version: 66.07
glider: 22
mission: 17
dive: 43
start: 3 24 110 4 35 32
data:
$ID,22
$MISSION,17
$DIVE,43
$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,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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,240
$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,375
$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,-255655.28
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2570
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,28
$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
$GPS1,240310,043020,1924.025,-15557.453,42,2.5,61,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-69.7
$GPS2,240310,043525,1923.969,-15557.502,44,2.0,45,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HEADING
$TGT_LATLONG,1918.570,-15607.411
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.106,-0.271
$KALMAN_X,-23807.8,181.5,43.2,37070.6,-2106.0
$KALMAN_Y,42524.2,-410.6,-377.3,-51467.0,4855.6
$MHEAD_RNG_PITCHd_Wd,230.3,20000,-15.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.21,-194.6,0.0,0.0,0,85,0.00,0.00,-65.75,0.000,2,0.000,0.000,378,2576,2622,0,0,0,0,0,0
$GC,88,-1.21,-194.6,3.5,-8.0,13,133,10.20,2.50,-26.48,0.000,4,0.149,0.056,2316,1160,3740,0,0,0,0,0,0
$GC,319,-1.21,-194.6,54.7,-22.5,42,323,0.00,2.47,0.00,0.000,6,0.000,0.046,2316,2571,3742,0,0,0,0,0,0
$GC,516,-1.21,-194.6,100.1,-19.3,61,520,0.00,2.47,0.00,0.000,4,0.000,0.060,2316,3942,3743,0,0,0,0,0,0
$GC,558,-1.21,-194.6,109.9,-23.0,62,562,0.00,2.38,0.00,0.000,6,0.000,0.038,2316,2551,3743,0,0,0,0,0,0
$GC,883,-1.21,-194.6,186.4,-22.8,73,887,0.00,2.55,0.00,0.000,4,0.000,0.059,2316,3952,3745,0,0,0,0,0,0
$GC,930,-1.21,-194.6,196.9,-21.0,74,935,0.00,2.38,0.00,0.000,6,0.000,0.037,2316,2555,3746,0,0,0,0,0,0
$GC,1250,-1.21,-194.6,262.5,-21.2,85,1254,0.00,2.53,0.00,0.000,4,0.000,0.058,2316,3947,3748,0,0,0,0,0,0
$GC,1292,-1.21,-194.6,270.3,-17.7,86,1296,0.00,2.35,0.00,0.000,6,0.000,0.037,2316,2566,3748,0,0,0,0,0,0
$GC,1646,-1.21,-194.6,334.3,-18.5,95,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2561,3748,0,0,0,0,0,0
$GC,1948,-1.21,-194.6,386.9,-17.1,100,1952,0.00,2.53,0.00,0.000,4,0.000,0.063,2315,3953,3747,0,0,0,0,0,0
$GC,2006,-1.21,-194.6,397.0,-16.5,101,2010,0.00,2.38,0.00,0.000,6,0.000,0.040,2316,2574,3746,0,0,0,0,0,0
$GC,2372,-1.21,-194.6,456.3,-16.1,107,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2569,3744,0,0,0,0,0,0
$GC,2676,-1.21,-194.6,500.5,-14.5,112,2683,0.00,2.42,0.00,0.000,4,0.000,0.050,2316,1173,3742,0,0,0,0,0,0
$GC,2698,-1.21,-194.6,504.2,-14.9,112,2706,0.00,2.45,0.00,0.000,6,0.000,0.049,2317,2571,3742,0,0,0,0,0,0
$GC,3039,-1.21,-194.6,557.0,-16.0,118,3047,0.00,2.53,0.00,0.000,4,0.000,0.071,2316,3950,3739,0,0,0,0,0,0
$GC,3100,-1.21,-194.6,566.4,-15.0,119,3108,0.00,2.40,0.00,0.000,6,0.000,0.042,2316,2568,3738,0,0,0,0,0,0
$GC,3463,-1.21,-194.6,619.4,-14.6,125,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2563,3734,0,0,0,0,0,0
$GC,3764,-1.21,-194.6,661.7,-13.8,130,3772,0.00,2.58,0.00,0.000,4,0.000,0.074,2316,3945,3732,0,0,0,0,0,0
$GC,3803,-1.21,-194.6,666.9,-12.8,130,3811,0.00,2.42,0.00,0.000,6,0.000,0.044,2316,2563,3731,0,0,0,0,0,0
$GC,4122,-1.21,-194.6,708.7,-13.3,136,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2563,3729,0,0,0,0,0,0
$GC,4424,-1.21,-194.6,746.6,-12.5,141,4432,0.00,2.67,0.00,0.000,4,0.000,0.090,2316,3949,3725,0,0,0,0,0,0
