version: 66.07
glider: 23
mission: 14
dive: 36
start: 3 23 110 0 30 59
data:
$ID,23
$MISSION,14
$DIVE,36
$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,-41598.164
$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,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,48
$R_STBD_OVSHOOT,489
$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
$GPS1,230310,001854,1927.942,-15639.421,40,1.8,40,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.2
$GPS2,230310,003019,1927.738,-15639.382,32,1.7,32,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.253
$KALMAN_X,-36816.6,-489.9,-137.4,-19988.2,1303.6
$KALMAN_Y,76685.8,-532.6,-301.2,-103423.4,-1213.5
$MHEAD_RNG_PITCHd_Wd,324.9,4327,-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,-194.6,0.0,0.0,0,103,0.00,0.00,-80.32,0.000,2,0.000,0.000,358,2152,2902,0,0,0,0,0,0
$GC,106,-1.37,-194.6,3.7,-7.0,16,137,10.65,2.72,-14.70,0.000,4,0.172,0.046,2163,766,3636,0,0,0,0,0,0
$GC,248,-1.37,-194.6,35.4,-17.9,35,254,0.00,1.83,0.00,0.000,6,0.000,0.020,2164,1690,3637,0,0,0,0,0,0
$GC,439,-1.37,-194.6,73.9,-21.3,54,443,0.00,2.55,0.00,0.000,4,0.000,0.030,2164,3117,3638,0,0,0,0,0,0
$GC,685,-1.37,-194.6,120.7,-18.5,70,689,0.00,1.58,0.00,0.000,6,0.000,0.021,2164,2175,3638,0,0,0,0,0,0
$GC,999,-1.37,-194.6,177.2,-17.7,81,1002,0.00,1.62,0.00,0.000,4,0.000,0.035,2164,3115,3639,0,0,0,0,0,0
$GC,1212,-1.37,-194.6,212.7,-16.5,87,1216,0.00,1.60,0.00,0.000,6,0.000,0.022,2164,2163,3640,0,0,0,0,0,0
$GC,1526,-1.37,-194.6,262.9,-15.6,98,1530,0.00,1.65,0.00,0.000,4,0.000,0.037,2164,3110,3641,0,0,0,0,0,0
$GC,1654,-1.37,-194.6,281.0,-12.7,102,1658,0.00,1.60,0.00,0.000,6,0.000,0.024,2164,2162,3641,0,0,0,0,0,0
$GC,1988,-1.37,-194.6,330.3,-15.1,110,1992,0.00,1.67,0.00,0.000,4,0.000,0.041,2164,3110,3640,0,0,0,0,0,0
$GC,2047,-1.37,-194.6,339.2,-14.8,110,2053,0.00,1.60,0.00,0.000,6,0.000,0.024,2164,2162,3639,0,0,0,0,0,0
$GC,2354,-1.37,-194.6,382.7,-14.1,116,2357,0.00,1.70,0.00,0.000,4,0.000,0.043,2164,3110,3638,0,0,0,0,0,0
$GC,2423,-1.37,-194.6,392.4,-13.7,117,2427,0.00,1.62,0.00,0.000,6,0.000,0.025,2164,2158,3637,0,0,0,0,0,0
$GC,2783,-1.37,-194.6,441.5,-13.6,123,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2156,3634,0,0,0,0,0,0
$GC,3085,-1.37,-194.6,479.9,-12.6,128,3089,0.00,1.70,0.00,0.000,4,0.000,0.044,2164,3111,3632,0,0,0,0,0,0
$GC,3127,-1.37,-194.6,485.5,-12.7,128,3131,0.00,1.62,0.00,0.000,6,0.000,0.027,2164,2159,3631,0,0,0,0,0,0
$GC,3450,-1.37,-194.6,525.9,-12.6,134,3459,0.00,2.85,0.00,0.000,4,0.000,0.042,2164,749,3628,0,0,0,0,0,0
$GC,3468,-1.37,-194.6,528.3,-12.5,134,3475,0.00,1.90,0.00,0.000,6,0.000,0.031,2163,1695,3627,0,0,0,0,0,0
$GC,3814,-1.37,-194.6,573.4,-13.2,140,3821,0.00,1.95,0.00,0.000,4,0.000,0.044,2163,746,3624,0,0,0,0,0,0
$GC,3961,-1.37,-194.6,591.9,-12.5,142,3968,0.00,1.90,0.00,0.000,6,0.000,0.031,2163,1693,3623,0,0,0,0,0,0
$GC,4312,-1.37,-194.6,634.3,-12.1,148,4320,0.00,1.95,0.00,0.000,4,0.000,0.045,2163,749,3620,0,0,0,0,0,0
$GC,4485,-1.37,-194.6,655.1,-11.6,150,4493,0.00,1.90,0.00,0.000,6,0.000,0.033,2163,1680,3618,0,0,0,0,0,0
