version: 66.12
glider: 187
mission: 8
dive: 4
start: 6 16 115 20 24 55
data:
$ID,187
$MISSION,8
$DIVE,4
$N_DIVES,7
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,200
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$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,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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3455
$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,10
$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,-164.55209
$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,0
$ALTIM_PING_DELTA,0
$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,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,160615,201756,4745.0684,-12505.8135,33,0.9,33,16.5,0.6,136.3,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.3
$GPS2,160615,202425,4745.0210,-12505.7900,2,0.9,4,16.5,0.4,187.6,10,6.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,234.9,166617,-16.9,-10.000,-20.75,2244
$D_GRID,240
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.57,-146.6,87,1893,975,1179,0.0,0.0,0,110,0.00,0.00,-77.18,0.000,16386,0.000,0.000,87,1892,3147,3123,3172,0,0,0,0,0,0,14.72,28.83,14.74
$GC,117,-0.57,-146.6,87,1892,3123,3173,4.0,-6.0,8,144,14.23,2.88,-2.40,0.000,18692,0.399,2.238,3255,3320,3299,3267,3331,0,0,0,0,0,0,14.31,13.61,14.54
$GC,381,-0.51,-146.6,3254,3315,3268,3333,55.9,-13.5,57,391,0.12,2.55,0.00,0.000,3078,0.243,0.104,3289,1885,3301,3270,3333,0,0,0,0,0,0,14.43,14.48,14.57
$GC,573,-0.56,-146.6,3289,1886,3268,3336,76.6,-10.7,76,581,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1885,3302,3269,3336,0,0,0,0,0,0,14.75,14.77,14.76
$GC,763,-0.62,-146.6,3289,1890,3269,3334,93.3,-7.6,95,772,0.08,0.00,0.00,0.000,4102,0.175,0.000,3240,1886,3302,3269,3336,0,0,0,0,0,0,14.59,14.64,14.62
$GC,953,-0.56,-146.6,3240,1885,3269,3336,116.7,-12.6,114,962,0.08,0.00,0.00,0.000,2054,0.278,0.000,3266,1885,3302,3269,3335,0,0,0,0,0,0,14.50,14.62,14.59
$GC,1143,-0.56,-146.6,3265,1882,3269,3336,135.4,-9.0,133,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1885,3300,3268,3332,0,0,0,0,0,0,14.79,14.81,14.80
$GC,1334,-0.59,-146.6,3265,1885,3268,3336,152.9,-9.1,152,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1885,3302,3268,3336,0,0,0,0,0,0,14.82,14.82,14.82
$GC,1524,-0.63,-146.6,3265,1885,3270,3336,168.9,-7.8,171,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1885,3302,3268,3336,0,0,0,0,0,0,14.80,14.82,14.82
$STATE,1659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1674,-0.19,0.0,3266,1885,3268,3340,180.4,-8.0,185,1818,0.38,0.00,132.15,0.848,10246,0.193,0.000,3387,1881,2695,2608,2783,0,0,0,0,0,0,14.51,14.19,13.82
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1827,0.57,146.6,3387,1885,2604,2783,184.3,0.0,200,1953,0.73,2.67,108.80,0.868,10756,0.137,0.122,3638,489,2094,1946,2243,0,0,0,0,0,0,14.16,13.99,13.66
$GC,1990,0.43,146.6,3637,486,1945,2238,170.2,13.6,228,2002,0.15,2.58,0.00,0.000,5126,0.232,0.103,3597,1901,2092,1946,2238,0,0,0,0,0,0,14.09,14.16,14.23
$GC,2193,0.43,146.6,3597,1901,1945,2238,148.2,11.4,248,2204,0.00,2.58,0.00,0.000,260,0.000,0.110,3597,3317,2091,1945,2238,0,0,0,0,0,0,14.58,14.35,14.59
$GC,2443,0.43,146.6,3597,3317,1943,2237,117.0,11.8,294,2454,0.00,2.53,0.00,0.000,1030,0.000,0.102,3601,1905,2090,1943,2238,0,0,0,0,0,0,14.57,14.47,14.60
$GC,2645,0.43,146.6,3607,1905,1943,2238,96.2,10.1,314,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1905,2090,1943,2238,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2837,0.45,178.7,3601,1905,1943,2238,78.9,8.5,333,2874,0.00,2.65,26.15,0.776,8452,0.000,0.109,3602,3320,1963,1823,2104,0,0,0,0,0,0,14.76,14.45,14.14
$GC,3112,0.47,209.1,3602,3320,1819,2095,51.1,8.6,384,3149,0.00,2.55,23.30,0.768,9222,0.000,0.106,3609,1896,1839,1694,1984,0,0,0,0,0,0,14.62,14.52,14.11
$GC,3340,0.48,228.5,3609,1894,1687,1981,30.7,9.1,409,3363,0.00,0.00,15.52,0.755,8454,0.000,0.000,3609,1896,1767,1616,1919,0,0,0,0,0,0,14.71,14.50,14.14
$GC,3545,0.59,275.0,3609,1896,1604,1907,14.6,7.9,430,3577,0.10,2.58,20.27,0.146,10500,0.166,0.109,3657,3318,1577,1429,1725,0,0,0,0,0,0,14.53,14.48,14.44
$GC,3613,0.59,275.0,3657,3318,1445,1725,8.7,10.6,440,3624,0.00,2.55,0.00,0.000,1030,0.000,0.106,3664,1904,1585,1446,1725,0,0,0,0,0,0,14.59,14.49,14.61
$STATE,3651,end climb,SURFACE_DEPTH_REACHED
$STATE,3651,begin surface coast
$FINISH,0.9,1.023769
$STATE,3686,end surface coast,CONTROL_FINISHED_OK
$STATE,3686,begin surface
$SM_CCo,3716,54.92,0.085,0,0,1068,400.08
$SM_GC,1.29,10.02,0.00,54.92,0.063,0.000,0.085,97,1898,1068,-10.44,-0.08,400.08,0,0,0,0,0,0,14.54,14.76,14.52
$IRIDIUM_FIX,4726.11,-12503.98,160615,190906
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.90
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3936512
$24V_AH,13.61,2.348
$10V_AH,13.15,0.000
$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,25.875,26.100,326.200,54.925,0.000,0.000,0.000,172.725,0.000,0.000,5.634,953.717,1439.591,447.474,945.736,373.188,0.000,1099.646,0.000,691.930,0.000,0.536,0.000
$DEVICE_MAMPS,398.565,2238.390,868.275,84.915,0.000,0.000,0.000,133.875,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3696.000,1846.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.731,8.986,0.000,0.000
$MEM,286448
$DATA_FILE_SIZE,13456,447
$CAP_FILE_SIZE,73421,0
$CFSIZE,260034560,255963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,113.61,1
$GPS,160615,212845,4744.784,-12506.225,1,0.9,3,16.5,0.5,148.0,8,8.7