version: 66.12
glider: 187
mission: 4
dive: 4
start: 6 25 114 23 26 5
data:
$ID,187
$MISSION,4
$DIVE,4
$N_DIVES,0
$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,-1593184
$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,12
$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,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
$GPS1,250614,231651,4757.148,-12503.597,9,2.3,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.9
$GPS2,250614,232533,4757.118,-12503.573,14,2.3,34,18.8
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,208.9,12709,-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,-146.0,405,2102,1175,957,0.0,0.0,0,101,0.00,0.00,-70.15,0.000,16386,0.000,0.000,408,2102,2930,2976,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.53,-146.0,407,2102,2976,2884,3.4,-4.7,7,138,14.05,2.62,-9.25,0.000,18692,0.443,0.151,3270,3508,3489,3504,3475,0,0,0,0,0,0,14.26,14.43,14.67
$GC,312,-0.63,-146.0,3265,3508,3503,3476,27.9,-6.9,43,321,0.00,2.50,0.00,0.000,1030,0.000,0.109,3269,2090,3490,3504,3476,0,0,0,0,0,0,28.83,14.48,28.83
$GC,512,-0.72,-146.0,3269,2093,3505,3478,41.3,-5.0,63,521,0.15,0.00,0.00,0.000,4102,0.155,0.000,3208,2089,3493,3504,3483,0,0,0,0,0,0,14.57,28.83,28.83
$GC,703,-0.77,-146.0,3207,2089,3504,3478,55.6,-9.1,82,711,0.00,2.58,0.00,0.000,260,0.000,0.128,3208,3517,3491,3504,3478,0,0,0,0,0,0,28.83,14.54,28.83
$GC,807,-0.83,-146.0,3207,3518,3504,3478,64.1,-8.3,100,816,0.00,2.53,0.00,0.000,1030,0.000,0.110,3207,2099,3488,3499,3478,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1007,-0.89,-146.0,3208,2095,3504,3478,78.1,-6.9,120,1017,0.12,0.00,0.00,0.000,4102,0.165,0.000,3155,2096,3491,3504,3478,0,0,0,0,0,0,14.62,28.83,28.83
$STATE,1147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1147,begin apogee
$GC,1156,-0.22,0.0,3151,2305,3504,3478,90.4,-8.5,134,1278,0.73,0.00,112.93,0.770,10246,0.200,0.000,3376,2301,2884,2948,2821,0,0,0,0,0,0,14.53,28.83,13.93
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1287,0.53,146.0,3376,2301,2947,2815,94.2,0.0,147,1419,0.70,2.67,116.22,0.749,10756,0.097,0.135,3629,879,2288,2434,2142,0,0,0,0,0,0,14.27,14.04,13.76
$GC,1445,0.45,199.1,3630,879,2433,2131,93.4,7.4,166,1498,0.15,2.62,43.75,0.726,13318,0.298,0.125,3599,2307,2078,2236,1921,0,0,0,0,0,0,14.07,14.14,13.83
$GC,1679,0.40,199.1,3601,2307,2221,1902,68.7,10.7,191,1688,0.00,2.60,0.00,0.000,260,0.000,0.138,3599,3714,2061,2221,1902,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1798,0.33,200.9,3600,3710,2218,1902,55.4,9.9,211,1807,0.17,2.58,0.00,0.000,5126,0.277,0.125,3561,2298,2060,2218,1902,0,0,0,0,0,0,14.34,14.38,28.83
$GC,1998,0.34,227.9,3560,2298,2218,1901,36.8,8.7,231,2027,0.00,0.00,22.55,0.699,8198,0.000,0.000,3560,2296,1953,2105,1801,0,0,0,0,0,0,28.83,28.83,14.13
$GC,2207,0.37,310.1,3560,2297,2096,1788,22.5,5.9,252,2282,0.00,2.65,62.33,0.682,8708,0.000,0.138,3567,883,1614,1779,1450,0,0,0,0,0,0,28.83,14.24,14.04
$GC,2361,0.42,371.6,3561,886,1771,1447,12.9,7.0,277,2397,0.00,2.55,27.48,0.160,9222,0.000,0.120,3561,2303,1375,1541,1210,0,0,0,0,0,0,28.83,14.36,14.35
$STATE,2484,end climb,SURFACE_DEPTH_REACHED
$STATE,2484,begin surface coast
$FINISH,0.8,1.023457
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2563,36.92,0.112,0,0,1056,450.13
$SM_GC,1.49,9.20,0.40,36.92,0.090,0.134,0.112,400,2085,1056,-9.50,0.23,450.13,0,0,0,0,0,0,14.42,14.45,14.45
$IRIDIUM_FIX,4738.89,-12504.26,220407,111136
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.84
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3936736
$PM_FREEKB,62259488
$24V_AH,13.8,2.960
$10V_AH,13.1,0.000
$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,25.275,26.675,385.250,36.925,0.000,0.000,0.000,280.300,0.000,0.000,35.028,815.317,750.019,486.021,817.519,263.710,0.000,1094.861,0.000,465.871,0.000,0.537,0.000
$DEVICE_MAMPS,442.935,151.470,769.590,112.455,0.000,0.000,0.000,169.065,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2536.000,2533.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.099,4.230,0.000,0.000
$MEM,290896
$DATA_FILE_SIZE,10134,296
$CAP_FILE_SIZE,57156,0
$CFSIZE,260034560,256065536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3409.06,0x2378ba,7,5
$EKF,2668,2877.071289,-7503.637207,0.772726,-0.000000,-0.000000,-0.066402,0.000648,0.001445,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.205,206.7,1
$GPS,260614,001030,4756.805,-12503.837,10,1.6,15,18.8