version: 66.12
glider: 187
mission: 4
dive: 2
start: 6 25 114 21 14 32
data:
$ID,187
$MISSION,4
$DIVE,2
$N_DIVES,2
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,30
$T_MISSION,45
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-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,584.11658
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593122.9
$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,0.0099999998
$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,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$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,-63.106686
$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,49
$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,1.0
$PM_MOTORS,1.0
$GPS1,250614,211049,4757.649,-12503.182,14,1.2,14,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.0
$GPS2,250614,211400,4757.637,-12503.222,13,1.2,13,18.8
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,200.5,13726,-14.9,-10.000,-22.34,2078
$D_GRID,107
$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,-0.53,-146.0,398,1900,604,435,0.0,0.0,0,133,0.00,0.00,-102.35,0.000,16386,0.000,0.000,401,1899,3252,3268,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,139,-0.53,-146.0,400,1899,3264,3237,3.8,-5.0,10,169,14.05,2.62,-3.65,0.000,18948,0.441,0.158,3289,483,3488,3494,3483,0,0,0,0,0,0,14.33,14.49,14.77
$GC,267,-0.62,-146.0,3290,484,3495,3483,25.8,-4.5,32,277,0.00,2.47,0.00,0.000,1030,0.000,0.111,3290,1900,3487,3490,3484,0,0,0,0,0,0,28.83,14.54,28.83
$GC,458,-0.72,-146.0,3290,1900,3495,3484,33.5,-4.8,51,467,0.15,2.50,0.00,0.000,4356,0.148,0.122,3222,3310,3487,3495,3479,0,0,0,0,0,0,14.59,14.58,28.83
$GC,704,-0.79,-146.0,3224,3310,3495,3481,47.5,-5.6,97,713,0.00,2.50,0.00,0.000,1030,0.000,0.113,3224,1888,3489,3495,3484,0,0,0,0,0,0,28.83,14.58,28.83
$GC,904,-0.86,-146.0,3223,1888,3495,3480,60.7,-6.5,117,914,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1888,3490,3496,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1095,-0.93,-146.0,3224,1888,3495,3483,71.8,-6.0,136,1104,0.15,2.55,0.00,0.000,4356,0.151,0.129,3161,3311,3488,3494,3483,0,0,0,0,0,0,14.66,14.62,28.83
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1300,begin apogee
$GC,1309,-0.22,0.0,3161,2389,3494,3483,90.3,-8.5,174,1433,0.77,0.00,112.22,0.777,10246,0.196,0.000,3391,2388,2883,2945,2821,0,0,0,0,0,0,14.55,28.83,13.95
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1443,0.53,146.0,3394,2388,2944,2817,94.3,0.0,187,1579,0.68,2.62,115.78,0.754,10756,0.090,0.138,3643,985,2285,2433,2138,0,0,0,0,0,0,14.34,14.09,13.83
$GC,1826,0.43,146.0,3643,990,2430,2127,67.0,11.5,251,1836,0.15,2.55,0.00,0.000,5126,0.297,0.125,3611,2401,2277,2429,2126,0,0,0,0,0,0,14.35,14.42,28.83
$GC,2018,0.38,221.6,3611,2402,2429,2123,52.2,6.3,270,2088,0.00,2.62,59.97,0.705,8708,0.000,0.138,3614,985,1978,2136,1821,0,0,0,0,0,0,28.83,14.29,14.04
$GC,2204,0.33,227.4,3614,986,2122,1817,34.7,9.7,300,2213,0.15,2.55,0.00,0.000,5126,0.283,0.127,3581,2400,1970,2122,1818,0,0,0,0,0,0,14.34,14.41,28.83
$GC,2405,0.32,265.1,3581,2404,2116,1816,15.6,8.1,320,2435,0.00,2.60,18.85,0.171,8708,0.000,0.140,3588,982,1812,1969,1656,0,0,0,0,0,0,28.83,14.45,14.45
$GC,2588,0.35,335.6,3588,983,1965,1677,4.3,6.5,352,2598,0.00,2.53,2.72,0.109,9218,0.000,0.124,3587,2401,1799,1957,1641,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,2599,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,2.8,1.023815
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2635,143.68,0.109,0,0,509,584.30
$SM_GC,1.30,9.82,0.93,143.68,0.145,0.129,0.109,401,1899,509,-9.56,0.37,584.30,0,0,0,0,0,0,14.49,14.54,14.51
$IRIDIUM_FIX,4742.09,-12506.10,220407,101000
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3937376
$PM_FREEKB,62291168
$24V_AH,13.8,2.704
$10V_AH,14.0,0.000
$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,25.925,30.725,309.550,143.675,0.000,0.000,0.000,0.000,0.000,0.000,13.930,961.419,620.874,560.724,597.324,130.200,0.000,912.988,0.000,546.213,0.000,0.537,0.000
$DEVICE_MAMPS,440.640,158.355,777.240,109.395,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2578.000,2581.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.152,4.186,0.000,0.000
$MEM,290964
$DATA_FILE_SIZE,10103,354
$CAP_FILE_SIZE,67363,0
$CFSIZE,260034560,256159744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2647.90,0x2378ba,7,5
$EKF,2874,2877.611572,-7503.344238,2.790593,-0.000000,-0.000000,-0.044416,0.000587,0.001309,0.002417,0.009255,0.009255,0.000145
$CURRENT,0.112,189.5,1
$GPS,250614,220223,4757.438,-12503.388,39,1.1,39,18.8