version: 66.07
glider: 22
mission: 14
dive: 81
start: 11 12 109 1 30 24
data:
$ID,22
$MISSION,14
$DIVE,81
$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,-249858.38
$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,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,30
$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,50000.0
$GPS1,121109,012327,1924.788,-15557.831,33,3.2,52,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-67.4
$GPS2,121109,012943,1924.831,-15557.835,10,1.7,15,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.286,-0.068
$KALMAN_X,-114411.8,2210.7,400.2,142708.0,-12535.0
$KALMAN_Y,44127.1,-247.9,277.4,-102553.4,1394.9
$MHEAD_RNG_PITCHd_Wd,180.9,1565,-27.9,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.62,-64.6,0.0,0.0,0,93,0.00,0.00,-77.07,0.000,2,0.000,0.000,370,2914,2761,0,0,0,0,0,0
$GC,96,-1.64,-80.2,3.6,-8.4,15,117,9.55,1.88,-4.50,0.000,4,0.163,0.070,2133,3952,2947,0,0,0,0,0,0
$GC,356,-1.64,-80.2,80.4,-22.9,44,363,0.00,1.77,0.00,0.000,6,0.000,0.037,2133,2884,2950,0,0,0,0,0,0
$GC,545,-1.64,-80.2,118.8,-20.2,57,549,0.00,2.28,0.00,0.000,4,0.000,0.041,2133,1536,2951,0,0,0,0,0,0
$GC,598,-1.64,-80.2,130.1,-20.4,58,603,0.00,2.40,0.00,0.000,6,0.000,0.043,2133,2920,2952,0,0,0,0,0,0
$GC,912,-1.64,-80.2,191.6,-19.1,69,916,0.00,2.38,0.00,0.000,4,0.000,0.041,2133,1527,2954,0,0,0,0,0,0
$GC,965,-1.64,-80.2,201.5,-17.7,70,969,0.00,2.42,0.00,0.000,6,0.000,0.044,2133,2922,2955,0,0,0,0,0,0
$GC,1279,-1.64,-80.2,254.8,-17.2,81,1283,0.00,2.38,0.00,0.000,4,0.000,0.041,2133,1538,2956,0,0,0,0,0,0
$GC,1466,-1.64,-80.2,284.3,-15.1,86,1472,0.00,2.42,0.00,0.000,6,0.000,0.044,2133,2925,2956,0,0,0,0,0,0
$GC,1804,-1.64,-80.2,339.8,-16.4,94,1808,0.00,1.83,0.00,0.000,4,0.000,0.057,2133,3953,2955,0,0,0,0,0,0
$GC,1889,-1.64,-80.2,353.6,-15.5,95,1893,0.00,1.73,0.00,0.000,6,0.000,0.039,2133,2920,2956,0,0,0,0,0,0
$GC,2233,-1.64,-80.2,402.5,-14.4,101,2237,0.00,2.40,0.00,0.000,4,0.000,0.044,2133,1538,2956,0,0,0,0,0,0
$GC,2265,-1.64,-80.2,406.8,-13.2,101,2269,0.00,2.45,0.00,0.000,6,0.000,0.047,2133,2923,2955,0,0,0,0,0,0
$GC,2599,-1.64,-80.2,450.4,-13.0,107,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2924,2953,0,0,0,0,0,0
$GC,2900,-1.64,-80.2,486.8,-12.0,112,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2923,2950,0,0,0,0,0,0
$GC,3202,-1.64,-80.2,525.7,-13.0,117,3209,0.00,1.83,0.00,0.000,4,0.000,0.062,2133,3959,2947,0,0,0,0,0,0
$GC,3229,-1.64,-80.2,529.5,-14.4,117,3236,0.00,1.75,0.00,0.000,6,0.000,0.042,2133,2924,2946,0,0,0,0,0,0
$GC,3569,-1.64,-80.2,575.3,-13.4,123,3577,0.00,2.42,0.00,0.000,4,0.000,0.051,2133,1531,2944,0,0,0,0,0,0
$GC,3608,-1.64,-80.2,580.3,-13.0,123,3616,0.00,2.45,0.00,0.000,6,0.000,0.051,2133,2922,2945,0,0,0,0,0,0
$GC,3927,-1.64,-80.2,620.6,-12.4,129,3935,0.00,1.85,0.00,0.000,4,0.000,0.068,2134,3959,2941,0,0,0,0,0,0
$GC,3998,-1.64,-80.2,630.2,-13.7,130,4006,0.00,1.80,0.00,0.000,6,0.000,0.044,2133,2927,2939,0,0,0,0,0,0
$GC,4360,-1.64,-80.2,676.7,-12.7,136,4368,0.00,1.90,0.00,0.000,4,0.000,0.073,2133,3954,2937,0,0,0,0,0,0
$GC,4420,-1.64,-80.2,685.2,-14.6,136,4430,0.00,1.80,0.00,0.000,6,0.000,0.046,2133,2920,2937,0,0,0,0,0,0
$GC,4729,-1.64,-80.2,724.4,-12.5,142,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2920,2935,0,0,0,0,0,0
