version: 66.07
glider: 23
mission: 14
dive: 20
start: 3 19 110 23 31 50
data:
$ID,23
$MISSION,14
$DIVE,20
$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,-41532.641
$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,60
$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
$GPS1,190310,231800,1935.925,-15604.095,41,1.5,41,9.7
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.5
$GPS2,190310,233108,1936.167,-15604.247,16,2.0,16,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.297,-0.091
$KALMAN_X,-29270.3,99.1,430.2,32545.2,-2717.1
$KALMAN_Y,56788.4,-193.1,-776.8,-67765.2,6735.2
$MHEAD_RNG_PITCHd_Wd,243.3,63453,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.37,-233.6,0.0,0.0,0,104,0.00,0.00,-84.95,0.000,2,0.000,0.000,358,2252,2793,0,0,0,0,0,0
$GC,107,-1.37,-233.6,3.5,-5.7,17,147,10.48,2.35,-21.25,0.000,4,0.170,0.048,2143,3691,3796,0,0,0,0,0,0
$GC,386,-1.37,-233.6,70.4,-25.0,50,392,0.00,2.22,0.00,0.000,6,0.000,0.023,2143,2304,3795,0,0,0,0,0,0
$GC,577,-1.37,-233.6,116.6,-23.5,65,581,0.00,2.95,0.00,0.000,4,0.000,0.041,2143,856,3797,0,0,0,0,0,0
$GC,592,-1.37,-233.6,120.4,-24.2,65,596,0.00,2.83,0.00,0.000,6,0.000,0.023,2143,2276,3796,0,0,0,0,0,0
$GC,906,-1.37,-233.6,194.3,-22.7,76,910,0.00,2.28,0.00,0.000,4,0.000,0.035,2143,3669,3798,0,0,0,0,0,0
$GC,943,-1.37,-233.6,202.4,-20.4,77,947,0.00,2.28,0.00,0.000,6,0.000,0.022,2143,2254,3798,0,0,0,0,0,0
$GC,1273,-1.37,-233.6,265.1,-16.7,88,1277,0.00,2.83,0.00,0.000,4,0.000,0.038,2143,862,3798,0,0,0,0,0,0
$GC,1299,-1.37,-233.6,269.6,-17.1,88,1306,0.00,2.80,0.00,0.000,6,0.000,0.027,2143,2265,3798,0,0,0,0,0,0
$GC,1638,-1.37,-233.6,324.0,-16.2,98,1641,0.00,2.85,0.00,0.000,4,0.000,0.037,2143,868,3798,0,0,0,0,0,0
$GC,1653,-1.37,-233.6,326.8,-16.7,98,1658,0.00,2.85,0.00,0.000,6,0.000,0.029,2143,2270,3798,0,0,0,0,0,0
$GC,2003,-1.37,-233.6,383.5,-16.1,104,2007,0.00,2.90,0.00,0.000,4,0.000,0.039,2143,864,3796,0,0,0,0,0,0
$GC,2029,-1.37,-233.6,387.6,-15.8,104,2033,0.00,2.85,0.00,0.000,6,0.000,0.030,2143,2283,3795,0,0,0,0,0,0
$GC,2363,-1.37,-233.6,436.5,-14.5,110,2372,0.00,2.90,0.00,0.000,4,0.000,0.040,2143,867,3792,0,0,0,0,0,0
$GC,2403,-1.37,-233.6,442.5,-15.1,110,2411,0.00,2.83,0.00,0.000,6,0.000,0.031,2143,2275,3792,0,0,0,0,0,0
$GC,2723,-1.37,-233.6,490.8,-15.1,116,2731,0.00,2.88,0.00,0.000,4,0.000,0.040,2143,863,3789,0,0,0,0,0,0
$GC,2784,-1.37,-233.6,499.6,-13.6,117,2792,0.00,2.85,0.00,0.000,6,0.000,0.033,2143,2276,3788,0,0,0,0,0,0
