version: 66.07
glider: 23
mission: 14
dive: 28
start: 3 21 110 12 4 12
data:
$ID,23
$MISSION,14
$DIVE,28
$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,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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41542.746
$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,2160
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,35
$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
$GPS1,210310,115255,1935.356,-15623.106,40,1.5,40,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.2
$GPS2,210310,120331,1935.500,-15623.168,8,1.8,13,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.274
$KALMAN_X,-37041.5,432.9,-172.0,7611.0,-1164.6
$KALMAN_Y,78734.6,-379.9,-329.2,-91228.8,4178.4
$MHEAD_RNG_PITCHd_Wd,181.9,31100,-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,14,begin dive
$GC,16,-1.37,-194.6,0.0,0.0,0,94,0.00,0.00,-75.62,0.000,2,0.000,0.000,360,2148,2774,0,0,0,0,0,0
$GC,97,-1.37,-194.6,3.5,-6.3,15,133,10.60,2.75,-18.98,0.000,4,0.174,0.047,2150,764,3639,0,0,0,0,0,0
$GC,233,-1.37,-194.6,34.0,-20.7,36,237,0.00,2.75,0.00,0.000,6,0.000,0.023,2150,2164,3639,0,0,0,0,0,0
$GC,430,-1.37,-194.6,77.9,-21.1,55,434,0.00,2.38,0.00,0.000,4,0.000,0.034,2150,3579,3639,0,0,0,0,0,0
$GC,602,-1.37,-194.6,109.8,-18.1,68,606,0.00,2.30,0.00,0.000,6,0.000,0.022,2150,2170,3639,0,0,0,0,0,0
$GC,920,-1.37,-194.6,170.4,-19.6,79,924,0.00,2.40,0.00,0.000,4,0.000,0.037,2150,3577,3642,0,0,0,0,0,0
$GC,1054,-1.37,-194.6,195.9,-17.6,83,1058,0.00,2.35,0.00,0.000,6,0.000,0.024,2150,2163,3641,0,0,0,0,0,0
$GC,1384,-1.37,-194.6,255.4,-18.0,94,1388,0.00,2.40,0.00,0.000,4,0.000,0.041,2150,3566,3641,0,0,1,0,0,0
$GC,1490,-1.37,-194.6,275.0,-17.2,97,1494,0.00,2.35,0.00,0.000,6,0.000,0.025,2150,2160,3641,0,0,0,0,0,0
$GC,1844,-1.37,-194.6,330.4,-15.3,106,1848,0.00,2.45,0.00,0.000,4,0.000,0.044,2150,3573,3640,0,0,0,0,0,0
$GC,1990,-1.37,-194.6,352.0,-15.3,108,1993,0.00,2.33,0.00,0.000,6,0.000,0.026,2150,2158,3639,0,0,0,0,0,0
$GC,2336,-1.37,-194.6,400.5,-13.7,114,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2154,3637,0,0,0,0,0,0
$GC,2635,-1.37,-194.6,438.6,-12.5,119,2644,0.00,2.47,0.00,0.000,4,0.000,0.047,2150,3595,3635,0,0,0,0,0,0
$GC,2766,-1.37,-194.6,456.1,-13.5,121,2775,0.00,2.35,0.00,0.000,6,0.000,0.028,2150,2159,3634,0,0,0,0,0,0
$GC,3124,-1.37,-194.6,504.7,-13.5,127,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2157,3630,0,0,0,0,0,0
$GC,3426,-1.37,-194.6,540.7,-11.7,132,3434,0.00,2.42,0.00,0.000,4,0.000,0.050,2150,3598,3628,0,0,2,0,0,0
$GC,3460,-1.37,-194.6,544.4,-11.3,132,3468,0.00,2.38,0.00,0.000,6,0.000,0.028,2150,2155,3628,0,0,0,0,0,0
$GC,3785,-1.37,-194.6,580.3,-11.3,138,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2152,3625,0,0,0,0,0,0
$GC,4086,-1.37,-194.6,619.5,-13.1,143,4094,0.00,2.47,0.00,0.000,4,0.000,0.050,2150,3595,3622,0,0,0,0,0,0
$GC,4125,-1.37,-194.6,624.9,-13.8,143,4133,0.00,2.38,0.00,0.000,6,0.000,0.029,2150,2157,3622,0,0,0,0,0,0
$GC,4445,-1.37,-194.6,665.6,-12.6,149,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2158,3619,0,0,0,0,0,0
$GC,4746,-1.37,-194.6,703.3,-12.5,154,4754,0.00,2.45,0.00,0.000,4,0.000,0.052,2150,3579,3618,0,0,1,0,0,0
