version: 66.07
glider: 23
mission: 14
dive: 30
start: 3 21 110 21 3 48
data:
$ID,23
$MISSION,14
$DIVE,30
$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,-41545.273
$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,47
$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
$GPS1,210310,205601,1932.202,-15626.148,37,1.3,37,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.9
$GPS2,210310,210307,1932.278,-15626.319,14,1.1,14,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.179,-0.215
$KALMAN_X,-39300.0,-129.2,222.8,4538.5,-1769.6
$KALMAN_Y,81911.4,-357.4,-91.6,-100633.3,2985.1
$MHEAD_RNG_PITCHd_Wd,210.1,24253,-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,-194.6,0.0,0.0,0,99,0.00,0.00,-80.20,0.000,2,0.000,0.000,357,2152,2868,0,0,0,0,0,0
$GC,102,-1.37,-194.6,3.4,-5.4,16,137,10.62,2.62,-16.20,0.000,4,0.173,0.046,2154,860,3636,0,0,0,0,0,0
$GC,158,-1.37,-194.6,17.1,-20.8,27,164,0.00,2.60,0.00,0.000,6,0.000,0.024,2154,2160,3637,0,0,0,0,0,0
$GC,225,-1.37,-194.6,33.4,-24.5,35,229,0.00,2.40,0.00,0.000,4,0.000,0.034,2154,3584,3637,0,0,0,0,0,0
$GC,310,-1.37,-194.6,50.2,-18.6,43,314,0.00,2.30,0.00,0.000,6,0.000,0.023,2154,2182,3636,0,0,0,0,0,0
$GC,507,-1.37,-194.6,88.5,-19.3,62,511,0.00,2.38,0.00,0.000,4,0.000,0.034,2154,3600,3638,0,0,0,0,0,0
$GC,587,-1.37,-194.6,103.1,-18.2,68,591,0.00,2.38,0.00,0.000,6,0.000,0.023,2154,2167,3638,0,0,0,0,0,0
$GC,906,-1.37,-194.6,162.2,-18.3,79,910,0.00,2.40,0.00,0.000,4,0.000,0.037,2154,3607,3639,0,0,1,0,0,0
$GC,1103,-1.37,-194.6,198.3,-18.0,85,1108,0.00,2.40,0.00,0.000,6,0.000,0.023,2154,2156,3639,0,0,0,0,0,0
$GC,1433,-1.37,-194.6,254.7,-15.7,96,1437,0.00,2.47,0.00,0.000,4,0.000,0.041,2154,3609,3640,0,0,0,0,0,0
$GC,1486,-1.37,-194.6,262.8,-14.6,97,1490,0.00,2.40,0.00,0.000,6,0.000,0.025,2154,2162,3639,0,0,0,0,0,0
$GC,1830,-1.37,-194.6,312.6,-14.3,108,1834,0.00,2.45,0.00,0.000,4,0.000,0.044,2154,3583,3639,0,0,1,0,0,0
$GC,1889,-1.37,-194.6,321.4,-15.3,108,1894,0.00,2.38,0.00,0.000,6,0.000,0.026,2154,2162,3639,0,0,0,0,0,0
$GC,2195,-1.37,-194.6,364.7,-13.9,114,2199,0.00,2.47,0.00,0.000,4,0.000,0.044,2154,3588,3637,0,0,0,0,0,0
$GC,2281,-1.37,-194.6,374.4,-11.9,115,2285,0.00,2.38,0.00,0.000,6,0.000,0.026,2154,2152,3636,0,0,0,0,0,0
$GC,2625,-1.37,-194.6,417.5,-13.0,121,2633,0.00,2.47,0.00,0.000,4,0.000,0.047,2154,3585,3635,0,0,0,0,0,0
$GC,2654,-1.37,-194.6,421.3,-13.8,121,2662,0.00,2.38,0.00,0.000,6,0.000,0.027,2154,2155,3635,0,0,0,0,0,0
