version: 66.07
glider: 23
mission: 14
dive: 13
start: 3 18 110 19 52 54
data:
$ID,23
$MISSION,14
$DIVE,13
$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,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,420
$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,-41401.031
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,180310,194725,1938.337,-15604.081,11,1.7,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,180310,195214,1938.441,-15604.161,14,1.5,14,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,-0.295
$KALMAN_X,-18957.1,1023.6,-716.2,22615.3,-1126.4
$KALMAN_Y,35247.1,-1207.5,-198.7,-41593.4,4168.4
$MHEAD_RNG_PITCHd_Wd,151.7,8438,-16.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-233.6,0.0,0.0,0,100,0.00,0.00,-80.20,0.000,2,0.000,0.000,358,2255,2788,0,0,0,0,0,0
$GC,103,-1.37,-233.6,3.2,-4.2,16,144,10.38,2.78,-23.33,0.000,4,0.167,0.044,2143,882,3795,0,0,0,0,0,0
$GC,265,-1.37,-233.6,40.2,-23.5,39,271,0.00,2.78,0.00,0.000,6,0.000,0.023,2143,2281,3796,0,0,0,0,0,0
$GC,457,-1.37,-233.6,87.6,-25.0,58,461,0.00,2.83,0.00,0.000,4,0.000,0.039,2143,888,3796,0,0,0,0,0,0
$GC,494,-1.37,-233.6,96.8,-23.7,61,500,0.00,2.72,0.00,0.000,6,0.000,0.023,2143,2274,3796,0,0,0,0,0,0
$GC,692,-1.37,-233.6,138.6,-21.0,69,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2274,3797,0,0,0,0,0,0
$GC,995,-1.37,-233.6,199.4,-18.9,79,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2273,3797,0,0,0,0,0,0
$GC,1299,-1.37,-233.6,256.7,-18.3,89,1302,0.00,2.33,0.00,0.000,4,0.000,0.041,2143,3672,3797,0,0,0,0,0,0
$GC,1341,-1.37,-233.6,264.0,-17.2,90,1345,0.00,2.22,0.00,0.000,6,0.000,0.023,2142,2293,3797,0,0,0,0,0,0
$GC,1695,-1.37,-233.6,323.3,-16.3,100,1699,0.00,2.88,0.00,0.000,4,0.000,0.041,2143,870,3796,0,0,0,0,0,0
$GC,1721,-1.37,-233.6,327.6,-16.9,100,1726,0.00,2.83,0.00,0.000,6,0.000,0.031,2143,2266,3795,0,0,0,0,0,0
$GC,2060,-1.37,-233.6,375.9,-14.0,106,2064,0.00,2.85,0.00,0.000,4,0.000,0.039,2142,862,3792,0,0,0,0,0,0
$GC,2092,-1.37,-233.6,380.2,-13.5,106,2096,0.00,2.83,0.00,0.000,6,0.000,0.032,2143,2283,3792,0,0,0,0,0,0
$GC,2426,-1.37,-233.6,423.9,-13.1,112,2434,0.00,2.88,0.00,0.000,4,0.000,0.040,2142,870,3789,0,0,0,0,0,0
$GC,2471,-1.37,-233.6,430.4,-13.8,112,2479,0.00,2.83,0.00,0.000,6,0.000,0.033,2143,2271,3788,0,0,0,0,0,0
$GC,2785,-1.37,-233.6,474.0,-13.6,118,2794,0.00,2.88,0.00,0.000,4,0.000,0.040,2143,862,3785,0,0,0,0,0,0
$GC,2841,-1.37,-233.6,481.0,-11.4,118,2850,0.00,2.78,0.00,0.000,6,0.000,0.034,2143,2273,3784,0,0,0,0,0,0
