version: 66.07
glider: 23
mission: 14
dive: 19
start: 3 19 110 19 12 23
data:
$ID,23
$MISSION,14
$DIVE,19
$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,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,-41531.383
$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,64
$R_STBD_OVSHOOT,27
$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
$GPS1,190310,190336,1935.251,-15600.985,26,1.2,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.9
$GPS2,190310,191143,1935.447,-15601.068,14,1.2,32,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.298,-0.090
$KALMAN_X,-28608.9,204.4,-99.2,37868.2,-4326.4
$KALMAN_Y,53678.9,-74.7,-132.1,-66787.3,9066.2
$MHEAD_RNG_PITCHd_Wd,243.5,68711,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.37,-233.6,0.0,0.0,0,104,0.00,0.00,-83.22,0.000,2,0.000,0.000,356,2239,2728,0,0,0,0,0,0
$GC,107,-1.37,-233.6,3.4,-4.5,17,148,10.40,2.38,-23.98,0.000,4,0.168,0.050,2142,3690,3797,0,0,0,0,0,0
$GC,291,-1.37,-233.6,47.1,-24.3,42,297,0.00,2.22,0.00,0.000,6,0.000,0.023,2142,2310,3797,0,0,0,0,0,0
$GC,482,-1.37,-233.6,98.6,-24.3,61,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2310,3798,0,0,0,0,0,0
$GC,675,-1.37,-233.6,144.7,-24.3,68,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2310,3799,0,0,0,0,0,0
$GC,978,-1.37,-233.6,209.4,-19.7,78,982,0.00,2.92,0.00,0.000,4,0.000,0.037,2142,852,3800,0,0,0,0,0,0
$GC,1037,-1.37,-233.6,219.7,-17.0,80,1041,0.00,2.85,0.00,0.000,6,0.000,0.026,2142,2278,3799,0,0,0,0,0,0
$GC,1372,-1.37,-233.6,276.8,-16.8,91,1376,0.00,2.90,0.00,0.000,4,0.000,0.037,2142,858,3800,0,0,0,0,0,0
$GC,1393,-1.37,-233.6,280.3,-15.9,91,1397,0.00,2.85,0.00,0.000,6,0.000,0.028,2142,2268,3800,0,0,0,0,0,0
$GC,1706,-1.37,-233.6,330.9,-16.0,99,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2268,3799,0,0,0,0,0,0
$GC,2007,-1.37,-233.6,379.1,-16.1,104,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2268,3797,0,0,0,0,0,0
$GC,2309,-1.37,-233.6,424.2,-14.9,109,2318,0.00,2.90,0.00,0.000,4,0.000,0.040,2142,852,3795,0,0,0,0,0,0
$GC,2348,-1.37,-233.6,429.9,-14.8,109,2357,0.00,2.88,0.00,0.000,6,0.000,0.032,2142,2278,3794,0,0,0,0,0,0
$GC,2668,-1.37,-233.6,476.3,-14.4,115,2678,0.00,2.90,0.00,0.000,4,0.000,0.040,2142,860,3792,0,0,0,0,0,0
$GC,2704,-1.37,-233.6,480.9,-13.3,115,2712,0.00,2.85,0.00,0.000,6,0.000,0.032,2142,2270,3792,0,0,0,0,0,0
$GC,3029,-1.37,-233.6,527.7,-14.6,121,3037,0.00,2.90,0.00,0.000,4,0.000,0.041,2142,858,3788,0,0,1,0,0,0
