version: 66.07
glider: 23
mission: 14
dive: 32
start: 3 22 110 6 23 34
data:
$ID,23
$MISSION,14
$DIVE,32
$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,375
$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,-41593.113
$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,38
$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
$GPS1,220310,061036,1929.467,-15630.381,37,2.0,37,9.6
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.1
$GPS2,220310,062254,1929.468,-15630.391,29,1.0,40,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.256,-0.112
$KALMAN_X,-40018.6,514.6,304.3,-2568.8,-1079.5
$KALMAN_Y,83933.2,-357.0,-259.6,-107688.0,2349.1
$MHEAD_RNG_PITCHd_Wd,236.8,16805,-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,-194.6,0.0,0.0,0,102,0.00,0.00,-75.72,0.000,2,0.000,0.000,362,2161,2886,0,0,0,0,0,0
$GC,104,-1.37,-194.6,3.6,-6.2,14,135,10.60,2.58,-15.35,0.000,4,0.172,0.047,2161,857,3636,0,0,0,0,0,0
$GC,183,-1.37,-194.6,22.4,-20.8,28,189,0.00,2.60,0.00,0.000,6,0.000,0.024,2161,2166,3636,0,0,0,0,0,0
$GC,374,-1.37,-194.6,61.3,-20.2,47,378,0.00,2.33,0.00,0.000,4,0.000,0.035,2161,3572,3637,0,0,0,0,0,0
$GC,459,-1.37,-194.6,77.0,-16.9,55,463,0.00,2.33,0.00,0.000,6,0.000,0.021,2161,2169,3637,0,0,0,0,0,0
$GC,655,-1.37,-194.6,112.5,-18.5,70,658,0.00,2.38,0.00,0.000,4,0.000,0.037,2161,3574,3638,0,0,0,0,0,0
$GC,729,-1.37,-194.6,124.6,-15.3,72,733,0.00,2.35,0.00,0.000,6,0.000,0.022,2161,2165,3638,0,0,0,0,0,0
$GC,1054,-1.37,-194.6,180.9,-18.2,83,1057,0.00,2.40,0.00,0.000,4,0.000,0.039,2161,3573,3639,0,0,0,0,0,0
$GC,1096,-1.37,-194.6,188.7,-18.3,84,1100,0.00,2.38,0.00,0.000,6,0.000,0.024,2161,2156,3639,0,0,0,0,0,0
$GC,1420,-1.37,-194.6,237.4,-15.0,95,1424,0.00,2.42,0.00,0.000,4,0.000,0.041,2161,3571,3639,0,0,0,0,0,0
$GC,1479,-1.37,-194.6,246.0,-14.0,96,1485,0.00,2.38,0.00,0.000,6,0.000,0.024,2161,2156,3639,0,0,0,0,0,0
$GC,1788,-1.37,-194.6,290.5,-15.2,107,1792,0.00,2.45,0.00,0.000,4,0.000,0.042,2161,3565,3639,0,0,0,0,0,0
$GC,1846,-1.37,-194.6,299.5,-15.6,108,1852,0.00,2.35,0.00,0.000,6,0.000,0.024,2161,2165,3639,0,0,0,0,0,0
$GC,2153,-1.37,-194.6,343.7,-14.4,114,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2166,3637,0,0,0,0,0,0
$GC,2455,-1.37,-194.6,386.6,-14.3,119,2459,0.00,2.85,0.00,0.000,4,0.000,0.041,2161,744,3635,0,0,0,0,0,0
$GC,2475,-1.37,-194.6,389.6,-14.3,119,2479,0.00,2.83,0.00,0.000,6,0.000,0.030,2161,2157,3635,0,0,0,0,0,0
$GC,2815,-1.37,-194.6,430.6,-11.7,125,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2157,3633,0,0,0,0,0,0
$GC,3116,-1.37,-194.6,465.9,-11.6,130,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2157,3631,0,0,0,0,0,0
$GC,3418,-1.37,-194.6,497.3,-10.3,135,3428,0.00,2.85,0.00,0.000,4,0.000,0.041,2161,738,3627,0,0,1,0,0,0
$GC,3448,-1.37,-194.6,500.7,-11.5,135,3457,0.00,2.83,0.00,0.000,6,0.000,0.032,2161,2157,3628,0,0,0,0,0,0
$GC,3779,-1.37,-194.6,539.0,-11.8,141,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2157,3625,0,0,0,0,0,0
$GC,4081,-1.37,-194.6,575.9,-12.2,146,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2156,3623,0,0,0,0,0,0
$GC,4383,-1.37,-194.6,609.8,-11.2,151,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2157,3621,0,0,0,0,0,0
$GC,4684,-1.37,-194.6,649.8,-13.5,156,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2157,3619,0,0,0,0,0,0
