version: 66.07
glider: 23
mission: 14
dive: 35
start: 3 22 110 19 56 19
data:
$ID,23
$MISSION,14
$DIVE,35
$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,-41596.898
$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,2470
$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,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,51
$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
$GPS1,220310,194800,1927.248,-15637.682,41,1.4,41,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.4
$GPS2,220310,195538,1927.093,-15637.695,13,2.0,13,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.166,0.225
$KALMAN_X,-37532.6,-166.0,192.8,-16989.8,-2.6
$KALMAN_Y,79901.1,-822.0,-294.3,-107546.8,-44.7
$MHEAD_RNG_PITCHd_Wd,313.9,6722,-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,-194.6,0.0,0.0,0,104,0.00,0.00,-79.15,0.000,2,0.000,0.000,361,2198,2843,0,0,0,0,0,0
$GC,106,-1.37,-194.6,3.4,-5.3,15,142,10.70,2.95,-16.95,0.000,4,0.176,0.046,2162,763,3637,0,0,0,0,0,0
$GC,221,-1.37,-194.6,28.9,-19.7,33,225,0.00,2.72,0.00,0.000,6,0.000,0.024,2162,2155,3638,0,0,0,0,0,0
$GC,418,-1.37,-194.6,68.1,-18.6,52,422,0.00,2.40,0.00,0.000,4,0.000,0.038,2162,3575,3639,0,0,0,0,0,0
$GC,615,-1.37,-194.6,105.0,-19.1,70,619,0.00,2.30,0.00,0.000,6,0.000,0.022,2162,2177,3640,0,0,0,0,0,0
$GC,946,-1.37,-194.6,165.0,-17.0,81,949,0.00,2.33,0.00,0.000,4,0.000,0.038,2162,3566,3642,0,0,0,0,0,0
$GC,1068,-1.37,-194.6,184.2,-14.8,84,1074,0.00,2.33,0.00,0.000,6,0.000,0.024,2163,2164,3642,0,0,0,0,0,0
$GC,1377,-1.37,-194.6,235.3,-17.7,95,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2165,3643,0,0,0,0,0,0
$GC,1680,-1.37,-194.6,282.1,-14.7,105,1684,0.00,2.47,0.00,0.000,4,0.000,0.044,2162,3600,3643,0,0,0,0,0,0
$GC,1813,-1.37,-194.6,301.3,-14.6,109,1817,0.00,2.40,0.00,0.000,6,0.000,0.025,2162,2157,3642,0,0,0,0,0,0
$GC,2174,-1.37,-194.6,355.9,-15.4,115,2177,0.00,2.42,0.00,0.000,4,0.000,0.044,2162,3597,3640,0,0,1,0,0,0
$GC,2232,-1.37,-194.6,364.5,-14.6,115,2238,0.00,2.08,0.00,0.000,6,0.000,0.025,2162,2324,3640,0,0,0,0,0,0
$GC,2539,-1.37,-194.6,406.2,-13.5,121,2543,0.00,3.15,0.00,0.000,4,0.000,0.040,2162,745,3639,0,0,0,0,0,0
$GC,2560,-1.37,-194.6,408.8,-12.5,121,2564,0.00,2.97,0.00,0.000,6,0.000,0.031,2162,2243,3638,0,0,0,0,0,0
$GC,2894,-1.37,-194.6,448.9,-12.2,127,2898,0.00,3.03,0.00,0.000,4,0.000,0.040,2162,747,3635,0,0,0,0,0,0
$GC,2957,-1.37,-194.6,457.0,-12.8,128,2961,0.00,2.78,0.00,0.000,6,0.000,0.031,2162,2166,3635,0,0,2,0,0,0