$GC,3074,-1.37,-233.6,534.1,-13.2,121,3082,0.00,2.83,0.00,0.000,6,0.000,0.033,2142,2275,3788,0,0,1,0,0,0
$GC,3389,-1.37,-233.6,577.9,-14.0,127,3398,0.00,2.60,0.00,0.000,4,0.000,0.040,2142,1003,3785,0,0,0,0,0,0
$GC,3450,-1.37,-233.6,586.1,-12.9,128,3459,0.00,2.60,0.00,0.000,6,0.000,0.034,2142,2273,3785,0,0,0,0,0,0
$GC,3814,-1.37,-233.6,634.6,-13.4,134,3822,0.00,2.55,0.00,0.000,4,0.000,0.041,2142,1052,3781,0,0,0,0,0,0
$GC,3864,-1.37,-233.6,641.4,-12.9,134,3872,0.00,2.55,0.00,0.000,6,0.000,0.036,2142,2281,3780,0,0,0,0,0,0
$GC,4172,-1.37,-233.6,682.9,-13.5,139,4181,0.00,2.58,0.00,0.000,4,0.000,0.043,2142,1051,3778,0,0,0,0,0,0
$GC,4223,-1.37,-233.6,689.3,-12.1,139,4231,0.00,2.53,0.00,0.000,6,0.000,0.037,2142,2270,3778,0,0,1,0,0,0
$GC,4532,-1.37,-233.6,729.8,-13.2,144,4540,0.00,2.58,0.00,0.000,4,0.000,0.044,2142,1049,3775,0,0,0,0,0,0
$GC,4571,-1.37,-233.6,734.9,-12.8,144,4579,0.00,2.55,0.00,0.000,6,0.000,0.038,2142,2279,3775,0,0,1,0,0,0
$GC,4891,-1.37,-233.6,774.0,-12.1,150,4900,0.00,2.58,0.00,0.000,4,0.000,0.044,2142,1052,3772,0,0,0,0,0,0
$GC,4953,-1.37,-233.6,781.0,-11.6,151,4961,0.00,2.50,0.00,0.000,6,0.000,0.039,2142,2270,3772,0,0,1,0,0,0
$GC,5316,-1.37,-233.6,826.8,-13.0,157,5325,0.00,2.92,0.00,0.000,4,0.000,0.046,2142,857,3769,0,0,0,0,0,0
$GC,5372,-1.37,-233.6,834.5,-13.7,157,5381,0.00,2.85,0.00,0.000,6,0.000,0.038,2142,2271,3768,0,0,0,0,0,0
$GC,5681,-1.37,-233.6,874.8,-12.9,163,5689,0.00,2.58,0.00,0.000,4,0.000,0.044,2142,1047,3767,0,0,0,0,0,0
$GC,5731,-1.37,-233.6,881.3,-12.2,163,5739,0.00,2.55,0.00,0.000,6,0.000,0.039,2142,2277,3766,0,0,1,0,0,0
$GC,6039,-1.37,-233.6,919.9,-12.6,168,6048,0.00,2.90,0.00,0.000,4,0.000,0.045,2142,864,3764,0,0,1,0,0,0
$GC,6090,-1.37,-233.6,926.0,-11.9,168,6098,0.00,2.90,0.00,0.000,6,0.000,0.039,2142,2281,3764,0,0,0,0,0,0
$GC,6398,-1.37,-233.6,962.4,-11.8,173,6406,0.00,2.60,0.00,0.000,4,0.000,0.044,2142,1044,3763,0,0,0,0,0,0
$GC,6453,-1.37,-233.6,968.6,-11.3,173,6462,0.00,2.50,0.00,0.000,6,0.000,0.039,2142,2271,3763,0,0,1,0,0,0
$STATE,6638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6638,begin apogee
$GC,6643,-0.33,0.0,990.9,11.9,177,6842,1.15,0.00,190.30,1.465,6,0.096,0.000,2374,2373,2841,0,0,0,0,0,0
$STATE,6843,end apogee,CONTROL_FINISHED_OK
$STATE,6843,begin climb
$GC,6845,1.37,233.6,999.2,0.0,180,7052,1.75,0.00,196.32,1.417,6,0.056,0.000,2748,2373,1888,0,0,0,0,0,0
$GC,7303,1.37,233.6,949.4,14.8,188,7312,0.00,2.80,0.00,0.000,4,0.000,0.042,2748,1051,1883,0,0,0,0,0,0
