version: 66.12
glider: 187
mission: 4
dive: 3
start: 6 25 114 22 29 15
data:
$ID,187
$MISSION,4
$DIVE,3
$N_DIVES,3
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593182.8
$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,3450
$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,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,22
$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,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,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
$GPS1,250614,222419,4757.356,-12503.448,9,1.5,9,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.6
$GPS2,250614,222843,4757.338,-12503.449,13,1.9,13,18.8
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,215.1,13119,-14.9,-10.000,-22.34,2078
$D_GRID,109
$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,-146.0,399,2111,627,466,0.0,0.0,0,131,0.00,0.00,-100.12,0.000,16386,0.000,0.000,401,2112,3266,3285,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-0.53,-146.0,401,2116,3285,3250,4.5,-7.2,10,162,13.75,2.60,-3.28,0.000,18692,0.435,0.151,3270,3510,3490,3497,3484,0,0,0,0,0,0,14.32,14.52,14.75
$GC,407,-0.62,-146.0,3274,3510,3498,3485,37.4,-5.5,58,415,0.00,2.47,0.00,0.000,1030,0.000,0.105,3270,2093,3491,3498,3485,0,0,0,0,0,0,28.83,14.55,28.83
$GC,606,-0.72,-146.0,3270,2091,3498,3485,45.6,-3.7,78,616,0.15,2.55,0.00,0.000,4356,0.152,0.125,3207,3508,3491,3498,3485,0,0,0,0,0,0,14.64,14.55,28.83
$GC,763,-0.77,-146.0,3209,3509,3498,3490,56.5,-6.9,106,772,0.00,2.47,0.00,0.000,1030,0.000,0.109,3207,2098,3491,3498,3485,0,0,0,0,0,0,28.83,14.58,28.83
$GC,963,-0.83,-146.0,3208,2097,3498,3485,70.6,-7.3,126,971,0.00,2.53,0.00,0.000,260,0.000,0.133,3207,3502,3491,3498,3485,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1027,-0.89,-146.0,3208,3501,3497,3484,75.2,-7.2,137,1038,0.15,2.50,0.00,0.000,5126,0.148,0.120,3150,2097,3491,3498,3484,0,0,0,0,0,0,14.64,14.57,28.83
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1204,-0.22,0.0,3150,2297,3497,3484,90.9,-9.3,154,1355,0.73,0.00,137.10,0.837,10246,0.195,0.000,3371,2297,2891,2950,2833,0,0,0,0,1,0,14.53,28.83,13.76
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1362,0.53,146.0,3371,2297,2952,2833,96.7,0.0,169,1498,0.73,2.75,118.10,0.756,10500,0.102,0.134,3622,3714,2287,2433,2141,0,0,0,0,0,0,14.21,14.05,13.76
$GC,1745,0.41,146.0,3622,3714,2426,2133,71.6,11.6,233,1755,0.17,2.58,0.00,0.000,5126,0.308,0.119,3590,2293,2279,2426,2133,0,0,0,0,0,0,14.31,14.40,28.83
$GC,1937,0.38,204.6,3590,2292,2426,2131,56.2,7.1,252,1994,0.00,0.00,45.55,0.716,8454,0.000,0.000,3592,2292,2047,2204,1891,0,0,0,0,0,0,28.83,28.83,14.05
$GC,2175,0.34,204.6,3590,2292,2200,1884,33.0,11.0,278,2184,0.00,2.60,0.00,0.000,260,0.000,0.136,3590,3710,2040,2200,1880,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2242,0.29,231.9,3590,3709,2198,1884,26.6,8.7,289,2272,0.17,2.55,21.38,0.698,13318,0.274,0.119,3544,2295,1943,2094,1792,0,0,0,0,0,0,14.40,14.45,14.12
$GC,2464,0.35,364.1,3547,2295,2082,1780,15.7,3.5,312,2535,0.00,2.58,62.65,0.178,8708,0.000,0.138,3548,879,1406,1570,1242,0,0,0,0,0,0,28.83,14.40,14.40
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,2.1,1.023438
$STATE,2708,end surface coast,CONTROL_FINISHED_OK
$STATE,2708,begin surface
$SM_CCo,2737,39.60,0.106,0,0,1055,450.13
$SM_GC,1.41,9.55,2.22,39.60,0.132,0.120,0.106,408,2100,1055,-9.48,-0.57,450.13,0,0,0,0,0,0,14.45,14.51,14.51
$IRIDIUM_FIX,4738.89,-12508.73,220407,111109
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.52
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3937056
$PM_FREEKB,62274912
$24V_AH,13.8,2.841
$10V_AH,13.9,0.000
$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,25.400,30.775,384.775,39.600,0.000,0.000,0.000,0.000,0.000,0.000,14.374,944.520,685.262,506.489,601.298,128.564,0.000,867.713,0.000,548.112,0.000,0.538,0.000
$DEVICE_MAMPS,434.520,151.470,836.910,106.335,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2679.000,2682.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.191,4.198,0.000,0.000
$MEM,290892
$DATA_FILE_SIZE,10126,355
$CAP_FILE_SIZE,73118,1
$CFSIZE,260034560,256102400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4482.02,0x2378ba,7,5
$EKF,2859,2877.284424,-7503.509766,2.152355,-0.000000,-0.000000,-0.060609,0.000723,0.001612,0.001945,0.077300,0.077300,0.000123
$CURRENT,0.095,203.1,1
$GPS,250614,231651,4757.148,-12503.597,9,2.3,29,18.8