$GC,4463,-1.21,-194.6,751.7,-13.2,141,4471,0.00,2.45,0.00,0.000,6,0.000,0.053,2316,2582,3725,0,0,0,0,0,0
$GC,4789,-1.21,-194.6,792.7,-12.7,147,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2581,3723,0,0,0,0,0,0
$GC,5089,-1.21,-194.6,829.1,-12.0,152,5098,0.00,2.75,0.00,0.000,4,0.000,0.114,2316,3940,3724,0,0,0,0,0,0
$GC,5118,-1.21,-194.6,832.4,-12.3,152,5126,0.00,2.62,0.00,0.000,6,0.000,0.083,2316,2573,3722,0,0,0,0,0,0
$GC,5448,-1.21,-194.6,868.7,-11.0,158,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2574,3720,0,0,0,0,0,0
$GC,5750,-1.21,-194.6,903.4,-11.6,163,5760,0.00,2.97,0.00,0.000,4,0.000,0.148,2316,3943,3718,0,0,0,0,0,0
$GC,5795,-1.21,-194.6,908.9,-11.5,163,5804,0.00,2.88,0.00,0.000,6,0.000,0.124,2316,2563,3717,0,0,0,0,0,0
$GC,6110,-1.21,-194.6,943.4,-11.0,169,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2563,3716,0,0,0,0,0,0
$GC,6412,-1.21,-194.6,975.9,-10.8,174,6422,0.00,3.28,0.00,0.000,4,0.000,0.194,2316,3937,3714,0,0,0,0,0,0
$GC,6442,-1.21,-194.6,979.3,-12.3,174,6450,0.00,3.15,0.00,0.000,6,0.000,0.170,2316,2563,3714,0,0,0,0,0,0
$STATE,6589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6589,begin apogee
$GC,6595,-0.31,0.0,996.2,11.4,177,6770,0.98,0.00,167.23,1.300,6,0.103,0.000,2517,1999,2944,0,0,0,0,0,0
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6772,1.21,194.6,1002.5,0.0,179,6962,1.50,3.67,176.18,1.300,4,0.070,0.216,2843,578,2149,0,0,0,0,0,0
$GC,7067,1.21,194.6,991.3,12.8,183,7077,0.00,3.28,0.00,0.000,6,0.000,0.170,2843,1988,2141,0,0,0,0,0,0
$GC,7384,1.21,194.6,954.0,11.8,189,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1988,2135,0,0,0,0,0,0
$GC,7685,1.21,194.6,918.6,11.7,194,7694,0.00,3.03,0.00,0.000,4,0.000,0.136,2843,3427,2133,0,0,0,0,0,0
$GC,7720,1.21,194.6,914.4,11.5,194,7728,0.00,3.03,0.00,0.000,6,0.000,0.122,2843,1990,2132,0,0,0,0,0,0
$GC,8044,1.21,194.6,877.2,11.4,200,8053,0.00,2.92,0.00,0.000,4,0.000,0.112,2843,3422,2132,0,0,0,0,0,0
$GC,8073,1.21,194.6,873.8,12.2,200,8081,0.00,2.88,0.00,0.000,6,0.000,0.100,2842,1990,2131,0,0,0,0,0,0
$GC,8404,1.21,194.6,837.8,10.7,206,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1990,2130,0,0,0,0,0,0
$GC,8706,1.22,204.9,808.5,9.6,211,8724,0.00,2.90,7.15,0.984,4,0.000,0.088,2842,3433,2108,0,0,0,0,0,0
$GC,8776,1.22,204.9,801.1,11.4,212,8784,0.00,2.72,0.00,0.000,6,0.000,0.068,2843,1987,2104,0,0,0,0,0,0
$GC,9133,1.24,226.5,767.6,9.3,218,9161,0.00,0.00,21.75,1.116,6,0.000,0.000,2842,1987,2020,0,0,0,0,0,0
$GC,9435,1.24,226.5,735.0,11.1,223,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1987,2014,0,0,0,0,0,0
$GC,9736,1.24,226.5,701.4,11.1,228,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1987,2014,0,0,0,0,0,0
$GC,10039,1.24,226.5,669.2,10.6,233,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1987,2013,0,0,0,0,0,0
$GC,10340,1.24,226.5,635.1,11.3,238,10349,0.00,2.67,0.00,0.000,4,0.000,0.061,2843,3436,2012,0,0,0,0,0,0
$GC,10401,1.24,226.5,627.2,13.6,239,10409,0.00,2.58,0.00,0.000,6,0.000,0.046,2843,1984,2010,0,0,0,0,0,0
$GC,10769,1.24,226.5,583.1,11.8,245,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1984,2010,0,0,0,0,0,0
$GC,11071,1.24,226.5,549.7,11.0,250,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1984,2010,0,0,0,0,0,0
$GC,11372,1.25,235.0,520.1,9.7,255,11385,0.00,0.00,7.53,0.870,6,0.000,0.000,2843,1984,1986,0,0,0,0,0,0
$GC,11674,1.29,269.1,493.3,8.8,260,11708,0.10,0.00,32.72,1.000,6,0.099,0.000,2866,1984,1848,0,0,0,0,0,0
