version: 66.07
glider: 23
mission: 14
dive: 27
start: 3 21 110 7 29 13
data:
$ID,23
$MISSION,14
$DIVE,27
$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,-41541.488
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,210310,071906,1936.798,-15621.913,32,1.0,32,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.0
$GPS2,210310,072832,1936.963,-15622.008,16,1.6,16,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.274
$KALMAN_X,-36138.0,126.9,221.7,8639.0,-1779.5
$KALMAN_Y,76345.2,-449.4,-53.5,-86332.2,3788.1
$MHEAD_RNG_PITCHd_Wd,181.9,33955,-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,-194.6,0.0,0.0,0,104,0.00,0.00,-84.80,0.000,2,0.000,0.000,360,2107,2736,0,0,0,0,0,0
$GC,106,-1.37,-194.6,3.1,-4.5,17,146,10.45,2.50,-21.17,0.000,4,0.168,0.053,2153,3579,3638,0,0,0,0,0,0
$GC,386,-1.37,-194.6,64.6,-21.2,51,392,0.00,2.30,0.00,0.000,6,0.000,0.021,2153,2181,3638,0,0,0,0,0,0
$GC,587,-1.37,-194.6,107.7,-20.7,69,591,0.00,2.35,0.00,0.000,4,0.000,0.034,2153,3577,3640,0,0,0,0,0,0
$GC,832,-1.37,-194.6,154.1,-17.1,76,836,0.00,2.33,0.00,0.000,6,0.000,0.022,2153,2167,3640,0,0,0,0,0,0
$GC,1147,-1.37,-194.6,208.7,-19.0,87,1150,0.00,2.40,0.00,0.000,4,0.000,0.039,2153,3566,3641,0,0,0,0,0,0
$GC,1333,-1.37,-194.6,243.5,-17.6,92,1339,0.00,2.35,0.00,0.000,6,0.000,0.024,2153,2155,3641,0,0,0,0,0,0
$GC,1642,-1.37,-194.6,295.7,-16.2,103,1646,0.00,2.42,0.00,0.000,4,0.000,0.043,2153,3568,3641,0,0,0,0,0,0
$GC,1716,-1.37,-194.6,306.7,-14.5,105,1721,0.00,2.35,0.00,0.000,6,0.000,0.025,2153,2162,3641,0,0,0,0,0,0
$GC,2072,-1.37,-194.6,357.2,-14.4,111,2075,0.00,2.42,0.00,0.000,4,0.000,0.045,2153,3574,3638,0,0,0,0,0,0
$GC,2151,-1.37,-194.6,369.4,-14.7,112,2155,0.00,2.35,0.00,0.000,6,0.000,0.027,2153,2163,3638,0,0,0,0,0,0
$GC,2501,-1.37,-194.6,420.2,-14.5,118,2509,0.00,2.42,0.00,0.000,4,0.000,0.047,2152,3573,3636,0,0,0,0,0,0
$GC,2551,-1.37,-194.6,427.4,-14.8,118,2559,0.00,2.35,0.00,0.000,6,0.000,0.028,2153,2159,3636,0,0,0,0,0,0
$GC,2866,-1.37,-194.6,473.2,-14.5,124,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2156,3633,0,0,0,0,0,0
$GC,3167,-1.37,-194.6,513.6,-13.3,129,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2156,3631,0,0,0,0,0,0
$GC,3469,-1.37,-194.6,553.9,-13.4,134,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2156,3627,0,0,0,0,0,0
$GC,3771,-1.37,-194.6,592.4,-12.7,139,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2156,3624,0,0,0,0,0,0
$GC,4073,-1.37,-194.6,631.4,-13.0,144,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2156,3622,0,0,0,0,0,0
$GC,4374,-1.37,-194.6,669.0,-12.3,149,4383,0.00,2.88,0.00,0.000,4,0.000,0.047,2153,745,3620,0,0,0,0,0,0
$GC,4398,-1.37,-194.6,671.7,-11.4,149,4406,0.00,2.83,0.00,0.000,6,0.000,0.036,2153,2162,3620,0,0,0,0,0,0
$GC,4734,-1.37,-194.6,708.3,-10.9,155,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2161,3618,0,0,0,0,0,0
$GC,5036,-1.37,-194.6,741.6,-11.0,160,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2161,3616,0,0,0,0,0,0
$GC,5337,-1.37,-194.6,774.6,-10.9,165,5346,0.00,2.88,0.00,0.000,4,0.000,0.048,2153,745,3615,0,0,0,0,0,0