$GC,3318,-1.37,-194.6,504.8,-13.5,134,3322,0.00,2.45,0.00,0.000,4,0.000,0.049,2162,3607,3632,0,0,0,0,0,0
$GC,3376,-1.37,-194.6,512.8,-13.0,134,3384,0.00,2.12,0.00,0.000,6,0.000,0.027,2162,2306,3632,0,0,0,0,0,0
$GC,3683,-1.37,-194.6,555.1,-13.9,140,3692,0.00,3.12,0.00,0.000,4,0.000,0.041,2161,746,3629,0,0,0,0,0,0
$GC,3766,-1.37,-194.6,565.3,-12.2,141,3774,0.00,2.83,0.00,0.000,6,0.000,0.034,2162,2164,3628,0,0,1,0,0,0
$GC,4107,-1.37,-194.6,606.1,-12.0,147,4115,0.00,2.42,0.00,0.000,4,0.000,0.050,2162,3596,3626,0,0,1,0,0,0
$GC,4173,-1.37,-194.6,614.2,-12.2,148,4181,0.00,2.35,0.00,0.000,6,0.000,0.028,2162,2166,3625,0,0,0,0,0,0
$GC,4530,-1.37,-194.6,655.8,-11.7,154,4539,0.00,2.90,0.00,0.000,4,0.000,0.046,2162,742,3623,0,0,0,0,0,0
$GC,4553,-1.37,-194.6,658.6,-12.5,154,4562,0.00,2.90,0.00,0.000,6,0.000,0.036,2162,2173,3623,0,0,0,0,0,0
$GC,4890,-1.37,-194.6,694.6,-10.5,160,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2173,3620,0,0,0,0,0,0
$GC,5191,-1.37,-194.6,724.5,-9.9,165,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2173,3619,0,0,0,0,0,0
$GC,5494,-1.37,-194.6,754.2,-9.9,170,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2173,3619,0,0,0,0,0,0
$GC,5795,-1.37,-194.6,784.2,-9.9,175,5803,0.00,2.95,0.00,0.000,4,0.000,0.047,2162,740,3616,0,0,0,0,0,0
$GC,5824,-1.37,-194.6,787.1,-10.1,175,5832,0.00,2.90,0.00,0.000,6,0.000,0.038,2162,2174,3616,0,0,1,0,0,0
$GC,6155,-1.37,-194.6,822.5,-10.9,181,6163,0.00,2.92,0.00,0.000,4,0.000,0.047,2162,741,3614,0,0,0,0,0,0
$GC,6205,-1.37,-194.6,828.5,-11.2,181,6214,0.00,3.12,0.00,0.000,6,0.000,0.039,2161,2287,3614,0,0,0,0,0,0
$GC,6514,-1.37,-194.6,866.6,-12.5,186,6523,0.00,3.12,0.00,0.000,4,0.000,0.046,2162,746,3613,0,0,0,0,0,0
$GC,6559,-1.37,-194.6,872.4,-12.4,186,6568,0.00,2.88,0.00,0.000,6,0.000,0.038,2162,2164,3612,0,0,0,0,0,0
$GC,6874,-1.37,-194.6,910.8,-12.2,192,6882,0.00,2.45,0.00,0.000,4,0.000,0.055,2162,3601,3612,0,0,1,0,0,0
$GC,6919,-1.37,-194.6,916.4,-12.1,192,6927,0.00,2.40,0.00,0.000,6,0.000,0.031,2162,2165,3611,0,0,0,0,0,0
$GC,7234,-1.37,-194.6,952.7,-11.4,198,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2164,3609,0,0,0,0,0,0
$GC,7535,-1.37,-194.6,984.8,-10.7,203,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2165,3609,0,0,0,0,0,0
$STATE,7593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7593,begin apogee
$GC,7598,-0.33,0.0,991.1,10.6,204,7764,1.15,0.00,159.15,1.481,6,0.097,0.000,2393,2359,2841,0,0,0,0,0,0
$STATE,7765,end apogee,CONTROL_FINISHED_OK
