version: 66.07
glider: 23
mission: 14
dive: 37
start: 3 23 110 5 6 30
data:
$ID,23
$MISSION,14
$DIVE,37
$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,300
$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,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,400
$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,-41599.43
$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,2460
$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,2160
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,271
$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
$GPS1,230310,045707,1927.227,-15639.832,35,1.3,35,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.5
$GPS2,230310,050549,1927.078,-15639.783,11,1.7,11,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.084,0.267
$KALMAN_X,-35947.5,-137.6,110.4,-22158.9,1354.6
$KALMAN_Y,71200.2,-535.8,-696.7,-98749.2,-2653.4
$MHEAD_RNG_PITCHd_Wd,333.0,5425,-17.4,-11.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.37,-194.3,0.0,0.0,0,98,0.00,0.00,-73.40,0.000,2,0.000,0.000,360,2029,2733,0,0,0,0,0,0
$GC,101,-1.37,-194.6,3.2,-5.3,13,137,10.50,2.60,-20.65,0.000,4,0.169,0.047,2153,758,3638,0,0,0,0,0,0
$GC,259,-1.37,-194.6,36.6,-21.9,36,263,0.00,2.42,0.00,0.000,6,0.000,0.023,2153,2001,3638,0,0,0,0,0,0
$GC,456,-1.37,-194.6,77.9,-20.9,55,460,0.00,2.35,0.00,0.000,4,0.000,0.033,2153,3368,3640,0,0,0,0,0,0
$GC,680,-1.37,-194.6,119.6,-17.9,70,684,0.00,1.98,0.00,0.000,6,0.000,0.022,2153,2176,3640,0,0,0,0,0,0
$GC,1016,-1.37,-194.6,182.9,-18.5,81,1019,0.00,2.05,0.00,0.000,4,0.000,0.037,2153,3367,3642,0,0,0,0,0,0
$GC,1197,-1.37,-194.6,214.8,-16.9,86,1201,0.00,2.03,0.00,0.000,6,0.000,0.023,2153,2160,3642,0,0,0,0,0,0
$GC,1511,-1.37,-194.6,267.1,-16.4,97,1515,0.00,2.10,0.00,0.000,4,0.000,0.041,2153,3360,3643,0,0,1,0,0,0
$GC,1693,-1.37,-194.6,294.3,-15.0,102,1696,0.00,2.03,0.00,0.000,6,0.000,0.025,2153,2160,3642,0,0,0,0,0,0
$GC,2035,-1.37,-194.6,343.6,-14.5,109,2039,0.00,2.12,0.00,0.000,4,0.000,0.044,2154,3377,3640,0,0,1,0,0,0
$GC,2077,-1.37,-194.6,349.9,-15.3,109,2081,0.00,2.03,0.00,0.000,6,0.000,0.026,2153,2172,3640,0,0,0,0,0,0
$GC,2400,-1.37,-194.6,395.9,-13.9,115,2404,0.00,2.30,0.00,0.000,4,0.000,0.046,2153,3497,3639,0,0,1,0,0,0
$GC,2432,-1.37,-194.6,400.2,-13.6,115,2436,0.00,2.22,0.00,0.000,6,0.000,0.027,2153,2155,3638,0,0,1,0,0,0
$GC,2766,-1.37,-194.6,444.2,-13.1,121,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2152,3635,0,0,0,0,0,0
$GC,3067,-1.37,-194.6,480.3,-11.9,126,3071,0.00,2.17,0.00,0.000,4,0.000,0.046,2153,2821,3634,0,0,0,0,0,0
$GC,3104,-1.37,-194.6,485.1,-13.2,126,3108,0.00,2.03,0.00,0.000,6,0.000,0.028,2153,2176,3633,0,0,0,0,0,0
$GC,3433,-1.37,-194.6,528.3,-13.3,132,3442,0.00,2.90,0.00,0.000,4,0.000,0.042,2153,745,3629,0,0,0,0,0,0
$GC,3457,-1.37,-194.6,531.7,-14.6,132,3465,0.00,2.42,0.00,0.000,6,0.000,0.032,2153,1985,3629,0,0,2,0,0,0
$GC,3793,-1.37,-194.6,580.8,-14.6,138,3801,0.00,2.58,0.00,0.000,4,0.000,0.048,2153,3453,3627,0,0,0,0,0,0
$GC,3951,-1.37,-194.6,602.9,-14.3,140,3960,0.00,0.03,0.00,0.000,6,0.000,0.165,2153,3411,3625,0,0,0,0,0,0
$GC,4287,-1.37,-194.6,645.3,-12.3,146,4300,0.00,5.03,0.00,0.000,4,0.000,0.041,2153,749,3623,0,0,1,0,0,0
