version: 66.07
glider: 23
mission: 14
dive: 23
start: 3 20 110 13 37 14
data:
$ID,23
$MISSION,14
$DIVE,23
$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,-41536.438
$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,44
$R_STBD_OVSHOOT,18
$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
$GPS1,200310,132737,1938.517,-15614.230,35,1.2,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.2
$GPS2,200310,133632,1938.777,-15614.365,11,1.4,11,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.243,-0.139
$KALMAN_X,-32431.4,232.0,505.3,17874.2,-3155.3
$KALMAN_Y,67184.5,-681.6,-942.1,-72684.2,7557.7
$MHEAD_RNG_PITCHd_Wd,230.5,47613,-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,17,-1.37,-194.6,0.0,0.0,0,106,0.00,0.00,-81.75,0.000,2,0.000,0.000,357,2166,2684,0,0,0,0,0,0
$GC,108,-1.37,-194.6,3.0,-4.2,16,149,10.50,2.38,-22.88,0.000,4,0.169,0.052,2153,3558,3637,0,0,0,0,0,0
$GC,388,-1.37,-194.6,66.7,-21.9,50,394,0.00,2.35,0.00,0.000,6,0.000,0.023,2153,2141,3638,0,0,0,0,0,0
$GC,580,-1.37,-194.6,106.9,-20.5,67,583,0.00,2.35,0.00,0.000,4,0.000,0.035,2153,3572,3638,0,0,1,0,0,0
$GC,825,-1.37,-194.6,152.3,-18.7,74,829,0.00,2.42,0.00,0.000,6,0.000,0.023,2153,2113,3639,0,0,0,0,0,0
$GC,1139,-1.37,-194.6,212.4,-18.8,85,1143,0.00,2.47,0.00,0.000,4,0.000,0.037,2153,3593,3640,0,0,0,0,0,0
$GC,1384,-1.37,-194.6,255.8,-16.8,92,1388,0.00,2.42,0.00,0.000,6,0.000,0.024,2153,2129,3639,0,0,0,0,0,0
$GC,1728,-1.37,-194.6,310.5,-15.4,103,1732,0.00,2.45,0.00,0.000,4,0.000,0.042,2153,3503,3639,0,0,1,0,0,0
$GC,1889,-1.37,-194.6,333.7,-14.4,105,1893,0.00,2.40,0.00,0.000,6,0.000,0.026,2153,2111,3638,0,0,0,0,0,0
$GC,2217,-1.37,-194.6,384.1,-15.4,111,2220,0.00,2.53,0.00,0.000,4,0.000,0.044,2153,3600,3637,0,0,1,0,0,0
$GC,2307,-1.37,-194.6,396.5,-13.2,112,2311,0.00,2.45,0.00,0.000,6,0.000,0.026,2153,2126,3636,0,0,0,0,0,0
$GC,2646,-1.37,-194.6,444.1,-14.5,118,2655,0.00,2.53,0.00,0.000,4,0.000,0.046,2153,3600,3633,0,0,0,0,0,0
$GC,2729,-1.37,-194.6,457.2,-16.2,119,2737,0.00,2.45,0.00,0.000,6,0.000,0.027,2153,2117,3633,0,0,0,0,0,0
$GC,3070,-1.37,-194.6,507.8,-14.8,125,3079,0.00,2.83,0.00,0.000,4,0.000,0.042,2153,714,3630,0,0,0,0,0,0
$GC,3088,-1.37,-194.6,510.5,-14.4,125,3097,0.00,2.83,0.00,0.000,6,0.000,0.032,2152,1571,3629,0,0,0,0,0,0
$GC,3429,-1.37,-194.6,558.9,-14.2,131,3438,0.00,2.85,0.00,0.000,4,0.000,0.041,2153,713,3626,0,0,1,0,0,0
$GC,3453,-1.37,-194.6,562.1,-13.4,131,3461,0.00,2.83,0.00,0.000,6,0.000,0.033,2153,1649,3626,0,0,1,0,0,0
$GC,3789,-1.37,-194.6,608.2,-13.8,137,3797,0.00,2.50,0.00,0.000,4,0.000,0.049,2153,3599,3622,0,0,0,0,0,0
$GC,3828,-1.37,-194.6,613.5,-14.0,137,3835,0.00,0.68,0.00,0.000,6,0.000,0.033,2153,3142,3622,0,0,0,0,0,0
$GC,4152,-1.37,-194.6,656.3,-13.1,143,4164,0.00,4.70,0.00,0.000,4,0.000,0.043,2153,710,3620,0,0,0,0,0,0
$GC,4282,-1.37,-194.6,671.8,-11.7,145,4290,0.00,2.85,0.00,0.000,6,0.000,0.037,2153,2142,3619,0,0,1,0,0,0
$GC,4645,-1.37,-194.6,713.2,-11.2,151,4654,0.00,2.53,0.00,0.000,4,0.000,0.053,2153,2738,3616,0,0,0,0,0,0
