version: 66.07
glider: 22
mission: 14
dive: 6
start: 10 28 109 4 14 20
data:
$ID,22
$MISSION,14
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,270
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52177
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-244787.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.757658
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,100000.0
$GPS1,281009,040724,1941.139,-15605.494,37,1.2,37,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.7
$GPS2,281009,041338,1941.285,-15605.545,15,1.4,15,9.7
$SPEED_LIMITS,0.122,0.347
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.103,-0.331
$KALMAN_X,-3276.0,-367.0,58.2,2739.3,-1377.3
$KALMAN_Y,9950.3,1503.2,-897.9,-8479.6,4622.5
$MHEAD_RNG_PITCHd_Wd,148.5,2563,-21.6,-12.222
$D_GRID,990
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.51,-148.9,0.0,0.0,0,89,0.00,0.00,-72.03,0.000,2,0.000,0.000,377,2970,2610,0,0,0,0,0,0
$GC,92,-1.58,-215.9,3.1,-8.5,14,128,9.88,0.00,-21.20,0.000,6,0.163,0.000,2199,2970,3499,0,0,0,0,0,0
$GC,195,-1.58,-215.9,35.2,-33.8,30,199,0.00,1.73,0.00,0.000,4,0.000,0.062,2199,3931,3499,0,0,0,0,0,0
$GC,210,-1.58,-215.9,40.2,-32.1,31,217,0.00,1.65,0.00,0.000,6,0.000,0.038,2198,2933,3500,0,0,0,0,0,0
$GC,402,-1.58,-215.9,91.3,-26.3,50,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2932,3501,0,0,0,0,0,0
$GC,595,-1.58,-215.9,139.3,-24.6,59,599,0.00,2.30,0.00,0.000,4,0.000,0.042,2198,1572,3501,0,0,0,0,0,0
$GC,637,-1.58,-215.9,148.5,-21.0,60,641,0.00,2.40,0.00,0.000,6,0.000,0.049,2199,2937,3501,0,0,0,0,0,0
$GC,962,-1.58,-215.9,220.7,-21.3,71,966,0.00,1.83,0.00,0.000,4,0.000,0.066,2198,3950,3503,0,0,0,0,0,0
$GC,1020,-1.58,-215.9,233.6,-21.6,72,1026,0.00,1.65,0.00,0.000,6,0.000,0.039,2199,2945,3504,0,0,0,0,0,0
$GC,1329,-1.58,-215.9,298.2,-21.2,83,1333,0.00,2.33,0.00,0.000,4,0.000,0.044,2199,1581,3504,0,0,0,0,0,0
$GC,1382,-1.58,-215.9,308.0,-18.2,84,1388,0.00,2.42,0.00,0.000,6,0.000,0.053,2199,2946,3504,0,0,0,0,0,0
$GC,1694,-1.58,-215.9,364.7,-17.9,90,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2946,3504,0,0,0,0,0,0
$GC,1995,-1.58,-215.9,418.2,-17.8,95,2004,0.00,2.35,0.00,0.000,4,0.000,0.047,2198,1575,3504,0,0,0,0,0,0
$GC,2051,-1.58,-215.9,427.4,-15.4,95,2061,0.00,2.38,0.00,0.000,6,0.000,0.056,2199,2956,3504,0,0,0,0,0,0
$GC,2360,-1.58,-215.9,479.4,-16.9,101,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2956,3501,0,0,0,0,0,0
$GC,2660,-1.58,-215.9,524.9,-15.0,106,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2956,3499,0,0,0,0,0,0
$GC,2962,-1.58,-215.9,568.8,-14.3,111,2971,0.00,2.42,0.00,0.000,4,0.000,0.055,2199,1580,3497,0,0,0,0,0,0
$GC,3023,-1.60,-229.8,576.4,-11.5,111,3033,0.00,2.42,0.00,0.000,6,0.000,0.064,2199,2956,3496,0,0,0,0,0,0
