version: 66.07
glider: 23
mission: 14
dive: 25
start: 3 20 110 22 36 11
data:
$ID,23
$MISSION,14
$DIVE,25
$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,450
$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,-41538.965
$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,2120
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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
$GPS1,200310,222730,1937.702,-15617.180,41,1.7,41,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.4
$GPS2,200310,223531,1937.915,-15617.311,11,1.6,28,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,-0.254
$KALMAN_X,-33705.7,-113.2,-377.1,15248.0,-577.7
$KALMAN_Y,71187.3,-221.6,-158.6,-79533.7,3586.8
$MHEAD_RNG_PITCHd_Wd,194.9,42236,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.37,-194.6,0.0,0.0,0,107,0.00,0.00,-85.12,0.000,2,0.000,0.000,359,2113,2742,0,0,0,0,0,0
$GC,110,-1.37,-194.6,3.0,-3.9,17,146,10.50,2.47,-20.98,0.000,4,0.170,0.050,2152,3570,3637,0,0,0,0,0,0
$GC,305,-1.37,-194.6,47.6,-22.3,43,311,0.00,2.38,0.00,0.000,6,0.000,0.022,2152,2144,3638,0,0,0,0,0,0
$GC,497,-1.37,-194.6,92.3,-22.8,62,501,0.00,2.42,0.00,0.000,4,0.000,0.034,2152,3565,3638,0,0,0,0,0,0
$GC,614,-1.37,-194.6,115.9,-19.2,68,618,0.00,2.42,0.00,0.000,6,0.000,0.023,2152,2112,3639,0,0,0,0,0,0
$GC,928,-1.37,-194.6,176.1,-18.4,79,932,0.00,2.47,0.00,0.000,4,0.000,0.037,2152,3577,3640,0,0,0,0,0,0
$GC,1045,-1.37,-194.6,196.9,-18.2,82,1049,0.00,2.42,0.00,0.000,6,0.000,0.023,2152,2122,3640,0,0,0,0,0,0
$GC,1359,-1.37,-194.6,250.4,-16.2,93,1363,0.00,2.50,0.00,0.000,4,0.000,0.040,2152,3587,3640,0,0,0,0,0,0
$GC,1476,-1.37,-194.6,267.9,-15.0,96,1481,0.00,2.45,0.00,0.000,6,0.000,0.025,2152,2121,3640,0,0,0,0,0,0
$GC,1820,-1.37,-194.6,318.6,-14.4,106,1824,0.00,2.58,0.00,0.000,4,0.000,0.044,2152,3608,3639,0,0,0,0,0,0
$GC,1976,-1.37,-194.6,339.5,-13.8,108,1980,0.00,2.45,0.00,0.000,6,0.000,0.026,2152,2115,3638,0,0,0,0,0,0
$GC,2308,-1.37,-194.6,385.3,-13.9,114,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2116,3637,0,0,0,0,0,0
$GC,2610,-1.37,-194.6,427.6,-14.0,119,2620,0.00,2.58,0.00,0.000,4,0.000,0.047,2152,3610,3634,0,0,0,0,0,0
$GC,2635,-1.37,-194.6,431.1,-14.8,119,2643,0.00,2.45,0.00,0.000,6,0.000,0.027,2152,2119,3634,0,0,0,0,0,0
$GC,2971,-1.37,-194.6,478.0,-13.8,125,2979,0.00,2.55,0.00,0.000,4,0.000,0.047,2152,3614,3631,0,0,1,0,0,0
$GC,3058,-1.37,-194.6,489.9,-13.3,126,3066,0.00,2.47,0.00,0.000,6,0.000,0.028,2152,2121,3630,0,0,0,0,0,0
