version: 66.07
glider: 22
mission: 17
dive: 10
start: 3 18 110 2 5 25
data:
$ID,22
$MISSION,17
$DIVE,10
$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,250
$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,365
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-255075.72
$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,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2781
$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
$GPS1,180310,015554,1938.720,-15607.864,25,1.8,42,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-65.3
$GPS2,180310,020443,1938.879,-15607.993,30,1.6,37,9.7
$SPEED_LIMITS,0.204,0.343
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.333,0.080
$KALMAN_X,-24589.7,95.9,-32.3,19767.1,-2996.8
$KALMAN_Y,18830.2,1175.7,247.8,-22963.1,-317.7
$MHEAD_RNG_PITCHd_Wd,66.9,5619,-16.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.23,-243.3,0.0,0.0,0,83,0.00,0.00,-65.22,0.000,2,0.000,0.000,377,2467,2615,0,0,0,0,0,0
$GC,85,-1.23,-243.3,3.0,-6.6,13,131,10.30,2.30,-28.50,0.000,4,0.151,0.057,2325,1136,3774,0,0,0,0,0,0
$GC,220,-1.23,-243.3,33.5,-20.9,34,225,0.00,2.47,0.00,0.000,6,0.000,0.046,2325,2547,3776,0,0,0,0,0,0
$GC,417,-1.23,-243.3,85.9,-27.7,53,421,0.00,2.55,0.00,0.000,4,0.000,0.066,2325,3943,3778,0,0,0,0,0,0
$GC,487,-1.23,-243.3,102.3,-21.9,59,493,0.00,2.42,0.00,0.000,6,0.000,0.038,2325,2524,3778,0,0,0,0,0,0
$GC,816,-1.23,-243.3,177.7,-22.6,70,825,0.00,2.60,0.00,0.000,4,0.000,0.062,2325,3957,3779,0,0,0,0,0,0
$GC,957,-1.23,-243.3,207.2,-19.5,74,965,0.00,2.40,0.00,0.000,6,0.000,0.038,2325,2539,3779,0,0,0,0,0,0
$GC,1273,-1.23,-243.3,267.5,-18.7,85,1281,0.00,2.58,0.00,0.000,4,0.000,0.061,2325,3962,3779,0,0,0,0,0,0
$GC,1386,-1.23,-243.3,288.1,-16.0,88,1395,0.00,2.40,0.00,0.000,6,0.000,0.038,2325,2544,3780,0,0,0,0,0,0
$GC,1701,-1.23,-243.3,341.9,-17.3,95,1710,0.00,2.58,0.00,0.000,4,0.000,0.063,2325,3959,3780,0,0,0,0,0,0
$GC,1730,-1.23,-243.3,346.5,-16.4,95,1738,0.00,2.42,0.00,0.000,6,0.000,0.040,2325,2536,3780,0,0,0,0,0,0
$GC,2060,-1.23,-243.3,395.5,-14.8,101,2068,0.00,2.58,0.00,0.000,4,0.000,0.065,2325,3956,3780,0,0,0,0,0,0
$GC,2173,-1.23,-243.3,411.6,-13.3,102,2181,0.00,2.42,0.00,0.000,6,0.000,0.041,2325,2546,3780,0,0,0,0,0,0
$GC,2482,-1.23,-243.3,455.2,-14.4,107,2490,0.00,2.58,0.00,0.000,4,0.000,0.067,2325,3947,3779,0,0,0,0,0,0
$GC,2543,-1.23,-243.3,463.6,-13.3,108,2551,0.00,2.40,0.00,0.000,6,0.000,0.042,2325,2544,3779,0,0,0,0,0,0
$GC,2905,-1.23,-243.3,515.8,-14.7,114,2914,0.00,2.58,0.00,0.000,4,0.000,0.069,2325,3952,3774,0,0,0,0,0,0
$GC,2950,-1.23,-243.3,522.1,-13.4,114,2958,0.00,2.45,0.00,0.000,6,0.000,0.042,2325,2539,3774,0,0,0,0,0,0
$GC,3264,-1.23,-243.3,566.3,-14.3,120,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2533,3770,0,0,0,0,0,0
$GC,3565,-1.23,-243.3,607.2,-13.5,125,3574,0.00,2.42,0.00,0.000,4,0.000,0.058,2325,1153,3767,0,0,0,0,0,0
$GC,3588,-1.23,-243.3,609.8,-11.5,125,3596,0.00,2.50,0.00,0.000,6,0.000,0.054,2326,2555,3767,0,0,0,0,0,0
$GC,3924,-1.23,-243.3,648.8,-11.5,131,3932,0.00,2.60,0.00,0.000,4,0.000,0.082,2325,3955,3765,0,0,0,0,0,0
$GC,3968,-1.23,-243.3,653.9,-10.5,131,3976,0.00,2.47,0.00,0.000,6,0.000,0.044,2325,2547,3764,0,0,0,0,0,0