$GC,2984,-1.37,-194.6,467.0,-14.2,127,2992,0.00,2.47,0.00,0.000,4,0.000,0.047,2155,3588,3631,0,0,0,0,0,0
$GC,3023,-1.37,-194.6,473.0,-15.5,127,3032,0.00,2.38,0.00,0.000,6,0.000,0.028,2154,2160,3631,0,0,0,0,0,0
$GC,3343,-1.37,-194.6,521.4,-15.2,133,3352,0.00,2.50,0.00,0.000,4,0.000,0.050,2154,3607,3628,0,0,0,0,0,0
$GC,3394,-1.37,-194.6,529.6,-15.9,133,3402,0.00,2.40,0.00,0.000,6,0.000,0.028,2155,2160,3628,0,0,0,0,0,0
$GC,3702,-1.37,-194.6,575.1,-14.6,138,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2157,3625,0,0,0,0,0,0
$GC,4004,-1.37,-194.6,613.2,-12.4,143,4012,0.00,2.50,0.00,0.000,4,0.000,0.050,2154,3612,3623,0,0,1,0,0,0
$GC,4027,-1.37,-194.6,616.1,-12.1,143,4035,0.00,2.42,0.00,0.000,6,0.000,0.028,2154,2155,3623,0,0,0,0,0,0
$GC,4362,-1.37,-194.6,656.3,-12.0,149,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2155,3620,0,0,0,0,0,0
$GC,4664,-1.37,-194.6,695.5,-13.0,154,4672,0.00,2.50,0.00,0.000,4,0.000,0.051,2154,3597,3619,0,0,0,0,0,0
$GC,4709,-1.37,-194.6,701.2,-12.3,154,4717,0.00,2.40,0.00,0.000,6,0.000,0.031,2154,2162,3618,0,0,0,0,0,0
$GC,5029,-1.37,-194.6,735.1,-10.3,160,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2162,3617,0,0,0,0,0,0
$GC,5330,-1.37,-194.6,766.8,-10.6,165,5338,0.00,2.50,0.00,0.000,4,0.000,0.054,2154,3585,3615,0,0,0,0,0,0
$GC,5396,-1.37,-194.6,774.3,-11.2,166,5404,0.00,2.40,0.00,0.000,6,0.000,0.031,2154,2160,3615,0,0,0,0,0,0
$GC,5753,-1.37,-194.6,810.5,-9.9,172,5762,0.00,2.92,0.00,0.000,4,0.000,0.050,2155,743,3613,0,0,0,0,0,0
$GC,5782,-1.37,-194.6,813.3,-10.5,172,5791,0.00,2.88,0.00,0.000,6,0.000,0.038,2154,2070,3612,0,0,0,0,0,0
$GC,6114,-1.37,-194.6,845.2,-9.8,178,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2155,3611,0,0,0,0,0,0
$GC,6415,-1.37,-194.6,877.0,-10.6,183,6423,0.00,2.42,0.00,0.000,4,0.000,0.055,2154,3589,3610,0,0,2,0,0,0
$GC,6454,-1.37,-194.6,881.2,-11.0,183,6462,0.00,2.38,0.00,0.000,6,0.000,0.030,2154,2159,3610,0,0,0,0,0,0
$GC,6784,-1.37,-194.6,917.3,-11.0,189,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2159,3607,0,0,0,0,0,0
$GC,7086,-1.37,-194.6,950.9,-11.1,194,7095,0.00,2.60,0.00,0.000,4,0.000,0.054,2154,3651,3606,0,0,0,0,0,0
$GC,7148,-1.37,-194.6,958.5,-12.3,195,7156,0.00,2.50,0.00,0.000,6,0.000,0.031,2154,2154,3606,0,0,0,0,0,0
$STATE,7448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7448,begin apogee
$GC,7453,-0.33,0.0,993.4,11.4,200,7620,1.15,0.00,158.90,1.480,6,0.099,0.000,2384,2409,2841,0,0,0,0,0,0