$GC,3147,-1.37,-233.6,551.5,-14.2,123,3156,0.00,2.90,0.00,0.000,4,0.000,0.041,2143,866,3784,0,0,0,0,0,0
$GC,3192,-1.37,-233.6,558.2,-14.4,123,3200,0.00,2.85,0.00,0.000,6,0.000,0.034,2143,2277,3784,0,0,0,0,0,0
$GC,3506,-1.37,-233.6,605.8,-15.2,129,3515,0.00,2.90,0.00,0.000,4,0.000,0.041,2142,869,3781,0,0,0,0,0,0
$GC,3551,-1.37,-233.6,612.7,-15.2,129,3560,0.00,2.85,0.00,0.000,6,0.000,0.035,2143,2274,3780,0,0,0,0,0,0
$GC,3867,-1.37,-233.6,661.5,-15.7,135,3875,0.00,2.90,0.00,0.000,4,0.000,0.044,2142,869,3777,0,0,0,0,0,0
$GC,3922,-1.37,-233.6,670.0,-14.5,135,3932,0.00,2.83,0.00,0.000,6,0.000,0.037,2143,2275,3776,0,0,0,0,0,0
$GC,4231,-1.37,-233.6,713.8,-14.0,141,4239,0.00,2.92,0.00,0.000,4,0.000,0.046,2143,865,3774,0,0,0,0,0,0
$GC,4281,-1.37,-233.6,720.2,-12.8,141,4290,0.00,2.90,0.00,0.000,6,0.000,0.038,2143,2275,3774,0,0,0,0,0,0
$GC,4590,-1.37,-233.6,758.2,-12.3,146,4598,0.00,2.90,0.00,0.000,4,0.000,0.046,2143,866,3771,0,0,0,0,0,0
$GC,4656,-1.37,-233.6,765.9,-11.6,147,4665,0.00,2.88,0.00,0.000,6,0.000,0.039,2143,2274,3770,0,0,0,0,0,0
$GC,5014,-1.37,-233.6,807.4,-11.6,153,5023,0.00,2.88,0.00,0.000,4,0.000,0.045,2143,870,3767,0,0,1,0,0,0
$GC,5070,-1.37,-233.6,813.9,-10.9,153,5079,0.00,2.83,0.00,0.000,6,0.000,0.038,2143,2271,3766,0,0,0,0,0,0
$GC,5378,-1.37,-233.6,849.5,-11.6,159,5387,0.00,2.62,0.00,0.000,4,0.000,0.044,2143,1016,3764,0,0,0,0,0,0
$GC,5428,-1.37,-233.6,855.5,-11.2,159,5437,0.00,2.62,0.00,0.000,6,0.000,0.039,2143,2271,3763,0,0,0,0,0,0
$GC,5737,-1.37,-233.6,894.1,-12.7,164,5746,0.00,2.60,0.00,0.000,4,0.000,0.044,2143,1040,3762,0,0,0,0,0,0
$GC,5782,-1.37,-233.6,899.9,-12.9,164,5790,0.00,2.58,0.00,0.000,6,0.000,0.039,2143,2279,3762,0,0,0,0,0,0
$GC,6097,-1.37,-233.6,939.6,-12.6,170,6106,0.00,2.58,0.00,0.000,4,0.000,0.044,2143,1054,3760,0,0,0,0,0,0
$GC,6163,-1.37,-233.6,947.7,-12.3,171,6171,0.00,2.55,0.00,0.000,6,0.000,0.039,2143,2282,3759,0,0,0,0,0,0
$GC,6521,-1.37,-233.6,989.9,-11.8,177,6530,0.00,2.05,0.00,0.000,3,0.000,0.041,2143,1276,3757,0,0,0,0,0,0
$STATE,6530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6530,begin apogee
$GC,6537,-0.33,0.0,990.7,11.6,177,6734,1.12,0.00,189.43,1.464,6,0.098,0.000,2371,2367,2841,0,0,0,0,0,0
$STATE,6735,end apogee,CONTROL_FINISHED_OK
$STATE,6735,begin climb
$GC,6738,1.37,233.6,999.5,0.0,180,6947,1.75,2.50,195.73,1.415,4,0.058,0.056,2748,3778,1888,0,0,0,0,0,0
