version: 66.07
glider: 23
mission: 14
dive: 14
start: 3 19 110 0 9 47
data:
$ID,23
$MISSION,14
$DIVE,14
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41402.289
$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,57
$R_STBD_OVSHOOT,30
$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
$GPS1,190310,000007,1937.238,-15603.957,33,1.5,33,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.2
$GPS2,190310,000907,1937.405,-15604.115,9,2.0,9,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.248
$KALMAN_X,-21067.4,217.9,612.3,24294.7,-3808.0
$KALMAN_Y,37633.0,-517.3,-278.3,-46515.7,4862.4
$MHEAD_RNG_PITCHd_Wd,133.2,6895,-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,18,-1.37,-233.6,0.0,0.0,0,108,0.00,0.00,-83.25,0.000,2,0.000,0.000,353,2247,2869,0,0,0,0,0,0
$GC,110,-1.37,-233.6,3.7,-6.1,15,146,10.48,2.75,-19.00,0.000,4,0.169,0.047,2143,890,3796,0,0,0,0,0,0
$GC,247,-1.37,-233.6,37.6,-23.6,34,251,0.00,2.75,0.00,0.000,6,0.000,0.024,2143,2271,3796,0,0,0,0,0,0
$GC,443,-1.37,-233.6,88.6,-25.5,53,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2277,3797,0,0,0,0,0,0
$GC,647,-1.37,-233.6,133.9,-20.6,63,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2276,3798,0,0,0,0,0,0
$GC,951,-1.37,-233.6,193.7,-19.7,73,954,0.00,2.28,0.00,0.000,4,0.000,0.038,2143,3674,3799,0,0,0,0,0,0
$GC,1014,-1.37,-233.6,204.8,-17.5,75,1018,0.00,2.22,0.00,0.000,6,0.000,0.022,2143,2290,3799,0,0,0,0,0,0
$GC,1349,-1.37,-233.6,263.7,-17.8,86,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2290,3799,0,0,0,0,0,0
$GC,1683,-1.37,-233.6,320.8,-16.2,95,1687,0.00,2.88,0.00,0.000,4,0.000,0.039,2143,866,3799,0,0,0,0,0,0
$GC,1709,-1.37,-233.6,324.9,-15.6,95,1713,0.00,2.80,0.00,0.000,6,0.000,0.029,2143,2267,3799,0,0,0,0,0,0
$GC,2042,-1.37,-233.6,373.9,-14.6,101,2046,0.00,2.85,0.00,0.000,4,0.000,0.039,2143,860,3798,0,0,0,0,0,0
$GC,2074,-1.37,-233.6,378.2,-13.5,101,2078,0.00,2.85,0.00,0.000,6,0.000,0.031,2143,2277,3797,0,0,0,0,0,0
$GC,2408,-1.37,-233.6,426.4,-14.7,107,2416,0.00,2.90,0.00,0.000,4,0.000,0.040,2143,860,3795,0,0,0,0,0,0
$GC,2431,-1.37,-233.6,430.1,-15.6,107,2440,0.00,2.85,0.00,0.000,6,0.000,0.032,2142,2270,3795,0,0,0,0,0,0
$GC,2767,-1.37,-233.6,477.1,-13.9,113,2776,0.00,2.88,0.00,0.000,4,0.000,0.040,2143,868,3792,0,0,0,0,0,0
$GC,2801,-1.37,-233.6,481.6,-13.5,113,2810,0.00,2.83,0.00,0.000,6,0.000,0.033,2142,2273,3791,0,0,0,0,0,0
$GC,3127,-1.37,-233.6,523.0,-12.6,119,3135,0.00,2.88,0.00,0.000,4,0.000,0.040,2143,869,3787,0,0,0,0,0,0
