version: 66.07
glider: 22
mission: 14
dive: 48
start: 11 5 109 11 17 3
data:
$ID,22
$MISSION,14
$DIVE,48
$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,330
$T_MISSION,360
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,-248246.34
$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,2520
$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,2925
$C_ROLL_CLIMB,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,53
$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
$GPS1,051109,110025,1953.723,-15614.017,39,1.4,39,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-67.6
$GPS2,051109,111620,1954.073,-15614.162,14,1.4,14,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K7
$TGT_LATLONG,1953.000,-15614.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.245
$KALMAN_X,-7663.5,778.7,273.3,9104.9,-3684.1
$KALMAN_Y,15336.0,-2390.7,196.9,-17369.7,8181.9
$MHEAD_RNG_PITCHd_Wd,162.2,2008,-20.5,-10.000
$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,-1.33,-119.7,0.0,0.0,0,91,0.00,0.00,-74.03,0.000,2,0.000,0.000,374,2961,2703,0,0,0,0,0,0
$GC,94,-1.36,-146.5,3.4,-8.5,14,121,10.02,2.47,-12.45,0.000,4,0.165,0.058,2217,1528,3218,0,0,0,0,0,0
$GC,211,-1.36,-146.5,35.3,-25.4,31,215,0.00,2.40,0.00,0.000,6,0.000,0.047,2217,2896,3219,0,0,0,0,0,0
$GC,408,-1.36,-146.5,81.2,-23.3,50,412,0.00,2.35,0.00,0.000,4,0.000,0.041,2217,1527,3219,0,0,0,0,0,0
$GC,423,-1.36,-146.5,84.5,-21.5,51,429,0.00,2.45,0.00,0.000,6,0.000,0.044,2217,2930,3219,0,0,0,0,0,0
$GC,633,-1.36,-146.5,119.8,-16.2,64,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2930,3219,0,0,0,0,0,0
$GC,936,-1.36,-146.5,173.5,-18.5,74,940,0.00,2.40,0.00,0.000,4,0.000,0.041,2217,1529,3221,0,0,0,0,0,0
$GC,979,-1.36,-146.5,180.9,-17.4,75,983,0.00,2.42,0.00,0.000,6,0.000,0.045,2217,2943,3221,0,0,0,0,0,0
$GC,1303,-1.36,-146.5,244.5,-19.9,86,1307,0.00,2.42,0.00,0.000,4,0.000,0.042,2217,1530,3222,0,0,0,0,0,0
$GC,1431,-1.36,-146.5,266.8,-16.1,90,1435,0.00,2.42,0.00,0.000,6,0.000,0.044,2217,2923,3222,0,0,0,0,0,0
$GC,1766,-1.36,-146.5,317.2,-14.1,99,1770,0.00,2.42,0.00,0.000,4,0.000,0.043,2217,1496,3222,0,0,0,0,0,0
$GC,1846,-1.36,-146.5,327.3,-11.4,100,1850,0.00,2.50,0.00,0.000,6,0.000,0.046,2217,2941,3221,0,0,0,0,0,0
$GC,2195,-1.36,-146.5,369.0,-11.9,106,2199,0.00,2.45,0.00,0.000,4,0.000,0.044,2217,1528,3220,0,0,0,0,0,0
$GC,2227,-1.36,-146.5,372.8,-11.9,106,2232,0.00,2.47,0.00,0.000,6,0.000,0.048,2217,2926,3219,0,0,0,0,0,0
$GC,2560,-1.36,-146.5,417.2,-13.5,112,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2927,3217,0,0,0,0,0,0
$GC,2862,-1.36,-146.5,455.3,-12.5,117,2867,0.00,2.45,0.00,0.000,4,0.000,0.045,2217,1529,3214,0,0,0,0,0,0
$GC,3097,-1.36,-146.5,485.0,-12.0,120,3102,0.00,2.50,0.00,0.000,6,0.000,0.049,2217,2931,3213,0,0,0,0,0,0
$GC,3420,-1.36,-146.5,527.4,-13.2,126,3428,0.00,2.42,0.00,0.000,4,0.000,0.048,2217,1533,3209,0,0,0,0,0,0
$GC,3464,-1.36,-146.5,532.9,-11.9,126,3472,0.00,2.45,0.00,0.000,6,0.000,0.051,2217,2928,3208,0,0,0,0,0,0
$GC,3778,-1.36,-146.5,571.0,-12.1,132,3786,0.00,1.83,0.00,0.000,4,0.000,0.068,2217,3953,3205,0,0,0,0,0,0
$GC,3849,-1.36,-146.5,580.6,-13.4,133,3856,0.00,1.75,0.00,0.000,6,0.000,0.043,2217,2919,3204,0,0,0,0,0,0
$GC,4211,-1.36,-146.5,625.5,-12.6,139,4220,0.00,2.40,0.00,0.000,4,0.000,0.054,2217,1537,3201,0,0,0,0,0,0