$GC,4810,-1.37,-194.6,693.0,-11.7,156,4818,0.00,1.95,0.00,0.000,4,0.000,0.048,2163,753,3617,0,0,0,0,0,0
$GC,4988,-1.37,-194.6,713.0,-11.1,158,4996,0.00,1.88,0.00,0.000,6,0.000,0.035,2165,1686,3615,0,0,1,0,0,0
$GC,5309,-1.37,-194.6,746.5,-10.4,164,5316,0.00,1.95,0.00,0.000,4,0.000,0.047,2163,746,3613,0,0,0,0,0,0
$GC,5502,-1.37,-194.6,765.0,-10.1,167,5510,0.00,1.90,0.00,0.000,6,0.000,0.034,2164,1684,3612,0,0,1,0,0,0
$GC,5871,-1.37,-194.6,800.4,-9.7,173,5878,0.00,1.92,0.00,0.000,4,0.000,0.047,2163,747,3610,0,0,1,0,0,0
$GC,6011,-1.37,-194.6,815.5,-11.8,175,6018,0.00,1.85,0.00,0.000,6,0.000,0.034,2163,1686,3609,0,0,2,0,0,0
$GC,6367,-1.37,-194.6,856.1,-11.5,181,6375,0.00,1.92,0.00,0.000,4,0.000,0.047,2163,746,3608,0,0,0,0,0,0
$GC,6525,-1.37,-194.6,874.5,-12.2,183,6532,0.00,1.88,0.00,0.000,6,0.000,0.035,2163,1686,3607,0,0,0,0,0,0
$GC,6865,-1.37,-194.6,913.3,-11.3,189,6874,0.00,1.42,0.00,0.000,4,0.000,0.044,2163,1049,3606,0,0,0,0,0,0
$GC,7060,-1.37,-194.6,933.7,-9.5,192,7068,0.00,1.40,0.00,0.000,6,0.000,0.035,2163,1685,3604,0,0,0,0,0,0
$GC,7428,-1.37,-194.6,969.2,-9.7,198,7436,0.00,1.92,0.00,0.000,4,0.000,0.047,2163,745,3604,0,0,0,0,0,0
$GC,7565,-1.37,-194.6,981.0,-8.4,200,7572,0.00,1.92,0.00,0.000,6,0.000,0.035,2163,1684,3603,0,0,0,0,0,0
$STATE,7683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7683,begin apogee
$GC,7688,-0.33,0.0,991.1,8.4,202,7855,1.12,0.00,158.00,1.479,6,0.092,0.000,2393,1774,2841,0,0,0,0,0,0
$STATE,7855,end apogee,CONTROL_FINISHED_OK
$STATE,7855,begin climb
$GC,7858,1.37,194.6,994.0,0.0,204,8032,1.73,2.05,163.12,1.435,4,0.052,0.043,2770,809,2047,0,0,0,0,0,0
$GC,8117,1.37,194.6,970.7,16.5,208,8125,0.00,1.95,0.00,0.000,6,0.000,0.031,2770,1777,2042,0,0,0,0,0,0
$GC,8468,1.37,194.6,918.3,14.6,214,8477,0.00,2.60,0.00,0.000,4,0.000,0.047,2770,3178,2040,0,0,0,0,0,0
$GC,8716,1.37,194.6,882.7,14.4,217,8726,0.00,0.03,0.00,0.000,6,0.000,0.160,2770,3139,2040,0,0,0,0,0,0
$GC,9025,1.37,194.6,838.9,14.4,223,9032,0.00,0.00,0.00,0.000,4,0.000,0.000,2770,3139,2039,0,0,0,0,0,0
$GC,9271,1.37,194.6,800.4,16.0,226,9280,0.00,1.60,0.00,0.000,6,0.000,0.029,2770,2204,2038,0,0,0,0,0,0
$GC,9586,1.37,194.6,761.0,12.2,232,9594,0.00,1.67,0.00,0.000,4,0.000,0.049,2770,2166,2038,0,0,0,0,0,0
$GC,9833,1.37,194.6,728.2,13.5,235,9841,0.00,1.62,0.00,0.000,6,0.000,0.029,2770,2219,2038,0,0,0,0,0,0
$GC,10148,1.37,194.6,683.4,14.6,241,10156,0.00,2.88,0.00,0.000,4,0.000,0.044,2770,826,2037,0,0,0,0,0,0
$GC,10358,1.37,194.6,653.3,14.7,244,10366,0.00,1.90,0.00,0.000,6,0.000,0.033,2770,1773,2037,0,0,1,0,0,0
$GC,10704,1.37,194.6,611.8,11.7,250,10713,0.00,2.55,0.00,0.000,4,0.000,0.047,2770,2186,2037,0,0,1,0,0,0
$GC,10952,1.40,215.4,585.7,10.2,253,10977,0.00,1.65,16.90,1.159,6,0.000,0.028,2770,2211,1962,0,0,0,0,0,0
$GC,11323,1.40,215.4,543.0,12.9,260,11331,0.00,2.17,0.00,0.000,4,0.000,0.050,2770,3461,1960,0,0,0,0,0,0
$GC,11570,1.40,215.4,502.3,15.0,263,11579,0.00,2.08,0.00,0.000,6,0.000,0.027,2770,2214,1960,0,0,0,0,0,0
$GC,11879,1.40,215.4,465.1,11.5,268,11883,0.00,2.17,0.00,0.000,4,0.000,0.049,2770,3464,1960,0,0,0,0,0,0
