version: 66.07
glider: 22
mission: 17
dive: 19
start: 3 19 110 13 54 43
data:
$ID,22
$MISSION,17
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,280
$T_MISSION,320
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,1
$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,19.6
$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,-255226.86
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2600
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2944
$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,-22.561892
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,190310,134754,1932.981,-15601.953,41,1.3,59,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.2
$GPS2,190310,135402,1933.120,-15602.016,32,1.8,32,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.288,-0.174
$KALMAN_X,-14268.0,-17.7,391.9,20925.4,-3625.3
$KALMAN_Y,21520.8,111.3,-526.0,-34446.3,6148.3
$MHEAD_RNG_PITCHd_Wd,111.4,3117,-16.7,-11.786
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.24,-233.6,0.0,0.0,0,86,0.00,0.00,-61.83,0.000,2,0.000,0.000,378,2618,2618,0,0,0,0,0,0
$GC,88,-1.24,-233.6,3.1,-6.7,10,134,10.35,2.45,-28.55,0.000,4,0.154,0.056,2323,1184,3845,0,0,0,0,0,0
$GC,217,-1.24,-233.6,35.1,-21.1,29,224,0.00,2.47,0.00,0.000,6,0.000,0.044,2322,2603,3846,0,0,0,0,0,0
$GC,409,-1.24,-233.6,86.3,-28.0,48,413,0.00,2.45,0.00,0.000,4,0.000,0.063,2323,3949,3846,0,0,0,0,0,0
$GC,446,-1.24,-233.6,96.8,-28.0,51,452,0.00,2.33,0.00,0.000,6,0.000,0.037,2324,2582,3846,0,0,0,0,0,0
$GC,644,-1.24,-233.6,145.7,-23.7,59,648,0.00,2.50,0.00,0.000,4,0.000,0.060,2323,3949,3847,0,0,0,0,0,0
$GC,681,-1.24,-233.6,155.2,-26.6,60,685,0.00,2.30,0.00,0.000,6,0.000,0.037,2324,2590,3847,0,0,0,0,0,0
$GC,1011,-1.24,-233.6,233.6,-22.8,71,1015,0.00,2.47,0.00,0.000,4,0.000,0.060,2323,3945,3850,0,0,0,0,0,0
$GC,1059,-1.24,-233.6,243.1,-18.9,72,1062,0.00,2.30,0.00,0.000,6,0.000,0.037,2324,2594,3850,0,0,0,0,0,0
$GC,1378,-1.24,-233.6,301.5,-17.6,83,1382,0.00,2.47,0.00,0.000,4,0.000,0.061,2324,3943,3851,0,0,0,0,0,0
$GC,1436,-1.24,-233.6,311.6,-15.8,83,1442,0.00,2.30,0.00,0.000,6,0.000,0.038,2324,2594,3851,0,0,0,0,0,0
$GC,1744,-1.24,-233.6,365.0,-17.6,89,1747,0.00,2.45,0.00,0.000,4,0.000,0.063,2323,3954,3851,0,0,0,0,0,0
$GC,1774,-1.24,-233.6,370.5,-17.8,89,1779,0.00,2.35,0.00,0.000,6,0.000,0.039,2323,2593,3851,0,0,0,0,0,0
$GC,2103,-1.24,-233.6,423.7,-16.2,95,2111,0.00,2.47,0.00,0.000,4,0.000,0.067,2323,3945,3851,0,0,0,0,0,0
$GC,2141,-1.24,-233.6,429.6,-14.9,95,2149,0.00,2.33,0.00,0.000,6,0.000,0.041,2324,2587,3851,0,0,0,0,0,0
$GC,2471,-1.24,-233.6,474.3,-13.3,101,2479,0.00,2.38,0.00,0.000,4,0.000,0.050,2324,1200,3851,0,0,0,0,0,0
$GC,2516,-1.24,-233.6,478.9,-9.5,101,2524,0.00,2.47,0.00,0.000,6,0.000,0.049,2324,2609,3850,0,0,0,0,0,0
$GC,2836,-1.24,-233.6,516.2,-12.0,107,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2609,3848,0,0,0,0,0,0
$GC,3137,-1.24,-233.6,554.5,-12.6,112,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2609,3847,0,0,0,0,0,0
$GC,3439,-1.24,-233.6,595.4,-13.5,117,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2609,3845,0,0,0,0,0,0
$GC,3740,-1.24,-233.6,638.6,-14.4,122,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2608,3842,0,0,0,0,0,0
$GC,4042,-1.24,-233.6,679.5,-13.5,127,4051,0.00,2.53,0.00,0.000,4,0.000,0.063,2324,1204,3840,0,0,0,0,0,0
