version: 66.08
glider: 187
mission: 1
dive: 5
start: 6 12 112 21 47 17
data:
$ID,187
$MISSION,1
$DIVE,5
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$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,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-1587247.6
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,200
$C_ROLL_CLIMB,200
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,1869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-60.980541
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$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,1
$ALTIM_PING_DEPTH,95
$ALTIM_PING_DELTA,5
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,120612,213850,4743.498,-12224.787,13,1.7,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.3
$GPS2,120612,214622,4743.536,-12224.776,10,2.3,29,18.2
$SPEED_LIMITS,0.084,0.167
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.015,0.167
$KALMAN_X,-8.0,-71.0,-80.7,214.9,27.9
$KALMAN_Y,-150.6,-257.3,-251.6,2105.0,16.2
$MHEAD_RNG_PITCHd_Wd,339.3,675,-29.1,-10.000
$D_GRID,175
$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,-0.93,-58.7,0.0,0.0,0,76,0.00,0.00,-58.17,0.000,2,0.000,0.000,137,2045,2093,0,0,0,0,0,0
$GC,80,-0.93,-58.7,3.3,-7.0,9,95,11.15,0.00,-0.30,0.000,6,0.226,0.000,3044,2044,2109,0,0,0,0,0,0
$GC,160,-0.92,-58.7,20.5,-16.2,23,166,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2115,0,0,0,0,0,0
$GC,232,-0.90,-58.7,31.1,-14.8,36,239,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,303,-0.89,-58.7,41.6,-14.6,49,310,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,374,-0.88,-58.7,53.0,-16.9,62,381,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,515,-0.88,-58.7,76.8,-15.8,87,521,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,655,-0.88,-58.7,98.5,-15.8,112,662,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,797,-0.88,-58.7,118.6,-13.6,137,803,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,946,-0.88,-58.7,139.7,-14.5,162,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2116,0,0,0,0,0,0
$GC,1087,-0.88,-58.7,160.9,-14.4,187,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2044,2115,0,0,0,0,0,0
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1196,-0.22,0.0,175.5,13.4,205,1253,0.73,0.00,52.65,0.679,6,0.157,0.000,3271,246,1868,0,0,0,0,0,0
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1256,0.93,58.7,180.1,0.0,214,1313,1.10,0.00,49.10,0.663,6,0.100,0.000,3646,245,1628,0,0,0,0,0,0
$GC,1450,0.92,58.7,162.9,10.2,247,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1623,0,0,0,0,0,0
$GC,1591,0.90,59.3,147.6,9.9,272,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1622,0,0,0,0,0,0
$GC,1732,0.89,59.3,132.4,10.8,297,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1622,0,0,0,0,0,0
$GC,1871,0.88,59.3,117.2,11.5,322,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1622,0,0,0,0,0,0
$GC,2012,0.87,59.3,101.8,11.2,347,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1622,0,0,0,0,0,0
$GC,2152,0.85,59.3,86.6,11.1,372,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1621,0,0,0,0,0,0
$GC,2293,0.85,68.9,73.1,8.9,397,2306,0.00,0.00,8.23,0.551,6,0.000,0.000,3646,246,1588,0,0,0,0,0,0
$GC,2445,0.85,82.9,59.1,8.4,423,2464,0.00,0.00,12.95,0.580,6,0.000,0.000,3646,246,1529,0,0,0,0,0,0
$GC,2597,0.86,106.5,46.0,7.3,450,2625,0.00,0.00,19.90,0.590,6,0.000,0.000,3646,246,1433,0,0,0,0,0,0
$GC,2689,0.86,106.5,36.4,11.5,466,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1431,0,0,0,0,0,0
$GC,2759,0.86,106.5,28.5,10.6,479,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3646,246,1431,0,0,0,0,0,0
$GC,2831,0.86,111.8,20.9,9.4,492,2839,0.00,0.00,5.22,0.461,6,0.000,0.000,3646,246,1413,0,0,0,0,0,0
$GC,2904,0.86,115.9,14.1,9.5,505,2912,0.00,0.00,4.97,0.449,6,0.000,0.000,3646,246,1396,0,0,0,0,0,0
$GC,2977,0.87,127.1,7.3,8.7,518,2991,0.00,0.00,10.43,0.536,6,0.000,0.000,3646,246,1350,0,0,0,0,0,0
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3013,begin surface coast
$FINISH,2.8,1.019011
$STATE,3051,end surface coast,CONTROL_FINISHED_OK
$STATE,3051,begin surface
$SM_CCo,3070,160.55,0.523,7,0,522,330.17
$SM_GC,1.27,0.00,0.00,160.55,0.000,0.000,0.523,124,246,522,-10.08,1.27,330.17
$IRIDIUM_FIX,4726.11,-12220.67,120612,202018
$TT8_MAMPS,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,58.2
$24V_AH,24.4,0.548
$10V_AH,10.4,0.482
$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,22.500,2.850,163.450,160.550,0.000,25.731,28.200,241.976,2.500,0.000,31.380,1203.685,510.270,449.916,1379.766,183.474,33.307,914.853,0.000,1068.137,0.000,19.432,0.000
$DEVICE_MAMPS,225.675,52.020,679.320,523.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.433,242.259,717.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323292
$DATA_FILE_SIZE,33614,531
$CAP_FILE_SIZE,61186,0
$CFSIZE,260165632,257171456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,120612,224322,4743.726,-12224.842,39,8.4,58,18.2