$GC,4282,-1.23,-243.3,689.8,-11.4,137,4290,0.00,2.53,0.00,0.000,4,0.000,0.070,2325,1150,3763,0,0,0,0,0,0
$GC,4311,-1.23,-243.3,692.8,-11.3,137,4319,0.00,2.55,0.00,0.000,6,0.000,0.061,2325,2551,3762,0,0,0,0,0,0
$GC,4641,-1.23,-243.3,732.7,-12.2,143,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2551,3760,0,0,0,0,0,0
$GC,4943,-1.23,-243.3,770.3,-12.5,148,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2551,3755,0,0,0,0,0,0
$GC,5246,-1.23,-243.3,806.9,-12.1,153,5254,0.00,2.83,0.00,0.000,4,0.000,0.119,2326,3955,3755,0,0,0,0,0,0
$GC,5269,-1.23,-243.3,809.8,-11.6,153,5277,0.00,2.62,0.00,0.000,6,0.000,0.078,2325,2561,3754,0,0,0,0,0,0
$GC,5604,-1.23,-243.3,846.7,-10.8,159,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2561,3752,0,0,0,0,0,0
$GC,5906,-1.23,-243.3,877.7,-10.3,164,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2561,3751,0,0,0,0,0,0
$GC,6208,-1.23,-243.3,909.8,-10.7,169,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2561,3749,0,0,0,0,0,0
$GC,6510,-1.23,-243.3,944.1,-11.4,174,6519,0.00,3.22,0.00,0.000,4,0.000,0.184,2325,3950,3747,0,0,0,0,0,0
$GC,6560,-1.23,-243.3,950.3,-11.4,174,6569,0.00,3.12,0.00,0.000,6,0.000,0.157,2325,2546,3747,0,0,0,0,0,0
$GC,6869,-1.23,-243.3,984.9,-11.2,179,6878,0.00,3.50,0.00,0.000,4,0.000,0.212,2325,3948,3744,0,0,0,0,0,0
$GC,6893,-1.23,-243.3,987.8,-11.7,179,6901,0.00,3.33,0.00,0.000,6,0.000,0.185,2325,2548,3744,0,0,0,0,0,0
$STATE,6914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6914,begin apogee
$GC,6919,-0.29,0.0,990.2,10.7,179,7134,0.98,0.00,206.85,1.287,6,0.101,0.000,2529,1993,2781,0,0,0,0,0,0
$STATE,7135,end apogee,CONTROL_FINISHED_OK
$STATE,7135,begin climb
$GC,7136,1.23,243.3,1000.9,0.0,183,7365,1.55,0.00,217.23,1.291,6,0.072,0.000,2864,1993,1789,0,0,0,0,0,0
$GC,7683,1.23,243.3,933.2,16.3,192,7692,0.00,3.10,0.00,0.000,4,0.000,0.148,2864,3404,1776,0,0,0,0,0,0
$GC,7717,1.23,243.3,927.4,16.7,192,7725,0.00,3.05,0.00,0.000,6,0.000,0.140,2864,1998,1775,0,0,0,0,0,0
$GC,8042,1.23,243.3,876.4,15.5,198,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1999,1773,0,0,0,0,0,0
$GC,8344,1.23,243.3,832.9,14.2,203,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1999,1772,0,0,0,0,0,0
$GC,8646,1.23,243.3,790.2,14.2,208,8655,0.00,2.72,0.00,0.000,4,0.000,0.098,2864,582,1772,0,0,0,0,0,0
$GC,8680,1.23,243.3,785.1,14.1,208,8688,0.00,2.67,0.00,0.000,6,0.000,0.072,2864,2000,1771,0,0,0,0,0,0
$GC,9005,1.23,243.3,738.6,14.3,214,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2000,1771,0,0,0,0,0,0
$GC,9306,1.23,243.3,697.9,13.3,219,9315,0.00,2.65,0.00,0.000,4,0.000,0.075,2864,3423,1770,0,0,0,0,0,0
$GC,9329,1.23,243.3,695.0,12.3,219,9338,0.00,2.58,0.00,0.000,6,0.000,0.050,2863,1984,1770,0,0,0,0,0,0
$GC,9670,1.24,256.1,656.3,11.4,225,9688,0.00,2.60,9.68,0.989,4,0.000,0.067,2864,584,1736,0,0,0,0,0,0
$GC,9708,1.24,256.1,651.8,11.8,225,9717,0.00,2.58,0.00,0.000,6,0.000,0.050,2864,2011,1735,0,0,0,0,0,0
$GC,10028,1.24,256.1,612.5,12.4,231,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,1733,0,0,0,0,0,0
$GC,10329,1.24,256.1,574.8,12.4,236,10338,0.00,2.53,0.00,0.000,4,0.000,0.065,2864,3412,1732,0,0,0,0,0,0
$GC,10358,1.24,256.1,570.9,13.7,236,10366,0.00,2.50,0.00,0.000,6,0.000,0.046,2864,1992,1733,0,0,0,0,0,0
