version: 66.07
glider: 23
mission: 14
dive: 33
start: 3 22 110 11 0 5
data:
$ID,23
$MISSION,14
$DIVE,33
$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,-41594.371
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,220310,105107,1928.204,-15632.603,34,1.5,34,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.8
$GPS2,220310,105925,1928.159,-15632.677,32,1.5,32,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.280,0.002
$KALMAN_X,-39549.2,789.8,226.7,-7221.7,-1275.9
$KALMAN_Y,83727.7,-582.1,-290.4,-109647.2,1646.6
$MHEAD_RNG_PITCHd_Wd,260.8,13232,-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,-194.6,0.0,0.0,0,101,0.00,0.00,-74.97,0.000,2,0.000,0.000,359,2154,2855,0,0,0,0,0,0
$GC,103,-1.37,-194.6,3.6,-5.9,14,139,10.65,2.85,-16.62,0.000,4,0.174,0.046,2161,751,3638,0,0,0,0,0,0
$GC,203,-1.37,-194.6,25.7,-20.7,30,208,0.00,2.72,0.00,0.000,6,0.000,0.024,2160,2164,3638,0,0,0,0,0,0
$GC,393,-1.37,-194.6,67.7,-22.2,49,397,0.00,2.38,0.00,0.000,4,0.000,0.035,2160,3569,3639,0,0,0,0,0,0
$GC,483,-1.37,-194.6,85.8,-18.8,57,490,0.00,2.33,0.00,0.000,6,0.000,0.021,2161,2167,3639,0,0,0,0,0,0
$GC,683,-1.37,-194.6,125.4,-20.5,69,686,0.00,2.40,0.00,0.000,4,0.000,0.037,2161,3584,3640,0,0,0,0,0,0
$GC,784,-1.37,-194.6,143.5,-16.3,72,788,0.00,2.35,0.00,0.000,6,0.000,0.023,2161,2166,3640,0,0,0,0,0,0
$GC,1114,-1.37,-194.6,199.8,-18.2,83,1118,0.00,2.42,0.00,0.000,4,0.000,0.039,2161,3580,3642,0,0,0,0,0,0
$GC,1290,-1.37,-194.6,227.7,-13.8,88,1294,0.00,2.38,0.00,0.000,6,0.000,0.023,2161,2158,3642,0,0,0,0,0,0
$GC,1609,-1.37,-194.6,276.0,-16.4,99,1613,0.00,2.47,0.00,0.000,4,0.000,0.043,2161,3600,3643,0,0,0,0,0,0
$GC,1774,-1.37,-194.6,303.7,-16.5,104,1778,0.00,2.42,0.00,0.000,6,0.000,0.025,2160,2154,3643,0,0,0,0,0,0
$GC,2103,-1.37,-194.6,350.7,-13.9,110,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2155,3641,0,0,0,0,0,0
$GC,2404,-1.37,-194.6,392.6,-14.0,115,2408,0.00,2.83,0.00,0.000,4,0.000,0.041,2160,744,3639,0,0,0,0,0,0
$GC,2425,-1.37,-194.6,395.4,-13.1,115,2429,0.00,2.78,0.00,0.000,6,0.000,0.031,2161,2164,3639,0,0,1,0,0,0
$GC,2770,-1.37,-194.6,444.3,-14.6,121,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2165,3636,0,0,0,0,0,0
$GC,3072,-1.37,-194.6,483.9,-12.9,126,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2165,3634,0,0,0,0,0,0
$GC,3373,-1.37,-194.6,523.0,-13.0,131,3381,0.00,2.28,0.00,0.000,4,0.000,0.039,2160,1066,3632,0,0,0,0,0,0
$GC,3407,-1.37,-194.6,527.6,-13.9,131,3415,0.00,2.28,0.00,0.000,6,0.000,0.033,2160,2164,3631,0,0,0,0,0,0
$GC,3732,-1.37,-194.6,568.1,-12.3,137,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2170,3629,0,0,0,0,0,0
$GC,4033,-1.37,-194.6,605.8,-12.5,142,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2170,3626,0,0,0,0,0,0
$GC,4336,-1.37,-194.6,643.9,-12.6,147,4345,0.00,2.92,0.00,0.000,4,0.000,0.044,2160,736,3624,0,0,0,0,0,0
$GC,4360,-1.37,-194.6,647.0,-12.5,147,4368,0.00,2.88,0.00,0.000,6,0.000,0.034,2160,2174,3624,0,0,0,0,0,0
$GC,4696,-1.37,-194.6,687.8,-12.1,153,4704,0.00,2.38,0.00,0.000,4,0.000,0.043,2160,1037,3622,0,0,0,0,0,0
