version: 66.07
glider: 22
mission: 17
dive: 50
start: 3 25 110 8 17 18
data:
$ID,22
$MISSION,17
$DIVE,50
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,1
$FERRY_MAX,0
$KALMAN_USE,0
$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,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,-255758.97
$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,81
$R_STBD_OVSHOOT,33
$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
$GPS1,250310,081137,1933.314,-15601.841,25,1.4,25,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-69.6
$GPS2,250310,081637,1933.352,-15601.863,36,1.2,36,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,-0.067
$KALMAN_X,-9746.2,283.9,55.5,6538.9,-2471.3
$KALMAN_Y,12823.3,-96.6,-345.3,6124.4,3134.0
$MHEAD_RNG_PITCHd_Wd,103.2,2667,-27.9,-10.000
$D_GRID,660
$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,-1.81,-64.6,0.0,0.0,0,79,0.00,0.00,-55.30,0.000,2,0.000,0.000,376,2515,2543,0,0,0,0,0,0
$GC,82,-1.86,-105.6,3.1,-5.8,10,118,9.45,2.50,-21.23,0.000,4,0.150,0.067,2175,3949,3376,0,0,0,0,0,0
$GC,202,-1.86,-105.6,47.0,-40.3,27,208,0.00,2.33,0.00,0.000,6,0.000,0.038,2175,2608,3377,0,0,0,0,0,0
$GC,393,-1.86,-105.6,113.7,-35.1,44,397,0.00,2.40,0.00,0.000,4,0.000,0.059,2175,3942,3378,0,0,0,0,0,0
$GC,456,-1.86,-105.6,135.1,-33.5,46,460,0.00,2.38,0.00,0.000,6,0.000,0.039,2175,2560,3379,0,0,0,0,0,0
$GC,786,-1.86,-105.6,239.6,-30.6,57,790,0.00,2.50,0.00,0.000,4,0.000,0.057,2175,3943,3381,0,0,0,0,0,0
$GC,882,-1.86,-105.6,267.9,-27.8,60,886,0.00,2.38,0.00,0.000,6,0.000,0.039,2175,2561,3382,0,0,0,0,0,0
$GC,1246,-1.86,-105.6,361.3,-25.3,68,1250,0.00,2.53,0.00,0.000,4,0.000,0.060,2175,3944,3383,0,0,0,0,0,0
$GC,1311,-1.86,-105.6,378.1,-27.0,69,1314,0.00,2.33,0.00,0.000,6,0.000,0.040,2175,2563,3384,0,0,0,0,0,0
$GC,1676,-1.86,-105.6,466.3,-24.2,75,1680,0.00,2.53,0.00,0.000,4,0.000,0.063,2175,3949,3383,0,0,0,0,0,0
$GC,1702,-1.86,-105.6,472.9,-24.9,75,1706,0.00,2.40,0.00,0.000,6,0.000,0.041,2175,2572,3382,0,0,0,0,0,0
$GC,2042,-1.86,-105.6,554.5,-24.0,81,2050,0.00,2.50,0.00,0.000,4,0.000,0.067,2175,3947,3381,0,0,0,0,0,0
$GC,2096,-1.86,-105.6,569.4,-27.2,81,2106,0.00,2.38,0.00,0.000,6,0.000,0.042,2175,2542,3381,0,0,0,0,0,0
$GC,2404,-1.86,-105.6,642.6,-23.4,87,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2537,3378,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2528,-0.31,0.0,669.3,22.3,89,2628,1.67,0.00,91.12,1.024,6,0.113,0.000,2514,2005,2944,0,0,0,0,0,0
$STATE,2628,end apogee,CONTROL_FINISHED_OK
$STATE,2628,begin climb
$GC,2630,1.86,105.6,673.4,0.0,90,2735,2.15,2.67,91.78,1.007,4,0.067,0.073,2985,583,2512,0,0,0,0,0,0
$GC,2868,1.86,110.6,667.7,9.5,93,2882,0.00,2.53,4.65,0.681,6,0.000,0.050,2986,2004,2492,0,0,0,0,0,0
$GC,3181,1.87,112.3,637.3,9.8,99,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2004,2486,0,0,0,0,0,0
$GC,3482,1.88,125.3,611.1,8.7,104,3505,0.00,2.65,12.90,0.923,4,0.000,0.057,2986,583,2433,0,0,0,0,0,0
$GC,3744,1.89,131.0,584.3,9.4,108,3761,0.00,2.50,6.53,0.796,6,0.000,0.045,2986,2011,2408,0,0,0,0,0,0
$GC,4105,1.89,138.9,550.2,9.2,114,4123,0.00,2.62,7.68,0.830,4,0.000,0.054,2985,585,2378,0,0,0,0,0,0
$GC,4292,1.91,152.4,533.2,8.6,116,4315,0.00,2.47,13.65,0.913,6,0.000,0.045,2986,2014,2321,0,0,0,0,0,0
$GC,4667,1.91,153.6,496.7,9.9,123,4671,0.00,2.55,0.00,0.000,4,0.000,0.054,2986,580,2318,0,0,0,0,0,0
