version: 66.07
glider: 23
mission: 14
dive: 26
start: 3 21 110 3 7 31
data:
$ID,23
$MISSION,14
$DIVE,26
$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,-41540.227
$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,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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,210310,025925,1936.761,-15619.033,40,1.3,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.4
$GPS2,210310,030650,1936.919,-15619.146,13,1.3,13,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,-0.127
$KALMAN_X,-35450.8,-68.9,213.7,13159.0,-1936.3
$KALMAN_Y,74250.8,-392.2,-343.3,-84096.1,4728.4
$MHEAD_RNG_PITCHd_Wd,233.3,38597,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-194.6,0.0,0.0,0,109,0.00,0.00,-88.95,0.000,2,0.000,0.000,356,2100,2844,0,0,0,0,0,0
$GC,112,-1.37,-194.6,3.5,-6.3,18,147,10.62,2.58,-16.88,0.000,4,0.173,0.050,2154,3588,3638,0,0,0,0,0,0
$GC,387,-1.37,-194.6,70.2,-22.3,51,391,0.00,2.38,0.00,0.000,6,0.000,0.022,2154,2153,3639,0,0,0,0,0,0
$GC,582,-1.37,-194.6,113.8,-21.8,66,586,0.00,2.35,0.00,0.000,4,0.000,0.034,2154,3518,3640,0,0,0,0,0,0
$GC,662,-1.37,-194.6,130.1,-18.0,68,666,0.00,2.38,0.00,0.000,6,0.000,0.023,2154,2112,3640,0,0,0,0,0,0
$GC,981,-1.37,-194.6,189.1,-18.0,79,985,0.00,2.53,0.00,0.000,4,0.000,0.038,2154,3601,3641,0,0,0,0,0,0
$GC,1072,-1.37,-194.6,204.6,-16.5,81,1078,0.00,2.47,0.00,0.000,6,0.000,0.024,2154,2120,3640,0,0,0,0,0,0
$GC,1380,-1.37,-194.6,254.4,-16.1,92,1384,0.00,2.55,0.00,0.000,4,0.000,0.041,2154,3614,3641,0,0,0,0,0,0
$GC,1599,-1.37,-194.6,287.8,-15.4,98,1605,0.00,2.50,0.00,0.000,6,0.000,0.025,2154,2113,3641,0,0,0,0,0,0
$GC,1937,-1.37,-194.6,338.5,-14.9,106,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2114,3639,0,0,0,0,0,0
$GC,2238,-1.37,-194.6,383.1,-14.5,111,2242,0.00,2.58,0.00,0.000,4,0.000,0.045,2154,3613,3638,0,0,0,0,0,0
$GC,2297,-1.37,-194.6,390.4,-12.5,111,2303,0.00,2.50,0.00,0.000,6,0.000,0.027,2154,2119,3638,0,0,0,0,0,0
$GC,2604,-1.37,-194.6,429.5,-12.8,117,2612,0.00,2.55,0.00,0.000,4,0.000,0.047,2154,3603,3635,0,0,1,0,0,0
$GC,2633,-1.37,-194.6,433.6,-15.1,117,2641,0.00,2.47,0.00,0.000,6,0.000,0.028,2154,2114,3635,0,0,0,0,0,0
$GC,2964,-1.37,-194.6,481.8,-14.4,123,2973,0.00,2.58,0.00,0.000,4,0.000,0.048,2154,3575,3632,0,0,1,0,0,0
$GC,3004,-1.37,-194.6,487.4,-13.8,123,3012,0.00,2.50,0.00,0.000,6,0.000,0.028,2155,2111,3631,0,0,0,0,0,0
$GC,3324,-1.37,-194.6,528.3,-12.6,129,3332,0.00,2.60,0.00,0.000,4,0.000,0.050,2154,3612,3628,0,0,0,0,0,0
$GC,3363,-1.37,-194.6,533.1,-12.4,129,3371,0.00,2.47,0.00,0.000,6,0.000,0.028,2154,2120,3627,0,0,0,0,0,0
$GC,3683,-1.37,-194.6,570.7,-11.9,135,3691,0.00,2.55,0.00,0.000,4,0.000,0.050,2154,3612,3625,0,0,2,0,0,0
$GC,3792,-1.37,-194.6,586.0,-14.0,136,3800,0.00,2.47,0.00,0.000,6,0.000,0.028,2154,2122,3624,0,0,0,0,0,0
$GC,4107,-1.37,-194.6,626.6,-12.7,142,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2122,3622,0,0,0,0,0,0
$GC,4408,-1.37,-194.6,660.4,-11.0,147,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2123,3619,0,0,0,0,0,0
$GC,4710,-1.37,-194.6,693.6,-11.0,152,4718,0.00,2.45,0.00,0.000,4,0.000,0.053,2154,2398,3617,0,0,1,0,0,0