$GC,4719,-1.37,-194.6,690.7,-12.4,153,4727,0.00,2.38,0.00,0.000,6,0.000,0.037,2160,2170,3621,0,0,0,0,0,0
$GC,5060,-1.37,-194.6,731.0,-11.8,159,5068,0.00,2.35,0.00,0.000,4,0.000,0.043,2160,1050,3619,0,0,0,0,0,0
$GC,5083,-1.37,-194.6,734.0,-12.6,159,5091,0.00,2.38,0.00,0.000,6,0.000,0.037,2160,2178,3619,0,0,0,0,0,0
$GC,5418,-1.37,-194.6,775.2,-12.4,165,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2178,3618,0,0,0,0,0,0
$GC,5722,-1.37,-194.6,813.0,-12.5,170,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2178,3616,0,0,0,0,0,0
$GC,6022,-1.37,-194.6,848.5,-11.8,175,6032,0.00,2.90,0.00,0.000,4,0.000,0.046,2160,747,3615,0,0,2,0,0,0
$GC,6062,-1.37,-194.6,853.0,-11.7,175,6071,0.00,2.85,0.00,0.000,6,0.000,0.037,2160,1893,3615,0,0,0,0,0,0
$GC,6383,-1.37,-194.6,886.0,-10.3,181,6392,0.00,2.92,0.00,0.000,4,0.000,0.045,2160,750,3613,0,0,0,0,0,0
$GC,6423,-1.37,-194.6,890.3,-10.4,181,6431,0.00,2.88,0.00,0.000,6,0.000,0.037,2160,2170,3613,0,0,0,0,0,0
$GC,6743,-1.37,-194.6,925.6,-11.2,187,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2170,3612,0,0,0,0,0,0
$GC,7045,-1.37,-194.6,960.2,-11.7,192,7054,0.00,2.92,0.00,0.000,4,0.000,0.046,2160,742,3611,0,0,0,0,0,0
$GC,7074,-1.37,-194.6,963.8,-12.6,192,7082,0.00,2.92,0.00,0.000,6,0.000,0.037,2160,2193,3610,0,0,0,0,0,0
$STATE,7343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7343,begin apogee
$GC,7348,-0.33,0.0,996.9,12.3,197,7514,1.15,0.00,159.45,1.483,6,0.097,0.000,2392,2236,2841,0,0,0,0,0,0
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7517,1.37,194.6,1004.4,0.0,199,7693,1.73,2.42,163.73,1.441,4,0.054,0.052,2765,3615,2046,0,0,1,0,0,0
$GC,7932,1.37,194.6,968.4,15.5,205,7941,0.00,2.35,0.00,0.000,6,0.000,0.028,2766,2207,2041,0,0,0,0,0,0
$GC,8253,1.37,194.6,923.8,14.1,211,8261,0.00,2.42,0.00,0.000,4,0.000,0.052,2766,3627,2040,0,0,1,0,0,0
$GC,8501,1.37,194.6,884.2,16.5,214,8510,0.00,2.35,0.00,0.000,6,0.000,0.028,2766,2200,2039,0,0,0,0,0,0
$GC,8809,1.37,194.6,841.8,13.6,220,8818,0.00,2.45,0.00,0.000,4,0.000,0.052,2766,3626,2038,0,0,0,0,0,0
$GC,9057,1.37,194.6,806.2,14.5,223,9067,0.00,2.33,0.00,0.000,6,0.000,0.028,2766,2218,2038,0,0,0,0,0,0
$GC,9366,1.37,194.6,766.1,12.9,229,9374,0.00,2.42,0.00,0.000,4,0.000,0.051,2766,3624,2038,0,0,0,0,0,0
$GC,9614,1.37,194.6,730.3,14.2,232,9623,0.00,2.33,0.00,0.000,6,0.000,0.028,2766,2216,2037,0,0,0,0,0,0
$GC,9923,1.37,194.6,688.6,13.6,237,9932,0.00,2.40,0.00,0.000,4,0.000,0.052,2766,3623,2037,0,0,0,0,0,0
$GC,10171,1.37,194.6,653.3,14.1,240,10181,0.00,2.30,0.00,0.000,6,0.000,0.028,2766,2219,2037,0,0,0,0,0,0
$GC,10479,1.37,194.6,618.2,11.1,246,10488,0.00,2.42,0.00,0.000,4,0.000,0.053,2766,3626,2036,0,0,0,0,0,0
$GC,10728,1.37,194.6,590.3,11.9,249,10738,0.00,2.33,0.00,0.000,6,0.000,0.028,2766,2204,2036,0,0,0,0,0,0
$GC,11036,1.42,241.3,561.5,9.2,255,11085,0.00,2.55,38.35,1.189,4,0.000,0.050,2766,3620,1857,0,0,0,0,0,0
$GC,11325,1.42,241.3,523.9,14.0,259,11333,0.00,2.30,0.00,0.000,6,0.000,0.028,2766,2222,1851,0,0,0,0,0,0
$GC,11656,1.42,241.3,477.0,14.1,265,11664,0.00,2.40,0.00,0.000,4,0.000,0.050,2766,3631,1851,0,0,0,0,0,0