$GC,5029,-1.64,-80.2,761.0,-12.0,147,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2920,2932,0,0,0,0,0,0
$GC,5331,-1.64,-80.2,794.6,-10.9,152,5339,0.00,2.05,0.00,0.000,4,0.000,0.102,2133,3945,2930,0,0,0,0,0,0
$GC,5376,-1.64,-80.2,799.6,-11.7,152,5384,0.00,1.88,0.00,0.000,6,0.000,0.070,2133,2935,2930,0,0,0,0,0,0
$GC,5701,-1.64,-80.2,833.0,-10.1,158,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2934,2928,0,0,0,0,0,0
$GC,6002,-1.64,-84.4,862.3,-9.6,163,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2935,2927,0,0,0,0,0,0
$GC,6305,-1.65,-88.3,891.0,-9.6,168,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2935,2927,0,0,0,0,0,0
$GC,6605,-1.65,-89.7,920.6,-9.9,173,6614,0.00,3.03,0.00,0.000,4,0.000,0.155,2133,1510,2925,0,0,0,0,0,0
$GC,6661,-1.66,-98.3,925.8,-9.1,173,6671,0.00,2.92,0.00,0.000,6,0.000,0.143,2133,2912,2925,0,0,0,0,0,0
$GC,6970,-1.66,-99.7,955.8,-9.9,179,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2911,2923,0,0,0,0,0,0
$GC,7271,-1.66,-99.7,988.0,-10.7,184,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2911,2922,0,0,0,0,0,0
$STATE,7329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7329,begin apogee
$GC,7334,-0.28,0.0,994.1,10.6,185,7412,1.52,0.00,70.20,1.325,6,0.131,0.000,2432,2758,2618,0,0,0,0,0,0
$STATE,7412,end apogee,CONTROL_FINISHED_OK
$STATE,7412,begin climb
$GC,7414,1.66,99.7,996.0,0.0,186,7519,2.03,0.00,96.80,1.302,6,0.084,0.000,2855,2758,2211,0,0,0,0,0,0
$GC,7813,1.66,99.7,938.4,16.4,193,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2756,2199,0,0,0,0,0,0
$GC,8116,1.66,99.7,890.3,15.9,198,8124,0.00,2.90,0.00,0.000,4,0.000,0.125,2855,1325,2196,0,0,0,0,0,0
$GC,8177,1.66,99.7,880.2,16.3,199,8185,0.00,2.90,0.00,0.000,6,0.000,0.109,2855,2761,2195,0,0,0,0,0,0
$GC,8539,1.66,99.7,821.9,16.0,205,8548,0.00,2.78,0.00,0.000,4,0.000,0.091,2855,1322,2193,0,0,0,0,0,0
$GC,8579,1.66,99.7,815.4,16.3,205,8588,0.00,2.75,0.00,0.000,6,0.000,0.081,2855,2763,2194,0,0,0,0,0,0
$GC,8899,1.66,99.7,766.1,15.4,211,8908,0.00,2.70,0.00,0.000,4,0.000,0.076,2855,1321,2194,0,0,0,0,0,0
$GC,8933,1.66,99.7,760.6,15.4,211,8941,0.00,2.67,0.00,0.000,6,0.000,0.067,2855,2762,2192,0,0,0,0,0,0
$GC,9258,1.66,99.7,708.5,16.2,217,9267,0.00,2.65,0.00,0.000,4,0.000,0.066,2855,1316,2191,0,0,0,0,0,0
$GC,9314,1.66,99.7,699.4,15.7,217,9323,0.00,2.55,0.00,0.000,6,0.000,0.057,2857,2769,2191,0,0,0,0,0,0
$GC,9622,1.66,99.7,650.6,15.6,223,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2769,2191,0,0,0,0,0,0
$GC,9924,1.66,99.7,605.2,15.1,228,9932,0.00,2.60,0.00,0.000,4,0.000,0.058,2855,1317,2189,0,0,0,0,0,0
$GC,10001,1.66,99.7,593.6,14.9,229,10009,0.00,2.55,0.00,0.000,6,0.000,0.050,2854,2756,2189,0,0,0,0,0,0
$GC,10347,1.66,99.7,545.1,13.6,235,10356,0.00,2.58,0.00,0.000,4,0.000,0.054,2855,1305,2187,0,0,0,0,0,0
$GC,10456,1.66,99.7,530.3,13.6,236,10464,0.00,2.55,0.00,0.000,6,0.000,0.048,2855,2756,2188,0,0,0,0,0,0
$GC,10770,1.66,99.7,490.2,12.6,242,10774,0.00,2.58,0.00,0.000,4,0.000,0.051,2855,1316,2187,0,0,0,0,0,0
$GC,10828,1.66,99.7,482.6,13.1,242,10835,0.00,2.55,0.00,0.000,6,0.000,0.046,2855,2749,2188,0,0,0,0,0,0
$GC,11136,1.66,99.7,442.0,13.4,248,11139,0.00,2.58,0.00,0.000,4,0.000,0.050,2855,1306,2187,0,0,0,0,0,0