$STATE,7765,begin climb
$GC,7767,1.37,194.6,996.3,0.0,206,7943,1.75,2.30,163.02,1.437,4,0.052,0.054,2769,3641,2047,0,0,0,0,0,0
$GC,8027,1.37,194.6,976.3,16.6,211,8036,0.00,2.40,0.00,0.000,6,0.000,0.028,2770,1858,2044,0,0,0,0,0,0
$GC,8385,1.37,194.6,921.1,15.7,217,8393,0.00,2.47,0.00,0.000,4,0.000,0.051,2769,3649,2041,0,0,0,0,0,0
$GC,8633,1.37,194.6,881.6,15.1,220,8641,0.00,2.20,0.00,0.000,6,0.000,0.028,2770,2301,2041,0,0,0,0,0,0
$GC,8942,1.37,194.6,842.5,12.4,225,8950,0.00,2.33,0.00,0.000,4,0.000,0.053,2769,3645,2040,0,0,0,0,0,0
$GC,9189,1.37,194.6,807.4,15.4,228,9199,0.00,2.17,0.00,0.000,6,0.000,0.028,2769,2315,2039,0,0,0,0,0,0
$GC,9498,1.37,194.6,767.3,12.8,234,9506,0.00,2.28,0.00,0.000,4,0.000,0.053,2769,3629,2039,0,0,0,0,0,0
$GC,9746,1.37,194.6,733.5,14.3,237,9755,0.00,2.17,0.00,0.000,6,0.000,0.028,2769,2309,2038,0,0,0,0,0,0
$GC,10054,1.37,194.6,694.9,12.5,243,10062,0.00,2.28,0.00,0.000,4,0.000,0.053,2770,3634,2038,0,0,0,0,0,0
$GC,10302,1.37,194.6,657.1,15.0,246,10310,0.00,1.15,0.00,0.000,6,0.000,0.030,2769,2893,2038,0,0,0,0,0,0
$GC,10616,1.37,194.6,613.0,14.0,252,10624,0.00,1.27,0.00,0.000,4,0.000,0.057,2770,3656,2037,0,0,0,0,0,0
$GC,10794,1.37,194.6,586.9,15.5,254,10803,0.00,2.20,0.00,0.000,6,0.000,0.028,2770,2309,2037,0,0,0,0,0,0
$GC,11109,1.37,194.6,541.5,14.3,260,11117,0.00,2.28,0.00,0.000,4,0.000,0.053,2770,3631,2037,0,0,0,0,0,0
$GC,11159,1.37,194.6,534.2,15.2,260,11167,0.00,2.35,0.00,0.000,6,0.000,0.027,2770,2195,2037,0,0,0,0,0,0
$GC,11469,1.37,194.6,497.9,11.4,265,11473,0.00,2.47,0.00,0.000,4,0.000,0.051,2769,3632,2037,0,0,0,0,0,0
$GC,11597,1.37,194.6,482.7,12.0,267,11600,0.00,2.17,0.00,0.000,6,0.000,0.026,2770,2309,2037,0,0,0,0,0,0
$GC,11957,1.39,209.2,444.7,10.5,273,11973,0.00,2.30,11.73,1.032,4,0.000,0.049,2769,3634,1988,0,0,1,0,0,0
$GC,12070,1.39,209.2,430.4,14.5,274,12073,0.00,2.17,0.00,0.000,6,0.000,0.026,2769,2301,1987,0,0,0,0,0,0
$GC,12376,1.39,209.2,393.2,11.9,279,12380,0.00,2.30,0.00,0.000,4,0.000,0.050,2769,3643,1987,0,0,0,0,0,0
$GC,12413,1.39,209.2,388.9,11.7,279,12417,0.00,2.17,0.00,0.000,6,0.000,0.025,2769,2286,1987,0,0,0,0,0,0
$GC,12736,1.39,209.2,351.7,11.6,285,12740,0.00,2.30,0.00,0.000,4,0.000,0.050,2770,3632,1987,0,0,0,0,0,0
$GC,12800,1.39,209.2,343.2,13.6,286,12804,0.00,2.30,0.00,0.000,6,0.000,0.025,2770,2214,1987,0,0,0,0,0,0
$GC,13166,1.43,251.6,305.4,9.4,292,13207,0.00,2.47,36.17,0.991,4,0.000,0.046,2769,3633,1814,0,0,0,0,0,0