$GC,6996,1.37,233.6,978.2,17.5,184,7003,0.00,2.30,0.00,0.000,6,0.000,0.028,2748,2358,1884,0,0,0,0,0,0
$GC,7353,1.37,233.6,922.5,15.6,190,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2354,1881,0,0,0,0,0,0
$GC,7654,1.37,233.6,876.1,15.3,195,7663,0.00,2.92,0.00,0.000,4,0.000,0.045,2748,965,1880,0,0,0,0,0,0
$GC,7684,1.37,233.6,871.6,15.1,195,7692,0.00,2.92,0.00,0.000,6,0.000,0.037,2748,2372,1879,0,0,0,0,0,0
$GC,8014,1.37,233.6,822.8,14.8,201,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2372,1879,0,0,0,0,0,0
$GC,8316,1.37,233.6,778.0,14.9,206,8325,0.00,2.80,0.00,0.000,4,0.000,0.042,2748,1040,1878,0,0,0,0,0,0
$GC,8361,1.37,233.6,771.4,15.1,206,8370,0.00,2.80,0.00,0.000,6,0.000,0.037,2748,2379,1878,0,0,0,0,0,0
$GC,8676,1.37,233.6,727.3,13.9,212,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2378,1877,0,0,0,0,0,0
$GC,8978,1.37,233.6,685.0,14.1,217,8986,0.00,2.83,0.00,0.000,4,0.000,0.041,2748,1030,1876,0,0,0,0,0,0
$GC,9001,1.37,233.6,681.6,14.4,217,9009,0.00,2.78,0.00,0.000,6,0.000,0.035,2748,2367,1877,0,0,0,0,0,0
$GC,9337,1.37,233.6,634.8,13.7,223,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2367,1877,0,0,0,0,0,0
$GC,9639,1.37,233.6,595.5,13.0,228,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2367,1876,0,0,0,0,0,0
$GC,9940,1.38,236.1,559.7,11.7,233,9949,0.00,2.78,0.00,0.000,4,0.000,0.039,2749,1032,1876,0,0,0,0,0,0
$GC,9969,1.42,276.7,556.6,10.4,233,10014,0.00,2.78,35.50,1.174,6,0.000,0.034,2748,2371,1712,0,0,0,0,0,0
$GC,10363,1.42,276.7,508.3,12.8,240,10372,0.00,2.80,0.00,0.000,4,0.000,0.040,2748,1038,1707,0,0,0,0,0,0
$GC,10467,1.42,276.7,493.5,14.6,241,10475,0.00,2.78,0.00,0.000,6,0.000,0.033,2748,2373,1706,0,0,0,0,0,0
$GC,10787,1.42,276.7,449.0,13.8,247,10795,0.00,2.47,0.00,0.000,4,0.000,0.037,2748,1193,1706,0,0,0,0,0,0
$GC,10859,1.42,276.7,439.5,12.4,248,10867,0.00,2.45,0.00,0.000,6,0.000,0.033,2748,2370,1706,0,0,0,0,0,0
$GC,11213,1.42,276.7,394.5,12.7,254,11217,0.00,2.78,0.00,0.000,4,0.000,0.038,2748,1052,1705,0,0,0,0,0,0
$GC,11297,1.42,276.7,382.4,14.4,255,11301,0.00,2.72,0.00,0.000,6,0.000,0.032,2748,2370,1705,0,0,0,0,0,0
$GC,11636,1.42,276.7,336.9,13.4,261,11640,0.00,2.75,0.00,0.000,4,0.000,0.037,2748,1050,1705,0,0,0,0,0,0
$GC,11689,1.42,276.7,329.7,13.0,261,11693,0.00,2.75,0.00,0.000,6,0.000,0.031,2748,2369,1705,0,0,0,0,0,0
$GC,12002,1.42,276.7,291.8,12.0,268,12006,0.00,2.72,0.00,0.000,4,0.000,0.037,2748,1053,1705,0,0,0,0,0,0
