version: 66.07
glider: 23
mission: 14
dive: 29
start: 3 21 110 16 33 30
data:
$ID,23
$MISSION,14
$DIVE,29
$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,-41544.012
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,210310,162406,1933.602,-15624.476,41,1.2,53,9.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.6
$GPS2,210310,163249,1933.721,-15624.660,16,1.4,33,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.113,-0.256
$KALMAN_X,-38668.1,189.2,104.0,6613.1,-2269.2
$KALMAN_Y,80200.9,-374.7,-245.1,-96073.6,3501.6
$MHEAD_RNG_PITCHd_Wd,194.0,27654,-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,-194.6,0.0,0.0,0,95,0.00,0.00,-75.15,0.000,2,0.000,0.000,357,2164,2747,0,0,0,0,0,0
$GC,98,-1.37,-194.6,3.1,-4.4,15,134,10.60,2.78,-20.40,0.000,4,0.171,0.044,2154,761,3636,0,0,0,0,0,0
$GC,213,-1.37,-194.6,27.5,-20.4,34,217,0.00,2.75,0.00,0.000,6,0.000,0.023,2154,2170,3637,0,0,1,0,0,0
$GC,410,-1.37,-194.6,72.1,-22.7,53,413,0.00,2.40,0.00,0.000,4,0.000,0.034,2154,3607,3637,0,0,0,0,0,0
$GC,452,-1.37,-194.6,81.1,-19.9,57,456,0.00,2.35,0.00,0.000,6,0.000,0.022,2154,2171,3637,0,0,0,0,0,0
$GC,667,-1.37,-194.6,124.0,-19.7,70,671,0.00,2.42,0.00,0.000,4,0.000,0.037,2154,3615,3638,0,0,1,0,0,0
$GC,730,-1.37,-194.6,135.9,-18.0,72,735,0.00,2.40,0.00,0.000,6,0.000,0.023,2154,2162,3638,0,0,0,0,0,0
$GC,1066,-1.37,-194.6,193.4,-16.4,83,1069,0.00,2.45,0.00,0.000,4,0.000,0.038,2154,3615,3640,0,0,1,0,0,0
$GC,1211,-1.37,-194.6,219.7,-17.9,87,1215,0.00,2.38,0.00,0.000,6,0.000,0.023,2154,2158,3639,0,0,0,0,0,0
$GC,1524,-1.37,-194.6,276.7,-16.9,98,1528,0.00,2.47,0.00,0.000,4,0.000,0.041,2154,3598,3640,0,0,0,0,0,0
$GC,1604,-1.37,-194.6,289.2,-14.2,100,1608,0.00,2.38,0.00,0.000,6,0.000,0.025,2154,2162,3640,0,0,0,0,0,0
$GC,1922,-1.37,-194.6,334.9,-14.4,107,1926,0.00,2.45,0.00,0.000,4,0.000,0.044,2154,3592,3640,0,0,0,0,0,0
$GC,2055,-1.37,-194.6,358.0,-17.7,109,2059,0.00,2.40,0.00,0.000,6,0.000,0.026,2154,2159,3639,0,0,0,0,0,0
$GC,2416,-1.37,-194.6,418.6,-16.5,115,2424,0.00,2.85,0.00,0.000,4,0.000,0.041,2154,743,3636,0,0,0,0,0,0
$GC,2434,-1.37,-194.6,421.5,-16.1,115,2442,0.00,2.80,0.00,0.000,6,0.000,0.031,2154,2165,3636,0,0,1,0,0,0
$GC,2775,-1.37,-194.6,473.0,-14.8,121,2783,0.00,2.40,0.00,0.000,4,0.000,0.048,2154,3591,3634,0,0,1,0,0,0
$GC,2803,-1.37,-194.6,477.3,-15.4,121,2811,0.00,2.38,0.00,0.000,6,0.000,0.027,2154,2161,3633,0,0,0,0,0,0