$GC,5356,-1.37,-194.6,776.7,-10.6,165,5364,0.00,2.83,0.00,0.000,6,0.000,0.037,2153,2166,3615,0,0,1,0,0,0
$GC,5698,-1.37,-194.6,814.2,-11.1,171,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2165,3612,0,0,0,0,0,0
$GC,5999,-1.37,-194.6,848.4,-11.3,176,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2165,3611,0,0,0,0,0,0
$GC,6301,-1.37,-194.6,882.6,-11.4,181,6310,0.00,2.90,0.00,0.000,4,0.000,0.047,2153,738,3609,0,0,0,0,0,0
$GC,6335,-1.37,-194.6,886.5,-12.1,181,6344,0.00,2.85,0.00,0.000,6,0.000,0.037,2153,2099,3609,0,0,0,0,0,0
$GC,6661,-1.37,-194.6,923.1,-11.3,187,6670,0.00,2.45,0.00,0.000,4,0.000,0.054,2153,3574,3608,0,0,0,0,0,0
$GC,6738,-1.37,-194.6,932.3,-11.9,188,6746,0.00,2.35,0.00,0.000,6,0.000,0.031,2152,2163,3608,0,0,0,0,0,0
$GC,7089,-1.37,-194.6,969.8,-10.5,194,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2162,3606,0,0,0,0,0,0
$STATE,7328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7329,begin apogee
$GC,7334,-0.33,0.0,994.6,10.2,198,7500,1.15,0.00,158.90,1.475,6,0.099,0.000,2383,2337,2841,0,0,0,0,0,0
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7503,1.37,194.6,998.3,0.0,200,7676,1.75,0.00,163.55,1.431,6,0.056,0.000,2760,2337,2047,0,0,0,0,0,0
$GC,7988,1.37,194.6,945.8,14.4,208,7996,0.00,2.22,0.00,0.000,4,0.000,0.054,2760,3632,2041,0,0,0,0,0,0
$GC,8236,1.37,194.6,908.6,15.1,211,8245,0.00,2.33,0.00,0.000,6,0.000,0.028,2760,2201,2040,0,0,0,0,0,0
$GC,8544,1.37,194.6,867.5,13.4,217,8552,0.00,2.47,0.00,0.000,4,0.000,0.053,2760,3639,2040,0,0,0,0,0,0
$GC,8791,1.37,194.6,831.9,13.8,220,8800,0.00,2.35,0.00,0.000,6,0.000,0.028,2760,2212,2039,0,0,0,0,0,0
$GC,9100,1.37,194.6,793.7,12.2,225,9109,0.00,2.47,0.00,0.000,4,0.000,0.054,2760,3659,2038,0,0,1,0,0,0
$GC,9348,1.37,194.6,759.7,13.2,228,9358,0.00,2.35,0.00,0.000,6,0.000,0.028,2760,2213,2038,0,0,0,0,0,0
$GC,9656,1.37,194.6,722.9,11.8,234,9665,0.00,2.45,0.00,0.000,4,0.000,0.052,2760,3648,2037,0,0,0,0,0,0
$GC,9850,1.37,194.6,697.5,13.4,237,9859,0.00,2.35,0.00,0.000,6,0.000,0.028,2760,2215,2037,0,0,0,0,0,0
$GC,10208,1.37,194.6,657.3,11.2,243,10216,0.00,2.42,0.00,0.000,4,0.000,0.053,2760,3634,2037,0,0,0,0,0,0
$GC,10392,1.37,194.6,634.8,12.9,245,10400,0.00,2.30,0.00,0.000,6,0.000,0.028,2760,2214,2037,0,0,0,0,0,0
$GC,10700,1.37,194.6,596.9,12.4,250,10709,0.00,2.47,0.00,0.000,4,0.000,0.053,2760,3657,2037,0,0,0,0,0,0
$GC,10943,1.37,194.6,562.9,14.5,253,10951,0.00,2.35,0.00,0.000,6,0.000,0.028,2760,2208,2036,0,0,0,0,0,0
$GC,11257,1.37,194.6,525.8,11.5,259,11266,0.00,2.45,0.00,0.000,4,0.000,0.051,2760,3642,2036,0,0,0,0,0,0
$GC,11366,1.37,194.6,512.8,12.5,260,11375,0.00,2.30,0.00,0.000,6,0.000,0.027,2760,2211,2036,0,0,0,0,0,0
$GC,11682,1.40,219.7,480.8,10.1,266,11710,0.00,2.55,20.00,1.105,4,0.000,0.050,2760,3659,1944,0,0,0,0,0,0
$GC,11736,1.41,226.5,474.9,10.7,266,11754,0.00,2.35,7.50,0.951,6,0.000,0.026,2759,2210,1917,0,0,0,0,0,0
$GC,12109,1.41,226.5,432.9,11.4,273,12117,0.00,2.45,0.00,0.000,4,0.000,0.050,2760,3642,1915,0,0,0,0,0,0
$GC,12197,1.41,226.5,421.6,13.5,274,12205,0.00,2.33,0.00,0.000,6,0.000,0.026,2760,2215,1916,0,0,0,0,0,0
