version: 66.07
glider: 23
mission: 14
dive: 31
start: 3 22 110 1 50 7
data:
$ID,23
$MISSION,14
$DIVE,31
$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,375
$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,-41591.855
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2470
$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,32
$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
$GPS1,220310,014432,1930.815,-15628.701,9,1.4,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.4
$GPS2,220310,014926,1930.852,-15628.727,13,1.6,13,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.212,-0.183
$KALMAN_X,-40062.5,-62.1,-27.5,1291.7,-802.5
$KALMAN_Y,83269.2,-343.3,-282.6,-104455.1,2913.0
$MHEAD_RNG_PITCHd_Wd,219.7,19745,-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,17,-1.37,-194.6,0.0,0.0,0,106,0.00,0.00,-81.60,0.000,2,0.000,0.000,365,2142,2930,0,0,0,0,0,0
$GC,108,-1.37,-194.6,3.4,-6.1,16,139,10.50,2.38,-14.90,0.000,4,0.169,0.047,2162,3578,3637,0,0,0,0,0,0
$GC,378,-1.37,-194.6,63.6,-21.4,48,384,0.00,2.33,0.00,0.000,6,0.000,0.022,2162,2173,3637,0,0,0,0,0,0
$GC,570,-1.37,-194.6,99.6,-18.4,67,574,0.00,2.38,0.00,0.000,4,0.000,0.036,2161,3568,3636,0,0,0,0,0,0
$GC,666,-1.37,-194.6,116.0,-16.0,71,670,0.00,2.35,0.00,0.000,6,0.000,0.022,2162,2156,3637,0,0,0,0,0,0
$GC,1001,-1.37,-194.6,175.4,-17.5,82,1005,0.00,2.40,0.00,0.000,4,0.000,0.038,2161,3567,3638,0,0,1,0,0,0
$GC,1198,-1.37,-194.6,212.0,-17.1,88,1203,0.00,2.35,0.00,0.000,6,0.000,0.024,2161,2159,3638,0,0,0,0,0,0
$GC,1529,-1.37,-194.6,266.6,-17.8,99,1532,0.00,2.45,0.00,0.000,4,0.000,0.041,2162,3566,3637,0,0,0,0,0,0
$GC,1640,-1.37,-194.6,286.0,-17.0,102,1644,0.00,2.35,0.00,0.000,6,0.000,0.024,2161,2158,3637,0,0,0,0,0,0
$GC,1989,-1.37,-194.6,335.5,-13.6,110,1992,0.00,2.42,0.00,0.000,4,0.000,0.043,2162,3588,3636,0,0,0,0,0,0
$GC,2079,-1.37,-194.6,347.8,-13.5,111,2083,0.00,2.38,0.00,0.000,6,0.000,0.025,2161,2164,3635,0,0,0,0,0,0
$GC,2418,-1.37,-194.6,394.9,-14.0,117,2422,0.00,2.40,0.00,0.000,4,0.000,0.046,2161,3569,3632,0,0,1,0,0,0
$GC,2476,-1.37,-194.6,403.1,-14.1,117,2482,0.00,2.35,0.00,0.000,6,0.000,0.026,2161,2164,3631,0,0,0,0,0,0
$GC,2783,-1.37,-194.6,446.3,-14.3,123,2792,0.00,2.42,0.00,0.000,4,0.000,0.047,2162,3569,3629,0,0,0,0,0,0
$GC,2855,-1.37,-194.6,456.2,-14.0,124,2863,0.00,2.35,0.00,0.000,6,0.000,0.027,2162,2152,3627,0,0,0,0,0,0
$GC,3212,-1.37,-194.6,503.4,-13.4,130,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2148,3624,0,0,0,0,0,0
$GC,3514,-1.37,-194.6,547.1,-14.6,135,3522,0.00,2.45,0.00,0.000,4,0.000,0.049,2162,3576,3621,0,0,1,0,0,0
$GC,3564,-1.37,-194.6,554.5,-14.5,135,3572,0.00,2.35,0.00,0.000,6,0.000,0.028,2161,2161,3620,0,0,0,0,0,0
$GC,3873,-1.37,-194.6,593.7,-12.5,140,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2159,3617,0,0,0,0,0,0
$GC,4174,-1.37,-194.6,630.2,-12.1,145,4182,0.00,2.45,0.00,0.000,4,0.000,0.052,2161,3567,3615,0,0,0,0,0,0
$GC,4224,-1.37,-194.6,636.7,-13.0,145,4232,0.00,2.35,0.00,0.000,6,0.000,0.029,2162,2161,3615,0,0,0,0,0,0
$GC,4533,-1.37,-194.6,673.0,-11.6,150,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2162,3612,0,0,0,0,0,0