$GC,3172,-1.37,-233.6,528.4,-11.3,119,3180,0.00,2.85,0.00,0.000,6,0.000,0.034,2142,2275,3787,0,0,0,0,0,0
$GC,3487,-1.37,-233.6,565.9,-12.0,125,3495,0.00,2.88,0.00,0.000,4,0.000,0.041,2142,860,3784,0,0,0,0,0,0
$GC,3537,-1.37,-233.6,572.2,-11.4,125,3545,0.00,2.88,0.00,0.000,6,0.000,0.034,2143,2278,3784,0,0,0,0,0,0
$GC,3845,-1.37,-233.6,611.7,-13.1,130,3854,0.00,2.88,0.00,0.000,4,0.000,0.041,2143,862,3780,0,0,0,0,0,0
$GC,3907,-1.37,-233.6,619.7,-12.9,131,3915,0.00,2.88,0.00,0.000,6,0.000,0.035,2143,2279,3779,0,0,0,0,0,0
$GC,4270,-1.37,-233.6,668.0,-13.6,137,4279,0.00,2.88,0.00,0.000,4,0.000,0.043,2142,870,3777,0,0,0,0,0,0
$GC,4336,-1.37,-233.6,677.1,-13.0,138,4345,0.00,2.88,0.00,0.000,6,0.000,0.037,2142,2280,3776,0,0,0,0,0,0
$GC,4694,-1.37,-233.6,723.7,-12.9,144,4703,0.00,2.90,0.00,0.000,4,0.000,0.046,2142,864,3774,0,0,0,0,0,0
$GC,4750,-1.37,-233.6,730.9,-12.3,144,4759,0.00,2.85,0.00,0.000,6,0.000,0.038,2143,2280,3773,0,0,0,0,0,0
$GC,5058,-1.37,-233.6,770.7,-13.0,150,5067,0.00,2.92,0.00,0.000,4,0.000,0.045,2142,861,3771,0,0,0,0,0,0
$GC,5108,-1.37,-233.6,776.9,-12.0,150,5117,0.00,2.90,0.00,0.000,6,0.000,0.038,2142,2281,3771,0,0,0,0,0,0
$GC,5417,-1.37,-233.6,815.3,-12.6,155,5426,0.00,2.92,0.00,0.000,4,0.000,0.045,2143,862,3768,0,0,0,0,0,0
$GC,5484,-1.37,-233.6,823.9,-12.5,156,5492,0.00,2.88,0.00,0.000,6,0.000,0.039,2142,2281,3768,0,0,0,0,0,0
$GC,5841,-1.37,-233.6,869.3,-12.7,162,5850,0.00,2.92,0.00,0.000,4,0.000,0.045,2142,862,3765,0,0,0,0,0,0
$GC,5897,-1.37,-233.6,876.2,-11.8,162,5906,0.00,2.85,0.00,0.000,6,0.000,0.038,2142,2277,3765,0,0,0,0,0,0
$GC,6207,-1.37,-233.6,914.5,-12.4,168,6219,0.00,2.90,0.00,0.000,4,0.000,0.045,2142,871,3764,0,0,0,0,0,0
$GC,6261,-1.37,-233.6,921.7,-13.2,168,6271,0.00,2.88,0.00,0.000,6,0.000,0.038,2142,2273,3763,0,0,0,0,0,0
$GC,6571,-1.37,-233.6,960.6,-12.5,173,6580,0.00,2.88,0.00,0.000,4,0.000,0.045,2142,870,3761,0,0,0,0,0,0
$GC,6638,-1.37,-233.6,969.2,-12.8,174,6646,0.00,2.88,0.00,0.000,6,0.000,0.038,2143,2276,3761,0,0,0,0,0,0
$STATE,6812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6812,begin apogee
$GC,6817,-0.33,0.0,992.9,13.6,177,7015,1.15,0.00,190.50,1.465,6,0.096,0.000,2375,2375,2842,0,0,0,0,0,0
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7018,1.37,233.6,1004.8,0.0,180,7227,1.73,2.47,195.75,1.418,4,0.057,0.056,2747,3775,1888,0,0,0,0,0,0
$GC,7265,1.37,233.6,989.1,15.8,184,7273,0.00,2.30,0.00,0.000,6,0.000,0.028,2747,2360,1884,0,0,0,0,0,0
