version: 66.12
glider: 187
mission: 4
dive: 6
start: 6 26 114 1 4 5
data:
$ID,187
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,100
$D_ABORT,1010
$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,33
$T_MISSION,60
$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,120
$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,-1593186.8
$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,3440
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$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,13
$R_STBD_OVSHOOT,19
$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,0.001
$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
$GPS1,260614,005703,4756.611,-12504.005,10,3.4,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.5
$GPS2,260614,010331,4756.606,-12503.984,12,1.3,12,18.8
$SPEED_LIMITS,0.175,0.223
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,216.6,11661,-17.6,-10.101,-24.38,1678
$D_GRID,111
$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,-0.92,-116.8,399,2087,1179,953,0.0,0.0,0,101,0.00,0.00,-70.20,0.000,16386,0.000,0.000,400,2087,2915,2965,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.92,-116.8,396,2087,2961,2867,3.1,-4.1,7,138,13.30,2.60,-7.72,0.000,18692,0.439,0.143,3134,3517,3370,3410,3330,0,0,0,0,0,0,14.28,14.42,14.67
$GC,333,-0.92,-116.8,3133,3516,3408,3333,46.9,-13.0,48,344,0.00,2.53,0.00,0.000,1030,0.000,0.106,3133,2094,3370,3408,3333,0,0,0,0,0,0,28.83,14.50,28.83
$GC,524,-0.92,-116.8,3134,2087,3408,3332,69.7,-12.0,67,534,0.00,2.55,0.00,0.000,260,0.000,0.126,3134,3510,3369,3408,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,648,-0.93,-116.8,3131,3506,3408,3332,82.8,-10.1,89,656,0.00,2.53,0.00,0.000,1030,0.000,0.115,3133,2091,3374,3409,3339,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,813,begin apogee
$GC,822,-0.32,0.0,3139,2307,3408,3332,100.3,-10.5,106,918,0.65,0.00,90.93,0.788,10246,0.214,0.000,3333,2307,2891,2957,2825,0,0,0,0,0,0,14.50,28.83,13.90
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,928,0.92,116.8,3330,2307,2952,2813,103.1,0.0,116,1037,1.10,2.65,92.70,0.765,11012,0.123,0.131,3696,3714,2407,2536,2278,0,0,0,0,0,0,14.26,14.06,13.77
$GC,1062,0.88,150.6,3696,3714,2531,2275,97.6,8.0,134,1100,0.00,2.65,27.73,0.750,9222,0.000,0.125,3699,2297,2269,2413,2126,0,0,0,0,0,0,28.83,14.13,13.81
$GC,1281,0.82,150.6,3698,2297,2412,2117,70.2,12.6,157,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,2297,2264,2412,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,0.77,156.2,3696,2297,2412,2115,50.4,9.8,176,1481,0.00,2.60,0.00,0.000,260,0.000,0.133,3698,3714,2263,2411,2115,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1685,0.75,208.7,3699,3714,2409,2113,32.6,6.9,214,1741,0.00,2.55,45.78,0.707,9222,0.000,0.119,3709,2298,2029,2179,1880,0,0,0,0,0,0,28.83,14.47,14.06
$GC,1924,0.70,208.7,3709,2297,2186,1871,12.2,10.1,240,1933,0.12,2.58,0.00,0.000,4612,0.326,0.136,3688,882,2025,2179,1871,0,0,0,0,0,0,14.33,14.39,28.83
$GC,2179,0.81,351.9,3688,885,2176,1871,6.2,1.3,286,2251,0.00,2.50,63.10,0.127,9222,0.000,0.117,3686,2296,1456,1613,1300,0,0,0,0,0,0,28.83,14.50,14.47
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,0.2,0.999858
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2337,44.33,0.107,0,0,1057,450.13
$SM_GC,1.06,9.60,0.38,44.33,0.096,0.141,0.107,398,2089,1057,-9.47,0.40,450.13,0,0,0,0,0,0,14.48,14.51,14.49
$IRIDIUM_FIX,4735.69,-12502.41,220407,131311
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.15
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3936096
$PM_FREEKB,62232352
$24V_AH,13.8,3.149
$10V_AH,13.2,0.000
$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,24.775,26.500,320.225,44.325,0.000,0.000,0.000,185.750,0.000,0.000,13.362,849.657,556.224,429.443,713.329,236.537,0.000,934.169,0.000,464.144,0.000,0.537,0.000
$DEVICE_MAMPS,439.110,148.410,787.950,107.100,0.000,0.000,0.000,146.115,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2306.000,2306.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.961,4.157,0.000,0.000
$MEM,290904
$DATA_FILE_SIZE,10117,302
$CAP_FILE_SIZE,52298,0
$CFSIZE,260034560,255979520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2771.74,0x2378ba,7,5
$EKF,2447,2876.557861,-7504.181641,0.175232,-0.002607,-0.005659,0.004028,0.000648,0.001445,0.002295,0.081593,0.081593,0.000129
$CURRENT,0.054,160.7,1
$GPS,260614,014449,4756.489,-12504.146,13,1.3,13,18.8