version: 66.07
glider: 23
mission: 14
dive: 39
start: 3 23 110 14 13 30
data:
$ID,23
$MISSION,14
$DIVE,39
$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,-41601.961
$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,2320
$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
$GPS1,230310,135724,1928.594,-15640.468,38,1.2,38,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.9
$GPS2,230310,141249,1928.302,-15640.554,13,1.2,13,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,0.278
$KALMAN_X,-35186.6,211.3,-194.0,-24301.5,554.6
$KALMAN_Y,62177.1,91.4,123.7,-88941.4,-4955.9
$MHEAD_RNG_PITCHd_Wd,344.3,3290,-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,-194.6,0.0,0.0,0,100,0.00,0.00,-80.55,0.000,2,0.000,0.000,356,1963,2887,0,0,0,0,0,0
$GC,102,-1.37,-194.6,3.2,-5.6,16,137,10.68,2.47,-15.93,0.000,4,0.175,0.050,2152,3362,3638,0,0,0,0,0,0
$GC,238,-1.37,-194.6,35.9,-21.3,35,244,0.00,1.15,0.00,0.000,6,0.000,0.021,2152,2632,3639,0,0,0,0,0,0
$GC,429,-1.37,-194.6,76.3,-20.8,54,433,0.00,2.70,0.00,0.000,4,0.000,0.033,2152,1242,3639,0,0,0,0,0,0
$GC,445,-1.37,-194.6,79.7,-21.6,55,451,0.00,1.62,0.00,0.000,6,0.000,0.022,2152,2035,3639,0,0,0,0,0,0
$GC,645,-1.37,-194.6,119.6,-20.5,69,648,0.00,2.25,0.00,0.000,4,0.000,0.035,2152,3350,3639,0,0,0,0,0,0
$GC,826,-1.37,-194.6,156.1,-19.3,74,830,0.00,1.17,0.00,0.000,6,0.000,0.021,2152,2613,3639,0,0,0,0,0,0
$GC,1140,-1.37,-194.6,216.3,-18.8,85,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2609,3641,0,0,0,0,0,0
$GC,1443,-1.37,-194.6,267.7,-16.1,95,1447,0.00,2.65,0.00,0.000,4,0.000,0.031,2152,1239,3641,0,0,0,0,0,0
$GC,1508,-1.37,-194.6,276.8,-13.9,97,1511,0.00,1.45,0.00,0.000,6,0.000,0.027,2152,1965,3640,0,0,1,0,0,0
$GC,1872,-1.37,-194.6,330.6,-14.6,106,1875,0.00,2.50,0.00,0.000,4,0.000,0.041,2152,3289,3639,0,0,0,0,0,0
$GC,2117,-1.37,-194.6,366.4,-14.9,109,2121,0.00,1.25,0.00,0.000,6,0.000,0.024,2152,2626,3638,0,0,0,0,0,0
$GC,2429,-1.37,-194.6,412.9,-15.0,115,2433,0.00,2.70,0.00,0.000,4,0.000,0.034,2152,1241,3635,0,0,0,0,0,0
$GC,2477,-1.37,-194.6,419.8,-14.1,115,2481,0.00,1.65,0.00,0.000,6,0.000,0.031,2152,2052,3635,0,0,2,0,0,0
$GC,2795,-1.37,-194.6,464.0,-13.9,121,2799,0.00,2.25,0.00,0.000,4,0.000,0.044,2152,2984,3632,0,0,0,0,0,0
$GC,2923,-1.37,-194.6,482.7,-14.9,123,2926,0.00,0.03,0.00,0.000,6,0.000,0.164,2152,3311,3630,0,0,0,0,0,0
$GC,3288,-1.37,-194.6,530.6,-12.9,129,3301,0.00,3.85,0.00,0.000,4,0.000,0.034,2152,1241,3628,0,0,0,0,0,0
$GC,3487,-1.37,-194.6,556.6,-12.9,132,3494,0.00,1.42,0.00,0.000,6,0.000,0.033,2152,1155,3625,0,0,1,0,0,0
$GC,3849,-1.37,-194.6,602.4,-12.4,138,3858,0.00,2.67,0.00,0.000,4,0.000,0.048,2152,3441,3622,0,0,2,0,0,0
$GC,4097,-1.37,-194.6,632.9,-12.3,141,4107,0.00,0.03,0.00,0.000,6,0.000,0.168,2152,3427,3620,0,0,0,0,0,0