$GC,4464,-1.37,-194.6,666.3,-12.5,148,4473,0.00,2.35,0.00,0.000,6,0.000,0.035,2153,1476,3621,0,0,0,0,0,0
$GC,4784,-1.37,-194.6,704.5,-11.9,154,4793,0.00,2.53,0.00,0.000,4,0.000,0.050,2153,3332,3619,0,0,0,0,0,0
$GC,5016,-1.37,-194.6,734.1,-13.2,157,5024,0.00,1.98,0.00,0.000,6,0.000,0.031,2153,2178,3618,0,0,0,0,0,0
$GC,5341,-1.37,-194.6,774.0,-12.3,163,5349,0.00,0.62,0.00,0.000,4,0.000,0.041,2153,1852,3616,0,0,0,0,0,0
$GC,5391,-1.37,-194.6,780.1,-11.7,163,5399,0.00,0.15,0.00,0.000,6,0.000,0.069,2153,1933,3616,0,0,0,0,0,0
$GC,5710,-1.37,-194.6,818.4,-12.0,169,5719,0.00,2.72,0.00,0.000,4,0.000,0.052,2153,3444,3614,0,0,0,0,0,0
$GC,5864,-1.37,-194.6,836.9,-12.0,171,5872,0.00,1.33,0.00,0.000,6,0.000,0.029,2154,2639,3614,0,0,0,0,0,0
$GC,6206,-1.37,-194.6,873.9,-10.7,177,6214,0.00,1.67,0.00,0.000,4,0.000,0.037,2153,1716,3612,0,0,0,0,0,0
$GC,6427,-1.37,-194.6,895.6,-9.5,180,6435,0.00,0.38,0.00,0.000,6,0.000,0.050,2153,1918,3610,0,0,0,0,0,0
$GC,6768,-1.37,-194.6,928.3,-9.6,186,6776,0.00,2.72,0.00,0.000,4,0.000,0.051,2153,3450,3609,0,0,0,0,0,0
$GC,6995,-1.37,-194.6,952.2,-10.7,189,7003,0.00,0.03,0.00,0.000,6,0.000,0.165,2153,3409,3608,0,0,0,0,0,0
$GC,7326,-1.37,-194.6,987.3,-10.6,195,7337,0.00,4.05,0.00,0.000,4,0.000,0.038,2153,1245,3607,0,0,0,0,0,0
$STATE,7349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7349,begin apogee
$GC,7356,-0.33,0.0,990.1,11.1,195,7522,1.12,0.00,158.32,1.477,6,0.099,0.000,2381,2056,2841,0,0,0,0,0,0
$STATE,7523,end apogee,CONTROL_FINISHED_OK
$STATE,7523,begin climb
$GC,7525,1.37,194.6,996.2,0.0,198,7701,1.75,2.50,162.77,1.434,4,0.054,0.050,2760,3453,2046,0,0,1,0,0,0
$GC,7940,1.37,194.6,953.9,14.5,204,7947,0.00,0.03,0.00,0.000,6,0.000,0.165,2760,3426,2042,0,0,0,0,0,0
$GC,8265,1.37,194.6,907.7,14.2,210,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,3426,2040,0,0,0,0,0,0
$GC,8566,1.37,194.6,864.6,14.3,215,8576,0.00,3.40,0.00,0.000,4,0.000,0.034,2760,1544,2039,0,0,0,0,0,0
$GC,8703,1.37,194.6,846.1,13.5,217,8710,0.00,1.08,0.00,0.000,6,0.000,0.041,2760,2056,2039,0,0,0,0,0,0
$GC,9059,1.37,194.6,800.3,12.9,223,9068,0.00,2.45,0.00,0.000,4,0.000,0.050,2760,3392,2038,0,0,0,0,0,0
$GC,9308,1.37,194.6,765.5,13.7,226,9317,0.00,0.03,0.00,0.000,6,0.000,0.162,2760,3435,2038,0,0,0,0,0,0
$GC,9616,1.37,194.6,723.3,13.7,232,9624,0.00,0.00,0.00,0.000,4,0.000,0.000,2760,3435,2037,0,0,0,0,0,0
$GC,9682,1.37,194.6,714.6,13.3,233,9689,0.00,1.08,0.00,0.000,6,0.000,0.030,2760,2744,2038,0,0,0,0,0,0
$GC,10049,1.37,194.6,669.1,12.3,239,10058,0.00,2.62,0.00,0.000,4,0.000,0.037,2760,1368,2037,0,0,2,0,0,0
$GC,10111,1.38,203.2,662.3,10.7,240,10125,0.00,1.48,7.00,1.060,6,0.000,0.038,2760,2058,2012,0,0,0,0,0,0
$GC,10474,1.39,208.9,622.9,10.8,246,10483,0.00,2.45,0.00,0.000,4,0.000,0.050,2760,3440,2012,0,0,0,0,0,0
$GC,10711,1.39,208.9,593.1,13.2,249,10719,0.00,0.03,0.00,0.000,6,0.000,0.163,2760,3412,2011,0,0,0,0,0,0
$GC,11030,1.39,208.9,550.9,13.3,255,11040,0.00,3.78,0.00,0.000,4,0.000,0.034,2760,1368,2011,0,0,0,0,0,0
$GC,11205,1.39,208.9,528.5,11.5,257,11213,0.00,1.45,0.00,0.000,6,0.000,0.036,2760,2047,2011,0,0,0,0,0,0