$GC,4986,-1.37,-194.6,687.6,-12.3,161,4996,0.00,2.88,0.00,0.000,4,0.000,0.046,2161,741,3618,0,0,1,0,0,0
$GC,5026,-1.37,-194.6,691.8,-10.5,161,5035,0.00,2.85,0.00,0.000,6,0.000,0.037,2161,2155,3617,0,0,0,0,0,0
$GC,5347,-1.37,-194.6,721.8,-9.3,167,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2156,3616,0,0,0,0,0,0
$GC,5648,-1.37,-194.6,752.3,-10.3,172,5657,0.00,2.88,0.00,0.000,4,0.000,0.046,2161,737,3614,0,0,1,0,0,0
$GC,5682,-1.37,-194.6,756.4,-12.8,172,5691,0.00,2.88,0.00,0.000,6,0.000,0.037,2161,2166,3614,0,0,0,0,0,0
$GC,6008,-1.37,-194.6,797.1,-12.6,178,6016,0.00,2.47,0.00,0.000,4,0.000,0.055,2161,3585,3612,0,0,0,0,0,0
$GC,6052,-1.37,-194.6,802.7,-12.7,178,6060,0.00,2.40,0.00,0.000,6,0.000,0.030,2161,2158,3611,0,0,0,0,0,0
$GC,6367,-1.37,-194.6,835.8,-10.4,184,6375,0.00,2.33,0.00,0.000,4,0.000,0.047,2160,1054,3610,0,0,0,0,0,0
$GC,6411,-1.37,-194.6,840.5,-10.6,184,6419,0.00,2.33,0.00,0.000,6,0.000,0.039,2161,2158,3611,0,0,0,0,0,0
$GC,6726,-1.37,-194.6,874.9,-11.2,190,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2158,3609,0,0,0,0,0,0
$GC,7027,-1.37,-194.6,907.3,-10.7,195,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2158,3607,0,0,0,0,0,0
$GC,7329,-1.37,-194.6,940.7,-11.1,200,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2158,3605,0,0,0,0,0,0
$GC,7631,-1.37,-194.6,975.1,-11.4,205,7639,0.00,2.90,0.00,0.000,4,0.000,0.047,2161,742,3605,0,0,0,0,0,0
$GC,7670,-1.37,-194.6,979.7,-11.9,205,7678,0.00,2.88,0.00,0.000,6,0.000,0.038,2161,2169,3604,0,0,0,0,0,0
$STATE,7807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7807,begin apogee
$GC,7812,-0.33,0.0,995.9,11.7,208,7977,1.15,0.00,158.10,1.485,6,0.095,0.000,2393,2228,2841,0,0,0,0,0,0
$STATE,7978,end apogee,CONTROL_FINISHED_OK
$STATE,7978,begin climb
$GC,7980,1.37,194.6,1002.2,0.0,210,8156,1.73,2.58,163.32,1.444,4,0.053,0.041,2768,1037,2046,0,0,1,0,0,0
$GC,8188,1.37,194.6,994.8,12.9,213,8196,0.00,2.53,0.00,0.000,6,0.000,0.035,2768,2218,2044,0,0,0,0,0,0
$GC,8524,1.37,194.6,947.3,14.4,219,8533,0.00,2.45,0.00,0.000,4,0.000,0.053,2768,3631,2041,0,0,0,0,0,0
$GC,8772,1.37,194.6,908.1,15.5,222,8782,0.00,2.35,0.00,0.000,6,0.000,0.028,2768,2204,2040,0,0,0,0,0,0
$GC,9080,1.37,194.6,864.4,14.1,228,9088,0.00,2.45,0.00,0.000,4,0.000,0.054,2768,3629,2039,0,0,1,0,0,0
$GC,9328,1.37,194.6,825.7,15.7,231,9337,0.00,2.35,0.00,0.000,6,0.000,0.028,2768,2201,2038,0,0,0,0,0,0
$GC,9636,1.37,194.6,781.8,14.1,237,9645,0.00,2.47,0.00,0.000,4,0.000,0.052,2768,3626,2038,0,0,0,0,0,0
$GC,9884,1.37,194.6,744.1,14.6,240,9893,0.00,2.33,0.00,0.000,6,0.000,0.028,2768,2217,2037,0,0,0,0,0,0
$GC,10192,1.37,194.6,703.7,12.9,246,10200,0.00,2.45,0.00,0.000,4,0.000,0.053,2768,3631,2037,0,0,0,0,0,0
$GC,10204,1.37,194.6,702.1,12.9,246,10212,0.00,2.33,0.00,0.000,6,0.000,0.027,2768,2214,2037,0,0,0,0,0,0
$GC,10551,1.37,194.6,659.0,12.4,252,10559,0.00,2.85,0.00,0.000,4,0.000,0.044,2768,827,2036,0,0,0,0,0,0
$GC,10698,1.37,194.6,640.5,13.4,254,10707,0.00,2.88,0.00,0.000,6,0.000,0.035,2768,2229,2037,0,0,0,0,0,0
$GC,11040,1.37,194.6,597.2,12.7,260,11048,0.00,2.40,0.00,0.000,4,0.000,0.054,2768,3626,2037,0,0,0,0,0,0
$GC,11288,1.37,194.6,562.0,14.2,263,11298,0.00,2.30,0.00,0.000,6,0.000,0.028,2768,2211,2036,0,0,0,0,0,0
$GC,11597,1.37,194.6,523.7,12.4,269,11605,0.00,2.42,0.00,0.000,4,0.000,0.052,2768,3629,2036,0,0,0,0,0,0