$GC,13355,1.43,251.6,279.2,14.5,297,13359,0.00,2.33,0.00,0.000,6,0.000,0.024,2769,2189,1809,0,0,0,0,0,0
$GC,13685,1.43,251.6,236.8,11.7,308,13689,0.00,2.42,0.00,0.000,4,0.000,0.047,2770,3629,1809,0,0,0,0,0,0
$GC,13797,1.43,251.6,223.3,11.8,311,13801,0.00,2.25,0.00,0.000,6,0.000,0.024,2770,2242,1810,0,0,0,0,0,0
$GC,14117,1.43,251.6,182.6,13.2,322,14121,0.00,2.85,0.00,0.000,4,0.000,0.036,2770,829,1810,0,0,0,0,0,0
$GC,14169,1.43,251.6,175.6,13.7,323,14175,0.00,2.90,0.00,0.000,6,0.000,0.028,2770,2279,1810,0,0,0,0,0,0
$GC,14478,1.47,283.9,141.5,9.8,334,14509,0.00,0.00,27.05,0.817,6,0.000,0.000,2769,2279,1682,0,0,0,0,0,0
$GC,14812,1.47,283.9,100.6,11.9,345,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2279,1679,0,0,0,0,0,0
$GC,15123,1.47,283.9,64.4,11.1,373,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2279,1680,0,0,0,0,0,0
$GC,15308,1.51,321.5,45.6,9.6,391,15341,0.12,0.00,31.33,0.701,6,0.064,0.000,2806,2280,1530,0,0,0,0,0,0
$GC,15525,1.51,321.5,14.9,14.1,415,15531,0.00,2.92,0.00,0.000,4,0.000,0.032,2806,819,1525,0,0,0,0,0,0
$GC,15562,1.51,321.5,9.8,13.6,422,15568,0.00,2.80,0.00,0.000,6,0.000,0.022,2806,2251,1526,0,0,0,0,0,0
$STATE,15613,end climb,SURFACE_DEPTH_REACHED
$STATE,15613,begin surface coast
$FINISH,0.2,1.023765
$STATE,15629,end surface coast,CONTROL_FINISHED_OK
$STATE,15629,begin surface
$SM_CCo,15650,41.75,0.646,0,0,1209,400.08
$SM_GC,0.84,0.00,0.00,41.75,0.000,0.000,0.646,359,2151,1209,-9.71,-0.25,400.08
$IRIDIUM_FIX,1920.65,-15634.28,150911,090902
$TT8_MAMPS,0.15729
$HUMID,1078071603
$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,1810/1942
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,30.1/30829585/21552134
$PA_HOME,11.4/482055/427279
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287791
$PA_DATA1,78.5/7837685/1686233
$PA_DATA0,32.3/7836665/5307491
$24V_AH,23.5,13.488
$10V_AH,9.9,14.708
$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,24.500,149.675,428.450,41.750,0.000,29.064,25.335,234.971,0.000,0.000,15.235,0.000,12843.342,596.281,2433.112,263.400,33.352,1633.389,0.000,1527.028,0.000,0.543,0.000
$DEVICE_MAMPS,175.950,57.375,1481.040,645.660,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,295.323,0.000,0.000,0.000,0.000,0.000,16244.471,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,93.819,0.000,0.000,0.000
$MEM,352952
$DATA_FILE_SIZE,16771,435
$CAP_FILE_SIZE,130609,0
$CFSIZE,260034560,254054400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230310,001854,1927.942,-15639.421,40,1.8,40,9.6