version: 66.07
glider: 23
mission: 14
dive: 24
start: 3 20 110 18 2 29
data:
$ID,23
$MISSION,14
$DIVE,24
$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,450
$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,-41537.703
$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,2120
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,33
$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
$GPS1,200310,175230,1938.932,-15617.009,38,1.6,38,9.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-58.4
$GPS2,200310,180149,1939.103,-15617.148,33,1.6,33,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,-0.260
$KALMAN_X,-32227.6,0.3,188.2,13352.0,-1573.0
$KALMAN_Y,68799.1,-205.0,-169.4,-74937.0,4804.2
$MHEAD_RNG_PITCHd_Wd,148.4,43310,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.37,-194.6,0.0,0.0,0,111,0.00,0.00,-88.97,0.000,2,0.000,0.000,357,2104,2820,0,0,0,0,0,0
$GC,113,-1.37,-194.6,3.1,-4.3,18,149,10.55,2.80,-18.08,0.000,4,0.170,0.047,2151,727,3638,0,0,0,0,0,0
$GC,219,-1.37,-194.6,27.7,-24.4,36,223,0.00,2.72,0.00,0.000,6,0.000,0.022,2151,2129,3638,0,0,1,0,0,0
$GC,409,-1.37,-194.6,72.0,-21.9,54,413,0.00,2.47,0.00,0.000,4,0.000,0.034,2151,3611,3639,0,0,0,0,0,0
$GC,558,-1.37,-194.6,103.4,-19.4,67,563,0.00,2.40,0.00,0.000,6,0.000,0.022,2151,2149,3639,0,0,0,0,0,0
$GC,872,-1.37,-194.6,164.5,-18.6,78,876,0.00,2.38,0.00,0.000,4,0.000,0.036,2152,3067,3640,0,0,1,0,0,0
$GC,984,-1.37,-194.6,183.6,-16.6,81,988,0.00,2.40,0.00,0.000,6,0.000,0.024,2151,2113,3640,0,0,0,0,0,0
$GC,1303,-1.37,-194.6,238.9,-17.3,92,1307,0.00,2.50,0.00,0.000,4,0.000,0.038,2151,3601,3641,0,0,0,0,0,0
$GC,1437,-1.37,-194.6,260.0,-14.8,96,1441,0.00,2.45,0.00,0.000,6,0.000,0.024,2151,2120,3641,0,0,0,0,0,0
$GC,1766,-1.37,-194.6,312.2,-15.3,106,1770,0.00,2.47,0.00,0.000,4,0.000,0.044,2151,3603,3640,0,0,1,0,0,0
$GC,1825,-1.37,-194.6,320.6,-13.9,106,1831,0.00,2.35,0.00,0.000,6,0.000,0.026,2151,2172,3640,0,0,0,0,0,0
$GC,2132,-1.37,-194.6,363.2,-14.0,112,2135,0.00,2.45,0.00,0.000,4,0.000,0.046,2151,3600,3639,0,0,0,0,0,0
$GC,2163,-1.37,-194.6,367.9,-15.3,112,2167,0.00,2.35,0.00,0.000,6,0.000,0.026,2151,2171,3638,0,0,0,0,0,0
$GC,2497,-1.37,-194.6,414.1,-13.9,118,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2171,3636,0,0,0,0,0,0
$GC,2799,-1.37,-194.6,455.1,-13.7,123,2807,0.00,2.40,0.00,0.000,4,0.000,0.050,2151,3613,3634,0,0,2,0,0,0
$GC,2822,-1.37,-194.6,458.2,-13.0,123,2830,0.00,2.47,0.00,0.000,6,0.000,0.028,2151,2119,3633,0,0,0,0,0,0
$GC,3163,-1.37,-194.6,503.6,-13.4,129,3171,0.00,2.53,0.00,0.000,4,0.000,0.050,2151,3603,3629,0,0,1,0,0,0
$GC,3186,-1.37,-194.6,506.7,-13.3,129,3194,0.00,2.35,0.00,0.000,6,0.000,0.028,2151,2171,3629,0,0,0,0,0,0
$GC,3521,-1.37,-194.6,550.1,-12.9,135,3530,0.00,2.42,0.00,0.000,4,0.000,0.051,2151,3612,3627,0,0,1,0,0,0
$GC,3550,-1.37,-194.6,554.0,-14.3,135,3558,0.00,2.47,0.00,0.000,6,0.000,0.029,2151,2123,3627,0,0,0,0,0,0
$GC,3880,-1.37,-194.6,596.6,-12.9,141,3888,0.00,2.58,0.00,0.000,4,0.000,0.051,2151,3611,3624,0,0,0,0,0,0
$GC,3930,-1.37,-194.6,602.8,-12.4,141,3938,0.00,2.47,0.00,0.000,6,0.000,0.029,2151,2119,3623,0,0,0,0,0,0
$GC,4238,-1.37,-194.6,639.3,-11.9,146,4247,0.00,2.88,0.00,0.000,4,0.000,0.046,2151,703,3620,0,0,1,0,0,0