$GC,7337,1.37,233.6,944.1,15.1,188,7346,0.00,2.72,0.00,0.000,6,0.000,0.036,2748,2368,1883,0,0,2,0,0,0
$GC,7663,1.37,233.6,896.8,14.6,194,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2368,1881,0,0,0,0,0,0
$GC,7964,1.37,233.6,853.8,14.3,199,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2368,1881,0,0,0,0,0,0
$GC,8266,1.37,233.6,811.7,13.9,204,8275,0.00,2.95,0.00,0.000,4,0.000,0.043,2748,959,1879,0,0,0,0,0,0
$GC,8312,1.37,233.6,805.4,13.7,204,8320,0.00,2.92,0.00,0.000,6,0.000,0.037,2748,2381,1879,0,0,1,0,0,0
$GC,8627,1.37,233.6,760.4,14.4,210,8635,0.00,2.95,0.00,0.000,4,0.000,0.043,2749,965,1878,0,0,0,0,0,0
$GC,8655,1.37,233.6,756.2,14.0,210,8664,0.00,2.90,0.00,0.000,6,0.000,0.037,2748,2369,1878,0,0,0,0,0,0
$GC,8987,1.37,233.6,710.7,13.8,216,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2368,1879,0,0,0,0,0,0
$GC,9288,1.37,233.6,670.7,13.2,221,9297,0.00,2.75,0.00,0.000,4,0.000,0.041,2748,1041,1878,0,0,0,0,0,0
$GC,9317,1.37,233.6,666.8,12.7,221,9325,0.00,2.75,0.00,0.000,6,0.000,0.036,2748,2377,1877,0,0,1,0,0,0
$GC,9648,1.37,233.6,621.3,14.0,227,9657,0.00,2.80,0.00,0.000,4,0.000,0.040,2748,1017,1878,0,0,0,0,0,0
$GC,9677,1.37,233.6,617.3,13.7,227,9685,0.00,2.80,0.00,0.000,6,0.000,0.034,2749,2372,1877,0,0,0,0,0,0
$GC,10008,1.37,233.6,574.8,12.4,233,10017,0.00,2.92,0.00,0.000,4,0.000,0.040,2748,960,1877,0,0,0,0,0,0
$GC,10058,1.37,233.6,568.7,11.9,233,10067,0.00,2.88,0.00,0.000,6,0.000,0.034,2748,2368,1877,0,0,1,0,0,0
$GC,10367,1.37,233.6,528.1,13.4,238,10376,0.00,2.90,0.00,0.000,4,0.000,0.039,2748,964,1877,0,0,0,0,0,0
$GC,10386,1.37,233.6,525.4,13.7,238,10394,0.00,2.88,0.00,0.000,6,0.000,0.034,2748,2372,1876,0,0,0,0,0,0
$GC,10727,1.37,233.6,479.4,13.4,244,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2371,1877,0,0,0,0,0,0
$GC,11029,1.37,233.6,441.0,12.6,249,11038,0.00,2.90,0.00,0.000,4,0.000,0.038,2748,963,1876,0,0,0,0,0,0
$GC,11080,1.37,233.6,434.7,13.0,249,11088,0.00,2.88,0.00,0.000,6,0.000,0.034,2748,2377,1876,0,0,1,0,0,0
$GC,11390,1.37,233.6,395.0,13.0,254,11394,0.00,2.35,0.00,0.000,4,0.000,0.054,2748,3779,1877,0,0,0,0,0,0
$GC,11442,1.37,233.6,387.3,14.7,254,11448,0.00,2.28,0.00,0.000,6,0.000,0.025,2748,2350,1876,0,0,0,0,0,0
$GC,11749,1.37,233.6,349.2,12.2,260,11753,0.00,2.83,0.00,0.000,4,0.000,0.038,2748,970,1876,0,0,0,0,0,0
$GC,11802,1.37,233.6,342.5,13.1,260,11806,0.00,2.88,0.00,0.000,6,0.000,0.033,2748,2380,1876,0,0,0,0,0,0