$GC,4765,-1.37,-194.6,699.6,-10.7,152,4774,0.00,2.38,0.00,0.000,6,0.000,0.030,2154,2122,3617,0,0,0,0,0,0
$GC,5074,-1.37,-194.6,731.3,-10.4,158,5082,0.00,2.58,0.00,0.000,4,0.000,0.054,2154,3602,3616,0,0,1,0,0,0
$GC,5103,-1.37,-194.6,734.8,-11.7,158,5111,0.00,2.38,0.00,0.000,6,0.000,0.030,2154,2167,3615,0,0,0,0,0,0
$GC,5433,-1.37,-194.6,772.0,-11.4,164,5442,0.00,2.97,0.00,0.000,4,0.000,0.050,2154,707,3614,0,0,0,0,0,0
$GC,5458,-1.37,-194.6,775.0,-12.1,164,5466,0.00,2.83,0.00,0.000,6,0.000,0.038,2154,2110,3614,0,0,0,0,0,0
$GC,5793,-1.37,-194.6,817.1,-12.6,170,5802,0.00,2.53,0.00,0.000,4,0.000,0.055,2154,3573,3612,0,0,0,0,0,0
$GC,5838,-1.37,-194.6,822.8,-13.1,170,5848,0.00,2.47,0.00,0.000,6,0.000,0.031,2154,2104,3611,0,0,0,0,0,0
$GC,6154,-1.37,-194.6,862.7,-12.6,176,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2101,3610,0,0,0,0,0,0
$GC,6456,-1.37,-194.6,901.1,-12.8,181,6465,0.00,2.60,0.00,0.000,4,0.000,0.054,2154,3602,3608,0,0,1,0,0,0
$GC,6523,-1.37,-194.6,910.1,-13.5,182,6531,0.00,2.50,0.00,0.000,6,0.000,0.031,2154,2110,3608,0,0,0,0,0,0
$GC,6880,-1.37,-194.6,953.1,-11.8,188,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2110,3606,0,0,0,0,0,0
$GC,7182,-1.37,-194.6,986.6,-11.0,193,7190,0.00,2.58,0.00,0.000,4,0.000,0.054,2154,3593,3605,0,0,0,0,0,0
$STATE,7214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7214,begin apogee
$GC,7221,-0.33,0.0,990.3,11.9,193,7387,1.12,0.00,158.32,1.473,6,0.098,0.000,2382,2259,2841,0,0,0,0,0,0
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7388,begin climb
$GC,7390,1.37,194.6,996.2,0.0,196,7567,1.77,2.55,164.18,1.428,4,0.054,0.054,2762,3686,2047,0,0,0,0,0,0
$GC,7603,1.37,194.6,981.2,16.1,199,7612,0.00,2.35,0.00,0.000,6,0.000,0.027,2762,2254,2046,0,0,0,0,0,0
$GC,7912,1.37,194.6,936.3,14.4,205,7920,0.00,2.45,0.00,0.000,4,0.000,0.054,2762,3686,2043,0,0,1,0,0,0
$GC,8159,1.37,194.6,897.3,15.7,208,8169,0.00,2.33,0.00,0.000,6,0.000,0.028,2762,2270,2042,0,0,0,0,0,0
$GC,8468,1.37,194.6,852.6,14.5,214,8477,0.00,2.42,0.00,0.000,4,0.000,0.054,2762,3686,2041,0,0,0,0,0,0
$GC,8717,1.37,194.6,812.9,16.2,217,8726,0.00,2.33,0.00,0.000,6,0.000,0.028,2762,2265,2040,0,0,0,0,0,0
$GC,9025,1.37,194.6,766.6,15.0,223,9034,0.00,2.42,0.00,0.000,4,0.000,0.055,2762,3683,2041,0,0,1,0,0,0
$GC,9273,1.37,194.6,728.7,14.6,226,9281,0.00,2.33,0.00,0.000,6,0.000,0.028,2762,2262,2040,0,0,0,0,0,0
$GC,9582,1.37,194.6,688.8,12.9,231,9590,0.00,2.42,0.00,0.000,4,0.000,0.054,2762,3682,2039,0,0,0,0,0,0
$GC,9685,1.37,194.6,674.3,14.8,232,9693,0.00,2.30,0.00,0.000,6,0.000,0.028,2762,2270,2039,0,0,0,0,0,0
$GC,10004,1.37,194.6,635.3,12.0,238,10013,0.00,2.40,0.00,0.000,4,0.000,0.054,2762,3686,2039,0,0,1,0,0,0
$GC,10199,1.37,194.6,610.5,12.8,241,10207,0.00,2.30,0.00,0.000,6,0.000,0.028,2762,2266,2039,0,0,0,0,0,0
$GC,10562,1.37,194.6,569.0,11.3,247,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2262,2039,0,0,0,0,0,0
$GC,10863,1.39,215.1,537.6,10.2,252,10891,0.00,2.53,16.85,1.128,4,0.000,0.054,2762,3680,1964,0,0,1,0,0,0
$GC,11077,1.39,215.1,510.6,14.1,255,11085,0.00,2.30,0.00,0.000,6,0.000,0.027,2762,2265,1962,0,0,0,0,0,0
