version: 66.07
glider: 23
mission: 14
dive: 40
start: 3 23 110 18 34 49
data:
$ID,23
$MISSION,14
$DIVE,40
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41603.227
$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,525
$R_STBD_OVSHOOT,1209
$ROLL_AD_RATE,100
$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
$GPS1,230310,182407,1928.062,-15640.984,37,1.3,37,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.0
$GPS2,230310,183408,1927.881,-15640.956,13,1.6,13,9.6
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,INDY_NORTH
$TGT_LATLONG,1943.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.000,0.295
$KALMAN_X,-35063.7,-395.0,107.7,-24821.3,2.3
$KALMAN_Y,56647.0,477.2,-532.1,-83910.9,-2636.7
$MHEAD_RNG_PITCHd_Wd,350.4,28049,-14.1,-10.000
$D_GRID,450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-233.6,0.0,0.0,0,94,0.00,0.00,-74.90,0.000,2,0.000,0.000,362,1388,2753,0,0,0,0,0,0
$GC,97,-1.19,-233.6,3.1,-4.2,15,137,10.68,2.10,-24.23,0.000,4,0.171,0.041,2182,2514,3794,0,0,0,0,0,0
$GC,377,-1.19,-233.6,56.7,-18.6,51,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2514,3797,0,0,0,0,0,0
$GC,573,-1.19,-233.6,90.6,-16.9,70,577,0.00,2.28,0.00,0.000,4,0.000,0.029,2182,1364,3798,0,0,0,0,0,0
$GC,620,-1.19,-233.6,99.0,-17.7,74,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1364,3797,0,0,0,0,0,0
$GC,813,-1.19,-233.6,131.8,-16.8,81,816,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1364,3798,0,0,0,0,0,0
$GC,1058,-1.19,-233.6,173.7,-15.4,88,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1364,3799,0,0,0,0,0,0
$GC,1366,-1.19,-233.6,220.3,-15.7,99,1369,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1364,3799,0,0,0,0,0,0
$GC,1456,-1.19,-233.6,233.4,-13.3,101,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1364,3799,0,0,0,0,0,0
$GC,1760,-1.19,-233.6,275.1,-13.6,111,1763,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1365,3799,0,0,0,0,0,0
$GC,1903,-1.19,-233.6,292.1,-12.5,115,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1365,3799,0,0,0,0,0,0
$GC,2220,-1.19,-233.6,332.3,-12.7,122,2222,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1365,3798,0,0,0,0,0,0
$GC,2402,-1.19,-233.6,356.5,-12.6,124,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1365,3797,0,0,0,0,0,0
$GC,2713,-1.19,-233.6,395.6,-12.5,130,2716,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1365,3794,0,0,0,0,0,0
$GC,2872,-1.19,-233.6,412.2,-10.3,132,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1365,3793,0,0,0,0,0,0
$GC,3205,-1.19,-233.6,442.5,-9.0,138,3208,0.00,0.00,0.00,0.000,4,0.000,0.000,2182,1365,3791,0,0,0,0,0,0
$STATE,3282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3282,begin apogee
$GC,3287,-0.33,0.0,450.4,10.2,139,3473,0.90,0.00,181.60,1.009,6,0.080,0.000,2374,1365,2841,0,0,0,0,0,0
$STATE,3474,end apogee,CONTROL_FINISHED_OK
$STATE,3474,begin climb
$GC,3477,1.19,233.6,458.1,0.0,142,3670,1.52,2.55,183.68,0.983,4,0.050,0.034,2709,2624,1886,0,0,1,0,0,0
$GC,3873,1.21,252.5,432.6,9.5,148,3891,0.00,0.00,15.75,0.911,6,0.000,0.000,2709,2635,1810,0,0,0,0,0,0
$GC,4210,1.22,253.7,398.6,10.0,154,4215,0.00,2.33,0.00,0.000,4,0.000,0.031,2709,1443,1806,0,0,0,0,0,0
$GC,4445,1.22,253.7,375.2,10.1,157,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1443,1805,0,0,0,0,0,0
$GC,4762,1.22,253.7,343.4,10.1,163,4766,0.00,2.33,0.00,0.000,4,0.000,0.036,2709,2619,1803,0,0,0,0,0,0
$GC,5008,1.22,253.7,315.3,11.2,166,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2622,1802,0,0,0,0,0,0
$GC,5316,1.28,314.6,286.7,8.3,174,5370,0.00,0.00,49.92,0.939,4,0.000,0.000,2709,2622,1557,0,0,0,0,0,0
$GC,5392,1.29,317.0,279.7,9.9,176,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2621,1554,0,0,0,0,0,0
$GC,5711,1.29,317.0,245.3,10.9,187,5714,0.00,0.00,0.00,0.000,4,0.000,0.000,2709,2622,1550,0,0,0,0,0,0
$GC,5956,1.35,372.8,219.5,8.4,194,6005,0.15,0.00,47.42,0.880,6,0.061,0.000,2751,2621,1321,0,0,0,0,0,0
$GC,6331,1.35,372.8,173.5,13.3,207,6335,0.00,2.28,0.00,0.000,4,0.000,0.029,2751,1437,1312,0,0,0,0,0,0
$GC,6576,1.35,372.8,139.5,15.6,214,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1437,1310,0,0,0,0,0,0
$GC,6885,1.35,372.8,97.5,11.9,225,6889,0.00,2.30,0.00,0.000,4,0.000,0.028,2751,2628,1310,0,0,0,0,0,0
$GC,7131,1.39,416.9,76.8,8.7,248,7172,0.00,0.00,35.53,0.726,6,0.000,0.000,2751,2627,1140,0,0,0,0,0,0
$GC,7359,1.39,416.9,55.5,10.6,270,7361,0.00,0.00,0.00,0.000,4,0.000,0.000,2751,2627,1135,0,0,0,0,0,0
$GC,7603,1.39,416.9,26.8,11.4,293,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2627,1134,0,0,0,0,0,0
$GC,7800,1.39,416.9,5.8,11.3,323,7805,0.00,2.22,0.00,0.000,4,0.000,0.025,2751,1446,1135,0,0,0,0,0,0
$STATE,7824,end climb,SURFACE_DEPTH_REACHED
$STATE,7824,begin surface coast
$FINISH,0.2,1.020219
$STATE,7850,end surface coast,CONTROL_FINISHED_OK
$STATE,7851,begin surface
$SM_CCo,7937,0.00,0.000,0,0,1132,419.22
$SM_GC,1.01,10.50,0.00,0.00,0.028,0.000,0.000,363,1444,1132,-9.53,-23.35,419.22
$IRIDIUM_FIX,1922.94,-15641.48,160911,080817
$TT8_MAMPS,0.104111
$HUMID,1078062571
$TCM_TEMP,23.90
$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,79/79
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.8,14.404
$10V_AH,10.0,15.879
$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,23.750,18.375,513.900,0.000,0.000,22.542,30.925,351.216,0.000,0.000,15.902,0.000,5893.163,553.087,1924.268,213.619,33.345,1196.321,0.000,1168.916,0.000,0.543,0.000
$DEVICE_MAMPS,170.595,40.545,1009.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,223.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353504
$DATA_FILE_SIZE,10115,333
$CAP_FILE_SIZE,82678,0
$CFSIZE,260034560,253648896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230310,204858,1926.971,-15640.950,9,3.1,28,9.6