$GC,12533,1.41,226.5,380.1,12.4,280,12536,0.00,2.42,0.00,0.000,4,0.000,0.050,2760,3629,1916,0,0,0,0,0,0
$GC,12607,1.41,226.5,370.2,13.4,281,12611,0.00,2.33,0.00,0.000,6,0.000,0.026,2760,2218,1915,0,0,0,0,0,0
$GC,12962,1.41,226.5,330.0,11.0,287,12966,0.00,2.40,0.00,0.000,4,0.000,0.049,2760,3636,1915,0,0,0,0,0,0
$GC,13005,1.41,226.5,324.9,12.4,287,13008,0.00,2.30,0.00,0.000,6,0.000,0.025,2760,2218,1915,0,0,0,0,0,0
$GC,13328,1.41,226.5,287.5,11.6,294,13332,0.00,2.45,0.00,0.000,4,0.000,0.049,2760,3637,1916,0,0,0,0,0,0
$GC,13456,1.41,226.5,271.8,13.2,298,13459,0.00,2.33,0.00,0.000,6,0.000,0.025,2760,2219,1915,0,0,0,0,0,0
$GC,13791,1.41,229.3,235.6,10.9,309,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2214,1915,0,0,0,0,0,0
$GC,14094,1.45,261.5,205.4,9.8,319,14125,0.00,0.00,29.42,0.894,6,0.000,0.000,2759,2214,1776,0,0,0,0,0,0
$GC,14428,1.50,312.4,172.0,9.1,330,14477,0.12,2.92,42.42,0.857,4,0.070,0.037,2792,837,1566,0,0,0,0,0,0
$GC,14515,1.50,312.4,161.0,13.8,332,14521,0.00,2.85,0.00,0.000,6,0.000,0.026,2792,2260,1563,0,0,0,0,0,0
$GC,14824,1.50,312.4,112.5,16.7,343,14828,0.00,2.92,0.00,0.000,4,0.000,0.036,2792,821,1559,0,0,0,0,0,0
$GC,14872,1.50,312.4,104.7,16.1,344,14876,0.00,2.80,0.00,0.000,6,0.000,0.024,2792,2224,1560,0,0,0,0,0,0
$GC,15192,1.50,312.4,57.3,13.8,373,15196,0.00,2.83,0.00,0.000,4,0.000,0.034,2792,828,1559,0,0,0,0,0,0
$GC,15245,1.50,312.4,50.4,12.8,377,15251,0.00,2.80,0.00,0.000,6,0.000,0.024,2792,2246,1559,0,0,0,0,0,0
$GC,15436,1.50,312.4,26.2,13.9,396,15440,0.00,2.30,0.00,0.000,4,0.000,0.039,2792,3624,1560,0,0,0,0,0,0
$GC,15517,1.50,312.4,15.2,14.1,406,15522,0.00,2.25,0.00,0.000,6,0.000,0.020,2792,2219,1560,0,0,0,0,0,0
$GC,15585,1.50,312.4,6.8,11.7,419,15591,0.00,2.80,0.00,0.000,4,0.000,0.034,2792,830,1560,0,0,0,0,0,0
$GC,15617,1.52,327.9,3.2,10.4,425,15624,0.00,2.78,2.30,0.239,2,0.000,0.022,2792,2231,1550,0,0,0,0,0,0
$STATE,15624,end climb,SURFACE_DEPTH_REACHED
$STATE,15624,begin surface coast
$FINISH,0.1,1.012154
$STATE,15642,end surface coast,CONTROL_FINISHED_OK
$STATE,15642,begin surface
$SM_CCo,15662,43.17,0.649,0,0,1209,400.08
$SM_GC,0.74,0.00,0.00,43.17,0.000,0.000,0.649,360,2149,1209,-9.66,-0.31,400.08
$IRIDIUM_FIX,1932.09,-15612.94,130911,212146
$TT8_MAMPS,0.103362
$HUMID,1078084506
$TCM_TEMP,23.40
$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,23.4,11.966
$10V_AH,10.0,11.156
$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,24.250,135.375,424.100,43.175,0.000,47.890,114.176,191.816,0.000,0.000,18.999,0.000,12962.288,586.076,2512.311,251.896,33.345,1631.965,0.000,1511.273,0.000,0.542,0.000
$DEVICE_MAMPS,167.535,65.025,1474.920,648.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,291.787,0.000,0.000,0.000,0.000,0.000,16427.480,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,71.146,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,13486,430
$CAP_FILE_SIZE,125844,0
$CFSIZE,260034560,254705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,210310,115255,1935.356,-15623.106,40,1.5,40,9.7