$GC,4668,-1.37,-194.6,716.0,-11.8,151,4677,0.00,2.47,0.00,0.000,6,0.000,0.031,2153,2127,3616,0,0,0,0,0,0
$GC,5004,-1.37,-194.6,754.6,-11.5,157,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2124,3615,0,0,0,0,0,0
$GC,5306,-1.37,-194.6,789.7,-11.6,162,5314,0.00,2.53,0.00,0.000,4,0.000,0.053,2153,3598,3612,0,0,1,0,0,0
$GC,5372,-1.37,-194.6,797.6,-12.0,163,5380,0.00,2.47,0.00,0.000,6,0.000,0.031,2153,2117,3611,0,0,0,0,0,0
$GC,5729,-1.37,-194.6,837.7,-11.2,169,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2117,3609,0,0,0,0,0,0
$GC,6032,-1.37,-194.6,873.2,-11.8,174,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2115,3608,0,0,0,0,0,0
$GC,6333,-1.37,-194.6,909.2,-12.0,179,6341,0.00,2.58,0.00,0.000,4,0.000,0.054,2153,3597,3607,0,0,0,0,0,0
$GC,6377,-1.37,-194.6,914.6,-12.3,179,6385,0.00,2.35,0.00,0.000,6,0.000,0.031,2153,2162,3607,0,0,0,0,0,0
$GC,6691,-1.37,-194.6,951.7,-11.9,185,6700,0.00,2.97,0.00,0.000,4,0.000,0.052,2153,703,3605,0,0,0,0,0,0
$GC,6715,-1.37,-194.6,954.5,-11.9,185,6723,0.00,2.85,0.00,0.000,6,0.000,0.039,2153,1662,3604,0,0,1,0,0,0
$STATE,7049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7049,begin apogee
$GC,7054,-0.33,0.0,993.8,11.7,191,7221,1.15,0.00,158.75,1.476,6,0.096,0.000,2385,2260,2841,0,0,0,0,0,0
$STATE,7222,end apogee,CONTROL_FINISHED_OK
$STATE,7222,begin climb
$GC,7224,1.37,194.6,999.4,0.0,193,7403,1.73,2.47,167.48,1.422,4,0.054,0.055,2757,3670,2047,0,0,1,0,0,0
$GC,7446,1.37,194.6,988.7,15.2,195,7453,0.00,1.23,0.00,0.000,6,0.000,0.028,2758,2881,2045,0,0,0,0,0,0
$GC,7770,1.37,194.6,944.4,13.5,201,7782,0.00,4.05,0.00,0.000,4,0.000,0.043,2758,851,2042,0,0,0,0,0,0
$GC,7835,1.37,194.6,935.5,13.7,202,7843,0.00,2.92,0.00,0.000,6,0.000,0.037,2758,2265,2041,0,0,0,0,0,0
$GC,8198,1.37,194.6,885.2,13.8,208,8206,0.00,2.40,0.00,0.000,4,0.000,0.055,2758,3676,2040,0,0,0,0,0,0
$GC,8334,1.37,194.6,864.8,15.4,210,8342,0.00,2.33,0.00,0.000,6,0.000,0.028,2758,2253,2040,0,0,0,0,0,0
$GC,8691,1.37,194.6,815.0,13.8,216,8699,0.00,2.42,0.00,0.000,4,0.000,0.054,2758,3676,2039,0,0,0,0,0,0
$GC,8858,1.37,194.6,790.1,14.6,218,8867,0.00,2.30,0.00,0.000,6,0.000,0.028,2758,2267,2038,0,0,0,0,0,0
$GC,9178,1.37,194.6,748.0,13.0,224,9187,0.00,2.42,0.00,0.000,4,0.000,0.054,2758,3681,2038,0,0,0,0,0,0
$GC,9426,1.37,194.6,712.8,13.4,227,9436,0.00,2.30,0.00,0.000,6,0.000,0.028,2758,2267,2038,0,0,0,0,0,0
$GC,9735,1.37,194.6,676.6,11.5,233,9744,0.00,2.38,0.00,0.000,4,0.000,0.054,2758,3678,2037,0,0,1,0,0,0
$GC,9833,1.37,194.6,664.4,11.8,234,9842,0.00,2.28,0.00,0.000,6,0.000,0.028,2758,2265,2037,0,0,0,0,0,0
$GC,10170,1.38,201.4,628.1,10.7,240,10178,0.00,2.42,0.00,0.000,4,0.000,0.055,2758,3681,2037,0,0,0,0,0,0
$GC,10279,1.38,201.4,614.4,13.2,241,10288,0.00,2.30,0.00,0.000,6,0.000,0.028,2758,2257,2036,0,0,0,0,0,0
$GC,10600,1.38,201.4,574.6,12.5,247,10608,0.00,2.42,0.00,0.000,4,0.000,0.054,2758,3689,2037,0,0,0,0,0,0
$GC,10848,1.38,201.4,536.5,17.1,250,10858,0.00,2.30,0.00,0.000,6,0.000,0.028,2758,2265,2037,0,0,0,0,0,0
$GC,11156,1.38,201.4,496.0,12.9,256,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2260,2037,0,0,0,0,0,0