$GC,7627,1.37,233.6,933.4,15.3,190,7637,0.00,2.90,0.00,0.000,4,0.000,0.044,2747,964,1882,0,0,0,0,0,0
$GC,7683,1.37,233.6,925.0,15.3,190,7693,0.00,2.85,0.00,0.000,6,0.000,0.036,2747,2374,1881,0,0,1,0,0,0
$GC,7992,1.37,233.6,880.4,14.6,196,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2373,1880,0,0,0,0,0,0
$GC,8293,1.37,233.6,840.1,13.2,201,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2374,1879,0,0,0,0,0,0
$GC,8595,1.37,233.6,800.0,13.4,206,8604,0.00,2.95,0.00,0.000,4,0.000,0.042,2747,962,1879,0,0,0,0,0,0
$GC,8635,1.37,233.6,794.6,13.4,206,8643,0.00,2.92,0.00,0.000,6,0.000,0.036,2747,2373,1879,0,0,0,0,0,0
$GC,8955,1.37,233.6,754.8,12.3,212,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2372,1878,0,0,0,0,0,0
$GC,9256,1.39,246.8,720.4,11.3,217,9278,0.00,2.97,11.18,1.182,4,0.000,0.041,2747,962,1833,0,0,0,0,0,0
$GC,9299,1.42,277.5,715.5,10.7,217,9337,0.00,2.95,27.75,1.257,6,0.000,0.036,2747,2376,1709,0,0,0,0,0,0
$GC,9687,1.42,277.5,662.8,14.3,224,9696,0.00,2.95,0.00,0.000,4,0.000,0.042,2747,967,1703,0,0,0,0,0,0
$GC,9770,1.42,277.5,650.8,14.2,225,9778,0.00,2.90,0.00,0.000,6,0.000,0.035,2747,2370,1703,0,0,0,0,0,0
$GC,10112,1.42,277.5,603.4,14.0,231,10120,0.00,2.92,0.00,0.000,4,0.000,0.042,2747,970,1703,0,0,0,0,0,0
$GC,10178,1.42,277.5,593.3,15.6,232,10187,0.00,2.90,0.00,0.000,6,0.000,0.034,2747,2374,1702,0,0,0,0,0,0
$GC,10536,1.42,277.5,543.7,13.7,238,10545,0.00,2.92,0.00,0.000,4,0.000,0.041,2747,963,1702,0,0,0,0,0,0
$GC,10634,1.42,277.5,529.7,15.1,239,10644,0.00,2.90,0.00,0.000,6,0.000,0.034,2747,2373,1702,0,0,0,0,0,0
$GC,10960,1.42,277.5,484.8,13.8,245,10969,0.00,2.90,0.00,0.000,4,0.000,0.041,2747,961,1702,0,0,0,0,0,0
$GC,11011,1.42,277.5,477.6,14.1,245,11019,0.00,2.90,0.00,0.000,6,0.000,0.034,2747,2376,1702,0,0,0,0,0,0
$GC,11319,1.42,277.5,437.3,12.9,250,11328,0.00,2.90,0.00,0.000,4,0.000,0.040,2747,970,1702,0,0,0,0,0,0
$GC,11375,1.42,277.5,430.1,12.5,250,11384,0.00,2.83,0.00,0.000,6,0.000,0.033,2747,2368,1701,0,0,0,0,0,0
$GC,11686,1.43,284.6,394.1,11.5,256,11690,0.00,2.88,0.00,0.000,4,0.000,0.040,2747,963,1702,0,0,0,0,0,0
$GC,11738,1.43,284.6,387.4,12.2,256,11744,0.00,2.88,0.00,0.000,6,0.000,0.032,2747,2371,1702,0,0,0,0,0,0
$GC,12045,1.43,284.6,351.0,11.9,262,12049,0.00,2.88,0.00,0.000,4,0.000,0.037,2747,965,1702,0,0,0,0,0,0
$GC,12114,1.43,284.6,342.7,12.1,263,12118,0.00,2.88,0.00,0.000,6,0.000,0.032,2747,2376,1702,0,0,0,0,0,0
$GC,12464,1.45,301.3,302.8,11.2,269,12488,0.00,2.97,20.12,0.960,4,0.000,0.037,2747,965,1611,0,0,0,0,0,0
