version: 66.12
glider: 187
mission: 3
dive: 5
start: 6 6 114 21 22 59
data:
$ID,187
$MISSION,3
$DIVE,5
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,165
$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,52
$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,53141
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,450
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1592527.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3470
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.666306
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367308
$SEABIRD_T_I,2.3111006e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$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,0.0
$GPS1,060614,211533,4743.653,-12225.043,13,2.1,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.9
$GPS2,060614,212225,4743.639,-12225.049,13,1.8,13,18.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,165.5,264,-27.2,-10.000,-30.00,969
$D_GRID,180
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.88,-63.7,401,1884,1385,1166,0.0,0.0,0,110,0.00,0.00,-79.68,0.000,16390,0.000,0.000,403,1879,3355,3354,3356,0,0,0,0,0,0,28.83,28.83,14.79
$GC,115,-0.90,-126.9,403,1879,3359,3361,3.0,-3.3,8,146,14.85,2.53,-5.03,0.000,19204,0.487,0.155,3166,483,3619,3593,3646,0,0,0,0,0,0,14.31,14.47,14.74
$GC,393,-0.97,-126.9,3166,484,3592,3648,60.0,-16.0,57,405,0.00,2.50,0.00,0.000,1030,0.000,0.119,3167,1895,3620,3592,3648,0,0,0,0,0,0,28.83,14.55,28.83
$GC,586,-1.10,-126.9,3167,1898,3589,3648,90.4,-15.5,76,595,0.15,0.00,0.00,0.000,4102,0.187,0.000,3116,1901,3620,3593,3648,0,0,0,0,0,0,14.59,28.83,28.83
$GC,776,-1.15,-126.9,3116,1901,3593,3648,125.2,-18.1,95,784,0.00,2.50,0.00,0.000,260,0.000,0.124,3116,3319,3621,3595,3648,0,0,0,0,0,0,28.83,14.58,28.83
$GC,845,-1.20,-126.9,3116,3318,3595,3649,138.1,-18.3,107,853,0.00,2.55,0.00,0.000,1030,0.000,0.127,3116,1904,3620,3593,3648,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,920,-0.22,0.0,3116,2406,3593,3648,150.1,-16.2,114,1043,1.02,0.00,108.80,0.983,10246,0.291,0.000,3390,2405,3101,3132,3070,0,0,0,0,1,0,14.49,28.83,13.77
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1053,0.90,126.9,3390,2407,3139,3066,155.7,0.0,127,1176,0.95,2.72,103.85,0.819,10756,0.138,0.147,3698,977,2576,2697,2455,0,0,0,0,0,0,14.19,14.05,13.78
$GC,1245,0.90,126.9,3698,979,2701,2451,145.3,12.7,154,1254,0.00,2.60,0.00,0.000,3078,0.000,0.120,3703,2406,2574,2697,2451,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1445,0.90,126.9,3699,2405,2696,2448,119.2,11.7,174,1453,0.00,2.55,0.00,0.000,2308,0.000,0.129,3698,3823,2572,2697,2448,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1668,0.83,126.9,3695,3824,2698,2443,88.1,14.2,214,1676,0.00,2.62,0.00,0.000,3078,0.000,0.133,3698,2389,2568,2688,2448,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1868,0.83,126.9,3698,2388,2692,2447,65.1,10.4,234,1876,0.00,2.58,0.00,0.000,2564,0.000,0.153,3705,981,2569,2692,2447,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2016,0.83,126.9,3699,980,2692,2447,49.4,10.0,260,2024,0.00,2.53,0.00,0.000,3078,0.000,0.120,3699,2406,2569,2692,2446,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2215,0.83,128.2,3699,2412,2692,2446,28.8,9.9,280,2223,0.00,2.50,0.00,0.000,2308,0.000,0.129,3699,3812,2568,2691,2446,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2431,0.79,170.1,3696,3812,2691,2445,11.7,5.6,319,2461,0.00,2.58,19.92,0.160,9222,0.000,0.137,3699,2400,2409,2538,2281,0,0,0,0,0,0,28.83,14.57,14.57
$STATE,2531,end climb,SURFACE_DEPTH_REACHED
$STATE,2531,begin surface coast
$FINISH,1.5,1.020329
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2571,begin surface
$SM_CCo,2599,123.93,0.105,0,0,1264,450.13
$SM_GC,1.32,10.70,0.93,123.93,0.192,0.134,0.105,409,1889,1264,-9.55,0.17,450.13,0,0,0,0,0,0,14.52,14.59,14.57
$IRIDIUM_FIX,4729.30,-12222.38,060614,202035
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3936512
$PM_FREEKB,62292160
$24V_AH,13.8,2.202
$10V_AH,13.3,0.000
$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,27.675,32.600,232.575,123.925,0.000,0.000,0.000,204.100,0.000,0.000,14.254,974.816,682.804,471.764,779.757,242.025,0.000,1008.168,0.000,514.421,0.000,0.538,0.000
$DEVICE_MAMPS,486.540,155.295,983.025,104.805,0.000,0.000,0.000,143.055,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2570.000,2566.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.247,5.662,0.000,0.000
$MEM,316800
$DATA_FILE_SIZE,10142,334
$CAP_FILE_SIZE,57795,0
$CFSIZE,260034560,256884736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,3308.54,0x237922,7,5
$EKF,2789,2863.385010,-7344.967285,1.465446,-0.053028,-0.047669,-0.034956,0.000609,0.001345,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.092, 49.8,1
$GPS,060614,220925,4743.469,-12224.816,10,2.0,10,18.2