version: 66.12
glider: 187
mission: 7
dive: 5
start: 6 4 115 19 54 30
data:
$ID,187
$MISSION,7
$DIVE,5
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,64
$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,53361
$MASS_COMP,0
$NAV_MODE,2
$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,588.04138
$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,100
$PITCH_MAX,3850
$C_PITCH,3440
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$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,2700
$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,-164.45758
$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,120
$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
$GPS1,040615,194305,4743.4199,-12224.7197,1,1.3,4,16.1,0.0,0.0,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.8
$GPS2,040615,195352,4743.3867,-12224.7139,3,1.2,5,16.1,0.1,0.0,9,8.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,250.8,414,-25.3,-10.000,-28.45,1067
$D_GRID,175
$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,-0.75,-69.7,89,1892,422,547,0.0,0.0,0,131,0.00,0.00,-96.18,0.000,16390,0.000,0.000,89,1892,2982,2941,3024,0,0,0,0,0,0,14.75,13.66,14.76
$GC,138,-0.81,-146.6,89,1892,2942,3021,2.1,-1.5,10,168,13.60,2.80,-7.03,0.000,18692,0.389,2.223,3165,3314,3300,3252,3348,0,0,0,0,0,0,14.34,13.65,14.58
$GC,381,-0.55,-146.6,3165,3313,3252,3349,61.2,-25.6,55,390,0.38,2.58,0.00,0.000,3078,0.285,0.115,3256,1884,3300,3252,3349,0,0,0,0,0,0,14.42,14.49,14.60
$GC,572,-0.55,-146.6,3256,1879,3252,3349,94.1,-17.8,74,579,0.00,2.58,0.00,0.000,260,0.000,0.116,3256,3315,3301,3252,3350,0,0,0,0,0,0,14.78,14.54,14.80
$GC,651,-0.61,-146.6,3256,3315,3252,3349,107.2,-15.2,88,659,0.00,2.53,0.00,0.000,1030,0.000,0.112,3257,1902,3300,3252,3349,0,0,0,0,0,0,14.62,14.54,14.65
$GC,851,-0.67,-146.6,3256,1899,3252,3350,137.6,-13.6,108,858,0.00,2.53,0.00,0.000,260,0.000,0.117,3256,3313,3298,3247,3350,0,0,0,0,0,0,14.81,14.57,14.83
$GC,886,-0.73,-146.6,3261,3314,3252,3349,142.7,-14.1,113,897,0.15,2.55,0.00,0.000,5126,0.112,0.110,3184,1884,3300,3252,3349,0,0,0,0,0,0,14.64,14.58,14.69
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,944,-0.19,0.0,3184,1883,3252,3350,151.6,-18.5,118,1058,0.65,0.00,108.10,0.845,10246,0.259,0.000,3367,1880,2702,2613,2791,0,0,0,0,0,0,14.47,14.28,13.93
$STATE,1066,end apogee,CONTROL_FINISHED_OK
$STATE,1066,begin climb
$GC,1071,0.81,146.6,3367,1880,2605,2787,163.0,0.0,130,1202,1.05,2.70,116.10,0.812,11012,0.177,0.111,3691,3307,2094,1937,2252,0,0,0,0,0,0,14.21,14.07,13.79
$GC,1438,0.81,146.6,3689,3307,1937,2248,107.7,17.6,197,1448,0.00,2.55,0.00,0.000,1030,0.000,0.112,3690,1903,2093,1938,2248,0,0,0,0,0,0,14.51,14.41,14.54
$GC,1629,0.81,146.6,3691,1903,1935,2248,74.8,16.6,216,1636,0.00,2.55,0.00,0.000,260,0.000,0.113,3690,3315,2093,1938,2248,0,0,0,0,0,0,14.71,14.47,14.73
$GC,1786,0.81,146.6,3690,3316,1938,2246,50.1,15.8,245,1795,0.00,2.55,0.00,0.000,1030,0.000,0.111,3691,1899,2095,1938,2253,0,0,0,0,0,0,14.63,14.54,14.64
$GC,1976,0.81,146.6,3691,1900,1938,2249,22.4,14.5,264,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,3691,1900,2093,1938,2248,0,0,0,0,0,0,14.78,14.81,14.80
$STATE,2135,end climb,SURFACE_DEPTH_REACHED
$STATE,2135,begin surface coast
$FINISH,0.3,0.999380
$STATE,2172,end surface coast,CONTROL_FINISHED_OK
$STATE,2172,begin surface
$SM_CCo,2203,171.55,0.084,0,0,473,547.02
$SM_CCo,2386,0.68,0.099,0,0,469,547.02
$SM_CCo,2393,0.22,0.129,0,0,469,547.02
$SM_GC,1.11,10.07,0.00,0.22,0.068,0.000,0.129,95,1898,469,-10.40,-0.06,547.02,0,0,0,0,0,0,14.63,14.85,14.59
$IRIDIUM_FIX,4722.92,-12222.38,040615,194748
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.03
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.1,49.8
$SC_FREEKB,3936128
$24V_AH,13.65,1.746
$10V_AH,13.16,0.000
$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,25.900,25.900,224.200,172.450,0.000,0.000,0.000,295.750,1.500,0.000,6.929,618.049,771.996,492.681,797.253,373.274,0.000,1098.538,0.000,443.231,0.000,14.542,0.000
$DEVICE_MAMPS,389.385,2223.090,844.560,129.285,0.000,0.000,0.000,139.230,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2194.000,2177.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.334,9.032,0.000,0.000
$MEM,312320
$DATA_FILE_SIZE,10151,284
$CAP_FILE_SIZE,53609,0
$CFSIZE,260034560,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,249.94,1
$GPS,040615,203524,4743.373,-12225.163,1,1.7,4,16.1,0.4,244.3,6,9.5