$GC,12611,1.45,301.3,283.5,13.6,272,12618,0.00,2.88,0.00,0.000,6,0.000,0.030,2747,2361,1609,0,0,0,0,0,0
$GC,12920,1.45,301.3,240.1,15.2,283,12924,0.00,2.88,0.00,0.000,4,0.000,0.036,2747,960,1608,0,0,0,0,0,0
$GC,13043,1.45,301.3,223.2,13.9,286,13049,0.00,2.88,0.00,0.000,6,0.000,0.029,2747,2376,1608,0,0,0,0,0,0
$GC,13351,1.45,301.3,182.8,13.2,297,13355,0.00,2.85,0.00,0.000,4,0.000,0.034,2747,967,1608,0,0,0,0,0,0
$GC,13405,1.45,303.2,176.4,11.7,298,13408,0.00,2.85,0.00,0.000,6,0.000,0.028,2747,2375,1608,0,0,0,0,0,0
$GC,13718,1.50,347.5,142.0,10.3,309,13763,0.12,2.97,39.08,0.801,4,0.063,0.033,2781,974,1423,0,0,0,0,0,0
$GC,13935,1.50,347.5,111.1,14.3,315,13941,0.00,2.83,0.00,0.000,6,0.000,0.026,2781,2372,1419,0,0,0,0,0,0
$GC,14249,1.50,347.5,67.6,12.0,340,14253,0.00,2.88,0.00,0.000,4,0.000,0.031,2781,961,1417,0,0,0,0,0,0
$GC,14388,1.50,347.5,51.3,12.2,352,14393,0.00,2.78,0.00,0.000,6,0.000,0.024,2781,2371,1418,0,0,0,0,0,0
$GC,14579,1.50,352.7,29.2,11.6,371,14582,0.00,2.85,0.00,0.000,4,0.000,0.031,2781,967,1419,0,0,0,0,0,0
$GC,14626,1.50,352.7,23.3,12.7,375,14632,0.00,2.83,0.00,0.000,6,0.000,0.024,2781,2380,1419,0,0,0,0,0,0
$STATE,14805,end climb,SURFACE_DEPTH_REACHED
$STATE,14805,begin surface coast
$FINISH,0.2,1.023584
$STATE,14827,end surface coast,CONTROL_FINISHED_OK
$STATE,14827,begin surface
$SM_CCo,14845,35.47,0.622,0,0,1128,420.20
$SM_GC,1.12,0.00,0.00,35.47,0.000,0.000,0.622,362,2240,1128,-9.60,-0.85,420.20
$IRIDIUM_FIX,1932.09,-15602.72,110911,141404
$TT8_MAMPS,0.143059
$HUMID,1078067732
$TCM_TEMP,24.00
$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,0/151
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,3.0/30829585/29897092
$PA_HOME,10.1/482055/433171
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287867
$PA_DATA1,10.1/7837685/7048153
$PA_DATA0,73.7/7836665/2058294
$24V_AH,23.5,9.356
$10V_AH,9.9,6.372
$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,24.050,188.125,484.375,35.475,0.000,24.164,28.377,340.265,0.000,0.000,11.736,0.000,12178.236,648.690,2306.389,246.142,33.337,1669.586,0.000,1320.336,0.000,0.544,0.000
$DEVICE_MAMPS,169.065,74.970,1464.975,621.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,277.533,0.000,0.000,0.000,0.000,0.000,15548.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.563,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,13421,410
$CAP_FILE_SIZE,127843,0
$CFSIZE,260034560,255750144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190310,041837,1936.285,-15603.126,26,1.0,26,9.7