$GC,4769,-1.37,-194.6,706.1,-12.4,154,4777,0.00,2.35,0.00,0.000,6,0.000,0.030,2150,2162,3619,0,0,0,0,0,0
$GC,5110,-1.37,-194.6,746.8,-11.9,160,5118,0.00,2.47,0.00,0.000,4,0.000,0.053,2150,3598,3616,0,0,1,0,0,0
$GC,5154,-1.37,-194.6,752.3,-11.9,160,5162,0.00,2.40,0.00,0.000,6,0.000,0.031,2150,2161,3616,0,0,0,0,0,0
$GC,5469,-1.37,-194.6,789.1,-11.7,166,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2160,3615,0,0,0,0,0,0
$GC,5770,-1.37,-194.6,824.0,-11.6,171,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2160,3613,0,0,0,0,0,0
$GC,6072,-1.37,-194.6,859.4,-11.7,176,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2159,3612,0,0,0,0,0,0
$GC,6374,-1.37,-194.6,895.6,-12.1,181,6382,0.00,2.45,0.00,0.000,4,0.000,0.054,2150,3579,3610,0,0,0,0,0,0
$GC,6418,-1.37,-194.6,901.3,-12.9,181,6426,0.00,2.35,0.00,0.000,6,0.000,0.030,2150,2160,3610,0,0,0,0,0,0
$GC,6732,-1.37,-194.6,938.8,-11.9,187,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2159,3608,0,0,0,0,0,0
$GC,7034,-1.37,-194.6,974.1,-11.7,192,7042,0.00,2.50,0.00,0.000,4,0.000,0.055,2150,3589,3607,0,0,1,0,0,0
$GC,7057,-1.37,-194.6,976.9,-12.4,192,7065,0.00,2.38,0.00,0.000,6,0.000,0.031,2150,2156,3607,0,0,0,0,0,0
$STATE,7210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7210,begin apogee
$GC,7214,-0.33,0.0,994.6,11.5,195,7381,1.15,0.00,159.40,1.473,6,0.093,0.000,2383,2144,2841,0,0,0,0,0,0
$STATE,7382,end apogee,CONTROL_FINISHED_OK
$STATE,7382,begin climb
$GC,7384,1.37,194.6,999.9,0.0,197,7557,1.73,0.00,163.68,1.431,6,0.056,0.000,2754,2311,2047,0,0,0,0,0,0
$GC,7869,1.37,194.6,955.6,12.7,205,7878,0.00,2.15,0.00,0.000,4,0.000,0.055,2755,3625,2041,0,0,0,0,0,0
$GC,8011,1.37,194.6,936.8,13.1,207,8019,0.00,2.35,0.00,0.000,6,0.000,0.028,2755,2194,2040,0,0,0,0,0,0
$GC,8358,1.37,194.6,895.2,11.9,213,8366,0.00,2.47,0.00,0.000,4,0.000,0.052,2755,3634,2039,0,0,0,0,0,0
$GC,8606,1.37,194.6,861.7,13.6,216,8615,0.00,2.33,0.00,0.000,6,0.000,0.028,2755,2202,2039,0,0,0,0,0,0
$GC,8914,1.37,194.6,822.0,12.8,222,8923,0.00,2.47,0.00,0.000,4,0.000,0.052,2755,3637,2039,0,0,0,0,0,0
$GC,9092,1.37,194.6,796.3,13.9,224,9101,0.00,2.33,0.00,0.000,6,0.000,0.028,2755,2220,2038,0,0,0,0,0,0
$GC,9401,1.37,194.6,756.6,12.8,229,9411,0.00,2.42,0.00,0.000,4,0.000,0.053,2755,3625,2038,0,0,0,0,0,0
$GC,9650,1.37,194.6,720.4,14.8,232,9659,0.00,2.33,0.00,0.000,6,0.000,0.028,2754,2209,2037,0,0,0,0,0,0
$GC,9958,1.37,194.6,680.8,12.6,238,9966,0.00,2.42,0.00,0.000,4,0.000,0.052,2755,3630,2037,0,0,0,0,0,0
$GC,10205,1.37,194.6,647.0,13.7,241,10215,0.00,2.30,0.00,0.000,6,0.000,0.028,2755,2210,2037,0,0,0,0,0,0
$GC,10514,1.37,194.6,611.5,11.4,247,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2205,2037,0,0,0,0,0,0
$GC,10816,1.37,194.6,576.5,11.5,252,10825,0.00,2.40,0.00,0.000,4,0.000,0.052,2755,3631,2036,0,0,1,0,0,0
$GC,10941,1.37,194.6,560.1,13.5,254,10950,0.00,2.30,0.00,0.000,6,0.000,0.027,2755,2205,2036,0,0,0,0,0,0
$GC,11305,1.37,194.6,518.9,11.1,260,11313,0.00,2.45,0.00,0.000,4,0.000,0.052,2755,3632,2036,0,0,0,0,0,0
$GC,11344,1.37,194.6,514.5,11.3,260,11352,0.00,2.30,0.00,0.000,6,0.000,0.026,2755,2215,2036,0,0,0,0,0,0
$GC,11664,1.44,255.5,485.5,8.7,266,11723,0.00,2.47,50.20,1.139,4,0.000,0.049,2755,3628,1798,0,0,0,0,0,0
$GC,11770,1.44,255.5,474.7,12.1,266,11778,0.00,2.30,0.00,0.000,6,0.000,0.026,2755,2229,1794,0,0,0,0,0,0