$GC,4299,-1.36,-146.5,636.0,-11.5,140,4307,0.00,2.50,0.00,0.000,6,0.000,0.056,2217,2934,3200,0,0,0,0,0,0
$GC,4642,-1.36,-146.5,672.9,-10.8,146,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2934,3198,0,0,0,0,0,0
$GC,4941,-1.36,-146.5,706.0,-11.1,151,4950,0.00,2.53,0.00,0.000,4,0.000,0.064,2217,1536,3196,0,0,0,0,0,0
$GC,5003,-1.36,-146.5,712.5,-10.8,152,5011,0.00,2.55,0.00,0.000,6,0.000,0.064,2217,2930,3196,0,0,0,0,0,0
$GC,5370,-1.36,-146.5,757.3,-12.5,158,5380,0.00,2.58,0.00,0.000,4,0.000,0.077,2217,1541,3193,0,0,0,0,0,0
$GC,5410,-1.36,-146.5,762.4,-12.5,158,5419,0.00,2.58,0.00,0.000,6,0.000,0.077,2217,2925,3193,0,0,0,0,0,0
$GC,5730,-1.36,-146.5,802.5,-12.6,164,5739,0.00,2.62,0.00,0.000,4,0.000,0.091,2217,1547,3190,0,0,0,0,0,0
$GC,5785,-1.36,-146.5,809.3,-12.3,164,5795,0.00,2.60,0.00,0.000,6,0.000,0.091,2217,2925,3190,0,0,0,0,0,0
$GC,6094,-1.36,-146.5,846.1,-11.9,170,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2925,3187,0,0,0,0,0,0
$GC,6395,-1.36,-146.5,878.0,-10.5,175,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2925,3188,0,0,0,0,0,0
$GC,6698,-1.36,-146.5,911.4,-11.3,180,6707,0.00,3.00,0.00,0.000,4,0.000,0.154,2217,1553,3188,0,0,0,0,0,0
$GC,6759,-1.36,-146.5,918.5,-11.9,181,6767,0.00,3.00,0.00,0.000,6,0.000,0.153,2217,2932,3186,0,0,0,0,0,0
$GC,7122,-1.36,-146.5,963.3,-12.5,187,7130,0.00,2.45,0.00,0.000,4,0.000,0.208,2217,3955,3184,0,0,0,0,0,0
$GC,7177,-1.36,-146.5,970.3,-12.2,187,7187,0.00,2.30,0.00,0.000,6,0.000,0.178,2216,2966,3183,0,0,0,0,0,0
$STATE,7363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7363,begin apogee
$GC,7368,-0.29,0.0,993.5,12.4,191,7502,1.17,0.00,127.05,1.302,6,0.119,0.000,2451,2786,2618,0,0,0,0,0,0
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7505,1.36,146.5,999.1,0.0,193,7652,1.70,0.00,139.35,1.292,6,0.081,0.000,2812,2786,2019,0,0,0,0,0,0
$GC,7929,1.36,146.5,946.5,15.0,200,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2785,2006,0,0,0,0,0,0
$GC,8230,1.36,146.5,901.7,14.9,205,8238,0.00,2.53,0.00,0.000,4,0.000,0.139,2812,3955,2005,0,0,0,0,0,0
$GC,8258,1.36,146.5,897.3,15.2,205,8267,0.00,2.42,0.00,0.000,6,0.000,0.116,2813,2785,2003,0,0,0,0,0,0
$GC,8593,1.36,146.5,846.3,15.7,211,8602,0.00,2.72,0.00,0.000,4,0.000,0.100,2813,1374,2001,0,0,0,0,0,0
$GC,8622,1.36,146.5,840.8,16.4,211,8631,0.00,2.78,0.00,0.000,6,0.000,0.092,2813,2800,2000,0,0,0,0,0,0
$GC,8955,1.36,146.5,785.8,17.0,217,8965,0.00,2.70,0.00,0.000,4,0.000,0.081,2813,1369,1999,0,0,0,0,0,0
$GC,9055,1.36,146.5,767.9,16.8,218,9063,0.00,2.65,0.00,0.000,6,0.000,0.069,2813,2803,1998,0,0,0,0,0,0
$GC,9380,1.36,146.5,712.0,17.1,224,9390,0.00,2.62,0.00,0.000,4,0.000,0.065,2813,1368,1997,0,0,0,0,0,0
$GC,9404,1.36,146.5,707.5,17.7,224,9413,0.00,2.58,0.00,0.000,6,0.000,0.058,2813,2794,1997,0,0,0,0,0,0
$GC,9740,1.36,146.5,646.9,18.1,230,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2794,1996,0,0,0,0,0,0
$GC,10042,1.36,146.5,596.8,16.5,235,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2794,1995,0,0,0,0,0,0
$GC,10344,1.36,146.5,552.3,14.4,240,10353,0.00,2.58,0.00,0.000,4,0.000,0.057,2813,1349,1994,0,0,0,0,0,0
$GC,10394,1.36,146.5,544.7,15.9,240,10402,0.00,2.58,0.00,0.000,6,0.000,0.049,2813,2809,1994,0,0,0,0,0,0
$GC,10703,1.36,146.5,501.0,14.0,245,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2809,1994,0,0,0,0,0,0