$GC,4834,-1.37,-194.6,702.9,-9.8,155,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2162,3610,0,0,0,0,0,0
$GC,5137,-1.37,-194.6,735.0,-10.9,160,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2160,3608,0,0,0,0,0,0
$GC,5437,-1.37,-194.6,772.8,-12.7,165,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2160,3607,0,0,0,0,0,0
$GC,5740,-1.37,-194.6,811.7,-12.9,170,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2160,3604,0,0,0,0,0,0
$GC,6041,-1.37,-194.6,846.9,-11.5,175,6049,0.00,2.35,0.00,0.000,4,0.000,0.047,2161,1049,3602,0,0,0,0,0,0
$GC,6064,-1.37,-194.6,849.5,-11.0,175,6072,0.00,2.33,0.00,0.000,6,0.000,0.038,2161,2167,3602,0,0,1,0,0,0
$GC,6400,-1.37,-194.6,884.9,-10.5,181,6408,0.00,2.42,0.00,0.000,4,0.000,0.055,2161,3577,3601,0,0,1,0,0,0
$GC,6439,-1.37,-194.6,889.1,-11.5,181,6448,0.00,2.38,0.00,0.000,6,0.000,0.030,2161,2162,3601,0,0,0,0,0,0
$GC,6759,-1.37,-194.6,919.5,-9.4,187,6768,0.00,2.47,0.00,0.000,4,0.000,0.054,2161,3577,3600,0,0,0,0,0,0
$GC,6799,-1.37,-194.6,923.3,-9.7,187,6808,0.00,2.38,0.00,0.000,6,0.000,0.030,2161,2160,3599,0,0,0,0,0,0
$GC,7119,-1.37,-194.6,951.4,-8.8,193,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2160,3598,0,0,0,0,0,0
$GC,7421,-1.37,-194.6,982.3,-10.4,198,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2160,3597,0,0,0,0,0,0
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7544,-0.33,0.0,995.6,10.8,200,7709,1.15,0.00,156.62,1.480,6,0.099,0.000,2392,2277,2842,0,0,0,0,0,0
$STATE,7710,end apogee,CONTROL_FINISHED_OK
$STATE,7710,begin climb
$GC,7712,1.37,194.6,1001.6,0.0,202,7889,1.77,2.42,163.05,1.438,4,0.052,0.054,2773,3629,2047,0,0,1,0,0,0
$GC,7920,1.37,194.6,992.0,15.4,206,7928,0.00,2.40,0.00,0.000,6,0.000,0.028,2773,2194,2044,0,0,0,0,0,0
$GC,8267,1.37,194.6,939.5,15.5,212,8275,0.00,2.47,0.00,0.000,4,0.000,0.052,2773,3613,2042,0,0,0,0,0,0
$GC,8514,1.37,194.6,895.9,19.1,215,8524,0.00,2.33,0.00,0.000,6,0.000,0.028,2773,2220,2041,0,0,0,0,0,0
$GC,8823,1.37,194.6,846.5,15.9,221,8831,0.00,2.45,0.00,0.000,4,0.000,0.052,2773,3637,2040,0,0,0,0,0,0
$GC,9071,1.37,194.6,807.3,14.6,224,9081,0.00,2.35,0.00,0.000,6,0.000,0.028,2773,2196,2040,0,0,0,0,0,0
$GC,9379,1.37,194.6,767.5,12.7,230,9387,0.00,2.45,0.00,0.000,4,0.000,0.053,2773,3627,2039,0,0,1,0,0,0
$GC,9627,1.37,194.6,734.2,13.4,233,9636,0.00,2.33,0.00,0.000,6,0.000,0.028,2773,2213,2039,0,0,0,0,0,0
$GC,9935,1.37,194.6,694.6,13.0,239,9944,0.00,2.42,0.00,0.000,4,0.000,0.053,2772,3622,2038,0,0,0,0,0,0
$GC,10183,1.37,194.6,659.8,14.6,242,10191,0.00,2.33,0.00,0.000,6,0.000,0.028,2773,2209,2037,0,0,0,0,0,0
$GC,10492,1.37,194.6,622.0,12.1,247,10500,0.00,2.42,0.00,0.000,4,0.000,0.052,2773,3636,2037,0,0,0,0,0,0
$GC,10739,1.37,194.6,590.5,12.9,250,10748,0.00,2.33,0.00,0.000,6,0.000,0.028,2772,2212,2037,0,0,0,0,0,0
$GC,11047,1.37,194.6,555.3,11.4,256,11055,0.00,2.42,0.00,0.000,4,0.000,0.051,2773,3634,2037,0,0,0,0,0,0
$GC,11295,1.37,194.6,523.3,13.0,259,11305,0.00,2.33,0.00,0.000,6,0.000,0.027,2773,2209,2037,0,0,0,0,0,0
$GC,11603,1.39,214.6,490.9,10.2,265,11629,0.00,2.47,16.17,1.096,4,0.000,0.050,2773,3623,1966,0,0,0,0,0,0
$GC,11868,1.39,214.6,457.4,12.4,269,11876,0.00,2.30,0.00,0.000,6,0.000,0.027,2773,2219,1964,0,0,0,0,0,0
