version: 66.12
glider: 187
mission: 4
dive: 9
start: 6 26 114 3 16 23
data:
$ID,187
$MISSION,4
$DIVE,9
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,55
$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,-1593190.9
$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,3390
$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,16
$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
$GPS1,260614,030919,4756.414,-12504.113,11,1.2,11,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.2
$GPS2,260614,031549,4756.406,-12504.041,13,1.3,13,18.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.4,11340,-17.4,-10.000,-24.25,1692
$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,-0.91,-116.8,402,2106,1174,965,0.0,0.0,0,101,0.00,0.00,-70.62,0.000,16386,0.000,0.000,401,2106,2933,2981,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-116.8,401,2106,2981,2892,3.2,-4.0,7,137,13.10,2.55,-7.38,0.000,18692,0.439,0.142,3088,3504,3368,3406,3331,0,0,0,0,0,0,14.27,14.42,14.66
$GC,386,-0.89,-116.8,3088,3504,3406,3334,59.6,-14.2,56,398,0.00,2.47,0.00,0.000,1030,0.000,0.103,3088,2093,3370,3407,3334,0,0,0,0,0,0,28.83,14.48,28.83
$GC,578,-0.88,-116.8,3089,2090,3407,3333,87.3,-14.3,75,587,0.00,2.53,0.00,0.000,260,0.000,0.121,3089,3508,3370,3407,3333,0,0,0,0,0,0,28.83,14.53,28.83
$STATE,594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,605,-0.32,0.0,3089,2292,3403,3333,90.0,-13.5,77,718,0.65,0.00,97.18,0.944,10246,0.236,0.000,3279,2292,2893,2959,2827,0,0,0,0,1,0,14.46,28.83,13.71
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,728,0.91,116.8,3279,2292,2962,2828,97.0,0.0,89,840,1.25,2.62,95.07,0.754,10756,0.150,0.132,3684,889,2409,2541,2278,0,0,0,0,0,0,14.14,13.99,13.70
$GC,898,0.86,124.0,3687,886,2537,2275,89.0,9.6,114,909,0.00,2.58,2.58,0.405,9222,0.000,0.119,3684,2296,2386,2517,2255,0,0,0,0,0,0,28.83,14.17,13.77
$GC,1091,0.83,145.3,3683,2297,2522,2262,69.6,8.7,133,1121,0.00,2.72,20.92,0.760,8708,0.000,0.149,3693,885,2296,2439,2153,0,0,0,0,0,0,28.83,14.23,13.97
$GC,1137,0.80,166.6,3693,885,2438,2153,65.4,8.7,139,1168,0.20,2.60,18.05,0.747,13318,0.304,0.128,3650,2310,2206,2355,2058,0,0,0,0,0,0,14.20,14.28,13.97
$GC,1350,0.76,171.8,3649,2310,2355,2055,46.3,9.7,161,1366,0.00,2.62,3.10,0.554,8452,0.000,0.132,3651,3712,2189,2338,2041,0,0,0,0,0,0,28.83,14.37,13.96
$GC,1545,0.73,187.9,3650,3711,2347,2043,29.9,9.0,195,1570,0.12,2.55,15.30,0.744,13318,0.333,0.122,3632,2297,2120,2273,1967,0,0,0,0,0,0,14.37,14.42,14.12
$GC,1762,0.83,317.2,3631,2297,2270,1968,20.6,2.2,217,1870,0.00,2.67,93.28,0.685,8708,0.000,0.138,3628,887,1593,1751,1435,0,0,0,0,0,0,28.83,14.16,13.94
$STATE,2007,end climb,SURFACE_DEPTH_REACHED
$STATE,2007,begin surface coast
$FINISH,0.3,1.023535
$STATE,2053,end surface coast,CONTROL_FINISHED_OK
$STATE,2053,begin surface
$SM_CCo,2082,58.08,0.107,0,0,1056,450.13
$SM_GC,1.45,9.45,2.22,58.08,0.090,0.116,0.107,394,2101,1056,-9.32,-0.62,450.13,0,0,0,0,0,0,14.37,14.38,14.39
$IRIDIUM_FIX,4735.69,-12457.94,220407,151506
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.85
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3935136
$PM_FREEKB,62195968
$24V_AH,13.7,3.434
$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,24.775,30.350,345.475,58.075,0.000,0.000,0.000,187.675,0.000,0.000,14.330,722.050,463.575,475.162,661.953,224.252,0.000,963.726,0.000,415.694,0.000,0.537,0.000
$DEVICE_MAMPS,439.110,149.175,944.010,107.100,0.000,0.000,0.000,148.410,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2052.000,2051.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.024,4.253,0.000,0.000
$MEM,290912
$DATA_FILE_SIZE,6790,266
$CAP_FILE_SIZE,49384,0
$CFSIZE,260034560,255856640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2578.88,0x2378ba,7,5
$EKF,2224,2876.417480,-7504.179688,0.214524,0.020754,-0.012988,-0.024207,0.000501,0.001116,0.002043,0.030543,0.030543,0.000120
$CURRENT,0.105, 95.9,1
$GPS,260614,035324,4756.406,-12503.992,13,1.1,30,18.8