version: 66.06
glider: 172
mission: 3
dive: 81
start: 11 3 109 10 29 19
data:
$ID,172
$MISSION,3
$DIVE,81
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,500
$D_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,330
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51891
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5780.7026
$T_RSLEEP,15
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.032000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2940
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.981045
$PRESSURE_SLOPE,0.0001168426
$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,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,101807,6654.678,-5747.651,31,1.3,31,-37.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-75.7
$GPS2,102856,6654.748,-5747.767,10,1.4,10,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,42.2,12144,-17.5,-10.000
$D_GRID,821
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.64,-146.0,0.0,0.0,0,63,0.00,0.00,-45.42,0.000,2,0.000,0.000,122,1863,2415,0,0,0,0,0,0
$GC,66,-0.64,-146.0,3.1,-1.7,9,124,10.65,2.38,-41.45,0.000,4,0.245,0.086,2807,436,3537,0,0,0,0,0,0
$GC,256,-0.53,-146.0,31.9,-18.2,50,262,0.17,2.25,0.00,0.000,6,0.161,0.058,2849,1847,3539,0,0,0,0,0,0
$GC,599,-0.57,-146.0,77.6,-12.1,111,606,0.00,2.33,0.00,0.000,4,0.000,0.077,2842,3258,3539,0,0,0,0,0,0
$GC,665,-0.68,-146.0,85.1,-10.9,125,671,0.10,2.28,0.00,0.000,6,0.112,0.064,2791,1843,3539,0,0,0,0,0,0
$GC,995,-0.58,-146.0,140.5,-17.0,164,1000,0.15,2.28,0.00,0.000,4,0.170,0.075,2834,440,3539,0,0,0,0,0,0
$GC,1066,-0.63,-146.0,150.7,-13.7,171,1070,0.00,2.22,0.00,0.000,6,0.000,0.057,2824,1856,3539,0,0,0,0,0,0
$GC,1389,-0.63,-146.0,193.8,-13.4,201,1393,0.00,2.30,0.00,0.000,4,0.000,0.075,2824,434,3539,0,0,0,0,0,0
$GC,1412,-0.63,-146.0,197.3,-14.7,203,1416,0.00,2.22,0.00,0.000,6,0.000,0.058,2814,1851,3539,0,0,0,0,0,0
$GC,1737,-0.63,-146.0,240.5,-12.6,233,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1851,3538,0,0,0,0,0,0
$GC,2055,-0.63,-146.0,281.0,-12.6,263,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1851,3538,0,0,0,0,0,0
$GC,2373,-0.63,-146.0,319.2,-11.3,293,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1851,3538,0,0,0,0,0,0
$GC,2692,-0.63,-146.0,354.2,-10.8,323,2696,0.00,2.28,0.00,0.000,4,0.000,0.075,2814,433,3538,0,0,0,0,0,0
$GC,2734,-0.63,-146.0,359.2,-11.1,327,2738,0.00,2.22,0.00,0.000,6,0.000,0.058,2814,1857,3538,0,0,0,0,0,0
$GC,3057,-0.63,-146.0,394.9,-10.7,357,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1858,3538,0,0,0,0,0,0
$GC,3376,-0.66,-146.0,429.8,-10.6,387,3380,0.00,2.28,0.00,0.000,4,0.000,0.074,2814,432,3538,0,0,0,0,0,0
$GC,3418,-0.71,-146.0,434.5,-12.0,391,3422,0.00,2.20,0.00,0.000,6,0.000,0.057,2814,1851,3538,0,0,0,0,0,0
$GC,3742,-0.74,-146.0,469.1,-10.7,421,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1851,3538,0,0,0,0,0,0
$GC,4061,-0.78,-146.0,501.8,-10.4,451,4066,0.12,2.28,0.00,0.000,4,0.100,0.075,2755,439,3538,0,0,0,0,0,0
$GC,4088,-0.65,-146.0,505.6,-15.4,453,4095,0.22,2.17,0.00,0.000,6,0.151,0.057,2814,1852,3538,0,0,0,0,0,0