$GC,3149,-1.37,-233.6,522.9,-13.8,124,3158,0.00,2.85,0.00,0.000,4,0.000,0.039,2143,870,3781,0,0,0,0,0,0
$GC,3199,-1.37,-233.6,529.4,-12.7,124,3208,0.00,2.83,0.00,0.000,6,0.000,0.034,2143,2281,3780,0,0,0,0,0,0
$GC,3508,-1.37,-233.6,569.8,-13.1,129,3517,0.00,2.90,0.00,0.000,4,0.000,0.041,2143,860,3776,0,0,0,0,0,0
$GC,3558,-1.37,-233.6,576.1,-12.3,129,3567,0.00,2.88,0.00,0.000,6,0.000,0.034,2142,2282,3775,0,0,0,0,0,0
$GC,3867,-1.37,-233.6,618.3,-13.9,134,3876,0.00,2.88,0.00,0.000,4,0.000,0.041,2143,870,3773,0,0,0,0,0,0
$GC,3907,-1.37,-233.6,623.9,-13.1,134,3915,0.00,2.85,0.00,0.000,6,0.000,0.035,2143,2277,3773,0,0,0,0,0,0
$GC,4227,-1.37,-233.6,667.4,-13.7,140,4236,0.00,2.88,0.00,0.000,4,0.000,0.043,2143,861,3769,0,0,0,0,0,0
$GC,4288,-1.37,-233.6,675.9,-13.4,141,4297,0.00,2.85,0.00,0.000,6,0.000,0.037,2143,2276,3769,0,0,0,0,0,0
$GC,4651,-1.37,-233.6,726.8,-14.1,147,4660,0.00,2.88,0.00,0.000,4,0.000,0.046,2143,870,3765,0,0,0,0,0,0
$GC,4707,-1.37,-233.6,734.2,-12.7,147,4716,0.00,2.83,0.00,0.000,6,0.000,0.039,2143,2277,3764,0,0,0,0,0,0
$GC,5016,-1.37,-233.6,774.8,-13.2,153,5024,0.00,2.90,0.00,0.000,4,0.000,0.046,2143,868,3762,0,0,0,0,0,0
$GC,5082,-1.37,-233.6,783.4,-12.1,154,5090,0.00,2.88,0.00,0.000,6,0.000,0.038,2143,2278,3762,0,0,0,0,0,0
$GC,5439,-1.37,-233.6,829.6,-13.0,160,5448,0.00,2.90,0.00,0.000,4,0.000,0.046,2142,869,3759,0,0,0,0,0,0
$GC,5505,-1.37,-233.6,837.8,-12.0,161,5514,0.00,2.85,0.00,0.000,6,0.000,0.038,2143,2280,3758,0,0,0,0,0,0
$GC,5863,-1.37,-233.6,883.1,-12.7,167,5872,0.00,2.88,0.00,0.000,4,0.000,0.045,2143,871,3756,0,0,0,0,0,0
$GC,5940,-1.37,-233.6,892.7,-12.5,168,5948,0.00,2.85,0.00,0.000,6,0.000,0.038,2142,2278,3756,0,0,0,0,0,0
$GC,6287,-1.37,-233.6,936.4,-12.9,174,6296,0.00,2.90,0.00,0.000,4,0.000,0.045,2143,867,3754,0,0,0,0,0,0
$GC,6359,-1.37,-233.6,945.6,-12.4,175,6367,0.00,2.83,0.00,0.000,6,0.000,0.039,2143,2273,3754,0,0,1,0,0,0
$GC,6711,-1.37,-233.6,988.6,-12.1,181,6720,0.00,2.90,0.00,0.000,4,0.000,0.045,2142,862,3752,0,0,0,0,0,0
$STATE,6723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6723,begin apogee
$GC,6730,-0.33,0.0,990.2,12.2,181,6925,1.12,0.00,187.60,1.462,6,0.096,0.000,2372,2367,2841,0,0,0,0,0,0
$STATE,6926,end apogee,CONTROL_FINISHED_OK
$STATE,6926,begin climb
$GC,6928,1.37,233.6,999.2,0.0,184,7137,1.75,2.53,195.30,1.415,4,0.057,0.055,2748,3790,1887,0,0,0,0,0,0
$GC,7228,1.37,233.6,974.9,15.6,188,7236,0.00,2.33,0.00,0.000,6,0.000,0.028,2748,2361,1883,0,0,0,0,0,0
$GC,7537,1.37,233.6,932.0,13.8,193,7545,0.00,2.88,0.00,0.000,4,0.000,0.044,2748,971,1881,0,0,0,0,0,0