$GC,4912,1.92,159.9,472.8,9.3,126,4923,0.00,2.53,7.00,0.794,6,0.000,0.044,2985,2006,2292,0,0,0,0,0,0
$GC,5278,1.92,161.4,437.0,9.8,133,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2006,2289,0,0,0,0,0,0
$GC,5578,1.93,170.7,409.5,9.0,138,5593,0.00,2.60,10.80,0.840,4,0.000,0.054,2986,580,2248,0,0,0,0,0,0
$GC,5812,1.93,170.7,384.5,10.9,141,5817,0.00,2.53,0.00,0.000,6,0.000,0.043,2986,2009,2246,0,0,0,0,0,0
$GC,6130,1.93,170.7,350.2,10.6,147,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2010,2243,0,0,0,0,0,0
$GC,6432,1.94,180.8,322.5,9.0,152,6447,0.00,2.55,9.82,0.778,4,0.000,0.056,2986,3403,2205,0,0,0,0,0,0
$GC,6666,1.94,180.8,296.4,11.2,155,6670,0.00,2.50,0.00,0.000,6,0.000,0.041,2986,1987,2200,0,0,0,0,0,0
$GC,6991,1.96,203.3,269.7,7.7,166,7016,0.12,2.47,20.75,0.794,4,0.092,0.052,3017,597,2115,0,0,0,0,0,0
$GC,7256,1.96,203.3,243.7,10.4,173,7260,0.00,2.47,0.00,0.000,6,0.000,0.041,3017,2008,2112,0,0,0,0,0,0
$GC,7575,1.96,203.3,207.3,11.5,184,7579,0.00,2.50,0.00,0.000,4,0.000,0.050,3017,600,2110,0,0,0,0,0,0
$GC,7634,1.96,203.3,201.3,10.2,185,7640,0.00,2.45,0.00,0.000,6,0.000,0.040,3017,2008,2109,0,0,0,0,0,0
$GC,7943,1.99,225.1,174.6,7.7,196,7967,0.00,2.55,19.23,0.705,4,0.000,0.049,3017,588,2025,0,0,0,0,0,0
$GC,8054,1.99,225.1,162.7,14.0,199,8058,0.00,2.45,0.00,0.000,6,0.000,0.040,3017,2013,2022,0,0,0,0,0,0
$GC,8367,1.99,225.1,126.0,10.3,210,8371,0.00,2.45,0.00,0.000,4,0.000,0.051,3017,3400,2020,0,0,0,0,0,0
$GC,8409,1.99,225.1,121.4,11.0,211,8414,0.00,2.42,0.00,0.000,6,0.000,0.038,3017,1992,2020,0,0,0,0,0,0
$GC,8725,2.04,270.8,99.0,5.3,223,8769,0.00,2.55,39.03,0.625,4,0.000,0.050,3017,3401,1840,0,0,0,0,0,0
$GC,9010,2.04,270.8,70.2,13.6,250,9014,0.00,2.42,0.00,0.000,6,0.000,0.038,3017,1992,1834,0,0,0,0,0,0
$GC,9207,2.04,270.8,44.5,14.5,269,9211,0.00,2.50,0.00,0.000,4,0.000,0.049,3017,3421,1833,0,0,0,0,0,0
$GC,9363,2.04,270.8,21.7,15.3,283,9368,0.00,2.40,0.00,0.000,6,0.000,0.039,3017,1999,1833,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9505,begin surface coast
$FINISH,0.2,1.023699
$STATE,9525,end surface coast,CONTROL_FINISHED_OK
$STATE,9525,begin surface
$SM_CCo,9545,65.10,0.514,0,0,1415,375.06
$SM_GC,1.21,0.00,0.00,65.10,0.000,0.000,0.514,375,2575,1415,-10.17,0.14,375.06
$IRIDIUM_FIX,1920.65,-15601.55,170911,232306
$TT8_MAMPS,0.203728
$HUMID,1077987732
$TCM_TEMP,23.70
$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,1253/1292
$PA_USBDRIVE,/mnt/usbb
$PA_USBB,40.1/30830577/18463349
$PA_USBA,100.0/0/0
$PA_HOME,8.2/483886/444434
$PA_ROOT,89.3/128908/13729
$PA_LOG,3.7/297829/286821
$PA_DATA1,45.2/7836665/4292824
$PA_DATA0,16.9/7836665/6515230
$24V_AH,23.7,12.974
$10V_AH,9.9,21.014
$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,24.825,91.425,334.925,65.100,0.000,22.946,28.769,137.652,0.000,0.000,37.220,0.000,7559.382,467.277,1699.955,177.226,33.329,1178.180,0.000,1150.281,0.000,0.534,0.000
$DEVICE_MAMPS,149.940,73.440,1023.570,514.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,208.183,0.000,0.000,0.000,0.000,0.000,9987.670,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,102.186,0.000,0.000,0.000
$MEM,344660
$DATA_FILE_SIZE,10161,313
$CAP_FILE_SIZE,88924,0
$CFSIZE,260034560,253517824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,105822,1933.667,-15601.456,12,2.3,31,9.7