$GC,4093,-1.24,-233.6,685.3,-9.9,127,4101,0.00,2.53,0.00,0.000,6,0.000,0.059,2324,2598,3838,0,0,0,0,0,0
$GC,4401,-1.24,-233.6,721.7,-12.0,132,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2598,3837,0,0,0,0,0,0
$GC,4703,-1.24,-233.6,759.3,-12.5,137,4711,0.00,2.55,0.00,0.000,4,0.000,0.077,2324,1222,3834,0,0,0,0,0,0
$GC,4721,-1.24,-233.6,761.7,-12.5,137,4729,0.00,2.60,0.00,0.000,6,0.000,0.076,2324,2605,3834,0,0,0,0,0,0
$GC,5061,-1.24,-233.6,803.3,-12.3,143,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2605,3831,0,0,0,0,0,0
$GC,5364,-1.24,-233.6,838.9,-11.6,148,5372,0.00,2.72,0.00,0.000,4,0.000,0.110,2324,1226,3829,0,0,0,0,0,0
$GC,5392,-1.24,-233.6,842.1,-11.7,148,5400,0.00,2.78,0.00,0.000,6,0.000,0.111,2324,2605,3829,0,0,0,0,0,0
$GC,5722,-1.24,-233.6,881.5,-12.3,154,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2605,3827,0,0,0,0,0,0
$GC,6024,-1.24,-233.6,918.0,-12.0,159,6033,0.00,3.00,0.00,0.000,4,0.000,0.155,2324,1221,3825,0,0,0,0,0,0
$GC,6053,-1.24,-233.6,921.3,-11.9,159,6062,0.00,2.97,0.00,0.000,6,0.000,0.146,2324,2599,3825,0,0,0,0,0,0
$GC,6384,-1.24,-233.6,959.1,-11.6,165,6393,0.00,3.12,0.00,0.000,4,0.000,0.177,2324,1229,3823,0,0,0,0,0,0
$GC,6407,-1.24,-233.6,961.7,-11.0,165,6416,0.00,3.12,0.00,0.000,6,0.000,0.169,2324,2605,3823,0,0,0,0,0,0
$STATE,6681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6681,begin apogee
$GC,6687,-0.29,0.0,992.7,11.5,170,6882,1.02,0.00,187.57,1.289,6,0.103,0.000,2534,2040,2944,0,0,0,0,0,0
$STATE,6883,end apogee,CONTROL_FINISHED_OK
$STATE,6883,begin climb
$GC,6885,1.24,233.6,997.6,0.0,173,7110,1.62,3.67,209.02,1.291,4,0.099,0.206,2864,580,1987,0,0,0,0,0,0
$GC,7308,1.24,233.6,962.7,14.3,179,7317,0.00,3.15,0.00,0.000,6,0.000,0.149,2864,2006,1978,0,0,0,0,0,0
$GC,7623,1.24,233.6,920.4,13.4,185,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2005,1975,0,0,0,0,0,0
$GC,7924,1.24,233.6,883.0,12.3,190,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1975,0,0,0,0,0,0
$GC,8227,1.24,233.6,846.6,12.0,195,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,1972,0,0,0,0,0,0
$GC,8528,1.26,253.4,812.7,11.1,200,8550,0.00,0.00,16.50,1.132,6,0.000,0.000,2864,2007,1911,0,0,0,0,0,0
$GC,8830,1.26,253.4,774.4,13.0,205,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2007,1905,0,0,0,0,0,0
$GC,9131,1.26,253.4,738.1,12.0,210,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2008,1904,0,0,0,0,0,0
$GC,9434,1.27,267.5,703.7,11.3,215,9454,0.00,0.00,14.25,1.066,6,0.000,0.000,2864,2008,1853,0,0,0,0,0,0
$GC,9735,1.27,267.5,666.2,12.5,220,9744,0.00,2.58,0.00,0.000,4,0.000,0.065,2864,3426,1848,0,0,0,0,0,0
$GC,9774,1.27,267.5,661.5,12.0,220,9783,0.00,2.60,0.00,0.000,6,0.000,0.046,2864,1975,1846,0,0,0,0,0,0
$GC,10094,1.27,267.5,621.1,12.9,226,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1974,1846,0,0,0,0,0,0
$GC,10396,1.27,267.5,583.9,12.2,231,10404,0.00,2.65,0.00,0.000,4,0.000,0.061,2863,3432,1846,0,0,0,0,0,0
$GC,10435,1.27,267.5,578.8,13.7,231,10443,0.00,2.55,0.00,0.000,6,0.000,0.044,2864,1993,1846,0,0,0,0,0,0
$GC,10754,1.27,267.5,538.6,12.4,237,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,1846,0,0,0,0,0,0
$GC,11056,1.27,267.5,501.6,12.1,242,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,1845,0,0,0,0,0,0
$GC,11358,1.29,281.9,467.1,11.3,247,11381,0.00,2.70,13.35,0.922,4,0.000,0.060,2864,3423,1794,0,0,0,0,0,0