$GC,11004,1.36,146.5,460.3,13.5,250,11008,0.00,2.60,0.00,0.000,4,0.000,0.051,2813,1359,1994,0,0,0,0,0,0
$GC,11062,1.36,146.5,452.7,13.0,250,11069,0.00,2.55,0.00,0.000,6,0.000,0.047,2813,2791,1994,0,0,0,0,0,0
$GC,11369,1.36,146.5,411.4,13.6,256,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2791,1994,0,0,0,0,0,0
$GC,11671,1.36,146.5,370.4,13.8,261,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2791,1993,0,0,0,0,0,0
$GC,11973,1.36,146.5,329.2,13.8,266,11977,0.00,2.10,0.00,0.000,4,0.000,0.062,2812,3943,1993,0,0,0,0,0,0
$GC,12079,1.36,146.5,314.4,13.4,267,12083,0.00,2.08,0.00,0.000,6,0.000,0.041,2813,2750,1990,0,0,0,0,0,0
$GC,12403,1.36,146.5,275.3,12.9,276,12407,0.00,2.38,0.00,0.000,4,0.000,0.049,2813,1388,1991,0,0,0,0,0,0
$GC,12648,1.36,146.5,242.4,12.0,283,12653,0.00,2.47,0.00,0.000,6,0.000,0.043,2813,2801,1992,0,0,0,0,0,0
$GC,12963,1.36,146.5,206.1,10.1,294,12967,0.00,2.45,0.00,0.000,4,0.000,0.045,2813,1378,1991,0,0,0,0,0,0
$GC,13021,1.39,167.7,201.3,8.8,295,13040,0.00,2.47,14.95,0.747,6,0.000,0.042,2816,2801,1933,0,0,0,0,0,0
$GC,13361,1.39,167.7,170.6,10.6,307,13365,0.00,2.05,0.00,0.000,4,0.000,0.056,2813,3944,1930,0,0,0,0,0,0
$GC,13414,1.39,167.7,164.3,12.4,308,13418,0.00,2.00,0.00,0.000,6,0.000,0.038,2813,2772,1929,0,0,0,0,0,0
$GC,13728,1.39,167.7,127.1,12.4,319,13732,0.00,2.35,0.00,0.000,4,0.000,0.044,2813,1398,1930,0,0,0,0,0,0
$GC,13792,1.39,167.7,119.7,12.2,321,13796,0.00,2.42,0.00,0.000,6,0.000,0.041,2813,2800,1930,0,0,0,0,0,0
$GC,14111,1.39,173.2,83.9,9.7,340,14121,0.00,1.95,6.35,0.534,4,0.000,0.054,2812,3946,1910,0,0,0,0,0,0
$GC,14190,1.39,173.2,75.3,11.2,347,14196,0.00,1.95,0.00,0.000,6,0.000,0.037,2813,2785,1909,0,0,0,0,0,0
$GC,14381,1.45,221.7,58.0,7.3,366,14433,0.00,2.45,42.35,0.599,4,0.000,0.044,2812,1402,1712,0,0,0,0,0,0
$GC,14662,1.47,244.2,35.1,8.7,392,14689,0.12,2.38,19.67,0.546,6,0.087,0.041,2846,2801,1621,0,0,0,0,0,0
$GC,14875,1.47,244.2,10.6,11.8,420,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2802,1617,0,0,0,0,0,0
$STATE,14941,end climb,SURFACE_DEPTH_REACHED
$STATE,14941,begin surface coast
$FINISH,0.1,1.022946
$STATE,14968,end surface coast,CONTROL_FINISHED_OK
$STATE,14968,begin surface
$SM_CCo,14987,82.62,0.508,0,0,986,400.08
$SM_GC,0.85,0.00,0.00,82.62,0.000,0.000,0.508,377,2955,986,-9.86,0.85,400.08
$IRIDIUM_FIX,1945.83,-15615.28,010511,050546
$TT8_MAMPS,0.308334
$HUMID,1078501281
$TCM_TEMP,24.10
$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,1090/1217
$PA_ROOT,87.1/128908/16630
$PA_HOME,4.1/483886/464218
$PA_LOG,3.6/297829/286995
$PA_DATA0,69.5/7836665/2392116
$PA_DATA1,8.6/7836665/7164586
$PA_USB,87.1/128908/16630
$24V_AH,23.4,10.333
$10V_AH,9.8,26.540
$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,23.775,137.175,349.725,82.625,0.000,52.483,61.129,549.381,0.000,0.000,14.135,0.000,12589.017,586.584,1913.033,926.617,33.326,1492.718,0.000,1274.093,0.000,0.533,0.000
$DEVICE_MAMPS,164.905,207.857,1302.366,507.754,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,292.158,0.000,0.000,0.000,0.000,0.000,16073.541,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,185.184,0.000
$MEM,354088
$DATA_FILE_SIZE,15826,438
$CAP_FILE_SIZE,131719,0
$CFSIZE,260034560,252878848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,328.1,1
$GPS,051109,152907,1952.833,-15614.260,32,1.5,32,9.7