$GC,7566,1.37,233.6,927.7,14.2,193,7574,0.00,2.92,0.00,0.000,6,0.000,0.036,2748,2380,1881,0,0,0,0,0,0
$GC,7897,1.37,233.6,882.5,13.6,199,7906,0.00,2.95,0.00,0.000,4,0.000,0.043,2748,970,1880,0,0,0,0,0,0
$GC,7942,1.37,233.6,875.9,14.6,199,7952,0.00,2.90,0.00,0.000,6,0.000,0.035,2749,2370,1879,0,0,0,0,0,0
$GC,8258,1.37,233.6,830.7,14.4,205,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2369,1878,0,0,0,0,0,0
$GC,8559,1.37,233.6,788.7,13.9,210,8568,0.00,2.90,0.00,0.000,4,0.000,0.043,2748,969,1878,0,0,0,0,0,0
$GC,8604,1.37,233.6,782.2,14.6,210,8613,0.00,2.90,0.00,0.000,6,0.000,0.036,2749,2371,1877,0,0,0,0,0,0
$GC,8919,1.37,233.6,736.2,14.6,216,8928,0.00,2.95,0.00,0.000,4,0.000,0.043,2749,970,1877,0,0,0,0,0,0
$GC,8953,1.37,233.6,730.6,16.2,216,8962,0.00,2.90,0.00,0.000,6,0.000,0.036,2749,2373,1877,0,0,0,0,0,0
$GC,9279,1.37,233.6,679.8,15.4,222,9287,0.00,2.35,0.00,0.000,4,0.000,0.056,2748,3781,1877,0,0,0,0,0,0
$GC,9318,1.37,233.6,673.5,16.1,222,9326,0.00,2.28,0.00,0.000,6,0.000,0.027,2748,2359,1876,0,0,0,0,0,0
$GC,9638,1.37,233.6,627.6,14.2,228,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2355,1876,0,0,0,0,0,0
$GC,9939,1.37,233.6,585.3,13.8,233,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2356,1876,0,0,0,0,0,0
$GC,10241,1.37,233.6,542.6,14.2,238,10250,0.00,2.42,0.00,0.000,4,0.000,0.055,2748,3795,1876,0,0,0,0,0,0
$GC,10281,1.37,233.6,536.4,15.7,238,10288,0.00,2.25,0.00,0.000,6,0.000,0.028,2749,2365,1875,0,0,0,0,0,0
$GC,10600,1.37,233.6,492.3,13.6,244,10609,0.00,2.83,0.00,0.000,4,0.000,0.041,2749,973,1875,0,0,0,0,0,0
$GC,10661,1.37,233.6,484.2,14.1,245,10670,0.00,2.85,0.00,0.000,6,0.000,0.034,2749,2372,1875,0,0,0,0,0,0
$GC,11025,1.37,233.6,436.4,13.2,251,11033,0.00,2.35,0.00,0.000,4,0.000,0.054,2749,3781,1875,0,0,0,0,0,0
$GC,11074,1.37,233.6,429.4,14.5,251,11082,0.00,2.22,0.00,0.000,6,0.000,0.026,2748,2360,1875,0,0,0,0,0,0
$GC,11382,1.37,233.6,391.4,12.2,256,11386,0.00,2.83,0.00,0.000,4,0.000,0.038,2748,972,1875,0,0,0,0,0,0
$GC,11403,1.37,233.6,388.8,12.5,256,11407,0.00,2.85,0.00,0.000,6,0.000,0.033,2748,2372,1875,0,0,0,0,0,0
$GC,11748,1.37,233.6,348.2,11.8,262,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2372,1875,0,0,0,0,0,0
$GC,12050,1.39,252.3,314.1,11.2,267,12068,0.00,2.45,14.30,0.950,4,0.000,0.052,2749,3787,1812,0,0,0,0,0,0
$GC,12091,1.39,252.3,309.3,11.9,267,12095,0.00,2.28,0.00,0.000,6,0.000,0.024,2749,2373,1811,0,0,0,0,0,0
$GC,12415,1.42,279.7,273.4,10.9,277,12446,0.00,2.95,24.12,0.941,4,0.000,0.037,2749,963,1700,0,0,0,0,0,0
