version: 66.12
glider: 187
mission: 4
dive: 18
start: 6 26 114 9 33 50
data:
$ID,187
$MISSION,4
$DIVE,18
$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,160
$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,-1593203
$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,3360
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,13
$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
$GPS1,260614,092639,4755.234,-12504.730,12,2.1,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,260614,093314,4755.189,-12504.722,18,2.1,38,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,221.6,9162,-14.5,-10.101,-21.94,2185
$D_GRID,115
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.81,-155.7,400,2397,1178,953,0.0,0.0,0,112,0.00,0.00,-81.95,0.000,16386,0.000,0.000,401,2398,3357,3359,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.81,-155.7,400,2399,3360,3353,5.2,-8.8,8,141,13.40,0.00,-2.30,0.000,18694,0.452,0.000,3092,2398,3530,3520,3541,0,0,0,0,0,0,14.26,28.83,14.63
$GC,322,-0.79,-155.7,3086,2398,3524,3541,57.6,-15.1,29,330,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3532,3523,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,513,-0.77,-155.7,3086,2398,3524,3542,85.3,-14.1,48,521,0.00,2.55,0.00,0.000,260,0.000,0.129,3087,3816,3533,3524,3542,0,0,0,0,0,0,28.83,14.50,28.83
$GC,596,-0.75,-155.7,3089,3816,3524,3546,97.5,-14.5,62,606,0.12,2.53,0.00,0.000,3078,0.282,0.106,3116,2384,3532,3523,3542,0,0,0,0,0,0,14.45,14.52,28.83
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,622,-0.32,0.0,3116,2705,3524,3543,100.3,-14.1,64,747,0.45,0.00,118.90,0.777,10246,0.221,0.000,3252,2705,2893,2952,2834,0,0,0,0,0,0,14.47,28.83,13.83
$STATE,753,end apogee,CONTROL_FINISHED_OK
$STATE,753,begin climb
$GC,757,0.81,155.7,3252,2705,2949,2825,106.7,0.0,77,891,1.17,0.00,120.78,0.759,10502,0.166,0.000,3615,2707,2250,2402,2099,0,0,0,0,0,0,14.12,28.83,13.67
$GC,1072,0.77,159.9,3615,2705,2399,2098,81.9,9.9,110,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2705,2245,2400,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,0.73,159.9,3615,2701,2399,2091,62.1,10.7,129,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,2705,2244,2399,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1454,0.72,189.2,3615,2705,2399,2090,42.9,8.7,148,1489,0.00,2.58,25.92,0.734,8708,0.000,0.129,3617,1295,2116,2272,1960,0,0,0,0,0,0,28.83,14.34,14.08
$GC,1592,0.74,239.8,3613,1292,2266,1956,31.2,7.7,171,1644,0.00,2.53,38.35,0.711,9222,0.000,0.119,3617,2701,1908,2056,1760,0,0,0,0,0,0,28.83,14.39,14.01
$GC,1826,0.79,320.1,3617,2701,2054,1756,11.0,6.3,196,1875,0.00,2.42,36.12,0.145,8452,0.000,0.131,3616,3997,1586,1753,1419,0,0,0,0,0,0,28.83,14.35,14.39
$GC,1910,0.80,352.3,3616,3997,1758,1424,5.2,8.6,208,1921,0.00,2.33,2.92,0.118,9218,0.000,0.122,3613,2705,1562,1730,1395,0,0,0,0,0,0,28.83,14.36,28.83
$STATE,1923,end climb,SURFACE_DEPTH_REACHED
$STATE,1923,begin surface coast
$FINISH,0.3,1.012280
$STATE,1965,end surface coast,CONTROL_FINISHED_OK
$STATE,1965,begin surface
$SM_CCo,1995,55.10,0.107,0,0,1056,450.13
$SM_GC,1.47,9.45,0.57,55.10,0.095,0.132,0.107,398,2395,1056,-9.22,0.48,450.13,0,0,0,0,0,0,14.40,14.42,14.42
$IRIDIUM_FIX,4735.69,-12502.41,220407,222231
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.55
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3932256
$PM_FREEKB,62090496
$24V_AH,13.7,4.283
$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,24.600,16.100,343.000,55.100,0.000,0.000,0.000,168.375,0.000,0.000,39.093,619.166,556.319,467.641,594.989,226.757,0.000,905.036,0.000,341.738,0.000,0.536,0.000
$DEVICE_MAMPS,452.115,133.110,777.240,107.100,0.000,0.000,0.000,146.115,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1963.000,1965.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.101,4.226,0.000,0.000
$MEM,290916
$DATA_FILE_SIZE,6819,217
$CAP_FILE_SIZE,46263,0
$CFSIZE,260034560,255492096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2511.17,0x2378ba,7,5
$EKF,2148,2875.106445,-7504.961426,0.197285,-0.004532,-0.015721,-0.019653,0.000639,0.001423,0.002043,0.030547,0.030547,0.000120
$CURRENT,0.084,196.5,1
$GPS,260614,100935,4755.011,-12505.006,33,0.9,44,18.8