$GC,12124,1.40,215.4,436.8,11.6,271,12128,0.00,2.10,0.00,0.000,6,0.000,0.026,2770,2214,1960,0,0,0,0,0,0
$GC,12436,1.40,215.4,400.1,12.0,277,12440,0.00,2.15,0.00,0.000,4,0.000,0.048,2770,3448,1960,0,0,0,0,0,0
$GC,12682,1.40,215.4,369.0,13.0,280,12683,0.00,0.03,0.00,0.000,6,0.000,0.164,2770,3411,1960,0,0,0,0,0,0
$GC,12989,1.40,215.4,330.2,12.6,286,12997,0.00,4.90,0.00,0.000,4,0.000,0.036,2770,818,1960,0,0,0,0,0,0
$GC,13025,1.40,215.4,325.4,12.3,286,13029,0.00,2.53,0.00,0.000,6,0.000,0.031,2770,2053,1960,0,0,1,0,0,0
$GC,13354,1.40,215.4,285.4,11.6,294,13358,0.00,2.33,0.00,0.000,4,0.000,0.046,2770,3392,1960,0,0,0,0,0,0
$GC,13600,1.44,253.8,263.3,9.5,301,13636,0.00,1.95,32.22,0.955,6,0.000,0.024,2770,2211,1805,0,0,0,0,0,0
$GC,13940,1.44,253.8,219.8,13.9,312,13944,0.00,2.03,0.00,0.000,4,0.000,0.043,2769,2373,1802,0,0,0,0,0,0
$GC,14185,1.44,253.8,188.9,11.1,319,14189,0.00,1.95,0.00,0.000,6,0.000,0.024,2770,2219,1802,0,0,0,0,0,0
$GC,14499,1.44,253.8,153.6,12.2,330,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2215,1802,0,0,0,0,0,0
$GC,14803,1.44,253.8,116.1,11.7,340,14806,0.00,2.03,0.00,0.000,4,0.000,0.041,2770,3390,1803,0,0,0,0,0,0
$GC,14954,1.44,253.8,98.8,11.9,344,14957,0.00,1.90,0.00,0.000,6,0.000,0.021,2770,2214,1804,0,0,0,0,0,0
$GC,15274,1.44,253.8,62.6,11.5,375,15277,0.00,2.75,0.00,0.000,4,0.000,0.034,2770,836,1805,0,0,0,0,0,0
$GC,15332,1.44,254.9,55.8,11.0,380,15338,0.00,2.42,0.00,0.000,6,0.000,0.024,2770,2029,1806,0,0,0,0,0,0
$GC,15523,1.48,291.6,36.3,9.6,399,15560,0.00,2.38,31.62,0.689,4,0.000,0.037,2770,3392,1650,0,0,0,0,0,0
$GC,15692,1.48,291.6,17.8,11.1,416,15698,0.00,1.92,0.00,0.000,6,0.000,0.020,2770,2220,1647,0,0,0,0,0,0
$GC,15761,1.52,326.3,10.5,9.7,429,15798,0.12,2.88,28.15,0.652,4,0.062,0.033,2808,836,1509,0,0,0,0,0,0
$STATE,15828,end climb,SURFACE_DEPTH_REACHED
$STATE,15828,begin surface coast
$FINISH,0.1,1.023809
$STATE,15848,end surface coast,CONTROL_FINISHED_OK
$STATE,15848,begin surface
$SM_CCo,15870,39.67,0.636,0,0,1209,400.08
$SM_GC,1.04,0.00,0.00,39.67,0.000,0.000,0.636,361,2027,1209,-9.71,-3.76,400.08
$IRIDIUM_FIX,1918.37,-15639.38,150911,181819
$TT8_MAMPS,0.154294
$HUMID,1078049668
$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,1423/1563
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,35.5/30829585/19881436
$PA_HOME,11.5/482055/426838
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287805
$PA_DATA1,57.2/7837685/3357915
$PA_DATA0,38.1/7836665/4853326
$24V_AH,23.5,13.676
$10V_AH,9.9,15.212
$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,24.475,125.175,430.025,39.675,0.000,52.437,59.928,314.627,0.000,0.000,34.154,0.000,12590.821,563.760,3130.109,294.712,33.352,1815.786,0.000,2047.475,0.000,0.543,0.000
$DEVICE_MAMPS,172.125,164.475,1478.745,635.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,302.278,0.000,0.000,0.000,0.000,0.000,16683.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,93.978,0.000,0.000,0.000
$MEM,352836
$DATA_FILE_SIZE,16772,446
$CAP_FILE_SIZE,146012,0
$CFSIZE,260034560,253956096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230310,045707,1927.227,-15639.832,35,1.3,35,9.6