version: 66.12
glider: 187
mission: 5
dive: 4
start: 5 1 115 17 56 7
data:
$ID,187
$MISSION,5
$DIVE,4
$N_DIVES,4
$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,2100
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$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
$GPS1,010515,174729,4743.6284,-12224.4365,1,1.2,3,16.1,0.1,0.0,7,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.2
$GPS2,010515,175539,4743.6167,-12224.4365,2,1.6,3,16.1,0.1,0.0,5,9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,236.8,735,-18.5,-10.000,-22.22,1905
$D_GRID,174
$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,-0.60,-124.5,337,2077,1141,1330,0.0,0.0,0,120,0.00,0.00,-83.55,0.000,16390,0.000,0.000,337,2080,3367,3368,3366,0,0,0,0,0,0,14.78,13.68,14.78
$GC,127,-0.62,-146.6,337,2080,3368,3365,3.6,-4.8,9,151,12.65,2.78,-1.60,0.000,18692,0.405,2.208,3141,3515,3456,3459,3454,0,0,0,0,0,0,14.33,13.71,14.58
$GC,365,-0.39,-146.6,3140,3515,3459,3456,56.0,-17.8,53,374,0.35,2.50,0.00,0.000,3078,0.269,0.096,3228,2105,3460,3459,3461,0,0,0,0,0,0,14.45,14.54,14.62
$GC,565,-0.44,-146.6,3228,2101,3459,3457,80.5,-10.0,73,573,0.00,2.50,0.00,0.000,516,0.000,0.104,3228,676,3458,3459,3457,0,0,0,0,0,0,14.80,14.57,14.81
$GC,728,-0.52,-146.6,3228,676,3460,3457,97.9,-10.9,103,735,0.00,2.53,0.00,0.000,1030,0.000,0.109,3224,2102,3458,3459,3457,0,0,0,0,0,0,14.69,14.59,14.71
$GC,927,-0.56,-146.6,3224,2103,3465,3457,119.5,-10.9,123,935,0.10,0.00,0.00,0.000,4102,0.142,0.000,3164,2103,3457,3458,3457,0,0,0,0,0,0,14.64,14.71,14.69
$GC,1117,-0.41,-146.6,3164,2102,3462,3457,146.8,-14.5,142,1125,0.17,2.50,0.00,0.000,2564,0.252,0.104,3216,676,3457,3458,3457,0,0,0,0,0,0,14.51,14.60,14.64
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1149,-0.19,0.0,3211,2224,3458,3457,150.5,-15.1,145,1263,0.28,0.00,107.88,0.856,10246,0.226,0.000,3289,2225,2856,2795,2918,0,0,0,0,0,0,14.54,14.31,13.93
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1275,0.62,146.6,3289,2225,2786,2917,157.6,0.0,157,1397,0.85,2.58,104.53,0.834,10500,0.184,0.113,3549,3631,2251,2101,2402,0,0,0,0,0,0,14.26,14.09,13.81
$GC,1434,0.49,146.6,3549,3630,2101,2399,145.1,12.6,185,1442,0.15,2.55,0.00,0.000,5126,0.265,0.096,3524,2220,2251,2101,2401,0,0,0,0,0,0,14.18,14.26,14.35
$GC,1633,0.49,146.6,3523,2217,2108,2399,124.2,10.0,205,1640,0.00,2.53,0.00,0.000,516,0.000,0.103,3532,792,2255,2112,2399,0,0,0,0,0,0,14.66,14.43,14.68
$GC,1725,0.49,146.6,3531,798,2112,2397,113.9,11.5,221,1733,0.00,2.55,0.00,0.000,1030,0.000,0.110,3534,2216,2253,2112,2395,0,0,0,0,0,0,14.59,14.49,14.60
$GC,1924,0.45,146.6,3532,2215,2112,2399,91.0,11.4,241,1932,0.00,2.55,0.00,0.000,260,0.000,0.115,3532,3644,2255,2112,2399,0,0,0,0,0,0,14.76,14.56,14.78
$GC,1984,0.39,146.6,3532,3643,2113,2399,83.6,12.9,251,1992,0.17,2.53,0.00,0.000,5126,0.255,0.096,3492,2220,2255,2112,2399,0,0,0,0,0,0,14.47,14.54,14.63
$GC,2184,0.52,185.5,3492,2220,2113,2399,66.6,7.9,271,2227,0.12,2.55,30.20,0.775,10756,0.148,0.106,3561,808,2093,1938,2249,0,0,0,0,0,0,14.62,14.47,14.19
$GC,2345,0.46,185.5,3561,805,1938,2246,46.4,12.8,301,2354,0.17,2.53,0.00,0.000,5126,0.220,0.109,3509,2233,2095,1938,2252,0,0,0,0,0,0,14.46,14.52,14.60
$GC,2546,0.58,198.9,3509,2234,1938,2246,26.0,9.3,321,2560,0.12,2.58,5.53,0.729,10500,0.145,0.116,3570,3634,2051,1893,2209,0,0,0,0,0,0,14.58,14.54,14.21
$STATE,2688,end climb,SURFACE_DEPTH_REACHED
$STATE,2688,begin surface coast
$FINISH,2.6,1.021979
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2700,begin surface
$SM_CCo,2733,84.60,0.081,0,0,1227,400.08
$SM_GC,1.37,9.02,2.78,84.60,0.066,0.095,0.081,339,2089,1227,-9.37,0.34,400.08,0,0,0,0,0,0,14.63,14.58,14.59
$IRIDIUM_FIX,4726.11,-12219.67,010515,170631
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.33
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,141.1,47.5
$SC_FREEKB,3936512
$24V_AH,13.68,0.666
$10V_AH,13.21,0.000
$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,24.175,41.300,248.125,84.600,0.000,0.000,0.000,207.300,0.500,0.000,5.060,711.036,990.373,412.379,809.082,390.735,0.000,987.578,0.000,556.761,0.000,5.561,0.000
$DEVICE_MAMPS,405.450,2207.790,856.035,81.090,0.000,0.000,0.000,133.110,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2714.000,2704.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.384,9.027,0.000,0.000
$MEM,312260
$DATA_FILE_SIZE,10117,350
$CAP_FILE_SIZE,62755,0
$CFSIZE,260034560,256434176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010515,184409,4743.457,-12224.975,2,1.6,9,16.1,0.2,0.0,5,7.8