version: 66.07
glider: 23
mission: 14
dive: 38
start: 3 23 110 9 34 49
data:
$ID,23
$MISSION,14
$DIVE,38
$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,-41600.695
$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,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,525
$R_STBD_OVSHOOT,271
$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
$GPS1,230310,092907,1927.883,-15640.289,29,1.0,29,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.2
$GPS2,230310,093408,1927.744,-15640.250,11,1.1,11,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,0.277
$KALMAN_X,-35533.1,339.1,-101.9,-23646.2,726.8
$KALMAN_Y,66573.5,-434.4,207.5,-93919.7,-4462.7
$MHEAD_RNG_PITCHd_Wd,342.7,4201,-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,-194.6,0.0,0.0,0,96,0.00,0.00,-75.45,0.000,2,0.000,0.000,358,2611,2783,0,0,0,0,0,0
$GC,98,-1.37,-194.6,3.3,-5.3,15,134,10.62,2.70,-18.48,0.000,4,0.174,0.043,2153,1235,3638,0,0,0,0,0,0
$GC,159,-1.37,-194.6,17.7,-22.1,27,165,0.00,1.52,0.00,0.000,6,0.000,0.023,2153,1985,3638,0,0,0,0,0,0
$GC,232,-1.37,-194.6,33.9,-22.3,35,236,0.00,2.40,0.00,0.000,4,0.000,0.032,2153,3363,3638,0,0,0,0,0,0
$GC,360,-1.37,-194.6,61.8,-21.1,47,364,0.00,1.17,0.00,0.000,6,0.000,0.020,2153,2627,3638,0,0,0,0,0,0
$GC,557,-1.37,-194.6,99.1,-16.5,66,561,0.00,2.67,0.00,0.000,4,0.000,0.030,2153,1252,3640,0,0,0,0,0,0
$GC,593,-1.37,-194.6,105.7,-18.7,68,597,0.00,1.48,0.00,0.000,6,0.000,0.022,2153,1985,3639,0,0,0,0,0,0
$GC,924,-1.37,-194.6,168.9,-19.2,79,928,0.00,2.40,0.00,0.000,4,0.000,0.034,2153,3358,3642,0,0,0,0,0,0
$GC,1169,-1.37,-194.6,210.6,-16.2,86,1170,0.00,0.03,0.00,0.000,6,0.000,0.166,2153,3324,3642,0,0,0,0,0,0
$GC,1478,-1.37,-194.6,260.0,-14.9,97,1483,0.00,3.88,0.00,0.000,4,0.000,0.031,2153,1247,3643,0,0,0,0,0,0
$GC,1606,-1.37,-194.6,280.2,-15.0,101,1610,0.00,1.52,0.00,0.000,6,0.000,0.028,2153,1511,3643,0,0,0,0,0,0
$GC,1935,-1.37,-194.6,333.5,-16.5,109,1939,0.00,2.45,0.00,0.000,4,0.000,0.042,2153,3046,3641,0,0,0,0,0,0
$GC,2159,-1.37,-194.6,367.8,-15.1,112,2163,0.00,1.25,0.00,0.000,6,0.000,0.026,2153,2629,3641,0,0,0,0,0,0
$GC,2493,-1.37,-194.6,416.6,-14.6,118,2496,0.00,2.67,0.00,0.000,4,0.000,0.034,2153,1246,3639,0,0,0,0,0,0
$GC,2572,-1.37,-194.6,426.5,-12.0,119,2576,0.00,1.70,0.00,0.000,6,0.000,0.030,2153,2061,3639,0,0,0,0,0,0
$GC,2922,-1.37,-194.6,470.3,-12.6,125,2926,0.00,2.38,0.00,0.000,4,0.000,0.044,2153,3402,3636,0,0,0,0,0,0
$GC,3066,-1.37,-194.6,488.7,-12.6,127,3070,0.00,1.27,0.00,0.000,6,0.000,0.027,2153,2634,3634,0,0,0,0,0,0
$GC,3416,-1.37,-194.6,530.7,-11.9,133,3424,0.00,2.70,0.00,0.000,4,0.000,0.035,2153,1247,3631,0,0,0,0,0,0
$GC,3536,-1.37,-194.6,546.1,-13.5,134,3545,0.00,1.65,0.00,0.000,6,0.000,0.033,2153,2054,3630,0,0,0,0,0,0
$GC,3844,-1.37,-194.6,589.7,-14.3,140,3852,0.00,2.40,0.00,0.000,4,0.000,0.048,2153,3444,3628,0,0,0,0,0,0
$GC,3986,-1.37,-194.6,611.2,-15.2,142,3994,0.00,0.03,0.00,0.000,6,0.000,0.165,2153,3422,3627,0,0,0,0,0,0
$GC,4337,-1.37,-194.6,661.6,-13.8,148,4347,0.00,2.92,0.00,0.000,4,0.000,0.033,2153,1739,3625,0,0,0,0,0,0