$GC,11459,1.38,201.4,461.0,11.5,261,11467,0.00,2.40,0.00,0.000,4,0.000,0.053,2758,3684,2037,0,0,1,0,0,0
$GC,11573,1.38,201.4,445.9,13.2,262,11581,0.00,2.28,0.00,0.000,6,0.000,0.026,2758,2268,2036,0,0,0,0,0,0
$GC,11882,1.38,201.4,408.3,12.2,267,11890,0.00,2.40,0.00,0.000,4,0.000,0.051,2758,3681,2036,0,0,0,0,0,0
$GC,11915,1.38,201.4,403.8,12.4,267,11924,0.00,2.28,0.00,0.000,6,0.000,0.025,2758,2261,2036,0,0,0,0,0,0
$GC,12240,1.38,201.4,364.2,11.9,273,12244,0.00,2.80,0.00,0.000,4,0.000,0.038,2758,875,2036,0,0,1,0,0,0
$GC,12278,1.41,231.7,360.5,9.9,273,12313,0.00,2.83,29.88,1.031,6,0.000,0.033,2758,2280,1896,0,0,1,0,0,0
$GC,12663,1.45,262.4,321.7,9.8,280,12690,0.00,0.00,26.50,0.988,6,0.000,0.000,2757,2280,1771,0,0,0,0,0,0
$GC,12965,1.45,262.4,283.1,13.4,287,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2280,1767,0,0,0,0,0,0
$GC,13269,1.45,262.4,243.5,12.5,297,13273,0.00,2.88,0.00,0.000,4,0.000,0.037,2758,878,1766,0,0,0,0,0,0
$GC,13348,1.46,272.8,234.1,10.6,299,13363,0.00,2.83,9.38,0.828,6,0.000,0.029,2758,2275,1727,0,0,0,0,0,0
$GC,13696,1.51,321.7,200.7,9.1,311,13745,0.15,3.00,41.65,0.877,4,0.064,0.036,2796,868,1528,0,0,0,0,0,0
$GC,13809,1.51,321.7,185.6,14.1,314,13813,0.00,2.85,0.00,0.000,6,0.000,0.026,2796,2283,1523,0,0,0,0,0,0
$GC,14123,1.51,321.7,140.4,14.8,325,14127,0.00,2.83,0.00,0.000,4,0.000,0.035,2796,895,1520,0,0,0,0,0,0
$GC,14246,1.51,321.7,119.9,16.4,329,14250,0.00,2.78,0.00,0.000,6,0.000,0.024,2796,2281,1520,0,0,0,0,0,0
$GC,14566,1.51,321.7,72.9,14.1,350,14570,0.00,2.83,0.00,0.000,4,0.000,0.034,2796,879,1520,0,0,0,0,0,0
$GC,14661,1.51,321.7,58.3,16.2,358,14667,0.00,2.80,0.00,0.000,6,0.000,0.024,2796,2282,1521,0,0,0,0,0,0
$GC,14852,1.51,321.7,31.5,13.0,377,14856,0.00,2.85,0.00,0.000,4,0.000,0.031,2797,866,1522,0,0,0,0,0,0
$GC,14910,1.51,321.7,24.5,12.6,382,14917,0.00,2.80,0.00,0.000,6,0.000,0.024,2796,2275,1523,0,0,0,0,0,0
$STATE,15085,end climb,SURFACE_DEPTH_REACHED
$STATE,15085,begin surface coast
$FINISH,0.1,1.010278
$STATE,15111,end surface coast,CONTROL_FINISHED_OK
$STATE,15111,begin surface
$SM_CCo,15133,65.03,0.642,0,0,1005,450.13
$SM_GC,0.86,0.00,0.00,65.03,0.000,0.000,0.642,357,2104,1005,-9.67,-0.45,450.13
$IRIDIUM_FIX,1929.80,-15609.92,130911,030302
$TT8_MAMPS,0.10486
$HUMID,1078075474
$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,173/339
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.0,11.217
$10V_AH,9.9,9.623
$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,24.250,154.850,433.625,65.025,0.000,24.420,48.385,279.664,0.000,0.000,13.194,0.000,12290.261,622.520,2605.767,257.544,33.337,1706.029,0.000,1544.135,0.000,0.545,0.000
$DEVICE_MAMPS,169.065,63.495,1475.685,641.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,282.428,0.000,0.000,0.000,0.000,0.000,15873.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,73.943,0.000,0.000,0.000
$MEM,353128
$DATA_FILE_SIZE,13500,416
$CAP_FILE_SIZE,130134,0
$CFSIZE,260034560,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,200310,175230,1938.932,-15617.009,38,1.6,38,9.7