$GC,10688,1.24,256.1,524.3,14.2,242,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,1732,0,0,0,0,0,0
$GC,10989,1.24,256.1,477.2,15.8,247,10995,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,1732,0,0,0,0,0,0
$GC,11292,1.24,256.1,433.2,14.3,252,11300,0.00,2.58,0.00,0.000,4,0.000,0.061,2864,3414,1732,0,0,0,0,0,0
$GC,11347,1.24,256.1,425.2,14.5,252,11356,0.00,2.45,0.00,0.000,6,0.000,0.045,2864,1991,1731,0,0,0,0,0,0
$GC,11655,1.24,256.1,386.9,12.4,258,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,1731,0,0,0,0,0,0
$GC,11956,1.24,256.1,350.1,12.5,263,11965,0.00,2.58,0.00,0.000,4,0.000,0.060,2864,3408,1731,0,0,0,0,0,0
$GC,12022,1.24,256.1,341.1,12.0,264,12031,0.00,2.47,0.00,0.000,6,0.000,0.044,2864,1992,1731,0,0,0,0,0,0
$GC,12379,1.24,256.1,296.0,12.5,270,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,1731,0,0,0,0,0,0
$GC,12683,1.27,285.8,261.2,10.8,280,12718,0.00,0.00,27.60,0.821,6,0.000,0.000,2864,1993,1615,0,0,0,0,0,0
$GC,13018,1.33,342.9,225.9,9.9,291,13078,0.12,2.62,50.40,0.786,4,0.090,0.055,2894,3416,1382,0,0,0,0,0,0
$GC,13151,1.33,342.9,208.2,16.4,294,13160,0.00,2.50,0.00,0.000,6,0.000,0.042,2895,1991,1377,0,0,0,0,0,0
$GC,13473,1.33,342.9,158.6,14.8,305,13481,0.00,2.58,0.00,0.000,4,0.000,0.055,2894,3411,1374,0,0,0,0,0,0
$GC,13506,1.33,342.9,153.5,14.9,306,13515,0.00,2.47,0.00,0.000,6,0.000,0.041,2894,1990,1375,0,0,0,0,0,0
$GC,13844,1.33,342.9,103.9,14.7,317,13852,0.00,2.55,0.00,0.000,4,0.000,0.054,2894,3410,1373,0,0,0,0,0,0
$GC,13888,1.33,342.9,97.8,13.9,318,13896,0.00,2.45,0.00,0.000,6,0.000,0.041,2894,1988,1373,0,0,0,0,0,0
$GC,14211,1.36,362.5,59.5,11.1,349,14232,0.00,2.55,16.17,0.571,4,0.000,0.051,2894,3415,1301,0,0,0,0,0,0
$GC,14247,1.36,362.5,55.1,12.2,352,14253,0.00,2.50,0.00,0.000,6,0.000,0.040,2893,1997,1301,0,0,0,0,0,0
$GC,14438,1.37,372.4,31.6,11.5,371,14449,0.00,0.00,9.62,0.507,6,0.000,0.000,2893,1997,1263,0,0,0,0,0,0
$GC,14639,1.37,372.4,8.2,12.4,399,14644,0.00,2.47,0.00,0.000,4,0.000,0.053,2894,3420,1261,0,0,0,0,0,0
$GC,14658,1.37,372.4,5.5,13.1,403,14664,0.00,2.50,0.00,0.000,6,0.000,0.041,2894,1991,1261,0,0,0,0,0,0
$STATE,14683,end climb,SURFACE_DEPTH_REACHED
$STATE,14683,begin surface coast
$FINISH,0.1,1.012012
$STATE,14710,end surface coast,CONTROL_FINISHED_OK
$STATE,14710,begin surface
$SM_CCo,14789,0.00,0.000,0,0,1259,373.10
$SM_GC,0.84,10.93,0.00,0.00,0.045,0.000,0.000,377,2576,1259,-10.17,0.74,373.10
$IRIDIUM_FIX,1932.09,-15607.83,100911,161645
$TT8_MAMPS,0.141561
$HUMID,1077996764
$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,0/0
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,5.606
$10V_AH,9.9,4.994
$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,23.875,138.000,537.550,0.000,0.000,30.561,34.072,326.823,0.000,0.000,37.909,0.000,12347.097,620.771,2158.536,230.883,33.326,1587.750,0.000,1081.283,0.000,0.533,0.000
$DEVICE_MAMPS,150.705,211.905,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,276.095,0.000,0.000,0.000,0.000,0.000,15496.511,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.279,0.000,0.000,0.000
$MEM,344712
$DATA_FILE_SIZE,13466,413
$CAP_FILE_SIZE,114824,0
$CFSIZE,260034560,256520192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,061337,1940.179,-15605.879,32,1.3,32,9.7