$GC,4586,-1.37,-194.6,688.1,-10.2,151,4596,0.00,0.30,0.00,0.000,6,0.000,0.048,2153,1921,3623,0,0,0,0,0,0
$GC,4895,-1.37,-194.6,721.3,-10.8,157,4904,0.00,2.62,0.00,0.000,4,0.000,0.050,2153,2452,3620,0,0,0,0,0,0
$GC,4983,-1.37,-194.6,731.5,-11.8,158,4990,0.00,1.25,0.00,0.000,6,0.000,0.029,2153,2641,3620,0,0,0,0,0,0
$GC,5323,-1.37,-194.6,772.2,-12.1,164,5331,0.00,2.75,0.00,0.000,4,0.000,0.042,2153,1248,3619,0,0,0,0,0,0
$GC,5458,-1.37,-194.6,788.7,-12.1,166,5466,0.00,1.70,0.00,0.000,6,0.000,0.039,2153,2035,3618,0,0,0,0,0,0
$GC,5815,-1.37,-194.6,832.8,-12.4,172,5823,0.00,2.50,0.00,0.000,4,0.000,0.053,2153,3512,3615,0,0,1,0,0,0
$GC,5913,-1.37,-194.6,845.7,-13.3,173,5920,0.00,0.03,0.00,0.000,6,0.000,0.166,2153,3469,3615,0,0,0,0,0,0
$GC,6242,-1.37,-194.6,889.1,-13.2,179,6255,0.00,4.15,0.00,0.000,4,0.000,0.038,2153,1247,3614,0,0,0,0,0,0
$GC,6478,-1.37,-194.6,916.2,-11.2,182,6486,0.00,1.48,0.00,0.000,6,0.000,0.039,2153,1968,3613,0,0,3,0,0,0
$GC,6802,-1.37,-194.6,953.3,-11.5,188,6811,0.00,2.58,0.00,0.000,4,0.000,0.053,2153,3443,3612,0,0,2,0,0,0
$GC,6965,-1.37,-194.6,972.7,-11.9,190,6972,0.00,0.03,0.00,0.000,6,0.000,0.165,2153,3407,3611,0,0,0,0,0,0
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7117,-0.33,0.0,990.5,11.9,193,7284,1.15,0.00,159.15,1.478,6,0.098,0.000,2384,2938,2842,0,0,0,0,0,0
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7286,1.37,194.6,995.9,0.0,195,7460,1.73,0.98,163.38,1.433,4,0.056,0.054,2756,3061,2046,0,0,1,0,0,0
$GC,7700,1.37,194.6,952.3,16.1,201,7708,0.00,0.93,0.00,0.000,6,0.000,0.030,2756,2936,2041,0,0,0,0,0,0
$GC,8030,1.37,194.6,904.0,14.6,207,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2937,2040,0,0,0,0,0,0
$GC,8332,1.37,194.6,862.3,13.7,212,8342,0.00,3.00,0.00,0.000,4,0.000,0.037,2756,1368,2039,0,0,0,0,0,0
$GC,8405,1.37,194.6,852.9,12.7,213,8413,0.00,1.48,0.00,0.000,6,0.000,0.037,2756,2053,2039,0,0,0,0,0,0
$GC,8762,1.37,194.6,812.1,11.0,219,8770,0.00,2.70,0.00,0.000,4,0.000,0.052,2756,2920,2038,0,0,0,0,0,0
$GC,9010,1.37,194.6,784.0,11.8,222,9019,0.00,1.35,0.00,0.000,6,0.000,0.028,2756,2743,2038,0,0,0,0,0,0
$GC,9318,1.37,194.6,749.4,11.4,228,9326,0.00,1.35,0.00,0.000,4,0.000,0.054,2756,3474,2037,0,0,2,0,0,0
$GC,9448,1.37,194.6,732.2,14.0,230,9455,0.00,1.27,0.00,0.000,6,0.000,0.029,2756,2749,2037,0,0,0,0,0,0
$GC,9815,1.37,194.6,683.7,13.2,236,9824,0.00,2.67,0.00,0.000,4,0.000,0.036,2756,1367,2036,0,0,0,0,0,0
$GC,9855,1.37,194.6,678.5,12.5,236,9862,0.00,1.45,0.00,0.000,6,0.000,0.036,2756,2060,2036,0,0,1,0,0,0
$GC,10179,1.37,194.6,635.5,13.2,242,10188,0.00,2.67,0.00,0.000,4,0.000,0.050,2756,3607,2036,0,0,0,0,0,0
$GC,10374,1.37,194.6,607.8,13.8,245,10382,0.00,1.35,0.00,0.000,6,0.000,0.028,2755,2745,2036,0,0,0,0,0,0
$GC,10736,1.37,194.6,560.2,13.0,251,10745,0.00,2.62,0.00,0.000,4,0.000,0.034,2756,1367,2036,0,0,0,0,0,0
$GC,10808,1.37,194.6,550.8,12.4,252,10816,0.00,1.42,0.00,0.000,6,0.000,0.035,2756,2047,2036,0,0,1,0,0,0
$GC,11165,1.38,200.9,510.3,10.8,258,11174,0.00,2.45,0.00,0.000,4,0.000,0.048,2756,3449,2036,0,0,0,0,0,0
