version: 66.07
glider: 23
mission: 14
dive: 17
start: 3 19 110 12 40 13
data:
$ID,23
$MISSION,14
$DIVE,17
$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,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,450
$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,-41407.48
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,190310,123454,1934.657,-15602.070,35,1.7,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.2
$GPS2,190310,123932,1934.748,-15602.113,14,1.7,14,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,-0.170
$KALMAN_X,-24845.5,211.8,201.2,31986.5,-2183.2
$KALMAN_Y,44435.1,80.3,158.1,-59282.1,2772.3
$MHEAD_RNG_PITCHd_Wd,120.2,1246,-20.3,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.54,-165.8,0.0,0.0,0,106,0.00,0.00,-85.43,0.000,2,0.000,0.000,359,2252,2785,0,0,0,0,0,0
$GC,109,-1.61,-233.6,3.6,-6.2,17,145,10.30,2.75,-20.65,0.000,4,0.176,0.050,2092,894,3795,0,0,0,0,0,0
$GC,186,-1.61,-233.6,27.7,-33.8,30,192,0.00,2.78,0.00,0.000,6,0.000,0.023,2092,2278,3796,0,0,0,0,0,0
$GC,378,-1.61,-233.6,88.7,-31.2,49,382,0.00,2.28,0.00,0.000,4,0.000,0.032,2092,3675,3797,0,0,0,0,0,0
$GC,570,-1.61,-233.6,138.1,-24.4,58,574,0.00,2.20,0.00,0.000,6,0.000,0.024,2092,2308,3797,0,0,0,0,0,0
$GC,905,-1.61,-233.6,227.2,-26.5,69,909,0.00,2.25,0.00,0.000,4,0.000,0.035,2092,3670,3800,0,0,0,0,0,0
$GC,1119,-1.61,-233.6,273.4,-20.4,75,1123,0.00,2.28,0.00,0.000,6,0.000,0.024,2092,2260,3800,0,0,0,0,0,0
$GC,1432,-1.61,-233.6,336.9,-19.9,83,1435,0.00,2.38,0.00,0.000,4,0.000,0.042,2092,3674,3800,0,0,0,0,0,0
$GC,1543,-1.61,-233.6,357.1,-17.6,84,1547,0.00,2.30,0.00,0.000,6,0.000,0.026,2092,2262,3800,0,0,0,0,0,0
$GC,1861,-1.61,-233.6,414.3,-18.1,90,1869,0.00,2.35,0.00,0.000,4,0.000,0.044,2092,3669,3799,0,0,0,0,0,0
$GC,1905,-1.61,-233.6,422.1,-17.5,90,1915,0.00,2.28,0.00,0.000,6,0.000,0.027,2092,2260,3798,0,0,0,0,0,0
$GC,2221,-1.61,-233.6,482.7,-19.5,96,2230,0.00,2.88,0.00,0.000,4,0.000,0.043,2092,861,3796,0,0,0,0,0,0
$GC,2245,-1.61,-233.6,487.3,-20.2,96,2253,0.00,2.85,0.00,0.000,6,0.000,0.032,2092,2269,3796,0,0,0,0,0,0
$GC,2581,-1.61,-233.6,548.9,-18.3,102,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2268,3792,0,0,0,0,0,0
$GC,2882,-1.61,-233.6,604.4,-18.5,107,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2268,3790,0,0,0,0,0,0
$GC,3185,-1.61,-233.6,659.4,-18.1,112,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2268,3787,0,0,0,0,0,0
$GC,3486,-1.61,-233.6,711.6,-17.3,117,3495,0.00,2.95,0.00,0.000,4,0.000,0.050,2092,866,3785,0,0,0,0,0,0
$GC,3520,-1.61,-233.6,717.4,-17.0,117,3529,0.00,2.90,0.00,0.000,6,0.000,0.038,2092,2276,3784,0,0,0,0,0,0
$GC,3845,-1.61,-233.6,772.4,-16.9,123,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2276,3781,0,0,0,0,0,0
$GC,4147,-1.61,-233.6,822.1,-16.4,128,4156,0.00,2.92,0.00,0.000,4,0.000,0.048,2092,872,3778,0,0,0,0,0,0