$GC,11439,1.29,281.9,456.8,12.9,248,11447,0.00,2.55,0.00,0.000,6,0.000,0.044,2864,1991,1792,0,0,0,0,0,0
$GC,11785,1.29,281.9,410.7,13.9,254,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1989,1790,0,0,0,0,0,0
$GC,12087,1.29,281.9,370.7,13.2,259,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1984,1790,0,0,0,0,0,0
$GC,12389,1.29,286.8,335.4,11.6,264,12399,0.00,2.62,5.62,0.700,4,0.000,0.058,2864,3429,1774,0,0,0,0,0,0
$GC,12431,1.29,286.8,330.2,12.1,264,12435,0.00,2.58,0.00,0.000,6,0.000,0.042,2864,1988,1773,0,0,0,0,0,0
$GC,12749,1.30,289.6,292.5,11.7,271,12754,0.00,0.00,4.40,0.609,6,0.000,0.000,2864,1987,1763,0,0,0,0,0,0
$GC,13052,1.34,328.0,259.7,10.5,281,13093,0.12,2.70,35.78,0.820,4,0.092,0.057,2894,3431,1605,0,0,0,0,0,0
$GC,13140,1.34,328.0,246.6,15.8,284,13145,0.00,2.58,0.00,0.000,6,0.000,0.042,2894,1998,1601,0,0,0,0,0,0
$GC,13475,1.34,328.0,200.2,13.7,295,13479,0.00,2.53,0.00,0.000,4,0.000,0.054,2894,588,1599,0,0,0,0,0,0
$GC,13555,1.34,328.0,188.9,13.4,297,13560,0.00,2.53,0.00,0.000,6,0.000,0.040,2894,2033,1597,0,0,0,0,0,0
$GC,13874,1.36,352.1,149.2,11.0,308,13899,0.00,2.47,20.88,0.682,4,0.000,0.053,2894,3410,1507,0,0,0,0,0,0
$GC,13975,1.36,352.1,136.5,13.7,311,13979,0.00,2.47,0.00,0.000,6,0.000,0.039,2895,1985,1506,0,0,0,0,0,0
$GC,14289,1.36,352.1,93.7,14.0,323,14293,0.00,2.45,0.00,0.000,4,0.000,0.051,2894,599,1504,0,0,0,0,0,0
$GC,14342,1.36,352.1,86.5,13.1,328,14347,0.00,2.45,0.00,0.000,6,0.000,0.039,2894,2011,1503,0,0,0,0,0,0
$GC,14539,1.42,400.3,64.5,10.2,347,14585,0.00,2.47,41.47,0.594,4,0.000,0.050,2894,3403,1311,0,0,0,0,0,0
$GC,14628,1.42,400.3,54.1,12.9,355,14631,0.00,2.45,0.00,0.000,6,0.000,0.038,2894,1985,1308,0,0,0,0,0,0
$GC,14818,1.44,423.8,32.0,11.0,373,14840,0.00,0.00,20.17,0.535,6,0.000,0.000,2894,1984,1217,0,0,0,0,0,0
$GC,15028,1.46,439.9,6.6,11.2,403,15045,0.10,0.00,14.90,0.495,6,0.095,0.000,2922,1984,1149,0,0,0,0,0,0
$STATE,15057,end climb,SURFACE_DEPTH_REACHED
$STATE,15057,begin surface coast
$FINISH,0.1,0.999626
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15079,begin surface
$SM_CCo,15158,0.00,0.000,0,0,1143,441.79
$SM_GC,0.96,11.15,0.00,0.00,0.046,0.000,0.000,374,2615,1143,-10.18,0.45,441.79
$IRIDIUM_FIX,1929.80,-15548.32,120911,030348
$TT8_MAMPS,0.306341
$HUMID,1077964506
$TCM_TEMP,23.60
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010
$PA_DFQS,0/0
$PA_CMQS,0/165
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,9.0/30829585/28069486
$PA_HOME,6.6/483886/451813
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/297829/286926
$PA_DATA1,4.2/7836665/7510495
$PA_DATA0,67.0/7836665/2584453
$24V_AH,23.4,7.363
$10V_AH,9.9,8.647
$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,24.375,121.650,583.925,0.000,0.000,24.119,31.826,176.001,0.000,0.000,33.299,0.000,12816.312,648.868,1909.734,219.726,33.367,1516.533,0.000,1031.715,0.000,0.532,0.000
$DEVICE_MAMPS,153.765,205.785,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,276.169,0.000,0.000,0.000,0.000,0.000,15586.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.611,0.000,0.000,0.000
$MEM,344644
$DATA_FILE_SIZE,13501,413
$CAP_FILE_SIZE,109747,0
$CFSIZE,260034560,255893504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,180937,1932.933,-15600.010,38,1.6,38,9.7