version: 66.07
glider: 23
mission: 14
dive: 34
start: 3 22 110 15 25 54
data:
$ID,23
$MISSION,14
$DIVE,34
$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,-41595.633
$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,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
$GPS1,220310,151636,1927.298,-15635.098,39,1.1,39,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.0
$GPS2,220310,152514,1927.232,-15635.160,12,1.4,12,9.6
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,INDY
$TGT_LATLONG,1930.000,-15640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,0.105
$KALMAN_X,-38382.0,512.3,91.4,-12306.8,-358.1
$KALMAN_Y,82309.9,-789.4,-489.9,-109534.4,1144.4
$MHEAD_RNG_PITCHd_Wd,282.5,9884,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.37,-194.6,0.0,0.0,0,100,0.00,0.00,-75.45,0.000,2,0.000,0.000,358,2209,2834,0,0,0,0,0,0
$GC,103,-1.37,-194.6,3.1,-4.8,14,138,10.52,2.90,-17.92,0.000,4,0.168,0.046,2164,773,3637,0,0,0,0,0,0
$GC,239,-1.37,-194.6,30.5,-18.0,35,243,0.00,2.70,0.00,0.000,6,0.000,0.024,2164,2159,3637,0,0,0,0,0,0
$GC,436,-1.37,-194.6,70.4,-19.5,54,440,0.00,2.42,0.00,0.000,4,0.000,0.037,2164,3571,3638,0,0,0,0,0,0
$GC,628,-1.37,-194.6,107.9,-18.7,70,632,0.00,2.30,0.00,0.000,6,0.000,0.022,2164,2178,3638,0,0,0,0,0,0
$GC,963,-1.37,-194.6,165.1,-15.4,81,967,0.00,2.38,0.00,0.000,4,0.000,0.040,2164,3604,3640,0,0,0,0,0,0
$GC,1119,-1.37,-194.6,187.9,-15.3,85,1124,0.00,2.35,0.00,0.000,6,0.000,0.024,2163,2165,3640,0,0,0,0,0,0
$GC,1427,-1.37,-194.6,236.4,-16.3,96,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2165,3641,0,0,0,0,0,0
$GC,1731,-1.37,-194.6,285.3,-16.4,106,1735,0.00,2.42,0.00,0.000,4,0.000,0.043,2164,3596,3641,0,0,0,0,0,0
$GC,1917,-1.37,-194.6,314.8,-13.7,111,1921,0.00,2.40,0.00,0.000,6,0.000,0.025,2164,2157,3641,0,0,0,0,0,0
$GC,2283,-1.37,-194.6,361.1,-12.4,117,2287,0.00,2.50,0.00,0.000,4,0.000,0.046,2165,3613,3639,0,0,0,0,0,0
$GC,2304,-1.37,-194.6,363.8,-12.5,117,2308,0.00,2.42,0.00,0.000,6,0.000,0.026,2164,2159,3640,0,0,0,0,0,0
$GC,2643,-1.37,-194.6,408.7,-13.3,123,2646,0.00,2.47,0.00,0.000,4,0.000,0.047,2164,3597,3637,0,0,0,0,0,0
$GC,2690,-1.37,-194.6,415.2,-13.3,123,2694,0.00,2.40,0.00,0.000,6,0.000,0.027,2164,2162,3637,0,0,0,0,0,0
$GC,3008,-1.37,-194.6,456.9,-13.1,129,3012,0.00,2.50,0.00,0.000,4,0.000,0.049,2164,3598,3635,0,0,0,0,0,0
$GC,3077,-1.37,-194.6,465.9,-12.3,130,3081,0.00,2.40,0.00,0.000,6,0.000,0.028,2163,2162,3634,0,0,0,0,0,0
$GC,3440,-1.37,-194.6,510.8,-12.6,136,3448,0.00,2.50,0.00,0.000,4,0.000,0.050,2164,3589,3631,0,0,0,0,0,0
$GC,3468,-1.37,-194.6,514.7,-13.9,136,3476,0.00,2.35,0.00,0.000,6,0.000,0.028,2164,2160,3631,0,0,0,0,0,0
$GC,3799,-1.37,-194.6,554.3,-11.8,142,3807,0.00,2.85,0.00,0.000,4,0.000,0.042,2164,743,3628,0,0,0,0,0,0
$GC,3844,-1.37,-194.6,559.4,-11.0,142,3853,0.00,2.83,0.00,0.000,6,0.000,0.034,2164,2116,3627,0,0,0,0,0,0
$GC,4159,-1.37,-194.6,594.8,-11.3,148,4168,0.00,2.45,0.00,0.000,4,0.000,0.050,2164,3601,3625,0,0,1,0,0,0
$GC,4199,-1.37,-194.6,599.6,-12.0,148,4207,0.00,2.40,0.00,0.000,6,0.000,0.028,2164,2155,3625,0,0,0,0,0,0
$GC,4519,-1.37,-194.6,635.1,-11.0,154,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2153,3623,0,0,0,0,0,0
$GC,4820,-1.37,-194.6,666.2,-10.2,159,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2153,3621,0,0,0,0,0,0