$GC,12089,1.44,255.5,438.4,11.5,272,12098,0.00,2.88,0.00,0.000,4,0.000,0.042,2755,823,1791,0,0,0,0,0,0
$GC,12108,1.44,255.5,436.0,12.2,272,12116,0.00,2.85,0.00,0.000,6,0.000,0.031,2755,2219,1791,0,0,0,0,0,0
$GC,12449,1.44,255.5,388.4,14.5,278,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2218,1791,0,0,0,0,0,0
$GC,12751,1.44,255.5,342.6,15.3,283,12755,0.00,2.90,0.00,0.000,4,0.000,0.041,2755,823,1790,0,0,0,0,0,0
$GC,12767,1.44,255.5,340.2,15.4,283,12771,0.00,2.83,0.00,0.000,6,0.000,0.031,2755,2227,1791,0,0,0,0,0,0
$GC,13111,1.44,255.5,292.5,13.5,289,13114,0.00,2.38,0.00,0.000,4,0.000,0.047,2755,3621,1791,0,0,0,0,0,0
$GC,13148,1.44,255.5,287.3,13.6,290,13152,0.00,2.28,0.00,0.000,6,0.000,0.024,2755,2207,1791,0,0,0,0,0,0
$GC,13478,1.47,287.4,249.5,9.8,301,13510,0.12,2.88,26.45,0.937,4,0.073,0.039,2786,826,1668,0,0,0,0,0,0
$GC,13558,1.47,287.4,240.0,12.5,303,13562,0.00,2.85,0.00,0.000,6,0.000,0.029,2786,2228,1665,0,0,0,0,0,0
$GC,13871,1.47,287.4,194.2,16.2,314,13875,0.00,2.38,0.00,0.000,4,0.000,0.044,2786,3622,1663,0,0,0,0,0,0
$GC,13924,1.47,287.4,185.1,16.5,315,13928,0.00,2.30,0.00,0.000,6,0.000,0.023,2786,2214,1663,0,0,0,0,0,0
$GC,14238,1.47,287.4,138.3,14.1,326,14242,0.00,2.83,0.00,0.000,4,0.000,0.037,2786,822,1663,0,0,0,0,0,0
$GC,14280,1.47,287.4,133.0,11.8,327,14284,0.00,2.80,0.00,0.000,6,0.000,0.026,2786,2233,1663,0,0,1,0,0,0
$GC,14590,1.47,287.4,92.8,13.5,341,14594,0.00,2.85,0.00,0.000,4,0.000,0.035,2787,815,1663,0,0,0,0,0,0
$GC,14622,1.47,287.4,88.3,13.0,343,14628,0.00,2.78,0.00,0.000,6,0.000,0.024,2786,2223,1664,0,0,0,0,0,0
$GC,14813,1.47,287.4,63.5,13.4,362,14817,0.00,2.85,0.00,0.000,4,0.000,0.034,2786,819,1664,0,0,0,0,0,0
$GC,14861,1.47,287.4,57.6,11.8,366,14867,0.00,2.80,0.00,0.000,6,0.000,0.024,2786,2227,1664,0,0,0,0,0,0
$GC,15053,1.48,294.7,37.0,10.7,385,15064,0.00,2.75,7.30,0.609,4,0.000,0.031,2786,872,1639,0,0,0,0,0,0
$GC,15117,1.48,294.7,30.0,11.7,391,15121,0.00,2.70,0.00,0.000,6,0.000,0.024,2786,2224,1639,0,0,0,0,0,0
$GC,15311,1.48,294.7,8.5,11.8,418,15317,0.00,2.72,0.00,0.000,4,0.000,0.030,2786,855,1639,0,0,0,0,0,0
$STATE,15362,end climb,SURFACE_DEPTH_REACHED
$STATE,15362,begin surface coast
$FINISH,0.1,1.023881
$STATE,15389,end surface coast,CONTROL_FINISHED_OK
$STATE,15389,begin surface
$SM_CCo,15410,54.75,0.648,0,0,1210,400.08
$SM_GC,0.87,0.00,0.00,54.75,0.000,0.000,0.648,358,2163,1210,-9.67,0.11,400.08
$IRIDIUM_FIX,1927.51,-15623.15,140911,060602
$TT8_MAMPS,0.109354
$HUMID,1078080635
$TCM_TEMP,23.40
$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,23.4,12.156
$10V_AH,9.9,11.536
$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,24.300,150.675,407.025,54.750,0.000,59.752,54.411,305.500,0.000,0.000,17.069,0.000,12822.215,579.931,2473.321,265.907,33.343,1590.755,0.000,1409.371,0.000,0.543,0.000
$DEVICE_MAMPS,174.420,55.080,1473.390,647.955,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,294.570,0.000,0.000,0.000,0.000,0.000,16230.710,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,71.517,0.000,0.000,0.000
$MEM,353088
$DATA_FILE_SIZE,13456,433
$CAP_FILE_SIZE,128631,0
$CFSIZE,260034560,254631936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210310,162406,1933.602,-15624.476,41,1.2,53,9.7