$GC,12115,1.39,246.3,306.1,11.4,266,12129,0.00,2.92,9.75,0.901,4,0.000,0.036,2749,977,1836,0,0,0,0,0,0
$GC,12199,1.43,283.1,296.7,10.5,267,12240,0.00,2.83,31.73,0.969,6,0.000,0.032,2749,2368,1686,0,0,1,0,0,0
$GC,12543,1.43,283.1,257.6,12.0,279,12547,0.00,2.85,0.00,0.000,4,0.000,0.036,2749,973,1681,0,0,0,0,0,0
$GC,12677,1.43,283.1,240.0,13.3,283,12681,0.00,2.83,0.00,0.000,6,0.000,0.030,2749,2372,1680,0,0,1,0,0,0
$GC,12995,1.50,354.1,205.2,9.4,294,13060,0.12,2.97,59.12,0.886,4,0.069,0.035,2781,977,1396,0,0,0,0,0,0
$GC,13184,1.50,354.1,180.0,16.2,300,13188,0.00,2.85,0.00,0.000,6,0.000,0.026,2781,2380,1390,0,0,0,0,0,0
$GC,13519,1.50,354.1,131.1,14.1,311,13523,0.00,2.88,0.00,0.000,4,0.000,0.033,2781,973,1388,0,0,0,0,0,0
$GC,13615,1.50,354.1,117.3,12.8,314,13619,0.00,2.83,0.00,0.000,6,0.000,0.025,2781,2376,1388,0,0,0,0,0,0
$GC,13928,1.50,354.1,75.8,12.0,335,13933,0.00,2.88,0.00,0.000,4,0.000,0.031,2781,979,1387,0,0,0,0,0,0
$GC,14080,1.51,361.1,57.7,11.6,349,14084,0.00,2.80,0.00,0.000,6,0.000,0.024,2781,2371,1388,0,0,0,0,0,0
$GC,14270,1.51,361.1,35.0,12.1,367,14274,0.00,2.83,0.00,0.000,4,0.000,0.030,2781,976,1388,0,0,0,0,0,0
$GC,14345,1.51,361.1,25.7,12.0,374,14349,0.00,2.80,0.00,0.000,6,0.000,0.024,2781,2372,1389,0,0,0,0,0,0
$STATE,14528,end climb,SURFACE_DEPTH_REACHED
$STATE,14528,begin surface coast
$FINISH,0.2,1.011392
$STATE,14549,end surface coast,CONTROL_FINISHED_OK
$STATE,14549,begin surface
$SM_CCo,14568,48.10,0.624,0,0,1005,450.13
$SM_GC,0.80,0.00,0.00,48.10,0.000,0.000,0.624,359,2253,1005,-9.62,-0.51,450.13
$IRIDIUM_FIX,1929.80,-15600.62,120911,111148
$TT8_MAMPS,0.11984
$HUMID,1078056119
$TCM_TEMP,24.10
$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,0/0
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,10.403
$10V_AH,10.0,8.015
$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,24.000,171.375,487.225,48.100,0.000,27.056,27.020,258.912,0.000,0.000,35.036,0.000,12076.916,684.930,2125.972,261.740,33.329,1606.164,0.000,1157.887,0.000,0.544,0.000
$DEVICE_MAMPS,167.535,72.675,1464.975,624.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,275.605,0.000,0.000,0.000,0.000,0.000,15254.641,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,70.824,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,13485,407
$CAP_FILE_SIZE,119871,0
$CFSIZE,260034560,255377408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,190310,231800,1935.925,-15604.095,41,1.5,41,9.7