$GC,4406,-1.37,-194.6,669.1,-11.7,147,4418,0.00,4.07,0.00,0.000,4,0.000,0.037,2152,1246,3618,0,0,0,0,0,0
$GC,4545,-1.37,-194.6,684.6,-11.1,149,4553,0.00,1.70,0.00,0.000,6,0.000,0.038,2152,2058,3618,0,0,0,0,0,0
$GC,4902,-1.37,-194.6,725.1,-11.3,155,4910,0.00,2.55,0.00,0.000,4,0.000,0.054,2152,3489,3615,0,0,0,0,0,0
$GC,4974,-1.37,-194.6,733.4,-11.3,156,4981,0.00,0.03,0.00,0.000,6,0.000,0.167,2152,3470,3614,0,0,0,0,0,0
$GC,5330,-1.37,-194.6,776.8,-12.3,162,5342,0.00,4.12,0.00,0.000,4,0.000,0.040,2152,1253,3611,0,0,0,0,0,0
$GC,5565,-1.37,-194.6,804.2,-11.7,165,5574,0.00,1.70,0.00,0.000,6,0.000,0.040,2152,2045,3610,0,0,0,0,0,0
$GC,5891,-1.37,-194.6,842.1,-11.7,171,5899,0.00,2.42,0.00,0.000,4,0.000,0.053,2152,2171,3609,0,0,2,0,0,0
$GC,6058,-1.37,-194.6,862.9,-12.9,173,6066,0.00,0.03,0.00,0.000,6,0.000,0.169,2152,3433,3607,0,0,0,0,0,0
$GC,6383,-1.37,-194.6,904.8,-12.9,179,6395,0.00,4.07,0.00,0.000,4,0.000,0.039,2152,1246,3605,0,0,0,0,0,0
$GC,6618,-1.37,-194.6,933.8,-12.7,182,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,1246,3605,0,0,0,0,0,0
$GC,6942,-1.37,-194.6,973.6,-12.1,188,6949,0.00,0.00,0.00,0.000,4,0.000,0.000,2152,1246,3604,0,0,0,0,0,0
$STATE,7080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7080,begin apogee
$GC,7085,-0.33,0.0,990.6,12.1,190,7250,1.12,0.00,157.35,1.475,6,0.094,0.000,2383,1246,2841,0,0,0,0,0,0
$STATE,7252,end apogee,CONTROL_FINISHED_OK
$STATE,7252,begin climb
$GC,7254,1.37,194.6,997.4,0.0,192,7430,1.73,2.65,162.82,1.437,4,0.053,0.039,2758,2544,2046,0,0,1,0,0,0
$GC,7670,1.37,194.6,960.0,15.0,198,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2544,2041,0,0,0,0,0,0
$GC,7994,1.37,194.6,911.3,15.1,204,8002,0.00,0.00,0.00,0.000,4,0.000,0.000,2758,2543,2040,0,0,0,0,0,0
$GC,8241,1.37,194.6,875.2,14.5,207,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2544,2040,0,0,0,0,0,0
$GC,8554,1.37,194.6,831.4,13.9,213,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2543,2039,0,0,0,0,0,0
$GC,8856,1.37,194.6,791.2,13.2,218,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2544,2038,0,0,0,0,0,0
$GC,9158,1.37,194.6,751.8,13.1,223,9165,0.00,1.83,0.00,0.000,4,0.000,0.035,2758,1577,2037,0,0,0,0,0,0
$GC,9212,1.37,194.6,745.1,12.0,223,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1577,2037,0,0,0,0,0,0
$GC,9526,1.37,194.6,705.2,12.9,229,9534,0.00,1.90,0.00,0.000,4,0.000,0.041,2758,2553,2037,0,0,0,0,0,0
$GC,9773,1.37,194.6,670.9,13.1,232,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2552,2036,0,0,0,0,0,0
$GC,10088,1.37,194.6,634.4,11.3,238,10095,0.00,0.00,0.00,0.000,4,0.000,0.000,2759,2552,2036,0,0,0,0,0,0
$GC,10335,1.37,194.6,608.5,11.4,241,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2552,2036,0,0,0,0,0,0
$GC,10649,1.37,194.6,568.9,13.0,247,10657,0.00,0.00,0.00,0.000,4,0.000,0.000,2758,2552,2036,0,0,0,0,0,0