$GC,3134,-1.37,-194.6,524.0,-14.1,127,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2157,3629,0,0,0,0,0,0
$GC,3435,-1.37,-194.6,560.9,-12.1,132,3444,0.00,2.83,0.00,0.000,4,0.000,0.043,2154,745,3627,0,0,0,0,0,0
$GC,3464,-1.37,-194.6,564.2,-11.7,132,3473,0.00,2.95,0.00,0.000,6,0.000,0.034,2154,2210,3627,0,0,0,0,0,0
$GC,3795,-1.37,-194.6,599.2,-10.6,138,3804,0.00,3.00,0.00,0.000,4,0.000,0.042,2154,737,3624,0,0,0,0,0,0
$GC,3819,-1.37,-194.6,601.8,-10.4,138,3827,0.00,2.88,0.00,0.000,6,0.000,0.034,2154,1932,3624,0,0,0,0,0,0
$GC,4155,-1.37,-194.6,638.2,-10.9,144,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2167,3621,0,0,0,0,0,0
$GC,4457,-1.37,-194.6,670.9,-10.8,149,4466,0.00,2.90,0.00,0.000,4,0.000,0.045,2154,746,3619,0,0,0,0,0,0
$GC,4480,-1.37,-194.6,673.6,-11.1,149,4489,0.00,2.95,0.00,0.000,6,0.000,0.036,2154,2214,3619,0,0,1,0,0,0
$GC,4816,-1.37,-194.6,709.0,-10.5,155,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2214,3617,0,0,0,0,0,0
$GC,5118,-1.37,-194.6,743.8,-11.6,160,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2214,3616,0,0,0,0,0,0
$GC,5420,-1.37,-194.6,780.1,-12.1,165,5429,0.00,3.03,0.00,0.000,4,0.000,0.047,2154,745,3614,0,0,0,0,0,0
$GC,5459,-1.37,-194.6,785.0,-12.8,165,5468,0.00,2.95,0.00,0.000,6,0.000,0.037,2154,2207,3613,0,0,0,0,0,0
$GC,5779,-1.37,-194.6,822.1,-11.5,171,5788,0.00,3.00,0.00,0.000,4,0.000,0.047,2154,739,3612,0,0,0,0,0,0
$GC,5819,-1.37,-194.6,826.5,-10.6,171,5828,0.00,2.85,0.00,0.000,6,0.000,0.037,2154,2153,3611,0,0,0,0,0,0
$GC,6139,-1.37,-194.6,861.8,-11.0,177,6148,0.00,2.88,0.00,0.000,4,0.000,0.047,2154,744,3610,0,0,0,0,0,0
$GC,6157,-1.37,-194.6,863.8,-10.8,177,6166,0.00,2.85,0.00,0.000,6,0.000,0.037,2154,2162,3610,0,0,0,0,0,0
$GC,6499,-1.37,-194.6,901.4,-11.1,183,6507,0.00,2.62,0.00,0.000,4,0.000,0.054,2154,3686,3608,0,0,0,0,0,0
$GC,6532,-1.37,-194.6,905.3,-12.2,183,6541,0.00,2.53,0.00,0.000,6,0.000,0.031,2154,2161,3608,0,0,0,0,0,0
$GC,6857,-1.37,-194.6,942.2,-11.4,189,6866,0.00,2.60,0.00,0.000,4,0.000,0.054,2154,3654,3606,0,0,0,0,0,0
$GC,6902,-1.37,-194.6,947.6,-12.6,189,6910,0.00,2.47,0.00,0.000,6,0.000,0.031,2154,2159,3606,0,0,0,0,0,0
$GC,7216,-1.37,-194.6,985.0,-11.9,195,7225,0.00,2.85,0.00,0.000,4,0.000,0.051,2154,745,3605,0,0,1,0,0,0
$GC,7245,-1.37,-194.6,988.5,-12.7,195,7254,0.00,2.85,0.00,0.000,6,0.000,0.039,2154,2113,3606,0,0,2,0,0,0
$STATE,7256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7256,begin apogee
