version: 66.12
glider: 187
mission: 5
dive: 5
start: 5 1 115 18 53 15
data:
$ID,187
$MISSION,5
$DIVE,5
$N_DIVES,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53316
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.59941
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,140
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,010515,184409,4743.4565,-12224.9746,2,1.6,9,16.1,0.2,0.0,5,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.0
$GPS2,010515,185246,4743.4502,-12225.0088,4,1.5,12,16.1,0.2,0.0,6,4.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,69.7,1260,-16.9,-10.000,-20.75,2244
$D_GRID,178
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.57,-146.6,335,2301,1133,1337,0.0,0.0,0,120,0.00,0.00,-86.78,0.000,16390,0.000,0.000,336,2301,3456,3470,3443,0,0,0,0,0,0,14.75,13.68,14.76
$GC,127,-0.57,-146.6,332,2301,3467,3442,3.4,-4.1,9,150,12.85,2.50,0.00,0.000,2564,0.410,0.097,3166,884,3457,3471,3444,0,0,0,0,0,0,14.33,14.51,14.57
$GC,384,-0.37,-146.6,3166,886,3470,3446,65.2,-19.5,58,394,0.28,2.53,0.00,0.000,3078,0.262,0.114,3232,2301,3458,3470,3446,0,0,0,0,0,0,14.45,14.54,14.66
$GC,576,-0.37,-146.6,3232,2301,3469,3446,89.2,-10.6,77,583,0.00,2.53,0.00,0.000,260,0.000,0.120,3223,3707,3458,3470,3447,0,0,0,0,0,0,14.79,14.57,14.81
$GC,669,-0.37,-146.6,3224,3708,3474,3446,98.7,-9.6,93,676,0.00,2.50,0.00,0.000,1030,0.000,0.099,3223,2293,3460,3473,3447,0,0,0,0,0,0,14.68,14.57,14.71
$GC,867,-0.37,-146.6,3220,2290,3468,3447,120.3,-11.2,113,875,0.00,2.45,0.00,0.000,516,0.000,0.105,3223,888,3458,3469,3447,0,0,0,0,0,0,14.81,14.59,14.83
$GC,1012,-0.41,-146.6,3223,888,3473,3447,135.8,-10.8,140,1021,0.00,2.50,0.00,0.000,1030,0.000,0.111,3219,2302,3460,3468,3452,0,0,0,0,0,0,14.69,14.59,14.72
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1157,begin apogee
$GC,1168,-0.19,0.0,3214,1895,3467,3448,150.5,-9.4,155,1281,0.25,0.00,107.05,0.859,10246,0.226,0.000,3286,1893,2856,2796,2916,0,0,0,0,0,0,14.52,14.29,13.91
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1293,0.57,146.6,3286,1893,2786,2913,157.0,0.0,167,1414,0.80,0.00,105.20,0.832,10758,0.183,0.000,3532,1892,2253,2101,2405,0,0,0,0,0,0,14.22,14.06,13.78
$GC,1596,0.50,146.6,3532,1892,2103,2406,125.4,12.0,204,1603,0.00,2.58,0.00,0.000,260,0.000,0.116,3532,3318,2254,2104,2404,0,0,0,0,0,0,14.60,14.37,14.62
$GC,1782,0.40,146.6,3532,3315,2105,2405,103.8,10.7,239,1792,0.17,2.50,0.00,0.000,5126,0.254,0.098,3493,1902,2255,2105,2405,0,0,0,0,0,0,14.44,14.47,14.57
$GC,1973,0.50,191.6,3492,1901,2106,2405,88.1,7.9,258,2016,0.00,2.62,35.40,0.790,8452,0.000,0.113,3493,3313,2072,1914,2230,0,0,0,0,0,0,14.76,14.39,14.12
$GC,2170,0.59,203.3,3492,3312,1915,2221,70.5,9.5,295,2185,0.17,2.53,5.82,0.758,11270,0.116,0.098,3569,1897,2037,1881,2194,0,0,0,0,0,0,14.53,14.48,14.12
$GC,2377,0.46,203.3,3568,1897,1896,2190,42.7,14.9,316,2391,0.17,2.60,1.73,0.093,12548,0.231,0.114,3511,3314,2030,1877,2184,0,0,0,0,0,0,14.45,14.50,14.48
$GC,2457,0.52,203.3,3511,3310,1892,2184,33.8,10.1,329,2467,0.00,2.50,1.33,0.102,9222,0.000,0.096,3519,1898,2029,1875,2183,0,0,0,0,0,0,14.62,14.53,14.50
$GC,2648,0.60,232.9,3513,1894,1905,2183,18.9,8.7,348,2672,0.08,2.60,15.15,0.155,10500,0.173,0.113,3569,3310,1912,1767,2058,0,0,0,0,0,0,14.59,14.54,14.51
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,0.1,1.021760
$STATE,2772,end surface coast,CONTROL_FINISHED_OK
$STATE,2772,begin surface
$SM_CCo,2804,70.65,0.080,0,0,1226,400.08
$SM_GC,1.16,9.05,1.85,70.65,0.069,0.093,0.080,339,2293,1226,-9.37,0.42,400.08,0,0,0,0,0,0,14.61,14.57,14.58
$IRIDIUM_FIX,4726.11,-12159.30,010515,175200
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.37
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.8,52.6
$SC_FREEKB,3936128
$24V_AH,13.68,0.774
$10V_AH,13.20,0.000
$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,23.825,35.900,271.675,70.650,0.000,0.000,0.000,221.675,0.500,0.000,13.408,740.735,983.394,414.421,861.699,396.615,0.000,1014.987,0.000,578.131,0.000,5.573,0.000
$DEVICE_MAMPS,410.040,121.635,859.095,80.325,0.000,0.000,0.000,138.465,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2793.000,2776.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.338,9.061,0.000,0.000
$MEM,312304
$DATA_FILE_SIZE,13459,371
$CAP_FILE_SIZE,63037,0
$CFSIZE,260034560,256376832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010515,194233,4743.440,-12224.644,4,0.8,27,16.1,0.5,201.2,10,3.1