$GC,12546,1.42,280.0,258.7,11.8,281,12551,0.00,2.90,0.00,0.000,6,0.000,0.031,2749,2368,1698,0,0,0,0,0,0
$GC,12877,1.43,284.4,219.0,11.6,292,12881,0.00,2.83,0.00,0.000,4,0.000,0.034,2749,974,1697,0,0,0,0,0,0
$GC,12940,1.46,311.4,211.7,10.9,294,12974,0.00,2.83,27.08,0.875,6,0.000,0.028,2749,2373,1571,0,0,0,0,0,0
$GC,13300,1.46,311.4,165.9,13.8,306,13304,0.00,2.88,0.00,0.000,4,0.000,0.034,2749,966,1566,0,0,0,0,0,0
$GC,13454,1.46,311.4,145.8,12.6,311,13458,0.00,2.83,0.00,0.000,6,0.000,0.028,2749,2369,1566,0,0,0,0,0,0
$GC,13790,1.48,330.2,105.2,11.2,322,13813,0.10,2.88,16.55,0.724,4,0.070,0.030,2779,975,1492,0,0,0,0,0,0
$GC,13970,1.49,337.9,84.0,11.5,335,13983,0.00,2.83,7.57,0.627,6,0.000,0.026,2779,2376,1462,0,0,0,0,0,0
$GC,14177,1.49,341.8,59.6,11.7,355,14181,0.00,2.85,0.00,0.000,4,0.000,0.031,2780,972,1460,0,0,0,0,0,0
$GC,14261,1.51,360.1,49.7,11.2,362,14287,0.00,2.83,19.42,0.665,6,0.000,0.024,2779,2378,1372,0,0,0,0,0,0
$GC,14472,1.52,372.4,25.0,11.4,383,14488,0.00,2.88,11.02,0.604,4,0.000,0.030,2780,970,1321,0,0,0,0,0,0
$GC,14632,1.52,372.4,5.6,13.1,408,14638,0.00,2.83,0.00,0.000,6,0.000,0.024,2779,2380,1319,0,0,0,0,0,0
$STATE,14656,end climb,SURFACE_DEPTH_REACHED
$STATE,14656,begin surface coast
$FINISH,0.2,1.012838
$STATE,14678,end surface coast,CONTROL_FINISHED_OK
$STATE,14678,begin surface
$SM_CCo,14697,25.67,0.611,0,0,1128,420.20
$SM_GC,1.10,0.00,0.00,25.67,0.000,0.000,0.611,354,2247,1128,-9.65,-0.59,420.20
$IRIDIUM_FIX,1929.80,-15634.56,110911,141448
$TT8_MAMPS,0.104111
$HUMID,1078049668
$TCM_TEMP,24.10
$XPDR_PINGS,1
$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
$PA_USBB,100.0/0/0
$PA_USBA,1.4/30829585/30403279
$PA_HOME,10.1/482055/433413
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287884
$PA_DATA1,10.1/7837685/7048153
$PA_DATA0,73.7/7836665/2057943
$24V_AH,23.5,9.143
$10V_AH,10.0,5.973
$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,24.000,188.500,502.975,25.675,0.000,0.000,0.000,0.000,0.250,0.000,16.568,0.000,12078.343,650.885,1914.732,180.131,33.338,1647.801,0.000,1287.813,0.000,0.545,0.000
$DEVICE_MAMPS,166.770,55.845,1461.915,611.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,282.088,0.000,0.000,0.000,0.000,0.000,14810.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,70.791,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,13479,417
$CAP_FILE_SIZE,156374,0
$CFSIZE,260034560,255782912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190310,000007,1937.238,-15603.957,33,1.5,33,9.7