$GC,11418,1.39,215.1,466.5,13.1,261,11427,0.00,2.40,0.00,0.000,4,0.000,0.052,2762,3678,1962,0,0,0,0,0,0
$GC,11549,1.39,215.1,447.8,14.6,263,11558,0.00,2.30,0.00,0.000,6,0.000,0.026,2762,2258,1961,0,0,0,0,0,0
$GC,11907,1.39,215.1,405.3,11.5,269,11915,0.00,2.42,0.00,0.000,4,0.000,0.052,2762,3689,1961,0,0,0,0,0,0
$GC,11989,1.39,215.1,395.0,13.9,270,11993,0.00,2.33,0.00,0.000,6,0.000,0.026,2762,2268,1961,0,0,0,0,0,0
$GC,12333,1.39,215.1,355.3,11.2,276,12337,0.00,2.38,0.00,0.000,4,0.000,0.050,2762,3678,1961,0,0,0,0,0,0
$GC,12397,1.39,215.1,347.9,11.8,277,12401,0.00,2.30,0.00,0.000,6,0.000,0.025,2762,2269,1961,0,0,0,0,0,0
$GC,12763,1.51,321.5,319.5,7.0,283,12859,0.12,2.95,88.70,1.008,4,0.076,0.042,2792,867,1528,0,0,0,0,0,0
$GC,12986,1.51,321.5,285.6,18.7,287,12991,0.00,2.88,0.00,0.000,6,0.000,0.030,2792,2281,1520,0,0,0,0,0,0
$GC,13317,1.51,321.5,227.3,17.1,298,13320,0.00,2.45,0.00,0.000,4,0.000,0.036,2795,1102,1516,0,0,0,0,0,0
$GC,13369,1.51,321.5,218.7,16.8,299,13373,0.00,2.45,0.00,0.000,6,0.000,0.028,2793,2272,1516,0,0,0,0,0,0
$GC,13684,1.51,321.5,174.6,12.7,310,13688,0.00,2.88,0.00,0.000,4,0.000,0.037,2793,867,1515,0,0,0,0,0,0
$GC,13748,1.51,321.5,166.1,13.0,312,13752,0.00,2.83,0.00,0.000,6,0.000,0.026,2793,2279,1515,0,0,0,0,0,0
$GC,14072,1.51,321.5,115.7,16.1,323,14076,0.00,2.85,0.00,0.000,4,0.000,0.034,2793,871,1514,0,0,0,0,0,0
$GC,14146,1.51,321.5,103.4,17.5,325,14151,0.00,2.83,0.00,0.000,6,0.000,0.024,2793,2275,1515,0,0,0,0,0,0
$GC,14468,1.51,321.5,55.4,14.4,355,14471,0.00,2.83,0.00,0.000,4,0.000,0.033,2793,873,1515,0,0,0,0,0,0
$GC,14579,1.51,321.5,41.2,11.8,365,14585,0.00,2.78,0.00,0.000,6,0.000,0.024,2793,2270,1516,0,0,0,0,0,0
$GC,14772,1.51,321.5,17.1,12.1,386,14777,0.00,2.83,0.00,0.000,4,0.000,0.032,2793,873,1517,0,0,0,0,0,0
$GC,14819,1.51,321.5,10.8,12.6,395,14825,0.00,2.75,0.00,0.000,6,0.000,0.023,2793,2275,1518,0,0,1,0,0,0
$STATE,14881,end climb,SURFACE_DEPTH_REACHED
$STATE,14881,begin surface coast
$FINISH,0.2,1.023885
$STATE,14902,end surface coast,CONTROL_FINISHED_OK
$STATE,14902,begin surface
$SM_CCo,14922,65.25,0.649,0,0,1005,450.13
$SM_GC,0.85,0.00,0.00,65.25,0.000,0.000,0.649,361,2107,1005,-9.66,-0.37,450.13
$IRIDIUM_FIX,1932.09,-15618.05,130911,161606
$TT8_MAMPS,0.104111
$HUMID,1078074184
$TCM_TEMP,23.30
$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,370/370
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,11.782
$10V_AH,9.9,10.773
$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,24.300,156.550,428.050,65.250,0.000,27.421,34.936,220.747,0.000,0.000,16.109,0.000,12152.770,642.967,2429.249,246.387,33.348,1679.324,0.000,1488.985,0.000,0.542,0.000
$DEVICE_MAMPS,172.890,55.080,1473.390,649.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,278.471,0.000,0.000,0.000,0.000,0.000,15584.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,71.011,0.000,0.000,0.000
$MEM,353092
$DATA_FILE_SIZE,13479,411
$CAP_FILE_SIZE,126391,0
$CFSIZE,260034560,254775296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,210310,071906,1936.798,-15621.913,32,1.0,32,9.7