$GC,11247,1.66,99.7,426.9,14.0,249,11252,0.00,2.58,0.00,0.000,6,0.000,0.045,2855,2761,2187,0,0,0,0,0,0
$GC,11565,1.66,99.7,386.9,12.5,255,11569,0.00,2.58,0.00,0.000,4,0.000,0.048,2855,1314,2186,0,0,0,0,0,0
$GC,11640,1.66,99.7,377.0,13.3,256,11643,0.00,2.55,0.00,0.000,6,0.000,0.044,2855,2757,2187,0,0,0,0,0,0
$GC,11994,1.66,99.7,333.2,12.4,262,11998,0.00,2.55,0.00,0.000,4,0.000,0.047,2855,1314,2187,0,0,0,0,0,0
$GC,12240,1.66,99.7,304.4,10.6,265,12244,0.00,2.53,0.00,0.000,6,0.000,0.043,2855,2753,2187,0,0,0,0,0,0
$GC,12554,1.66,102.8,271.3,9.7,275,12558,0.00,2.55,0.00,0.000,4,0.000,0.046,2855,1305,2186,0,0,0,0,0,0
$GC,12746,1.67,110.2,253.9,9.2,281,12755,0.00,2.53,5.60,0.657,6,0.000,0.042,2855,2751,2168,0,0,0,0,0,0
$GC,13075,1.68,124.1,224.2,8.6,292,13091,0.00,0.00,14.50,0.755,6,0.000,0.000,2855,2751,2111,0,0,0,0,0,0
$GC,13379,1.68,124.1,193.0,10.0,302,13383,0.00,2.50,0.00,0.000,4,0.000,0.044,2855,1299,2108,0,0,0,0,0,0
$GC,13565,1.70,133.9,174.4,9.0,307,13580,0.00,2.53,10.00,0.668,6,0.000,0.041,2855,2755,2071,0,0,0,0,0,0
$GC,13907,1.70,136.0,141.1,9.8,319,13911,0.00,2.47,0.00,0.000,4,0.000,0.042,2857,1307,2070,0,0,0,0,0,0
$GC,13927,1.70,136.0,138.7,11.4,319,13931,0.00,2.50,0.00,0.000,6,0.000,0.040,2854,2750,2069,0,0,0,0,0,0
$GC,14241,1.70,139.9,106.6,9.6,330,14251,0.00,2.47,6.62,0.552,4,0.000,0.041,2855,1307,2046,0,0,0,0,0,0
$GC,14395,1.70,141.5,90.8,9.8,339,14399,0.00,2.50,0.00,0.000,6,0.000,0.039,2855,2758,2046,0,0,0,0,0,0
$GC,14592,1.71,147.4,72.9,9.4,358,14606,0.00,2.58,7.90,0.536,4,0.000,0.041,2855,1298,2016,0,0,0,0,0,0
$GC,14847,1.74,177.9,52.6,6.8,382,14880,0.00,2.50,27.15,0.573,6,0.000,0.038,2855,2756,1892,0,0,0,0,0,0
$GC,15064,1.76,192.1,36.2,8.5,403,15086,0.10,2.58,12.88,0.523,4,0.098,0.041,2881,1297,1833,0,0,0,0,0,0
$GC,15325,1.76,192.1,9.0,11.3,437,15331,0.00,2.50,0.00,0.000,6,0.000,0.039,2881,2757,1831,0,0,0,0,0,0
$STATE,15382,end climb,SURFACE_DEPTH_REACHED
$STATE,15382,begin surface coast
$FINISH,0.1,1.023166
$STATE,15409,end surface coast,CONTROL_FINISHED_OK
$STATE,15409,begin surface
$SM_CCo,15428,110.72,0.502,0,0,986,400.08
$SM_GC,0.75,0.00,0.00,110.72,0.000,0.000,0.502,373,2936,986,-9.76,0.42,400.08
$IRIDIUM_FIX,1913.80,-15600.40,070511,151509
$TT8_MAMPS,0.142662
$HUMID,1078487087
$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,0/128
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.8/483886/455608
$PA_LOG,3.7/297829/286909
$PA_DATA0,89.1/7836665/852046
$PA_DATA1,85.1/7836665/1171473
$PA_USB,71.4/30829585/8825554
$24V_AH,23.1,16.279
$10V_AH,9.9,42.422
$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,24.100,135.575,251.650,110.725,0.000,22.607,32.006,201.432,0.000,0.000,15.503,0.000,12987.389,539.309,1889.895,488.642,33.343,1451.590,0.000,1352.957,0.000,0.532,0.000
$DEVICE_MAMPS,163.371,181.012,1325.376,502.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,302.567,0.000,0.000,0.000,0.000,0.000,16013.590,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.698,0.000
$MEM,354328
$DATA_FILE_SIZE,15875,453
$CAP_FILE_SIZE,120693,0
$CFSIZE,260034560,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,349.7,1
$GPS,121109,055036,1923.628,-15558.363,41,1.3,52,9.7