$GC,11903,1.42,241.3,437.4,16.3,268,11913,0.00,2.33,0.00,0.000,6,0.000,0.028,2767,2214,1850,0,0,0,0,0,0
$GC,12214,1.42,241.3,394.5,13.5,274,12217,0.00,2.42,0.00,0.000,4,0.000,0.049,2766,3629,1850,0,0,0,0,0,0
$GC,12410,1.42,241.3,367.0,13.7,277,12414,0.00,2.33,0.00,0.000,6,0.000,0.026,2766,2221,1850,0,0,0,0,0,0
$GC,12765,1.42,241.3,324.8,11.5,283,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2216,1850,0,0,0,0,0,0
$GC,13068,1.42,241.3,287.6,12.6,289,13072,0.00,2.40,0.00,0.000,4,0.000,0.047,2766,3615,1850,0,0,0,0,0,0
$GC,13195,1.42,241.3,270.4,13.7,293,13199,0.00,2.30,0.00,0.000,6,0.000,0.024,2766,2215,1851,0,0,0,0,0,0
$GC,13531,1.46,277.0,235.7,9.7,304,13566,0.10,2.50,29.67,0.926,4,0.081,0.045,2792,3625,1711,0,0,0,0,0,0
$GC,13694,1.46,277.0,211.5,15.7,309,13698,0.00,2.33,0.00,0.000,6,0.000,0.024,2792,2215,1707,0,0,0,0,0,0
$GC,14024,1.46,277.0,166.0,12.4,320,14028,0.00,2.38,0.00,0.000,4,0.000,0.044,2792,3622,1706,0,0,0,0,0,0
$GC,14114,1.46,277.0,153.5,16.1,322,14121,0.00,2.30,0.00,0.000,6,0.000,0.022,2792,2214,1706,0,0,0,0,0,0
$GC,14423,1.46,277.0,107.0,15.3,333,14428,0.00,2.80,0.00,0.000,4,0.000,0.036,2792,829,1706,0,0,0,0,0,0
$GC,14444,1.46,277.0,103.7,14.6,333,14450,0.00,2.78,0.00,0.000,6,0.000,0.025,2792,2218,1707,0,0,0,0,0,0
$GC,14759,1.46,277.0,59.4,12.8,362,14763,0.00,2.35,0.00,0.000,4,0.000,0.043,2792,3625,1707,0,0,0,0,0,0
$GC,14845,1.46,277.0,48.7,12.0,370,14849,0.00,2.25,0.00,0.000,6,0.000,0.021,2792,2201,1709,0,0,0,0,0,0
$GC,15036,1.46,277.0,26.2,12.7,388,15039,0.00,2.42,0.00,0.000,4,0.000,0.041,2792,3629,1709,0,0,0,0,0,0
$GC,15067,1.46,277.0,21.7,14.6,391,15071,0.00,2.28,0.00,0.000,6,0.000,0.020,2792,2218,1709,0,0,0,0,0,0
$STATE,15231,end climb,SURFACE_DEPTH_REACHED
$STATE,15231,begin surface coast
$FINISH,0.1,1.010673
$STATE,15257,end surface coast,CONTROL_FINISHED_OK
$STATE,15258,begin surface
$SM_CCo,15277,51.50,0.657,0,0,1311,375.06
$SM_GC,0.71,0.00,0.00,51.50,0.000,0.000,0.657,359,2209,1311,-9.72,1.39,375.06
$IRIDIUM_FIX,1922.94,-15631.27,150911,000044
$TT8_MAMPS,0.159537
$HUMID,1078097410
$TCM_TEMP,23.10
$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,2572/2730
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,19.6/30829585/24777603
$PA_HOME,11.2/482055/428165
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/298663/287757
$PA_DATA1,78.5/7837685/1686208
$PA_DATA0,62.0/7836665/2974966
$24V_AH,23.5,13.118
$10V_AH,9.9,13.747
$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,24.375,139.525,391.200,51.500,0.000,24.199,32.692,251.072,0.000,0.000,34.687,0.000,12451.732,553.951,2549.218,258.038,33.349,1624.337,0.000,1582.210,0.000,0.542,0.000
$DEVICE_MAMPS,173.655,143.820,1483.335,657.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,289.086,0.000,0.000,0.000,0.000,0.000,15894.570,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,91.884,0.000,0.000,0.000
$MEM,352972
$DATA_FILE_SIZE,13482,425
$CAP_FILE_SIZE,127483,0
$CFSIZE,260034560,254222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,220310,151636,1927.298,-15635.098,39,1.1,39,9.6