version: 66.12
glider: 187
mission: 5
dive: 6
start: 5 1 115 19 51 46
data:
$ID,187
$MISSION,5
$DIVE,6
$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,17
$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
$GPS1,010515,194233,4743.4399,-12224.6436,4,0.8,27,16.1,0.5,201.2,10,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.2
$GPS2,010515,195112,4743.3516,-12224.7031,3,0.9,4,16.1,0.3,201.9,10,8.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,56.5,918,-16.9,-10.000,-20.75,2244
$D_GRID,176
$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,-146.6,339,2289,1141,1329,0.0,0.0,0,121,0.00,0.00,-86.30,0.000,16390,0.000,0.000,338,2288,3458,3469,3447,0,0,0,0,0,0,14.71,13.67,14.74
$GC,128,-0.57,-146.6,338,2288,3469,3441,3.8,-5.2,9,151,12.77,2.47,0.00,0.000,2564,0.406,0.092,3174,886,3454,3470,3439,0,0,0,0,0,0,14.35,14.47,14.55
$GC,386,-0.41,-146.6,3174,886,3468,3445,61.9,-16.3,58,396,0.22,2.53,0.00,0.000,3078,0.254,0.112,3223,2303,3456,3468,3445,0,0,0,0,0,0,14.45,14.52,14.62
$GC,577,-0.41,-146.6,3223,2303,3467,3445,85.1,-11.2,77,584,0.00,2.50,0.00,0.000,516,0.000,0.103,3223,883,3456,3467,3445,0,0,0,0,0,0,14.78,14.55,14.79
$GC,665,-0.41,-146.6,3225,883,3467,3446,95.1,-11.3,93,672,0.00,2.53,0.00,0.000,1030,0.000,0.112,3218,2306,3454,3463,3446,0,0,0,0,0,0,14.66,14.56,14.68
$GC,864,-0.41,-146.6,3216,2304,3466,3446,114.7,-9.7,113,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2305,3455,3462,3448,0,0,0,0,0,0,14.81,14.83,14.82
$GC,1054,-0.41,-146.6,3217,2305,3472,3446,133.7,-9.7,132,1061,0.00,2.47,0.00,0.000,516,0.000,0.103,3217,889,3455,3465,3446,0,0,0,0,0,0,14.81,14.58,14.81
$GC,1130,-0.41,-146.6,3216,889,3466,3442,140.3,-9.7,144,1138,0.00,2.50,0.00,0.000,1030,0.000,0.110,3211,2295,3456,3466,3446,0,0,0,0,0,0,14.71,14.60,14.70
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1236,-0.19,0.0,3208,1893,3465,3445,150.9,-10.3,154,1348,0.28,0.00,106.53,0.868,10246,0.220,0.000,3290,1888,2860,2806,2915,0,0,0,0,0,0,14.54,14.28,13.89
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1360,0.57,146.6,3290,1888,2789,2912,158.3,0.0,166,1479,0.80,0.00,104.32,0.845,10758,0.193,0.000,3533,1888,2255,2104,2407,0,0,0,0,0,0,14.20,14.10,13.75
$GC,1660,0.50,146.6,3532,1888,2104,2409,129.1,12.2,205,1668,0.00,2.60,0.00,0.000,260,0.000,0.115,3529,3320,2254,2104,2404,0,0,0,0,0,0,14.58,14.40,14.59
$GC,1827,0.38,146.6,3532,3319,2104,2404,107.4,12.7,236,1836,0.17,2.53,0.00,0.000,5126,0.243,0.099,3486,1899,2254,2105,2404,0,0,0,0,0,0,14.40,14.46,14.56
$GC,2018,0.50,217.2,3485,1899,2107,2404,93.7,6.8,255,2084,0.12,2.62,54.20,0.786,10500,0.145,0.113,3545,3316,1969,1821,2118,0,0,0,0,0,0,14.56,14.30,14.05
$GC,2304,0.43,217.2,3545,3317,1821,2102,54.4,14.1,309,2312,0.20,2.53,0.00,0.000,5126,0.240,0.099,3496,1899,1961,1821,2102,0,0,0,0,0,0,14.39,14.44,14.54
$GC,2503,0.55,226.5,3498,1898,1818,2103,35.0,9.6,329,2513,0.08,0.00,3.15,0.495,10246,0.171,0.000,3548,1899,1935,1790,2080,0,0,0,0,0,0,14.55,14.57,14.08
$GC,2695,0.50,226.5,3548,1898,1821,2081,12.6,11.7,348,2708,0.00,2.60,1.80,0.097,8452,0.000,0.113,3548,3316,1935,1796,2074,0,0,0,0,0,0,14.76,14.52,14.51
$STATE,2753,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.2,1.021823
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2810,73.28,0.079,0,0,1226,400.08
$SM_GC,1.18,8.98,1.88,73.28,0.069,0.096,0.079,337,2290,1226,-9.37,0.23,400.08,1,0,0,0,0,0,14.58,14.57,14.57
$IRIDIUM_FIX,4726.11,-12229.50,010515,184847
$TT8_MAMPS,0.020972,0.020972
$HUMID,40.43
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,50.0
$SC_FREEKB,3935744
$24V_AH,13.67,0.885
$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,23.625,30.475,270.000,73.275,0.000,0.000,0.000,232.650,0.500,0.000,11.452,722.567,1027.843,410.734,859.933,392.679,0.000,1020.548,0.000,558.639,0.000,5.566,0.000
$DEVICE_MAMPS,406.215,114.750,867.510,78.795,0.000,0.000,0.000,135.405,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2799.000,2781.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.305,9.052,0.000,0.000
$MEM,312288
$DATA_FILE_SIZE,10138,363
$CAP_FILE_SIZE,61300,0
$CFSIZE,260034560,256327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$WARN,PPS timeout
$GPS,010515,204048,4743.335,-12224.431,2,0.8,3,16.1,0.4,233.7,10,8.4