$GC,3394,-1.37,-194.6,535.6,-13.9,132,3403,0.00,2.55,0.00,0.000,4,0.000,0.048,2151,3596,3627,0,0,0,0,0,0
$GC,3460,-1.37,-194.6,544.8,-14.3,133,3468,0.00,2.33,0.00,0.000,6,0.000,0.028,2152,2164,3626,0,0,0,0,0,0
$GC,3818,-1.37,-194.6,591.7,-12.9,139,3826,0.00,2.50,0.00,0.000,4,0.000,0.050,2152,3616,3623,0,0,0,0,0,0
$GC,3965,-1.37,-194.6,609.2,-11.7,141,3974,0.00,2.53,0.00,0.000,6,0.000,0.028,2152,2102,3622,0,0,0,0,0,0
$GC,4307,-1.37,-194.6,649.4,-11.8,147,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2102,3619,0,0,0,0,0,0
$GC,4609,-1.37,-194.6,686.9,-12.4,152,4617,0.00,2.60,0.00,0.000,4,0.000,0.051,2152,3602,3617,0,0,0,0,0,0
$GC,4675,-1.37,-194.6,695.1,-12.1,153,4683,0.00,2.45,0.00,0.000,6,0.000,0.031,2152,2123,3616,0,0,0,0,0,0
$GC,5032,-1.37,-194.6,735.7,-11.4,159,5041,0.00,2.55,0.00,0.000,4,0.000,0.053,2152,3597,3615,0,0,0,0,0,0
$GC,5088,-1.37,-194.6,742.5,-12.2,159,5097,0.00,2.42,0.00,0.000,6,0.000,0.031,2152,2112,3614,0,0,0,0,0,0
$GC,5396,-1.37,-194.6,777.9,-11.6,165,5405,0.00,2.60,0.00,0.000,4,0.000,0.052,2152,3604,3612,0,0,0,0,0,0
$GC,5468,-1.37,-194.6,787.0,-11.9,166,5477,0.00,2.47,0.00,0.000,6,0.000,0.031,2152,2116,3612,0,0,0,0,0,0
$GC,5821,-1.37,-194.6,828.3,-11.5,172,5830,0.00,2.58,0.00,0.000,4,0.000,0.053,2152,3596,3610,0,0,0,0,0,0
$GC,5872,-1.37,-194.6,834.3,-12.1,172,5881,0.00,2.50,0.00,0.000,6,0.000,0.030,2152,2111,3609,0,0,0,0,0,0
$GC,6181,-1.37,-194.6,867.0,-10.5,177,6189,0.00,2.58,0.00,0.000,4,0.000,0.053,2152,3587,3608,0,0,0,0,0,0
$GC,6231,-1.37,-194.6,872.4,-10.7,177,6240,0.00,2.45,0.00,0.000,6,0.000,0.030,2152,2119,3609,0,0,0,0,0,0
$GC,6540,-1.37,-194.6,902.4,-9.8,182,6548,0.00,2.58,0.00,0.000,4,0.000,0.054,2152,3601,3607,0,0,1,0,0,0
$GC,6579,-1.37,-194.6,906.5,-10.3,182,6587,0.00,2.47,0.00,0.000,6,0.000,0.030,2152,2116,3606,0,0,0,0,0,0
$GC,6898,-1.37,-194.6,939.4,-10.3,188,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2116,3605,0,0,0,0,0,0
$GC,7200,-1.37,-194.6,972.0,-10.8,193,7209,0.00,2.60,0.00,0.000,4,0.000,0.054,2152,3602,3604,0,0,0,0,0,0
$GC,7277,-1.37,-194.6,980.9,-12.0,194,7285,0.00,2.47,0.00,0.000,6,0.000,0.030,2152,2120,3603,0,0,0,0,0,0
$STATE,7380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7380,begin apogee
$GC,7385,-0.33,0.0,992.4,10.9,196,7552,1.15,0.00,158.35,1.476,6,0.091,0.000,2387,2362,2841,0,0,0,0,0,0
$STATE,7553,end apogee,CONTROL_FINISHED_OK