$GC,4413,-0.70,-146.0,539.7,-10.6,484,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1852,3539,0,0,0,0,0,0
$GC,4731,-0.75,-146.0,572.4,-10.3,514,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1852,3539,0,0,0,0,0,0
$GC,5058,-0.81,-146.0,606.2,-10.2,541,5063,0.15,2.28,0.00,0.000,4,0.087,0.074,2741,436,3539,0,0,0,0,0,0
$GC,5087,-0.65,-146.0,610.2,-14.9,542,5092,0.22,2.20,0.00,0.000,6,0.152,0.058,2811,1855,3539,0,0,0,0,0,0
$GC,5422,-0.69,-146.0,644.9,-10.1,553,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1855,3539,0,0,0,0,0,0
$GC,5729,-0.74,-146.0,676.6,-10.5,563,5733,0.00,2.25,0.00,0.000,4,0.000,0.074,2811,439,3539,0,0,0,0,0,0
$GC,5765,-0.79,-146.0,680.8,-10.7,564,5770,0.12,2.17,0.00,0.000,6,0.102,0.057,2753,1852,3539,0,0,0,0,0,0
$GC,6091,-0.67,-146.0,727.8,-14.8,575,6093,0.17,0.00,0.00,0.000,6,0.153,0.000,2806,1852,3539,0,0,0,0,0,0
$GC,6397,-0.71,-146.0,762.6,-11.0,585,6401,0.00,2.25,0.00,0.000,4,0.000,0.074,2806,435,3539,0,0,0,0,0,0
$GC,6434,-0.75,-146.0,767.0,-12.5,586,6438,0.00,2.20,0.00,0.000,6,0.000,0.057,2806,1855,3539,0,0,0,0,0,0
$GC,6773,-0.79,-146.0,802.5,-10.6,597,6774,0.10,0.00,0.00,0.000,6,0.112,0.000,2757,1855,3539,0,0,0,0,0,0
$STATE,6919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6919,begin apogee
$GC,6923,-0.13,0.0,824.0,14.4,602,7050,0.68,0.00,123.45,1.163,6,0.137,0.000,2976,1695,2940,0,0,0,0,0,0
$STATE,7051,end apogee,CONTROL_FINISHED_OK
$STATE,7051,begin climb
$GC,7053,0.64,146.0,830.1,0.0,606,7191,0.75,2.50,129.05,1.131,4,0.081,0.071,3246,295,2343,0,0,0,0,0,0
$GC,7241,0.52,193.1,829.3,7.8,612,7290,0.20,2.35,43.05,1.096,6,0.163,0.050,3195,1701,2152,0,0,0,0,0,0
$GC,7621,0.57,232.6,799.6,8.2,625,7661,0.00,2.45,35.25,1.088,4,0.000,0.068,3195,3104,1990,0,0,0,0,0,0
$GC,7699,0.61,232.6,792.6,10.2,627,7703,0.00,2.40,0.00,0.000,6,0.000,0.063,3204,1700,1985,0,0,0,0,0,0
$GC,8015,0.61,235.9,762.1,9.8,638,8019,0.00,2.38,0.00,0.000,4,0.000,0.075,3214,287,1982,0,0,0,0,0,0
$GC,8069,0.62,242.3,756.4,9.7,639,8083,0.00,2.25,8.62,0.951,6,0.000,0.051,3213,1702,1952,0,0,0,0,0,0
$GC,8416,0.62,242.3,720.5,10.4,651,8420,0.00,2.30,0.00,0.000,4,0.000,0.068,3214,3105,1949,0,0,0,0,0,0
$GC,8445,0.62,245.1,717.1,9.9,652,8449,0.00,2.30,0.00,0.000,6,0.000,0.063,3223,1698,1948,0,0,0,0,0,0
$GC,8801,0.62,245.1,680.4,11.0,663,8805,0.00,2.30,0.00,0.000,4,0.000,0.076,3233,290,1948,0,0,0,0,0,0
$GC,8846,0.62,245.1,673.5,10.1,664,8850,0.00,2.20,0.00,0.000,6,0.000,0.051,3232,1701,1947,0,0,0,0,0,0
$GC,9167,0.59,245.1,637.3,11.3,675,9171,0.00,2.28,0.00,0.000,4,0.000,0.069,3233,3110,1947,0,0,0,0,0,0
$GC,9203,0.54,245.1,632.9,12.0,676,9208,0.15,2.28,0.00,0.000,6,0.175,0.065,3202,1700,1946,0,0,0,0,0,0
$GC,9530,0.63,273.1,603.7,8.7,687,9563,0.00,2.35,28.40,1.006,4,0.000,0.077,3212,289,1825,0,0,0,0,0,0
$GC,9606,0.71,276.1,596.7,9.9,690,9615,0.12,2.25,3.90,0.640,6,0.104,0.051,3264,1705,1813,0,0,0,0,0,0
$GC,9939,0.61,276.1,552.1,13.8,722,9941,0.15,0.00,0.00,0.000,6,0.165,0.000,3222,1706,1809,0,0,0,0,0,0
$GC,10258,0.64,276.1,518.1,10.6,752,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1706,1808,0,0,0,0,0,0
$GC,10577,0.64,276.1,484.4,11.1,782,10581,0.00,2.30,0.00,0.000,4,0.000,0.077,3232,289,1807,0,0,0,0,0,0