$STATE,7620,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7622,1.37,194.6,998.7,0.0,202,7797,1.73,0.00,164.05,1.435,6,0.054,0.000,2756,2409,2047,0,0,0,0,0,0
$GC,8046,1.37,194.6,962.8,12.7,209,8054,0.00,2.12,0.00,0.000,4,0.000,0.055,2756,3658,2043,0,0,0,0,0,0
$GC,8112,1.37,194.6,953.9,13.7,210,8120,0.00,2.42,0.00,0.000,6,0.000,0.028,2756,2200,2043,0,0,0,0,0,0
$GC,8470,1.37,194.6,910.3,12.0,216,8478,0.00,2.50,0.00,0.000,4,0.000,0.053,2756,3649,2041,0,0,0,0,0,0
$GC,8717,1.37,194.6,877.7,14.4,219,8727,0.00,2.35,0.00,0.000,6,0.000,0.028,2756,2221,2040,0,0,0,0,0,0
$GC,9026,1.37,194.6,840.8,11.9,225,9034,0.00,2.45,0.00,0.000,4,0.000,0.053,2756,3633,2040,0,0,0,0,0,0
$GC,9274,1.37,194.6,806.6,14.3,228,9283,0.00,2.33,0.00,0.000,6,0.000,0.028,2756,2204,2039,0,0,0,0,0,0
$GC,9582,1.37,194.6,767.8,12.4,234,9590,0.00,2.45,0.00,0.000,4,0.000,0.053,2757,3624,2039,0,0,0,0,0,0
$GC,9830,1.37,194.6,732.9,14.9,237,9838,0.00,2.30,0.00,0.000,6,0.000,0.028,2757,2217,2038,0,0,0,0,0,0
$GC,10138,1.37,194.6,691.5,13.5,242,10147,0.00,2.45,0.00,0.000,4,0.000,0.053,2757,3638,2038,0,0,0,0,0,0
$GC,10311,1.37,194.6,665.0,15.8,244,10319,0.00,2.35,0.00,0.000,6,0.000,0.028,2757,2207,2037,0,0,0,0,0,0
$GC,10626,1.37,194.6,623.0,13.3,250,10634,0.00,2.42,0.00,0.000,4,0.000,0.052,2757,3627,2037,0,0,0,0,0,0
$GC,10852,1.37,194.6,588.8,14.8,253,10860,0.00,2.33,0.00,0.000,6,0.000,0.028,2756,2206,2037,0,0,0,0,0,0
$GC,11177,1.37,194.6,544.7,13.3,259,11186,0.00,2.50,0.00,0.000,4,0.000,0.052,2757,3672,2037,0,0,1,0,0,0
$GC,11350,1.37,194.6,520.5,13.3,261,11359,0.00,2.38,0.00,0.000,6,0.000,0.027,2757,2213,2037,0,0,0,0,0,0
$GC,11671,1.37,194.6,483.3,11.3,267,11680,0.00,2.42,0.00,0.000,4,0.000,0.050,2756,3626,2037,0,0,0,0,0,0
$GC,11819,1.37,194.6,466.6,11.6,269,11827,0.00,2.30,0.00,0.000,6,0.000,0.026,2757,2215,2037,0,0,0,0,0,0
$GC,12160,1.43,251.5,435.9,8.9,275,12217,0.00,2.53,46.35,1.105,4,0.000,0.049,2757,3625,1814,0,0,1,0,0,0
$GC,12350,1.43,251.5,411.8,13.3,278,12359,0.00,2.33,0.00,0.000,6,0.000,0.026,2757,2215,1810,0,0,0,0,0,0
$GC,12714,1.43,251.5,360.9,14.0,284,12718,0.00,2.85,0.00,0.000,4,0.000,0.041,2757,823,1809,0,0,0,0,0,0
$GC,12760,1.43,251.5,354.2,12.6,284,12765,0.00,2.90,0.00,0.000,6,0.000,0.031,2756,2255,1809,0,0,0,0,0,0
$GC,13073,1.43,251.5,315.4,12.2,290,13077,0.00,2.35,0.00,0.000,4,0.000,0.049,2757,3623,1808,0,0,0,0,0,0