$GC,11845,1.37,194.6,489.9,13.5,272,11854,0.00,2.33,0.00,0.000,6,0.000,0.027,2768,2206,2036,0,0,0,0,0,0
$GC,12153,1.37,194.6,453.0,11.8,278,12162,0.00,2.42,0.00,0.000,4,0.000,0.050,2768,3633,2036,0,0,0,0,0,0
$GC,12396,1.37,194.6,422.1,12.3,281,12404,0.00,2.30,0.00,0.000,6,0.000,0.026,2768,2216,2036,0,0,0,0,0,0
$GC,12704,1.37,194.6,384.5,12.2,286,12707,0.00,2.40,0.00,0.000,4,0.000,0.050,2768,3630,2036,0,0,0,0,0,0
$GC,12949,1.37,194.6,351.5,13.0,289,12953,0.00,2.33,0.00,0.000,6,0.000,0.025,2768,2212,2036,0,0,0,0,0,0
$GC,13262,1.42,237.8,320.6,9.4,295,13301,0.00,2.53,34.50,1.010,4,0.000,0.049,2769,3624,1870,0,0,0,0,0,0
$GC,13392,1.42,237.8,307.6,12.4,297,13396,0.00,2.33,0.00,0.000,6,0.000,0.025,2768,2221,1867,0,0,0,0,0,0
$GC,13724,1.42,237.8,269.2,12.4,306,13728,0.00,2.42,0.00,0.000,4,0.000,0.048,2768,3653,1867,0,0,0,0,0,0
$GC,13820,1.42,237.8,257.2,11.7,309,13824,0.00,2.35,0.00,0.000,6,0.000,0.024,2768,2220,1867,0,0,0,0,0,0
$GC,14155,1.42,237.8,221.1,11.9,320,14159,0.00,2.40,0.00,0.000,4,0.000,0.047,2768,3644,1867,0,0,0,0,0,0
$GC,14256,1.42,237.8,207.1,14.2,323,14260,0.00,2.35,0.00,0.000,6,0.000,0.023,2768,2208,1867,0,0,0,0,0,0
$GC,14587,1.47,284.3,173.0,9.2,334,14631,0.00,2.50,38.05,0.866,4,0.000,0.045,2768,3631,1682,0,0,1,0,0,0
$GC,14658,1.47,284.3,166.0,11.9,336,14662,0.00,2.33,0.00,0.000,6,0.000,0.023,2768,2222,1679,0,0,0,0,0,0
$GC,14983,1.47,284.3,124.0,14.2,347,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2224,1676,0,0,0,0,0,0
$GC,15289,1.47,284.3,83.6,11.1,365,15293,0.00,2.40,0.00,0.000,4,0.000,0.043,2768,3626,1676,0,0,0,0,0,0
$GC,15342,1.47,284.3,77.6,11.9,370,15346,0.00,2.30,0.00,0.000,6,0.000,0.021,2768,2212,1678,0,0,0,0,0,0
$GC,15539,1.50,310.8,57.1,10.0,389,15563,0.12,0.00,22.50,0.711,6,0.065,0.000,2803,2212,1573,0,0,0,0,0,0
$GC,15747,1.50,310.8,27.0,13.5,409,15748,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2211,1571,0,0,0,0,0,0
$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15920,begin surface coast
$FINISH,0.0,1.005343
$STATE,15940,end surface coast,CONTROL_FINISHED_OK
$STATE,15940,begin surface
$SM_CCo,15959,34.62,0.653,0,0,1311,375.06
$SM_GC,1.42,0.00,0.00,34.62,0.000,0.000,0.653,360,2157,1311,-9.71,-0.08,375.06
$IRIDIUM_FIX,1922.94,-15701.00,140911,202056
$TT8_MAMPS,0.180509
$HUMID,1078081926
$TCM_TEMP,23.30
$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,2799/2965
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,15.6/30829585/26016187
$PA_HOME,11.1/482055/428566
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287774
$PA_DATA1,78.5/7837685/1686208
$PA_DATA0,71.0/7836665/2272635
$24V_AH,23.5,12.937
$10V_AH,9.9,13.282
$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,24.400,140.000,416.475,34.625,0.000,23.174,25.877,445.481,0.000,0.000,42.584,0.000,13206.673,559.106,2675.068,275.285,33.353,1603.715,0.000,1480.488,0.000,0.542,0.000
$DEVICE_MAMPS,172.125,125.460,1484.865,652.545,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,300.137,0.000,0.000,0.000,0.000,0.000,16818.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,92.409,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,16797,441
$CAP_FILE_SIZE,134596,0
$CFSIZE,260034560,254296064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220310,105107,1928.204,-15632.603,34,1.5,34,9.6