$GC,7261,-0.33,0.0,990.0,11.5,195,7427,1.12,0.00,158.80,1.473,6,0.098,0.000,2382,2269,2841,0,0,0,0,0,0
$STATE,7428,end apogee,CONTROL_FINISHED_OK
$STATE,7428,begin climb
$GC,7430,1.37,194.6,997.6,0.0,198,7604,1.77,0.00,163.57,1.431,6,0.054,0.000,2764,2269,2047,0,0,0,0,0,0
$GC,7881,1.37,194.6,958.9,12.6,206,7890,0.00,2.40,0.00,0.000,4,0.000,0.054,2764,3671,2044,0,0,0,0,0,0
$GC,8086,1.37,194.6,930.4,13.9,209,8095,0.00,2.40,0.00,0.000,6,0.000,0.028,2764,2203,2042,0,0,1,0,0,0
$GC,8433,1.37,194.6,886.6,12.6,215,8442,0.00,2.47,0.00,0.000,4,0.000,0.051,2764,3635,2041,0,0,0,0,0,0
$GC,8682,1.37,194.6,850.0,15.0,218,8691,0.00,2.35,0.00,0.000,6,0.000,0.028,2764,2200,2040,0,0,0,0,0,0
$GC,8990,1.37,194.6,804.9,14.7,224,8998,0.00,2.47,0.00,0.000,4,0.000,0.052,2764,3641,2040,0,0,0,0,0,0
$GC,9238,1.37,194.6,763.3,17.3,227,9247,0.00,2.35,0.00,0.000,6,0.000,0.028,2764,2198,2039,0,0,0,0,0,0
$GC,9546,1.37,194.6,716.6,15.2,233,9555,0.00,2.45,0.00,0.000,4,0.000,0.052,2764,3631,2039,0,0,1,0,0,0
$GC,9794,1.37,194.6,675.8,15.9,236,9804,0.00,2.33,0.00,0.000,6,0.000,0.028,2764,2215,2038,0,0,0,0,0,0
$GC,10103,1.37,194.6,634.7,13.1,242,10111,0.00,2.42,0.00,0.000,4,0.000,0.052,2764,3625,2038,0,0,0,0,0,0
$GC,10351,1.37,194.6,602.0,13.2,245,10360,0.00,2.30,0.00,0.000,6,0.000,0.028,2764,2216,2038,0,0,0,0,0,0
$GC,10659,1.38,200.5,568.2,10.8,251,10667,0.00,2.42,0.00,0.000,4,0.000,0.052,2764,3647,2038,0,0,1,0,0,0
$GC,10907,1.38,200.5,538.5,12.9,254,10916,0.00,2.30,0.00,0.000,6,0.000,0.027,2763,2215,2038,0,0,0,0,0,0
$GC,11216,1.38,200.5,501.3,12.1,259,11225,0.00,2.85,0.00,0.000,4,0.000,0.041,2764,823,2038,0,0,0,0,0,0
$GC,11443,1.38,200.5,473.4,12.6,262,11452,0.00,2.83,0.00,0.000,6,0.000,0.033,2764,2223,2038,0,0,0,0,0,0
$GC,11769,1.42,236.3,440.9,9.6,268,11812,0.00,2.47,33.92,1.100,4,0.000,0.050,2764,3626,1877,0,0,0,0,0,0
$GC,11923,1.42,236.3,423.3,11.4,270,11931,0.00,2.28,0.00,0.000,6,0.000,0.027,2764,2220,1875,0,0,0,0,0,0
$GC,12264,1.42,236.3,385.3,11.4,276,12268,0.00,2.40,0.00,0.000,4,0.000,0.049,2764,3633,1874,0,0,1,0,0,0
$GC,12398,1.42,236.3,367.2,12.8,278,12402,0.00,2.30,0.00,0.000,6,0.000,0.026,2764,2219,1874,0,0,0,0,0,0
$GC,12753,1.42,237.7,326.6,10.9,284,12756,0.00,2.40,0.00,0.000,4,0.000,0.049,2764,3641,1874,0,0,0,0,0,0
$GC,12826,1.42,237.7,317.2,13.1,285,12831,0.00,2.33,0.00,0.000,6,0.000,0.025,2764,2224,1874,0,0,0,0,0,0
$GC,13153,1.42,237.7,275.9,13.5,293,13156,0.00,2.40,0.00,0.000,4,0.000,0.047,2764,3642,1874,0,0,0,0,0,0