$GC,4192,-1.61,-233.6,830.1,-16.6,128,4201,0.00,2.88,0.00,0.000,6,0.000,0.039,2092,2271,3777,0,0,0,0,0,0
$GC,4507,-1.61,-233.6,881.4,-16.1,134,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2271,3776,0,0,0,0,0,0
$GC,4809,-1.61,-233.6,928.7,-15.6,139,4818,0.00,2.92,0.00,0.000,4,0.000,0.047,2092,868,3774,0,0,0,0,0,0
$GC,4849,-1.61,-233.6,935.0,-15.2,139,4857,0.00,2.90,0.00,0.000,6,0.000,0.039,2092,2280,3774,0,0,0,0,0,0
$GC,5169,-1.61,-233.6,986.0,-16.0,145,5178,0.00,2.92,0.00,0.000,4,0.000,0.047,2092,862,3771,0,0,0,0,0,0
$GC,5193,-1.61,-233.6,989.9,-15.5,145,5201,0.00,2.10,0.00,0.000,3,0.000,0.035,2092,1884,3771,0,0,0,0,0,0
$STATE,5202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5202,begin apogee
$GC,5207,-0.33,0.0,990.7,15.7,145,5407,1.40,0.00,191.98,1.454,6,0.104,0.000,2372,2369,2842,0,0,0,0,0,0
$STATE,5407,end apogee,CONTROL_FINISHED_OK
$STATE,5408,begin climb
$GC,5410,1.61,233.6,1001.4,0.0,148,5619,1.98,2.47,195.70,1.411,4,0.055,0.054,2797,3776,1888,0,0,1,0,0,0
$GC,5721,1.61,233.6,973.0,20.5,153,5729,0.00,2.28,0.00,0.000,6,0.000,0.028,2797,2367,1884,0,0,0,0,0,0
$GC,6089,1.61,233.6,909.3,17.1,159,6097,0.00,2.40,0.00,0.000,4,0.000,0.053,2797,3792,1881,0,0,0,0,0,0
$GC,6117,1.61,233.6,904.5,17.2,159,6125,0.00,2.30,0.00,0.000,6,0.000,0.028,2797,2369,1880,0,0,0,0,0,0
$GC,6448,1.61,233.6,851.6,15.9,165,6456,0.00,2.38,0.00,0.000,4,0.000,0.053,2797,3781,1880,0,0,0,0,0,0
$GC,6519,1.61,233.6,839.8,17.2,166,6527,0.00,2.28,0.00,0.000,6,0.000,0.028,2797,2370,1879,0,0,0,0,0,0
$GC,6871,1.61,233.6,782.9,16.0,172,6879,0.00,2.38,0.00,0.000,4,0.000,0.054,2797,3787,1878,0,0,0,0,0,0
$GC,6958,1.61,233.6,767.7,16.8,173,6966,0.00,2.30,0.00,0.000,6,0.000,0.028,2797,2358,1877,0,0,0,0,0,0
$GC,7294,1.61,233.6,712.1,16.7,179,7302,0.00,2.40,0.00,0.000,4,0.000,0.053,2797,3792,1877,0,0,0,0,0,0
$GC,7478,1.61,233.6,679.6,18.1,181,7488,0.00,2.30,0.00,0.000,6,0.000,0.028,2797,2357,1876,0,0,0,0,0,0
$GC,7786,1.61,233.6,632.7,15.1,187,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2354,1876,0,0,0,0,0,0
$GC,8088,1.61,233.6,589.6,14.1,192,8096,0.00,2.38,0.00,0.000,4,0.000,0.053,2797,3780,1875,0,0,0,0,0,0
$GC,8191,1.61,233.6,575.9,14.0,193,8200,0.00,2.28,0.00,0.000,6,0.000,0.028,2798,2357,1875,0,0,0,0,0,0
$GC,8512,1.61,233.6,534.5,13.1,199,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2353,1875,0,0,0,0,0,0
$GC,8813,1.61,233.6,486.8,16.3,204,8822,0.00,2.40,0.00,0.000,4,0.000,0.052,2797,3785,1875,0,0,0,0,0,0
$GC,8880,1.61,233.6,474.0,19.5,205,8888,0.00,2.28,0.00,0.000,6,0.000,0.026,2797,2355,1874,0,0,0,0,0,0
$GC,9237,1.61,233.6,413.8,16.7,211,9245,0.00,2.85,0.00,0.000,4,0.000,0.039,2797,969,1874,0,0,0,0,0,0
$GC,9266,1.61,233.6,409.3,16.1,211,9274,0.00,2.85,0.00,0.000,6,0.000,0.033,2797,2373,1874,0,0,0,0,0,0
$GC,9596,1.61,233.6,360.1,14.7,217,9600,0.00,2.35,0.00,0.000,4,0.000,0.050,2797,3788,1874,0,0,0,0,0,0