$GC,12220,1.42,236.7,421.0,10.2,275,12248,0.00,2.45,19.38,1.058,4,0.000,0.050,2773,3625,1876,0,0,1,0,0,0
$GC,12488,1.42,236.7,387.5,13.5,279,12492,0.00,2.33,0.00,0.000,6,0.000,0.026,2773,2222,1873,0,0,0,0,0,0
$GC,12837,1.42,236.7,341.8,12.9,285,12841,0.00,2.42,0.00,0.000,4,0.000,0.047,2773,3622,1873,0,0,0,0,0,0
$GC,12949,1.42,236.7,326.1,13.0,286,12953,0.00,2.33,0.00,0.000,6,0.000,0.024,2773,2213,1874,0,0,0,0,0,0
$GC,13268,1.42,236.7,287.9,12.0,293,13272,0.00,2.40,0.00,0.000,4,0.000,0.047,2773,3632,1874,0,0,0,0,0,0
$GC,13342,1.42,236.7,277.9,12.1,295,13346,0.00,2.33,0.00,0.000,6,0.000,0.024,2773,2213,1874,0,0,0,0,0,0
$GC,13667,1.42,236.7,238.3,12.3,306,13670,0.00,2.40,0.00,0.000,4,0.000,0.046,2774,3641,1873,0,0,0,0,0,0
$GC,13806,1.42,236.7,221.0,12.4,310,13810,0.00,2.30,0.00,0.000,6,0.000,0.024,2772,2211,1874,0,0,0,0,0,0
$GC,14130,1.45,269.3,187.9,9.8,321,14164,0.00,2.47,27.60,0.874,4,0.000,0.045,2773,3628,1743,0,0,0,0,0,0
$GC,14181,1.45,269.3,182.1,11.5,322,14185,0.00,2.33,0.00,0.000,6,0.000,0.022,2773,2224,1741,0,0,0,0,0,0
$GC,14495,1.49,306.0,147.9,9.6,333,14528,0.10,0.00,30.70,0.827,6,0.076,0.000,2800,2218,1593,0,0,0,0,0,0
$GC,14829,1.49,306.0,100.9,15.0,344,14833,0.00,2.72,0.00,0.000,4,0.000,0.036,2801,872,1589,0,0,0,0,0,0
$GC,14855,1.49,306.0,97.1,14.6,345,14859,0.00,2.70,0.00,0.000,6,0.000,0.025,2801,2238,1588,0,0,1,0,0,0
$GC,15052,1.49,306.0,65.9,17.0,364,15055,0.00,2.30,0.00,0.000,4,0.000,0.042,2801,3627,1588,0,0,0,0,0,0
$GC,15116,1.49,306.0,55.5,15.3,370,15119,0.00,2.25,0.00,0.000,6,0.000,0.021,2801,2214,1588,0,0,0,0,0,0
$GC,15312,1.49,306.0,26.3,11.9,389,15317,0.00,2.78,0.00,0.000,4,0.000,0.034,2801,833,1588,0,0,0,0,0,0
$GC,15365,1.49,306.0,19.5,13.3,393,15371,0.00,2.75,0.00,0.000,6,0.000,0.024,2801,2221,1589,0,0,0,0,0,0
$STATE,15491,end climb,SURFACE_DEPTH_REACHED
$STATE,15492,begin surface coast
$FINISH,0.4,1.023953
$STATE,15513,end surface coast,CONTROL_FINISHED_OK
$STATE,15513,begin surface
$SM_CCo,15534,34.25,0.657,0,0,1311,375.06
$SM_GC,1.29,0.00,0.00,34.25,0.000,0.000,0.657,362,2161,1311,-9.70,0.03,375.06
$IRIDIUM_FIX,1925.22,-15658.00,140911,202046
$TT8_MAMPS,0.151298
$HUMID,1078076764
$TCM_TEMP,23.10
$XPDR_PINGS,1
$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,3074/3072
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,11.2/30829585/27386514
$PA_HOME,11.0/482055/429020
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287804
$PA_DATA1,78.5/7837685/1686208
$PA_DATA0,81.5/7836665/1450377
$24V_AH,23.5,12.746
$10V_AH,9.9,12.790
$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,24.300,135.000,413.525,34.250,0.000,0.000,0.000,0.000,0.250,0.000,15.572,0.000,12687.565,554.513,2196.062,178.887,33.358,1637.382,0.000,1594.987,0.000,0.543,0.000
$DEVICE_MAMPS,169.065,82.620,1480.275,657.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,286.218,0.000,0.000,0.000,0.000,0.000,15645.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,91.733,0.000,0.000,0.000
$MEM,353832
$DATA_FILE_SIZE,13488,421
$CAP_FILE_SIZE,148441,0
$CFSIZE,260034560,254390272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,220310,061036,1929.467,-15630.381,37,2.0,37,9.6