$STATE,7553,begin climb
$GC,7555,1.37,194.6,997.6,0.0,198,7733,1.73,2.90,163.95,1.435,4,0.054,0.042,2759,1041,2046,0,0,0,0,0,0
$GC,7771,1.37,194.6,987.4,13.1,201,7779,0.00,2.60,0.00,0.000,6,0.000,0.035,2759,2269,2043,0,0,0,0,0,0
$GC,8102,1.37,194.6,941.5,14.0,207,8110,0.00,2.42,0.00,0.000,4,0.000,0.053,2759,3682,2041,0,0,0,0,0,0
$GC,8349,1.37,194.6,903.6,15.7,210,8359,0.00,2.33,0.00,0.000,6,0.000,0.028,2760,2241,2040,0,0,0,0,0,0
$GC,8657,1.37,194.6,861.5,13.5,216,8666,0.00,2.47,0.00,0.000,4,0.000,0.053,2759,3684,2039,0,0,0,0,0,0
$GC,8905,1.37,194.6,824.9,15.1,219,8914,0.00,2.30,0.00,0.000,6,0.000,0.029,2759,2263,2038,0,0,0,0,0,0
$GC,9213,1.37,194.6,782.5,13.7,225,9222,0.00,2.40,0.00,0.000,4,0.000,0.054,2759,3676,2038,0,0,0,0,0,0
$GC,9461,1.37,194.6,744.9,15.3,228,9471,0.00,2.30,0.00,0.000,6,0.000,0.028,2759,2261,2037,0,0,0,0,0,0
$GC,9769,1.37,194.6,702.6,13.6,234,9777,0.00,2.42,0.00,0.000,4,0.000,0.054,2759,3676,2037,0,0,0,0,0,0
$GC,9985,1.37,194.6,671.0,14.3,237,9993,0.00,2.28,0.00,0.000,6,0.000,0.028,2759,2261,2037,0,0,0,0,0,0
$GC,10320,1.37,194.6,625.6,13.4,243,10328,0.00,2.42,0.00,0.000,4,0.000,0.054,2759,3679,2037,0,0,0,0,0,0
$GC,10563,1.37,194.6,590.8,14.4,246,10571,0.00,2.28,0.00,0.000,6,0.000,0.028,2759,2259,2036,0,0,0,0,0,0
$GC,10871,1.37,194.6,553.9,11.7,251,10879,0.00,2.40,0.00,0.000,4,0.000,0.053,2759,3676,2036,0,0,0,0,0,0
$GC,10942,1.37,194.6,545.5,12.3,252,10950,0.00,2.25,0.00,0.000,6,0.000,0.027,2759,2265,2036,0,0,0,0,0,0
$GC,11300,1.39,206.0,507.9,10.6,258,11318,0.00,2.50,8.82,1.030,4,0.000,0.053,2759,3679,2001,0,0,0,0,0,0
$GC,11558,1.39,206.0,476.3,13.0,262,11567,0.00,2.25,0.00,0.000,6,0.000,0.027,2759,2272,2001,0,0,0,0,0,0
$GC,11921,1.39,206.0,436.2,11.0,268,11929,0.00,2.38,0.00,0.000,4,0.000,0.051,2760,3676,2001,0,0,0,0,0,0
$GC,12126,1.39,206.0,411.3,12.0,271,12134,0.00,2.28,0.00,0.000,6,0.000,0.026,2759,2267,2000,0,0,0,0,0,0
$GC,12483,1.39,215.0,372.7,10.7,277,12497,0.00,2.47,9.18,0.954,4,0.000,0.050,2760,3674,1963,0,0,0,0,0,0
$GC,12653,1.39,215.0,352.0,12.4,279,12657,0.00,2.30,0.00,0.000,6,0.000,0.026,2760,2264,1963,0,0,0,0,0,0
$GC,12976,1.45,261.6,321.1,9.2,285,13020,0.00,2.47,39.62,1.011,4,0.000,0.048,2759,3685,1774,0,0,0,0,0,0
$GC,13037,1.45,261.6,314.5,12.1,286,13041,0.00,2.35,0.00,0.000,6,0.000,0.024,2760,2267,1772,0,0,0,0,0,0
$GC,13374,1.45,261.6,273.7,12.6,295,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2263,1769,0,0,0,0,0,0