$GC,5122,-1.37,-194.6,698.7,-10.9,164,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2153,3619,0,0,0,0,0,0
$GC,5423,-1.37,-194.6,733.8,-11.8,169,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2153,3619,0,0,0,0,0,0
$GC,5726,-1.37,-194.6,768.5,-11.5,174,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2153,3617,0,0,0,0,0,0
$GC,6027,-1.37,-194.6,804.8,-12.1,179,6035,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,3598,3615,0,0,0,0,0,0
$GC,6055,-1.37,-194.6,808.5,-13.9,179,6063,0.00,1.02,0.00,0.000,6,0.000,0.031,2164,2938,3615,0,0,0,0,0,0
$GC,6390,-1.37,-194.6,850.4,-12.5,185,6402,0.00,4.30,0.00,0.000,4,0.000,0.045,2163,743,3613,0,0,0,0,0,0
$GC,6529,-1.37,-194.6,867.4,-12.5,187,6538,0.00,2.88,0.00,0.000,6,0.000,0.039,2163,2149,3612,0,0,0,0,0,0
$GC,6882,-1.37,-194.6,909.7,-12.0,193,6891,0.00,2.50,0.00,0.000,4,0.000,0.054,2164,3605,3611,0,0,0,0,0,0
$GC,6916,-1.37,-194.6,914.1,-13.0,193,6924,0.00,2.12,0.00,0.000,6,0.000,0.030,2163,2315,3611,0,0,0,0,0,0
$GC,7241,-1.37,-194.6,951.6,-11.4,199,7250,0.00,3.17,0.00,0.000,4,0.000,0.049,2163,751,3610,0,0,0,0,0,0
$GC,7303,-1.37,-194.6,958.4,-11.1,200,7311,0.00,3.05,0.00,0.000,6,0.000,0.041,2164,2259,3609,0,0,0,0,0,0
$STATE,7603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7603,begin apogee
$GC,7608,-0.33,0.0,990.7,10.7,205,7775,1.15,0.00,159.15,1.477,6,0.096,0.000,2396,2197,2841,0,0,0,0,0,0
$STATE,7776,end apogee,CONTROL_FINISHED_OK
$STATE,7776,begin climb
$GC,7778,1.37,194.6,996.1,0.0,207,7954,1.73,2.60,163.10,1.437,4,0.052,0.054,2769,3663,2046,0,0,1,0,0,0
$GC,7979,1.37,194.6,986.8,15.8,210,7987,0.00,2.25,0.00,0.000,6,0.000,0.027,2770,2300,2043,0,0,0,0,0,0
$GC,8320,1.37,194.6,937.4,14.5,216,8329,0.00,2.38,0.00,0.000,4,0.000,0.052,2770,3666,2041,0,0,0,0,0,0
$GC,8569,1.37,194.6,898.5,15.5,219,8578,0.00,1.12,0.00,0.000,6,0.000,0.029,2769,2935,2040,0,0,0,0,0,0
$GC,8877,1.37,194.6,854.8,14.0,225,8886,0.00,3.78,0.00,0.000,4,0.000,0.041,2769,1037,2039,0,0,0,0,0,0
$GC,8939,1.37,194.6,846.5,13.2,226,8947,0.00,2.55,0.00,0.000,6,0.000,0.037,2770,2264,2039,0,0,1,0,0,0
$GC,9302,1.37,194.6,798.0,13.5,232,9311,0.00,2.33,0.00,0.000,4,0.000,0.053,2770,3615,2038,0,0,0,0,0,0
$GC,9550,1.37,194.6,761.4,15.6,235,9559,0.00,0.80,0.00,0.000,6,0.000,0.031,2769,3086,2038,0,0,0,0,0,0
$GC,9858,1.37,194.6,716.3,14.7,241,9870,0.00,3.97,0.00,0.000,4,0.000,0.039,2770,1053,2038,0,0,0,0,0,0
$GC,9901,1.37,194.6,710.1,14.3,241,9909,0.00,2.45,0.00,0.000,6,0.000,0.037,2770,1243,2038,0,0,0,0,0,0
$GC,10221,1.37,194.6,666.6,13.5,247,10229,0.00,2.40,0.00,0.000,4,0.000,0.054,2770,3623,2037,0,0,0,0,0,0
$GC,10469,1.37,194.6,633.6,13.4,250,10478,0.00,1.12,0.00,0.000,6,0.000,0.029,2769,2896,2037,0,0,0,0,0,0
$GC,10777,1.37,194.6,596.3,12.1,256,10785,0.00,1.17,0.00,0.000,4,0.000,0.054,2770,3615,2037,0,0,1,0,0,0
$GC,10864,1.37,194.6,585.4,12.8,257,10872,0.00,1.12,0.00,0.000,6,0.000,0.029,2770,2882,2037,0,0,0,0,0,0
$GC,11210,1.37,194.6,543.7,12.1,263,11218,0.00,2.40,0.00,0.000,4,0.000,0.032,2770,1578,2036,0,0,0,0,0,0
$GC,11303,1.37,194.6,533.1,11.6,264,11311,0.00,1.45,0.00,0.000,6,0.000,0.039,2770,2297,2036,0,0,0,0,0,0
$GC,11646,1.37,194.6,494.4,11.4,270,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2298,2037,0,0,0,0,0,0
$GC,11945,1.37,194.6,460.5,11.2,275,11949,0.00,2.28,0.00,0.000,4,0.000,0.051,2769,3623,2036,0,0,0,0,0,0