$GC,13121,1.43,251.5,309.3,11.8,290,13124,0.00,2.33,0.00,0.000,6,0.000,0.025,2757,2216,1809,0,0,0,0,0,0
$GC,13439,1.43,251.5,270.8,12.0,299,13443,0.00,2.45,0.00,0.000,4,0.000,0.038,2757,1056,1809,0,0,0,0,0,0
$GC,13503,1.43,251.5,262.6,13.5,301,13507,0.00,2.42,0.00,0.000,6,0.000,0.031,2757,2257,1809,0,0,2,0,0,0
$GC,13839,1.50,308.8,225.6,8.8,312,13893,0.12,3.03,47.42,0.923,4,0.070,0.038,2789,825,1580,0,0,1,0,0,0
$GC,13947,1.50,308.8,212.6,13.5,315,13951,0.00,2.78,0.00,0.000,6,0.000,0.028,2789,2201,1578,0,0,0,0,0,0
$GC,14266,1.50,308.8,166.1,16.2,326,14270,0.00,2.83,0.00,0.000,4,0.000,0.037,2788,822,1573,0,0,0,0,0,0
$GC,14293,1.50,308.8,161.7,16.7,327,14297,0.00,2.80,0.00,0.000,6,0.000,0.026,2789,2232,1573,0,0,1,0,0,0
$GC,14623,1.50,308.8,109.2,15.2,338,14627,0.00,2.88,0.00,0.000,4,0.000,0.036,2789,816,1573,0,0,0,0,0,0
$GC,14660,1.50,308.8,103.6,14.9,339,14664,0.00,2.80,0.00,0.000,6,0.000,0.024,2789,2234,1573,0,0,0,0,0,0
$GC,14980,1.50,308.8,60.5,13.7,367,14984,0.00,2.85,0.00,0.000,4,0.000,0.034,2789,815,1573,0,0,0,0,0,0
$GC,15055,1.50,308.8,50.4,13.4,374,15059,0.00,2.78,0.00,0.000,6,0.000,0.024,2789,2227,1574,0,0,0,0,0,0
$GC,15246,1.50,308.8,24.3,12.4,392,15250,0.00,2.85,0.00,0.000,4,0.000,0.032,2789,810,1574,0,0,0,0,0,0
$GC,15278,1.50,308.8,20.5,12.2,395,15282,0.00,2.80,0.00,0.000,6,0.000,0.024,2789,2222,1574,0,0,0,0,0,0
$STATE,15421,end climb,SURFACE_DEPTH_REACHED
$STATE,15422,begin surface coast
$FINISH,0.2,1.023867
$STATE,15441,end surface coast,CONTROL_FINISHED_OK
$STATE,15442,begin surface
$SM_CCo,15460,47.88,0.663,0,0,1209,400.08
$SM_GC,0.81,0.00,0.00,47.88,0.000,0.000,0.663,359,2142,1209,-9.66,-0.51,400.08
$IRIDIUM_FIX,1925.22,-15626.17,140911,101019
$TT8_MAMPS,0.103362
$HUMID,1078078055
$TCM_TEMP,23.10
$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,23.4,12.525
$10V_AH,10.0,12.293
$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,24.325,166.250,416.725,47.875,0.000,29.643,25.863,219.806,0.000,0.000,16.903,0.000,12644.458,602.677,2462.660,264.494,33.352,1666.644,0.000,1519.880,0.000,0.541,0.000
$DEVICE_MAMPS,172.890,67.320,1479.510,663.255,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,289.490,0.000,0.000,0.000,0.000,0.000,16071.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,71.374,0.000,0.000,0.000
$MEM,353812
$DATA_FILE_SIZE,13479,425
$CAP_FILE_SIZE,131505,0
$CFSIZE,260034560,254480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,220310,012407,1930.674,-15628.533,34,1.2,34,9.6