$GC,10896,1.38,198.0,539.0,10.9,250,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2552,2036,0,0,0,0,0,0
$GC,11210,1.48,297.6,514.6,7.2,256,11303,0.12,0.00,85.18,1.168,4,0.076,0.000,2788,2552,1626,0,0,0,0,0,0
$GC,11544,1.48,297.6,461.6,17.6,261,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2552,1616,0,0,0,0,0,0
$GC,11889,1.48,297.6,401.0,17.4,267,11893,0.00,2.30,0.00,0.000,4,0.000,0.036,2788,1405,1614,0,0,0,0,0,0
$GC,11942,1.48,297.6,391.2,17.2,267,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1405,1614,0,0,0,0,0,0
$GC,12253,1.48,297.6,339.6,16.1,273,12256,0.00,0.00,0.00,0.000,4,0.000,0.000,2788,1405,1613,0,0,0,0,0,0
$GC,12498,1.48,297.6,302.3,14.8,276,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1406,1613,0,0,0,0,0,0
$GC,12806,1.48,297.6,258.8,13.8,286,12810,0.00,0.00,0.00,0.000,4,0.000,0.000,2788,1406,1612,0,0,0,0,0,0
$GC,12978,1.48,297.6,235.4,12.9,291,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1406,1613,0,0,0,0,0,0
$GC,13302,1.48,297.6,190.1,14.5,302,13305,0.00,0.00,0.00,0.000,4,0.000,0.000,2788,1406,1613,0,0,0,0,0,0
$GC,13546,1.48,297.6,155.0,13.1,309,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1406,1613,0,0,0,0,0,0
$GC,13859,1.48,297.6,116.3,11.7,320,13863,0.00,2.22,0.00,0.000,4,0.000,0.029,2788,2549,1613,0,0,0,0,0,0
$GC,14105,1.48,297.6,85.2,14.6,333,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2549,1614,0,0,0,0,0,0
$GC,14301,1.48,297.6,58.2,13.3,352,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2549,1615,0,0,0,0,0,0
$GC,14487,1.48,297.6,36.5,11.6,370,14491,0.00,2.22,0.00,0.000,4,0.000,0.025,2788,1394,1616,0,0,0,0,0,0
$GC,14610,1.48,297.6,22.8,12.0,381,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1394,1617,0,0,0,0,0,0
$STATE,14800,end climb,SURFACE_DEPTH_REACHED
$STATE,14800,begin surface coast
$FINISH,0.2,0.998478
$STATE,14826,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14853,51.65,0.644,0,0,1209,400.08
$SM_GC,0.71,0.00,0.00,51.65,0.000,0.000,0.644,362,1388,1209,-9.65,-21.82,400.08
$IRIDIUM_FIX,1918.37,-15639.38,160911,030318
$TT8_MAMPS,0.113848
$HUMID,1078069023
$TCM_TEMP,23.70
$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,42/181
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,14.242
$10V_AH,9.9,15.835
$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,24.350,67.650,405.350,51.650,0.000,24.319,32.615,546.025,0.000,0.000,15.826,0.000,11758.580,535.637,3259.602,333.741,33.351,1714.310,0.000,1925.632,0.000,0.544,0.000
$DEVICE_MAMPS,175.185,169.065,1474.920,644.130,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,284.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353560
$DATA_FILE_SIZE,13482,419
$CAP_FILE_SIZE,137555,0
$CFSIZE,260034560,253685760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,230310,182407,1928.062,-15640.984,37,1.3,37,9.6