$GC,4261,-1.37,-194.6,642.0,-11.3,146,4270,0.00,2.83,0.00,0.000,6,0.000,0.035,2151,1835,3620,0,0,0,0,0,0
$GC,4597,-1.37,-194.6,682.8,-12.3,152,4606,0.00,2.58,0.00,0.000,4,0.000,0.054,2151,3602,3618,0,0,0,0,0,0
$GC,4648,-1.37,-194.6,689.2,-12.6,152,4656,0.00,2.50,0.00,0.000,6,0.000,0.031,2151,2116,3618,0,0,0,0,0,0
$GC,4956,-1.37,-194.6,728.4,-12.7,157,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2114,3616,0,0,0,0,0,0
$GC,5258,-1.37,-194.6,766.3,-12.6,162,5267,0.00,2.60,0.00,0.000,4,0.000,0.054,2151,3606,3615,0,0,0,0,0,0
$GC,5346,-1.37,-194.6,778.1,-13.9,163,5354,0.00,2.50,0.00,0.000,6,0.000,0.031,2151,2116,3614,0,0,0,0,0,0
$GC,5681,-1.37,-194.6,818.7,-12.1,169,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2114,3611,0,0,0,0,0,0
$GC,5983,-1.37,-194.6,853.1,-11.3,174,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2113,3610,0,0,0,0,0,0
$GC,6285,-1.37,-194.6,886.1,-10.8,179,6294,0.00,2.55,0.00,0.000,4,0.000,0.054,2151,3597,3609,0,0,1,0,0,0
$GC,6378,-1.37,-194.6,896.5,-10.7,180,6386,0.00,2.35,0.00,0.000,6,0.000,0.031,2150,2175,3608,0,0,0,0,0,0
$GC,6708,-1.37,-194.6,930.6,-10.2,186,6717,0.00,2.97,0.00,0.000,4,0.000,0.051,2151,706,3606,0,0,1,0,0,0
$GC,6733,-1.37,-194.6,933.1,-10.3,186,6741,0.00,2.92,0.00,0.000,6,0.000,0.039,2151,1593,3606,0,0,0,0,0,0
$GC,7069,-1.37,-194.6,965.6,-9.6,192,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2148,3606,0,0,0,0,0,0
$STATE,7368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7368,begin apogee
$GC,7373,-0.33,0.0,995.0,9.9,197,7540,1.15,0.00,158.85,1.475,6,0.097,0.000,2382,2275,2841,0,0,0,0,0,0
$STATE,7541,end apogee,CONTROL_FINISHED_OK
$STATE,7541,begin climb
$GC,7543,1.37,194.6,999.2,0.0,199,7715,1.73,0.00,164.90,1.431,6,0.055,0.000,2756,2275,2047,0,0,0,0,0,0
$GC,7972,1.37,194.6,957.8,13.8,207,7981,0.00,2.40,0.00,0.000,4,0.000,0.054,2756,3683,2044,0,0,0,0,0,0
$GC,8173,1.37,194.6,927.8,14.6,210,8181,0.00,2.35,0.00,0.000,6,0.000,0.028,2756,2253,2042,0,0,0,0,0,0
$GC,8525,1.37,194.6,881.2,13.1,216,8533,0.00,2.42,0.00,0.000,4,0.000,0.054,2756,3672,2041,0,0,0,0,0,0
$GC,8773,1.37,194.6,846.2,15.2,219,8783,0.00,2.30,0.00,0.000,6,0.000,0.028,2756,2265,2041,0,0,0,0,0,0
$GC,9081,1.37,194.6,807.9,12.2,225,9089,0.00,2.42,0.00,0.000,4,0.000,0.054,2756,3675,2041,0,0,0,0,0,0
$GC,9329,1.37,194.6,774.6,13.5,228,9337,0.00,2.30,0.00,0.000,6,0.000,0.028,2756,2264,2040,0,0,0,0,0,0
$GC,9638,1.37,194.6,735.9,12.6,233,9647,0.00,2.40,0.00,0.000,4,0.000,0.054,2756,3676,2040,0,0,0,0,0,0
$GC,9854,1.37,194.6,704.4,15.6,236,9862,0.00,2.30,0.00,0.000,6,0.000,0.028,2756,2261,2039,0,0,0,0,0,0
$GC,10190,1.37,194.6,660.9,12.9,242,10198,0.00,2.40,0.00,0.000,4,0.000,0.056,2756,3671,2039,0,0,0,0,0,0
$GC,10373,1.37,194.6,634.8,14.4,244,10383,0.00,2.28,0.00,0.000,6,0.000,0.028,2755,2265,2039,0,0,0,0,0,0
$GC,10682,1.37,194.6,595.4,12.5,250,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2261,2039,0,0,0,0,0,0
$GC,10984,1.37,194.6,556.7,13.0,255,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2261,2038,0,0,0,0,0,0
$GC,11285,1.37,194.6,519.9,12.2,260,11294,0.00,2.40,0.00,0.000,4,0.000,0.054,2756,3673,2038,0,0,0,0,0,0
$GC,11389,1.37,194.6,506.2,12.3,261,11396,0.00,1.20,0.00,0.000,6,0.000,0.029,2756,2897,2038,0,0,0,0,0,0