$GC,10612,0.64,276.1,480.1,11.7,785,10618,0.00,2.20,0.00,0.000,6,0.000,0.052,3232,1703,1807,0,0,0,0,0,0
$GC,10937,0.64,276.1,443.4,11.2,816,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1703,1806,0,0,0,0,0,0
$GC,11255,0.64,276.1,407.2,11.3,846,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1703,1807,0,0,0,0,0,0
$GC,11576,0.64,276.1,372.2,11.3,876,11581,0.00,2.28,0.00,0.000,4,0.000,0.077,3242,289,1806,0,0,0,0,0,0
$GC,11609,0.64,276.1,368.2,11.2,879,11613,0.00,2.17,0.00,0.000,6,0.000,0.052,3242,1701,1806,0,0,0,0,0,0
$GC,11932,0.64,276.1,330.7,10.8,909,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1702,1806,0,0,0,0,0,0
$GC,12251,0.64,276.1,293.8,11.7,939,12255,0.00,2.28,0.00,0.000,4,0.000,0.076,3252,284,1806,0,0,0,0,0,0
$GC,12275,0.64,276.1,291.0,11.5,941,12279,0.00,2.20,0.00,0.000,6,0.000,0.051,3252,1707,1806,0,0,0,0,0,0
$GC,12603,0.64,276.1,251.3,11.9,972,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1708,1806,0,0,0,0,0,0
$GC,12922,0.64,276.1,215.1,10.9,1002,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1708,1806,0,0,0,0,0,0
$GC,13241,0.64,276.1,179.8,11.1,1032,13245,0.00,2.22,0.00,0.000,4,0.000,0.070,3252,3105,1806,0,0,0,0,0,0
$GC,13292,0.64,276.1,173.6,11.3,1037,13296,0.00,2.22,0.00,0.000,6,0.000,0.063,3259,1699,1805,0,0,0,0,0,0
$GC,13620,0.64,276.1,138.4,10.2,1068,13624,0.00,2.25,0.00,0.000,4,0.000,0.075,3270,283,1805,0,0,0,0,0,0
$GC,13665,0.66,292.9,133.5,9.2,1072,13688,0.10,2.17,14.90,0.719,6,0.183,0.052,3243,1701,1745,0,0,0,0,0,0
$GC,14006,0.76,320.2,102.8,8.7,1105,14036,0.00,2.33,25.02,0.710,4,0.000,0.077,3253,289,1633,0,0,0,0,0,0
$GC,14057,0.86,335.9,98.3,9.3,1112,14078,0.15,2.22,15.10,0.679,6,0.097,0.052,3317,1703,1570,0,0,0,0,0,0
$GC,14415,0.76,335.9,43.8,16.2,1176,14422,0.17,2.30,0.00,0.000,4,0.166,0.077,3280,289,1561,0,0,0,0,0,0
$GC,14441,0.76,335.9,40.6,12.7,1181,14446,0.00,2.20,0.00,0.000,6,0.000,0.052,3280,1699,1560,0,0,0,0,0,0
$GC,14783,0.76,335.9,4.6,11.4,1242,14788,0.00,2.30,0.00,0.000,4,0.000,0.076,3289,284,1558,0,0,0,0,0,0
$STATE,14793,end climb,SURFACE_DEPTH_REACHED
$STATE,14793,begin surface coast
$FINISH,2.2,1.025222
$STATE,14807,end surface coast,CONTROL_FINISHED_OK
$STATE,14807,begin surface
$SM_CCo,14884,0.00,0.000,0,0,1554,339.99
$SM_GC,2.81,8.32,0.00,0.00,0.060,0.000,0.000,145,1849,1554,-8.93,-0.03,339.99
$RAFOS_CLK,754
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5752.72,280199,050528
$TT8_MAMPS,0.026078
$HUMID,41.57
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,802.5,81.0
$24V_AH,22.9,16.476
$10V_AH,10.2,7.174
$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,23.000,114.025,426.750,0.000,0.000,30.425,32.063,452.448,2.750,0.000,10.860,2405.474,9824.385,549.047,2103.564,629.395,0.000,1617.613,0.000,2075.302,2491.000,25.847,0.000
$DEVICE_MAMPS,244.673,85.904,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.662,940.507,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188720
$DATA_FILE_SIZE,50468,1247
$CAP_FILE_SIZE,161800,0
$CFSIZE,260165632,245137408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$CURRENT,0.152,  0.6,1
$GPS,031109,143837,6658.289,-5747.431,35,1.2,35,-37.7