$GC,11524,1.39,208.9,487.7,12.7,263,11528,0.00,2.40,0.00,0.000,4,0.000,0.049,2760,3436,2011,0,0,1,0,0,0
$GC,11753,1.39,208.9,459.1,12.6,266,11755,0.00,0.03,0.00,0.000,6,0.000,0.165,2759,3402,2010,0,0,0,0,0,0
$GC,12077,1.39,208.9,420.7,11.9,272,12082,0.00,3.75,0.00,0.000,4,0.000,0.033,2760,1368,2010,0,0,0,0,0,0
$GC,12236,1.40,222.5,403.8,10.5,274,12257,0.00,1.45,17.10,1.045,6,0.000,0.035,2760,2048,1934,0,0,0,0,0,0
$GC,12559,1.41,229.2,369.2,10.7,279,12572,0.00,2.53,7.38,0.902,4,0.000,0.046,2760,2882,1906,0,0,0,0,0,0
$GC,12809,1.41,229.2,336.9,12.9,282,12815,0.00,1.10,0.00,0.000,6,0.000,0.026,2760,2747,1904,0,0,0,0,0,0
$GC,13115,1.41,229.2,297.3,12.7,288,13119,0.00,2.67,0.00,0.000,4,0.000,0.034,2760,1368,1904,0,0,0,0,0,0
$GC,13261,1.41,229.2,279.3,11.4,292,13264,0.00,1.45,0.00,0.000,6,0.000,0.033,2760,2053,1904,0,0,0,0,0,0
$GC,13579,1.44,258.8,245.3,9.9,303,13611,0.00,2.67,25.65,0.930,4,0.000,0.044,2760,3604,1784,0,0,0,0,0,0
$GC,13681,1.44,258.8,233.8,11.6,306,13684,0.00,1.33,0.00,0.000,6,0.000,0.024,2760,2742,1782,0,0,0,0,0,0
$GC,14010,1.44,258.8,191.8,12.9,317,14013,0.00,2.62,0.00,0.000,4,0.000,0.031,2760,1368,1781,0,0,0,0,0,0
$GC,14212,1.46,277.2,169.6,10.3,323,14234,0.00,1.45,15.95,0.828,6,0.000,0.028,2760,1825,1710,0,0,0,0,0,0
$GC,14536,1.46,277.2,131.1,12.0,334,14540,0.00,2.58,0.00,0.000,4,0.000,0.042,2760,3587,1708,0,0,1,0,0,0
$GC,14568,1.46,277.2,126.9,13.4,335,14572,0.00,1.30,0.00,0.000,6,0.000,0.021,2760,2732,1708,0,0,0,0,0,0
$GC,14886,1.51,316.0,87.9,9.5,352,14927,0.12,2.70,32.55,0.760,4,0.067,0.028,2794,1368,1550,0,0,0,0,0,0
$GC,15166,1.52,330.5,57.4,10.4,378,15183,0.00,1.40,12.52,0.679,6,0.000,0.025,2794,2054,1492,0,0,1,0,0,0
$GC,15369,1.52,330.5,34.5,11.3,398,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2054,1490,0,0,0,0,0,0
$GC,15557,1.52,330.5,9.6,13.8,423,15563,0.00,2.55,0.00,0.000,4,0.000,0.037,2795,3613,1490,0,0,0,0,0,0
$GC,15583,1.52,330.5,6.0,13.7,428,15589,0.00,1.33,0.00,0.000,6,0.000,0.019,2795,2727,1490,0,0,0,0,0,0
$STATE,15608,end climb,SURFACE_DEPTH_REACHED
$STATE,15608,begin surface coast
$FINISH,0.1,1.023740
$STATE,15629,end surface coast,CONTROL_FINISHED_OK
$STATE,15630,begin surface
$SM_CCo,15649,37.20,0.646,0,0,1209,400.08
$SM_GC,1.07,0.00,0.00,37.20,0.000,0.000,0.646,359,2611,1209,-9.67,12.75,400.08
$IRIDIUM_FIX,1920.65,-15639.38,150911,181828
$TT8_MAMPS,0.220206
$HUMID,1078065152
$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,1057/1056
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,13.863
$10V_AH,9.9,15.702
$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,24.225,123.425,439.250,37.200,0.000,22.360,25.586,306.936,0.000,0.000,13.731,0.000,12463.275,561.173,2900.380,285.997,33.347,1772.009,0.000,1897.429,0.000,0.543,0.000
$DEVICE_MAMPS,169.065,165.240,1477.215,646.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,296.901,0.000,0.000,0.000,0.000,0.000,16297.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,94.054,0.000,0.000,0.000
$MEM,353572
$DATA_FILE_SIZE,16791,437
$CAP_FILE_SIZE,141627,0
$CFSIZE,260034560,253874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,230310,092907,1927.883,-15640.289,29,1.0,29,9.6