$GC,3332,-1.60,-229.8,616.4,-13.1,117,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2957,3495,0,0,0,0,0,0
$GC,3633,-1.60,-229.8,656.3,-13.3,122,3641,0.00,1.95,0.00,0.000,4,0.000,0.114,2198,3955,3492,0,0,0,0,0,0
$GC,3666,-1.60,-229.8,661.0,-15.0,122,3673,0.00,1.67,0.00,0.000,6,0.000,0.049,2198,2988,3492,0,0,0,0,0,0
$GC,4001,-1.60,-229.8,707.8,-14.2,128,4010,0.00,2.65,0.00,0.000,4,0.000,0.081,2199,1546,3490,0,0,0,0,0,0
$GC,4036,-1.60,-229.8,712.5,-13.8,128,4044,0.00,2.67,0.00,0.000,6,0.000,0.086,2199,2958,3489,0,0,0,0,0,0
$GC,4361,-1.60,-229.8,760.6,-15.0,134,4372,0.00,2.70,0.00,0.000,4,0.000,0.093,2199,1544,3486,0,0,0,0,0,0
$GC,4397,-1.60,-229.8,765.9,-14.3,134,4407,0.00,2.78,0.00,0.000,6,0.000,0.105,2199,2954,3487,0,0,0,0,0,0
$GC,4723,-1.60,-229.8,813.3,-14.5,140,4732,0.00,2.22,0.00,0.000,4,0.000,0.175,2199,3959,3484,0,0,0,0,0,0
$GC,4768,-1.60,-229.8,820.1,-15.2,140,4775,0.00,1.98,0.00,0.000,6,0.000,0.106,2199,2967,3484,0,0,0,0,0,0
$GC,5086,-1.60,-229.8,863.7,-13.6,146,5095,0.00,3.03,0.00,0.000,4,0.000,0.150,2199,1529,3481,0,0,0,0,0,0
$GC,5126,-1.60,-229.8,868.8,-12.6,146,5135,0.00,3.17,0.00,0.000,6,0.000,0.164,2199,2952,3481,0,0,0,0,0,0
$GC,5446,-1.60,-229.8,910.9,-13.3,152,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2952,3478,0,0,0,0,0,0
$GC,5748,-1.60,-229.8,952.8,-14.0,157,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2952,3476,0,0,0,0,0,0
$STATE,6048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6048,begin apogee
$GC,6052,-0.31,0.0,996.3,14.5,162,6249,1.40,0.00,188.85,1.303,6,0.115,0.000,2480,2853,2618,0,0,0,0,0,0
$STATE,6250,end apogee,CONTROL_FINISHED_OK
$STATE,6250,begin climb
$GC,6252,1.60,229.8,1005.9,0.0,165,6478,1.95,3.08,210.82,1.289,4,0.079,0.236,2895,3954,1680,0,0,0,0,0,0
$GC,6509,1.60,229.8,962.4,28.0,169,6517,0.00,2.72,0.00,0.000,6,0.000,0.193,2895,2847,1675,0,0,0,0,0,0
$GC,6855,1.60,229.8,868.8,27.4,175,6863,0.00,2.88,0.00,0.000,4,0.000,0.126,2895,1429,1669,0,0,0,0,0,0
$GC,6899,1.60,229.8,856.9,25.8,175,6908,0.00,2.95,0.00,0.000,6,0.000,0.121,2895,2854,1667,0,0,0,0,0,0
$GC,7214,1.60,229.8,772.5,27.0,181,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2854,1666,0,0,0,0,0,0
$GC,7515,1.60,229.8,695.7,25.3,186,7527,0.00,2.65,0.00,0.000,4,0.000,0.068,2895,1418,1664,0,0,0,0,0,0
$GC,7590,1.60,229.8,678.0,23.2,187,7599,0.00,2.65,0.00,0.000,6,0.000,0.059,2895,2873,1664,0,0,0,0,0,0
$GC,7943,1.60,229.8,591.7,24.5,193,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2872,1663,0,0,0,0,0,0
$GC,8244,1.60,229.8,517.3,24.8,198,8252,0.00,2.62,0.00,0.000,4,0.000,0.058,2895,1414,1663,0,0,0,0,0,0
$GC,8288,1.60,229.8,506.1,26.0,198,8296,0.00,2.60,0.00,0.000,6,0.000,0.052,2895,2860,1663,0,0,0,0,0,0