$GC,12037,1.29,269.1,449.8,12.3,266,12041,0.00,2.62,0.00,0.000,4,0.000,0.057,2867,3437,1842,0,0,0,0,0,0
$GC,12074,1.29,269.1,444.9,14.2,266,12078,0.00,2.58,0.00,0.000,6,0.000,0.044,2866,1998,1840,0,0,0,0,0,0
$GC,12402,1.29,269.1,402.9,12.6,272,12406,0.00,2.55,0.00,0.000,4,0.000,0.057,2866,585,1838,0,0,0,0,0,0
$GC,12439,1.29,269.1,398.5,12.7,272,12444,0.00,2.55,0.00,0.000,6,0.000,0.042,2867,2028,1838,0,0,0,0,0,0
$GC,12768,1.29,269.1,361.2,11.1,278,12772,0.00,2.60,0.00,0.000,4,0.000,0.055,2867,582,1837,0,0,0,0,0,0
$GC,12821,1.29,269.1,355.3,11.7,278,12827,0.00,2.53,0.00,0.000,6,0.000,0.042,2867,2011,1837,0,0,0,0,0,0
$GC,13128,1.29,275.1,324.8,9.8,284,13138,0.00,2.55,5.40,0.685,4,0.000,0.057,2867,3407,1822,0,0,0,0,0,0
$GC,13186,1.29,275.1,318.8,10.9,284,13192,0.00,2.53,0.00,0.000,6,0.000,0.042,2866,1990,1820,0,0,0,0,0,0
$GC,13493,1.29,275.1,285.5,12.0,292,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1989,1819,0,0,0,0,0,0
$GC,13797,1.29,275.1,249.2,11.8,302,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1989,1820,0,0,0,0,0,0
$GC,14100,1.29,275.1,215.7,10.8,312,14104,0.00,2.47,0.00,0.000,4,0.000,0.053,2867,595,1819,0,0,0,0,0,0
$GC,14127,1.33,311.0,213.1,8.8,312,14166,0.00,2.45,33.20,0.776,6,0.000,0.041,2867,2005,1676,0,0,0,0,0,0
$GC,14497,1.33,311.0,172.9,10.4,325,14501,0.00,2.50,0.00,0.000,4,0.000,0.052,2866,3405,1668,0,0,0,0,0,0
$GC,14534,1.33,311.0,169.0,10.4,326,14538,0.00,2.45,0.00,0.000,6,0.000,0.039,2866,1992,1668,0,0,0,0,0,0
$GC,14864,1.33,311.0,134.6,10.4,337,14868,0.00,2.45,0.00,0.000,4,0.000,0.050,2867,598,1668,0,0,0,0,0,0
$GC,14954,1.34,321.0,125.6,9.7,339,14969,0.00,2.42,8.95,0.607,6,0.000,0.039,2867,2005,1634,0,0,0,0,0,0
$GC,15276,1.35,322.1,95.8,10.0,353,15280,0.00,2.42,0.00,0.000,4,0.000,0.050,2867,3402,1632,0,0,0,0,0,0
$GC,15366,1.35,322.1,85.6,11.8,361,15370,0.00,2.45,0.00,0.000,6,0.000,0.039,2867,1992,1632,0,0,0,0,0,0
$GC,15562,1.46,428.2,70.6,6.4,380,15661,0.17,2.58,91.07,0.607,4,0.075,0.051,2911,3406,1196,0,0,0,0,0,0
$GC,15691,1.46,428.2,57.2,16.1,392,15695,0.00,2.47,0.00,0.000,6,0.000,0.039,2911,2001,1193,0,0,0,0,0,0
$GC,15888,1.46,428.2,30.7,12.2,411,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1996,1190,0,0,0,0,0,0
$GC,16079,1.46,428.2,5.3,13.6,439,16084,0.00,2.42,0.00,0.000,4,0.000,0.050,2911,3404,1190,0,0,0,0,0,0
$STATE,16102,end climb,SURFACE_DEPTH_REACHED
$STATE,16102,begin surface coast
$FINISH,0.1,1.023607
$STATE,16124,end surface coast,CONTROL_FINISHED_OK
$STATE,16124,begin surface
$SM_CCo,16204,0.00,0.000,0,0,1185,431.24
$SM_GC,1.01,11.02,0.00,0.00,0.045,0.000,0.000,371,2538,1185,-10.12,-0.90,431.24
$IRIDIUM_FIX,1916.08,-15559.47,160911,181832
$TT8_MAMPS,0.107856
$HUMID,1078007087
$TCM_TEMP,23.50
$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,2889/3043
$PA_USBDRIVE,/mnt/usbb
$24V_AH,23.5,11.792
$10V_AH,9.9,18.326
$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,23.975,142.175,551.175,0.000,0.000,22.445,25.256,114.670,0.000,0.000,46.639,0.000,13705.289,637.176,2005.169,215.516,0.000,1558.285,0.000,1181.952,0.000,0.534,0.000
$DEVICE_MAMPS,149.175,216.495,1299.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,299.645,0.000,0.000,0.000,0.000,0.000,16599.449,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,73.431,0.000,0.000,0.000
$MEM,345132
$DATA_FILE_SIZE,16793,448
$CAP_FILE_SIZE,115719,0
$CFSIZE,260034560,254029824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,090757,1923.493,-15600.078,34,2.4,53,9.7