$GC,12190,1.37,194.6,428.9,11.8,278,12195,0.00,2.30,0.00,0.000,6,0.000,0.027,2769,2202,2037,0,0,0,0,0,0
$GC,12503,1.42,236.6,398.0,9.4,284,12539,0.00,0.00,34.05,1.069,6,0.000,0.000,2770,2217,1876,0,0,0,0,0,0
$GC,12805,1.44,259.1,367.5,10.1,289,12829,0.00,2.42,20.00,1.014,4,0.000,0.048,2770,3593,1783,0,0,1,0,0,0
$GC,13011,1.44,259.1,338.4,14.5,292,13016,0.00,2.28,0.00,0.000,6,0.000,0.025,2770,2246,1780,0,0,0,0,0,0
$GC,13361,1.44,259.1,293.6,12.7,298,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2242,1779,0,0,0,0,0,0
$GC,13665,1.44,259.1,253.2,12.8,308,13668,0.00,2.90,0.00,0.000,4,0.000,0.039,2769,821,1779,0,0,0,0,0,0
$GC,13685,1.44,259.1,250.6,12.8,308,13690,0.00,2.80,0.00,0.000,6,0.000,0.029,2770,2189,1779,0,0,0,0,0,0
$GC,14000,1.45,269.0,217.7,10.6,319,14014,0.00,2.50,8.95,0.815,4,0.000,0.045,2770,3657,1744,0,0,0,0,0,0
$GC,14074,1.45,269.0,206.9,14.2,321,14077,0.00,2.35,0.00,0.000,6,0.000,0.024,2770,2217,1743,0,0,0,0,0,0
$GC,14398,1.45,269.0,163.6,13.0,332,14402,0.00,2.83,0.00,0.000,4,0.000,0.038,2770,824,1743,0,0,0,0,0,0
$GC,14425,1.45,269.0,160.5,11.5,332,14431,0.00,2.92,0.00,0.000,6,0.000,0.028,2770,2331,1743,0,0,0,0,0,0
$GC,14733,1.50,313.2,131.2,9.3,343,14777,0.12,3.17,37.47,0.806,4,0.069,0.035,2804,815,1563,0,0,0,0,0,0
$GC,14799,1.50,313.2,122.6,13.3,345,14803,0.00,2.95,0.00,0.000,6,0.000,0.025,2804,2323,1561,0,0,3,0,0,0
$GC,15112,1.50,313.2,74.1,15.7,364,15117,0.00,3.03,0.00,0.000,4,0.000,0.034,2804,815,1558,0,0,0,0,0,0
$GC,15128,1.50,313.2,71.4,17.0,365,15132,0.00,2.88,0.00,0.000,6,0.000,0.024,2804,2270,1558,0,0,0,0,0,0
$GC,15319,1.50,313.2,40.4,13.7,383,15320,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2269,1557,0,0,0,0,0,0
$GC,15507,1.50,313.2,12.9,13.5,405,15513,0.00,2.25,0.00,0.000,4,0.000,0.040,2803,3612,1559,0,0,0,0,0,0
$GC,15565,1.50,313.2,4.5,14.0,416,15571,0.00,2.28,0.00,0.000,6,0.000,0.020,2804,2206,1559,0,0,0,0,0,0
$STATE,15573,end climb,SURFACE_DEPTH_REACHED
$STATE,15573,begin surface coast
$FINISH,0.4,1.023844
$STATE,15595,end surface coast,CONTROL_FINISHED_OK
$STATE,15595,begin surface
$SM_CCo,15615,45.35,0.656,0,0,1209,400.08
$SM_GC,0.97,0.00,0.00,45.35,0.000,0.000,0.656,361,2197,1209,-9.70,1.05,400.08
$IRIDIUM_FIX,1918.37,-15632.18,150911,050528
$TT8_MAMPS,0.242676
$HUMID,1078090958
$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,2200/2197
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,24.8/30829585/23172628
$PA_HOME,11.3/482055/427744
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287773
$PA_DATA1,78.5/7837685/1686208
$PA_DATA0,47.3/7836665/4131586
$24V_AH,23.5,13.306
$10V_AH,9.9,14.227
$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,24.325,147.625,422.725,45.350,0.000,29.675,23.703,299.145,0.000,0.000,14.207,0.000,12875.766,595.585,2437.063,256.556,33.355,1615.993,0.000,1470.460,0.000,0.543,0.000
$DEVICE_MAMPS,168.300,92.565,1477.215,655.605,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,287.333,0.000,0.000,0.000,0.000,0.000,16272.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,93.659,0.000,0.000,0.000
$MEM,352912
$DATA_FILE_SIZE,13448,422
$CAP_FILE_SIZE,129453,0
$CFSIZE,260034560,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220310,194800,1927.248,-15637.682,41,1.4,41,9.6