$GC,8613,1.60,229.8,426.4,24.3,204,8621,0.00,2.58,0.00,0.000,4,0.000,0.053,2895,1407,1662,0,0,0,0,0,0
$GC,8652,1.60,229.8,417.0,23.3,204,8660,0.00,2.58,0.00,0.000,6,0.000,0.049,2895,2863,1662,0,0,0,0,0,0
$GC,8971,1.60,229.8,346.2,21.8,210,8980,0.00,2.55,0.00,0.000,4,0.000,0.050,2895,1411,1661,0,0,0,0,0,0
$GC,9006,1.60,229.8,339.0,20.4,210,9014,0.00,2.55,0.00,0.000,6,0.000,0.048,2895,2865,1661,0,0,0,0,0,0
$GC,9331,1.60,229.8,270.6,19.9,218,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2866,1661,0,0,0,0,0,0
$GC,9635,1.60,229.8,210.3,20.0,228,9639,0.00,2.58,0.00,0.000,4,0.000,0.047,2895,1407,1660,0,0,0,0,0,0
$GC,9688,1.60,229.8,199.7,19.9,229,9692,0.00,2.55,0.00,0.000,6,0.000,0.044,2894,2854,1660,0,0,0,0,0,0
$GC,10002,1.60,229.8,139.1,20.2,240,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2854,1661,0,0,0,0,0,0
$GC,10307,1.60,229.8,79.4,21.0,256,10311,0.00,2.53,0.00,0.000,4,0.000,0.043,2895,1402,1661,0,0,0,0,0,0
$GC,10387,1.60,229.8,63.7,19.2,263,10394,0.00,2.50,0.00,0.000,6,0.000,0.041,2895,2869,1661,0,0,0,0,0,0
$GC,10578,1.60,229.8,33.0,14.6,282,10582,0.00,2.53,0.00,0.000,4,0.000,0.044,2895,1413,1662,0,0,0,0,0,0
$GC,10621,1.60,229.8,27.5,12.7,286,10625,0.00,2.47,0.00,0.000,6,0.000,0.041,2895,2849,1662,0,0,0,0,0,0
$GC,10816,1.60,229.8,3.5,12.8,317,10822,0.00,2.50,0.00,0.000,4,0.000,0.043,2895,1402,1663,0,0,0,0,0,0
$STATE,10825,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,-0.3,1.022959
$STATE,10846,end surface coast,CONTROL_FINISHED_OK
$STATE,10846,begin surface
$SM_CCo,10867,90.05,0.551,0,0,987,400.08
$SM_GC,0.42,0.00,0.00,90.05,0.000,0.000,0.551,373,2958,987,-10.01,0.23,400.08
$IRIDIUM_FIX,1932.09,-15604.81,220411,191938
$TT8_MAMPS,0.181012
$HUMID,1078765797
$TCM_TEMP,23.20
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009
$PA_DFQS,0/0
$PA_CMQS,21/154
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470819
$PA_LOG,3.7/297829/286865
$PA_DATA0,9.7/7836665/7079968
$PA_DATA1,0.1/7836665/7825417
$PA_USB,3.1/30829585/29860353
$24V_AH,23.4,3.743
$10V_AH,9.8,4.541
$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,24.300,103.825,399.675,90.050,0.000,24.713,27.045,180.375,0.000,0.000,15.222,0.000,9043.142,600.466,1261.810,421.495,33.307,1286.159,0.000,796.227,0.000,0.531,0.000
$DEVICE_MAMPS,162.604,236.236,1303.133,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,214.902,0.000,0.000,0.000,0.000,0.000,11391.971,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.462,0.000
$MEM,324408
$DATA_FILE_SIZE,9578,323
$CAP_FILE_SIZE,88274,0
$CFSIZE,260034560,256307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,332.7,1
$GPS,281009,071806,1939.783,-15604.987,43,1.2,48,9.7