$GC,11713,1.37,194.6,466.1,12.1,267,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2897,2038,0,0,0,0,0,0
$GC,12015,1.37,194.6,431.1,11.6,272,12025,0.00,3.50,0.00,0.000,4,0.000,0.035,2756,1096,2038,0,0,0,0,0,0
$GC,12099,1.37,194.6,421.2,12.1,273,12107,0.00,2.45,0.00,0.000,6,0.000,0.034,2756,2272,2038,0,0,0,0,0,0
$GC,12440,1.37,194.6,382.0,11.2,279,12444,0.00,2.40,0.00,0.000,4,0.000,0.052,2756,3678,2038,0,0,0,0,0,0
$GC,12686,1.38,204.7,354.1,10.6,282,12699,0.00,2.30,8.10,0.916,6,0.000,0.027,2756,2256,2006,0,0,0,0,0,0
$GC,13063,1.44,254.2,318.1,9.1,289,13111,0.00,2.50,41.78,1.010,4,0.000,0.049,2756,3671,1804,0,0,1,0,0,0
$GC,13171,1.44,254.2,306.1,12.4,290,13174,0.00,2.30,0.00,0.000,6,0.000,0.024,2756,2269,1801,0,0,0,0,0,0
$GC,13489,1.44,254.2,270.2,11.6,300,13493,0.00,2.53,0.00,0.000,4,0.000,0.037,2756,1049,1799,0,0,0,0,0,0
$GC,13521,1.44,254.2,266.5,11.2,301,13526,0.00,2.55,0.00,0.000,6,0.000,0.031,2756,2266,1799,0,0,0,0,0,0
$GC,13857,1.44,254.2,227.5,11.3,312,13860,0.00,2.55,0.00,0.000,4,0.000,0.034,2756,1010,1799,0,0,0,0,0,0
$GC,13888,1.44,255.6,224.0,10.9,313,13892,0.00,2.55,0.00,0.000,6,0.000,0.029,2756,2272,1799,0,0,2,0,0,0
$GC,14224,1.48,291.2,189.9,9.7,324,14260,0.12,2.92,30.92,0.864,4,0.067,0.033,2788,867,1652,0,0,0,0,0,0
$GC,14339,1.48,291.2,174.0,15.0,327,14345,0.00,2.83,0.00,0.000,6,0.000,0.026,2788,2281,1649,0,0,1,0,0,0
$GC,14648,1.48,291.2,129.8,14.0,338,14652,0.00,2.85,0.00,0.000,4,0.000,0.034,2788,865,1648,0,0,0,0,0,0
$GC,14674,1.48,291.2,125.8,15.3,339,14678,0.00,2.80,0.00,0.000,6,0.000,0.025,2788,2271,1647,0,0,0,0,0,0
$GC,14991,1.48,291.2,82.6,13.3,356,14995,0.00,2.85,0.00,0.000,4,0.000,0.033,2788,873,1648,0,0,0,0,0,0
$GC,15066,1.48,291.2,73.5,12.7,363,15070,0.00,2.78,0.00,0.000,6,0.000,0.024,2788,2273,1648,0,0,0,0,0,0
$GC,15263,1.48,291.2,50.5,12.3,382,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2272,1649,0,0,0,0,0,0
$GC,15449,1.48,291.2,28.1,11.6,400,15453,0.00,2.33,0.00,0.000,4,0.000,0.041,2788,3676,1650,0,0,0,0,0,0
$GC,15480,1.48,291.2,24.0,13.6,403,15484,0.00,2.25,0.00,0.000,6,0.000,0.020,2788,2263,1650,0,0,0,0,0,0
$STATE,15659,end climb,SURFACE_DEPTH_REACHED
$STATE,15659,begin surface coast
$FINISH,0.2,1.023800
$STATE,15686,end surface coast,CONTROL_FINISHED_OK
$STATE,15686,begin surface
$SM_CCo,15705,77.90,0.635,0,0,1006,450.13
$SM_GC,0.90,0.00,0.00,77.90,0.000,0.000,0.635,360,2112,1006,-9.66,-0.23,450.13
$IRIDIUM_FIX,1929.80,-15438.79,130911,070728
$TT8_MAMPS,0.117593
$HUMID,1078047087
$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,245/413
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,11.405
$10V_AH,9.9,10.019
$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,24.200,150.900,404.550,77.900,0.000,25.622,29.649,287.399,0.000,0.000,35.266,0.000,12961.274,654.820,2499.362,266.563,33.339,1653.745,0.000,1441.945,0.000,0.543,0.000
$DEVICE_MAMPS,169.830,74.970,1474.920,634.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,297.563,0.000,0.000,0.000,0.000,0.000,16475.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,73.776,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,16782,438
$CAP_FILE_SIZE,129331,0
$CFSIZE,260034560,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,200310,222730,1937.702,-15617.180,41,1.7,41,9.7