$GC,11413,1.38,200.9,483.2,11.0,261,11418,0.00,0.03,0.00,0.000,6,0.000,0.163,2756,3440,2035,0,0,0,0,0,0
$GC,11719,1.38,200.9,447.8,11.7,267,11724,0.00,3.80,0.00,0.000,4,0.000,0.031,2756,1365,2035,0,0,0,0,0,0
$GC,11814,1.38,203.9,437.0,10.9,268,11825,0.00,1.45,7.12,0.943,6,0.000,0.033,2756,2052,2009,0,0,0,0,0,0
$GC,12137,1.40,218.2,402.8,10.5,274,12157,0.00,2.72,13.27,1.017,4,0.000,0.047,2756,3579,1951,0,0,0,0,0,0
$GC,12398,1.40,218.2,369.5,11.8,278,12402,0.00,1.33,0.00,0.000,6,0.000,0.026,2756,2741,1950,0,0,0,0,0,0
$GC,12758,1.40,218.2,325.3,12.1,284,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2742,1949,0,0,0,0,0,0
$GC,13060,1.41,227.7,292.3,10.6,290,13074,0.00,2.72,9.25,0.890,4,0.000,0.032,2756,1366,1912,0,0,0,0,0,0
$GC,13247,1.43,249.7,273.2,10.2,295,13271,0.00,1.42,19.62,0.938,6,0.000,0.032,2756,2010,1822,0,0,2,0,0,0
$GC,13587,1.44,260.1,235.4,10.6,307,13601,0.00,2.42,9.93,0.842,4,0.000,0.044,2756,3448,1780,0,0,1,0,0,0
$GC,13719,1.44,260.1,219.5,11.6,311,13722,0.00,0.03,0.00,0.000,6,0.000,0.162,2756,3404,1778,0,0,0,0,0,0
$GC,14043,1.44,260.1,182.7,11.3,322,14047,0.00,3.72,0.00,0.000,4,0.000,0.028,2756,1367,1778,0,0,0,0,0,0
$GC,14288,1.46,274.1,155.3,10.5,329,14304,0.00,1.38,12.70,0.789,6,0.000,0.028,2756,2053,1723,0,0,2,0,0,0
$GC,14622,1.46,274.1,116.5,13.1,341,14627,0.00,1.42,0.00,0.000,4,0.000,0.030,2756,1368,1722,0,0,0,0,0,0
$GC,14697,1.46,274.1,106.5,12.8,343,14701,0.00,1.42,0.00,0.000,6,0.000,0.024,2756,2057,1722,0,0,0,0,0,0
$GC,15018,1.49,305.8,69.8,9.8,369,15049,0.12,0.00,26.80,0.728,6,0.063,0.000,2792,2059,1593,0,0,0,0,0,0
$GC,15236,1.49,305.8,42.5,12.2,390,15239,0.00,2.35,0.00,0.000,4,0.000,0.037,2792,2423,1590,0,0,1,0,0,0
$GC,15266,1.49,305.8,38.3,14.2,392,15272,0.00,1.10,0.00,0.000,6,0.000,0.020,2792,2730,1590,0,0,0,0,0,0
$GC,15459,1.49,305.8,14.7,12.7,414,15465,0.00,2.60,0.00,0.000,4,0.000,0.028,2792,1366,1591,0,0,0,0,0,0
$STATE,15553,end climb,SURFACE_DEPTH_REACHED
$STATE,15553,begin surface coast
$FINISH,1.3,1.023860
$STATE,15565,end surface coast,CONTROL_FINISHED_OK
$STATE,15565,begin surface
$SM_CCo,15585,48.12,0.644,0,0,1210,400.08
$SM_GC,0.67,0.00,0.00,48.12,0.000,0.000,0.644,357,1963,1210,-9.68,-5.57,400.08
$IRIDIUM_FIX,1920.65,-15621.98,150911,232328
$TT8_MAMPS,0.103362
$HUMID,1078067732
$TCM_TEMP,23.60
$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,0/134
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,14.039
$10V_AH,9.9,15.767
$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,24.325,120.125,421.225,48.125,0.000,22.287,26.766,149.212,0.000,0.000,13.324,0.000,12403.248,586.241,2744.835,245.481,33.348,1773.042,0.000,1924.284,0.000,0.543,0.000
$DEVICE_MAMPS,173.655,166.005,1477.980,644.130,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,294.671,0.000,0.000,0.000,0.000,0.000,87.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,90.227,0.000,0.000,0.000
$MEM,353592
$DATA_FILE_SIZE,16757,434
$CAP_FILE_SIZE,136367,0
$CFSIZE,260034560,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,230310,135724,1928.594,-15640.468,38,1.2,38,9.6