$GC,13222,1.42,237.7,266.5,13.7,295,13225,0.00,2.33,0.00,0.000,6,0.000,0.024,2764,2219,1874,0,0,0,0,0,0
$GC,13551,1.42,237.7,225.9,11.8,306,13555,0.00,2.83,0.00,0.000,4,0.000,0.039,2764,829,1874,0,0,0,0,0,0
$GC,13605,1.45,265.3,220.2,10.0,307,13634,0.00,2.83,24.62,0.905,6,0.000,0.029,2764,2247,1759,0,0,0,0,0,0
$GC,13950,1.45,265.3,186.3,11.1,319,13954,0.00,2.90,0.00,0.000,4,0.000,0.036,2764,827,1756,0,0,0,0,0,0
$GC,13976,1.45,265.3,182.9,13.1,320,13980,0.00,2.78,0.00,0.000,6,0.000,0.028,2764,2207,1756,0,0,0,0,0,0
$GC,14311,1.46,278.7,146.0,10.5,331,14325,0.00,0.00,12.15,0.798,6,0.000,0.000,2764,2207,1704,0,0,0,0,0,0
$GC,14615,1.46,278.7,110.9,12.1,341,14618,0.00,2.83,0.00,0.000,4,0.000,0.034,2764,817,1702,0,0,0,0,0,0
$GC,14657,1.46,278.7,105.4,13.1,342,14661,0.00,2.80,0.00,0.000,6,0.000,0.024,2764,2230,1703,0,0,0,0,0,0
$GC,14977,1.46,278.7,68.0,11.9,370,14981,0.00,2.85,0.00,0.000,4,0.000,0.033,2764,824,1703,0,0,0,0,0,0
$GC,15057,1.46,278.7,58.6,11.9,377,15063,0.00,2.78,0.00,0.000,6,0.000,0.024,2764,2217,1704,0,0,0,0,0,0
$GC,15249,1.48,292.5,37.3,10.5,396,15269,0.00,2.83,12.60,0.659,4,0.000,0.031,2764,870,1648,0,0,0,0,0,0
$GC,15338,1.51,316.5,27.1,10.1,404,15365,0.10,2.72,20.98,0.670,6,0.068,0.024,2797,2226,1550,0,0,0,0,0,0
$STATE,15547,end climb,SURFACE_DEPTH_REACHED
$STATE,15547,begin surface coast
$FINISH,0.2,0.998283
$STATE,15574,end surface coast,CONTROL_FINISHED_OK
$STATE,15574,begin surface
$SM_CCo,15594,43.60,0.646,0,0,1209,400.08
$SM_GC,1.02,0.00,0.00,43.60,0.000,0.000,0.646,357,2153,1209,-9.67,-0.20,400.08
$IRIDIUM_FIX,1927.51,-15623.15,140911,060650
$TT8_MAMPS,0.102613
$HUMID,1078056119
$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,23.4,12.342
$10V_AH,10.0,11.917
$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,24.375,172.625,426.650,43.600,0.000,27.919,27.109,292.744,0.000,0.000,35.578,0.000,12686.621,609.890,2631.565,271.922,33.348,1707.483,0.000,1589.119,0.000,0.543,0.000
$DEVICE_MAMPS,171.360,81.855,1473.390,646.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,300.883,0.000,0.000,0.000,0.000,0.000,16328.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,70.565,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,16773,443
$CAP_FILE_SIZE,136743,0
$CFSIZE,260034560,254545920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,210310,205601,1932.202,-15626.148,37,1.3,37,9.7