$GC,13677,1.45,261.6,237.8,11.0,305,13681,0.00,2.85,0.00,0.000,4,0.000,0.037,2760,863,1769,0,0,0,0,0,0
$GC,13704,1.45,261.6,234.9,11.1,305,13710,0.00,2.83,0.00,0.000,6,0.000,0.029,2760,2279,1769,0,0,1,0,0,0
$GC,14012,1.47,283.1,201.4,10.2,316,14036,0.00,2.97,17.92,0.863,4,0.000,0.034,2759,863,1685,0,0,0,0,0,0
$GC,14102,1.49,300.8,192.4,10.3,318,14123,0.10,2.80,15.90,0.838,6,0.080,0.028,2787,2283,1614,0,0,0,0,0,0
$GC,14438,1.49,300.8,147.8,14.0,330,14442,0.00,2.88,0.00,0.000,4,0.000,0.034,2787,865,1610,0,0,0,0,0,0
$GC,14490,1.49,300.8,140.5,13.4,331,14496,0.00,2.83,0.00,0.000,6,0.000,0.026,2787,2273,1610,0,0,1,0,0,0
$GC,14798,1.49,300.8,97.9,13.3,342,14803,0.00,2.85,0.00,0.000,4,0.000,0.035,2787,863,1610,0,0,0,0,0,0
$GC,14847,1.49,300.8,90.9,14.3,346,14852,0.00,2.80,0.00,0.000,6,0.000,0.024,2787,2283,1611,0,0,0,0,0,0
$GC,15037,1.49,300.8,64.8,14.7,365,15041,0.00,2.85,0.00,0.000,4,0.000,0.032,2788,866,1611,0,0,0,0,0,0
$GC,15101,1.49,300.8,56.0,14.8,371,15105,0.00,2.78,0.00,0.000,6,0.000,0.024,2787,2279,1612,0,0,0,0,0,0
$GC,15298,1.49,300.8,31.6,11.8,390,15302,0.00,2.83,0.00,0.000,4,0.000,0.031,2787,868,1612,0,0,0,0,0,0
$GC,15388,1.49,300.8,21.2,11.9,398,15392,0.00,2.78,0.00,0.000,6,0.000,0.024,2788,2282,1613,0,0,0,0,0,0
$STATE,15552,end climb,SURFACE_DEPTH_REACHED
$STATE,15552,begin surface coast
$FINISH,0.1,1.012040
$STATE,15584,end surface coast,CONTROL_FINISHED_OK
$STATE,15584,begin surface
$SM_CCo,15603,75.68,0.642,0,0,1005,450.13
$SM_GC,0.94,0.00,0.00,75.68,0.000,0.000,0.642,356,2100,1005,-9.68,-0.59,450.13
$IRIDIUM_FIX,1934.38,-15617.13,130911,121222
$TT8_MAMPS,0.104111
$HUMID,1078062571
$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,370/370
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,11.592
$10V_AH,9.9,10.409
$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,24.150,167.400,413.750,75.675,0.000,24.703,44.142,231.751,0.000,0.000,30.844,0.000,12585.716,618.625,2731.482,261.544,33.338,1780.707,0.000,1706.564,0.000,0.543,0.000
$DEVICE_MAMPS,169.830,54.315,1476.450,641.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,294.075,0.000,0.000,0.000,0.000,0.000,16305.241,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,72.238,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,16750,433
$CAP_FILE_SIZE,139137,0
$CFSIZE,260034560,254836736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,210310,025925,1936.761,-15619.033,40,1.3,40,9.7