$GC,9788,1.61,233.6,330.8,14.1,220,9792,0.00,2.28,0.00,0.000,6,0.000,0.025,2797,2363,1874,0,0,0,0,0,0
$GC,10124,1.61,233.6,289.0,13.1,226,10128,0.00,2.38,0.00,0.000,4,0.000,0.050,2797,3782,1874,0,0,0,0,0,0
$GC,10284,1.61,233.6,265.5,16.5,231,10288,0.00,2.25,0.00,0.000,6,0.000,0.024,2797,2372,1874,0,0,0,0,0,0
$GC,10619,1.61,233.6,217.7,14.4,242,10623,0.00,2.35,0.00,0.000,4,0.000,0.047,2797,3788,1873,0,0,0,0,0,0
$GC,10827,1.61,233.6,188.3,12.9,248,10831,0.00,2.25,0.00,0.000,6,0.000,0.021,2797,2363,1875,0,0,0,0,0,0
$GC,11147,1.61,233.6,151.9,11.8,259,11150,0.00,2.80,0.00,0.000,4,0.000,0.034,2797,976,1876,0,0,0,0,0,0
$GC,11178,1.61,233.6,147.5,13.7,260,11182,0.00,2.80,0.00,0.000,6,0.000,0.028,2797,2373,1876,0,0,0,0,0,0
$GC,11514,1.63,252.7,111.8,10.9,271,11533,0.00,2.38,14.55,0.727,4,0.000,0.044,2797,3778,1810,0,0,0,0,0,0
$GC,11774,1.67,284.6,81.6,10.3,289,11805,0.00,2.22,26.83,0.715,6,0.000,0.019,2797,2348,1680,0,0,0,0,0,0
$GC,11991,1.68,302.3,58.1,10.9,310,12012,0.00,2.42,15.38,0.661,4,0.000,0.043,2797,3792,1607,0,0,0,0,0,0
$GC,12048,1.71,324.5,51.9,10.7,315,12075,0.08,2.22,19.33,0.661,6,0.038,0.019,2828,2371,1516,0,0,0,0,0,0
$GC,12260,1.71,324.5,21.4,14.9,336,12264,0.00,2.83,0.00,0.000,4,0.000,0.032,2828,979,1513,0,0,0,0,0,0
$GC,12297,1.71,324.5,15.9,14.3,342,12303,0.00,2.78,0.00,0.000,6,0.000,0.024,2828,2374,1513,0,0,0,0,0,0
$GC,12366,1.71,324.5,6.0,13.6,355,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2373,1513,0,0,0,0,0,0
$STATE,12389,end climb,SURFACE_DEPTH_REACHED
$STATE,12389,begin surface coast
$FINISH,0.1,1.023554
$STATE,12406,end surface coast,CONTROL_FINISHED_OK
$STATE,12406,begin surface
$SM_CCo,12425,63.55,0.623,0,0,1006,450.13
$SM_GC,0.85,0.00,0.00,63.55,0.000,0.000,0.623,360,2246,1006,-9.61,-0.68,450.13
$IRIDIUM_FIX,1927.51,-15602.72,120911,030313
$TT8_MAMPS,0.154294
$HUMID,1078067732
$TCM_TEMP,24.10
$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,0/127
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,6.3/30829585/28889151
$PA_HOME,10.2/482055/432662
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287906
$PA_DATA1,10.1/7837685/7048153
$PA_DATA0,78.3/7836665/1699853
$24V_AH,23.5,9.970
$10V_AH,9.9,7.430
$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,24.550,125.950,463.750,63.550,0.000,23.019,33.499,127.804,0.000,0.000,17.127,0.000,10026.070,624.160,1913.915,193.124,33.338,1525.277,0.000,1238.335,0.000,0.542,0.000
$DEVICE_MAMPS,175.950,53.550,1453.500,622.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,244.686,0.000,0.000,0.000,0.000,0.000,12867.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,70.080,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,13488,363
$CAP_FILE_SIZE,105879,0
$CFSIZE,260034560,255553536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190310,160924,1934.704,-15600.817,39,1.5,39,9.7