2170,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5572,0.57,136.3,479.1,10.1,673,5580,0.15,2.30,0.00,0.000,4,0.181,0.057,3190,3508,2169,0,0,0,0,0,0,25.29,25.42,28.83
$GC,5599,0.52,138.8,476.5,9.9,675,5608,0.12,2.25,0.00,0.000,6,0.186,0.039,3173,2085,2169,0,0,0,0,0,0,25.24,25.59,28.83
$GC,5904,0.57,178.9,451.9,8.0,705,5949,0.00,2.28,35.90,0.818,4,0.000,0.050,3180,702,2007,0,0,0,0,0,0,28.83,25.08,24.22
$GC,6004,0.60,187.0,443.8,9.6,714,6023,0.00,2.25,8.12,0.701,6,0.000,0.041,3180,2100,1974,0,0,0,0,0,0,28.83,25.28,24.21
$GC,6319,0.63,190.4,411.9,9.8,746,6333,0.00,0.00,3.80,0.507,6,0.000,0.000,3180,2099,1960,0,0,0,0,0,0,28.83,28.83,24.35
$GC,6628,0.65,191.8,381.0,9.9,777,6637,0.00,2.25,0.00,0.000,4,0.000,0.050,3190,699,1960,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6670,0.67,191.8,377.0,10.0,780,6681,0.00,2.22,0.00,0.000,6,0.000,0.041,3190,2102,1959,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6976,0.68,195.3,346.1,9.8,811,6990,0.00,0.00,5.62,0.613,6,0.000,0.000,3191,2101,1940,0,0,0,0,0,0,28.83,28.83,24.69
$GC,7286,0.69,207.1,315.3,9.4,842,7310,0.00,2.30,11.70,0.704,4,0.000,0.050,3201,705,1892,0,0,0,0,0,0,28.83,25.66,24.74
$GC,7390,0.71,207.1,305.1,10.3,852,7398,0.00,2.20,0.00,0.000,6,0.000,0.041,3201,2101,1889,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7694,0.71,207.1,272.5,10.9,882,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2101,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,0.71,207.1,242.6,10.4,912,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2101,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,0.71,209.1,211.4,9.9,942,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2101,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8595,0.73,209.1,181.1,10.5,990,8605,0.10,2.25,0.00,0.000,4,0.109,0.047,3251,692,1888,0,0,0,0,0,0,26.19,25.79,28.83
$GC,8629,0.70,209.1,176.7,12.7,996,8640,0.00,2.22,0.00,0.000,6,0.000,0.042,3251,2101,1888,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8939,0.66,209.1,136.9,13.3,1057,8951,0.12,2.22,0.00,0.000,4,0.192,0.047,3224,695,1888,0,0,0,0,0,0,25.78,25.81,28.83
$GC,9000,0.66,209.1,130.0,10.7,1068,9010,0.00,2.20,0.00,0.000,6,0.000,0.044,3227,2109,1887,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9309,0.69,230.2,97.8,9.0,1129,9338,0.00,2.25,20.02,0.615,4,0.000,0.049,3238,701,1797,0,0,0,0,0,0,28.83,25.79,25.03
$GC,9362,0.72,261.1,93.4,8.5,1138,9398,0.00,2.20,25.92,0.612,6,0.000,0.041,3238,2105,1673,0,0,0,0,0,0,28.83,25.86,24.72
$GC,9697,0.75,261.1,61.0,10.2,1203,9708,0.00,2.28,0.00,0.000,4,0.000,0.057,3234,3504,1669,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9762,0.75,261.1,53.8,11.0,1215,9773,0.00,2.22,0.00,0.000,6,0.000,0.040,3249,2098,1668,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10073,0.78,261.1,22.0,10.6,1276,10080,0.00,2.30,0.00,0.000,4,0.000,0.057,3248,3504,1669,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10304,0.91,343.0,6.7,5.9,1322,10367,0.08,2.22,57.60,0.565,2,0.075,0.039,3297,2100,1375,0,0,0,0,0,0,25.71,25.82,28.83
$STATE,10367,end climb,SURFACE_DEPTH_REACHED
$STATE,10368,begin surface coast
$FINISH,0.6,1.008745
$STATE,10401,end surface coast,CONTROL_FINISHED_OK
$STATE,10401,begin surface
$SM_CCo,10416,12.43,0.070,0,0,1310,350.04
$SM_GC,2.81,8.98,0.25,12.43,0.054,0.065,0.070,139,2253,1310,-8.88,-0.90,350.04,0,0,0,0,0,0,25.25,25.31,25.22
$IRIDIUM_FIX,4613.60,-12542.80,120612,040400
$TT8_MAMPS,0.159537,0.159537
$HUMID,40.70
$INTERNAL_PRESSURE,9.04647
$TCM_TEMP,18.90
$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,64239.49 37865.24
$PA_BOOTCOUNT,133
$PA_DFQS,0/0
$PA_CMQS,559/557
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.608/111.451
$PA_USBA,0.02/2.188/117.609/109.447
$PA_HOME,0.09/0.044/0.460/0.392
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.09/0.027/0.285/0.243
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.04/4.645/117.213/106.615
$24V_AH,23.0,20.573
$10V_AH,9.8,19.262
$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,25.450,86.125,409.975,12.425,0.000,27.288,39.382,204.787,0.000,0.000,16.851,0.000,6771.737,493.446,3464.286,91.792,33.213,1777.174,0.000,2066.695,0.000,0.533,0.000
$DEVICE_MAMPS,292.995,65.025,906.525,69.615,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,920.507,0.000,0.000,0.000,0.000,0.000,10963.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,88.662,0.000,0.000,0.000
$MEM,297116
$DATA_FILE_SIZE,53308,1339
$CAP_FILE_SIZE,132739,0
$CFSIZE,260165632,257753088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,169.1,1
$GPS,120612,104808,4650.319,-12501.731,77,1.6,80,18.4