$GC,12098,1.44,291.7,280.8,11.3,271,12117,0.00,2.72,12.85,0.907,6,0.000,0.031,2748,2375,1651,0,0,0,0,0,0
$GC,12427,1.45,304.8,243.8,11.3,282,12445,0.00,2.83,12.27,0.861,4,0.000,0.034,2748,1025,1597,0,0,0,0,0,0
$GC,12528,1.48,336.7,231.8,10.7,285,12561,0.12,2.78,28.48,0.893,6,0.067,0.029,2781,2372,1468,0,0,0,0,0,0
$GC,12888,1.48,336.7,179.2,13.9,297,12892,0.00,2.90,0.00,0.000,4,0.000,0.035,2781,970,1460,0,0,0,0,0,0
$GC,13037,1.48,336.7,157.9,13.5,301,13043,0.00,2.80,0.00,0.000,6,0.000,0.027,2781,2369,1460,0,0,0,0,0,0
$GC,13345,1.48,336.7,115.5,13.8,312,13349,0.00,2.90,0.00,0.000,4,0.000,0.034,2781,951,1460,0,0,0,0,0,0
$GC,13516,1.48,336.7,88.5,14.2,320,13520,0.00,2.88,0.00,0.000,6,0.000,0.026,2781,2376,1461,0,0,0,0,0,0
$GC,13713,1.49,341.5,63.6,11.6,339,13717,0.00,2.85,0.00,0.000,4,0.000,0.031,2781,964,1460,0,0,0,0,0,0
$GC,13808,1.50,347.7,52.0,11.6,348,13823,0.00,2.85,9.48,0.639,6,0.000,0.025,2781,2369,1423,0,0,0,0,0,0
$GC,14017,1.50,347.7,25.5,12.2,368,14021,0.00,2.85,0.00,0.000,4,0.000,0.031,2781,966,1422,0,0,0,0,0,0
$GC,14090,1.50,351.4,16.1,11.7,377,14096,0.00,2.83,0.00,0.000,6,0.000,0.024,2781,2371,1422,0,0,0,0,0,0
$GC,14160,1.54,390.4,9.1,10.5,390,14200,0.00,0.00,35.22,0.644,6,0.000,0.000,2781,2371,1248,0,0,0,0,0,0
$STATE,14214,end climb,SURFACE_DEPTH_REACHED
$STATE,14214,begin surface coast
$FINISH,0.3,1.023474
$STATE,14237,end surface coast,CONTROL_FINISHED_OK
$STATE,14237,begin surface
$SM_CCo,14257,31.02,0.620,0,0,1005,450.13
$SM_GC,1.09,0.00,0.00,31.02,0.000,0.000,0.620,356,2237,1005,-9.63,-0.93,450.13
$IRIDIUM_FIX,1927.51,-15602.72,120911,171744
$TT8_MAMPS,0.103362
$HUMID,1078074184
$TCM_TEMP,23.80
$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,70/69
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,10.627
$10V_AH,9.9,8.383
$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,24.175,180.800,518.950,31.025,0.000,48.936,63.956,410.549,0.000,0.000,18.203,0.000,11707.679,657.284,2450.323,302.029,33.370,1649.647,0.000,1278.200,0.000,0.544,0.000
$DEVICE_MAMPS,169.830,55.845,1464.210,619.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,273.114,0.000,0.000,0.000,0.000,0.000,15241.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,73.544,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,13478,405
$CAP_FILE_SIZE,130161,0
$CFSIZE,260034560,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200310,033137,1936.910,-15607.333,25,1.2,25,9.7