version: 66.12
glider: 187
mission: 4
dive: 19
start: 6 26 114 10 16 23
data:
$ID,187
$MISSION,4
$DIVE,19
$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,-1593204.4
$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,18
$R_STBD_OVSHOOT,11
$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
$GPS1,260614,100935,4755.011,-12505.006,33,0.9,44,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.6
$GPS2,260614,101548,4754.983,-12505.007,11,1.0,16,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,220.9,8644,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.81,-155.7,398,2391,1181,940,0.0,0.0,0,111,0.00,0.00,-80.03,0.000,16386,0.000,0.000,399,2392,3250,3266,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-155.7,398,2392,3266,3234,4.8,-7.7,8,143,13.62,0.00,-3.95,0.000,18438,0.457,0.000,3088,2390,3531,3524,3539,0,0,0,0,0,0,14.26,28.83,14.64
$GC,324,-0.79,-155.7,3088,2391,3526,3541,54.0,-16.1,29,332,0.00,2.58,0.00,0.000,260,0.000,0.126,3088,3823,3533,3526,3541,0,0,0,0,0,0,28.83,14.44,28.83
$GC,358,-0.76,-155.7,3089,3821,3521,3541,58.7,-14.2,34,369,0.00,2.50,0.00,0.000,1030,0.000,0.103,3088,2403,3533,3526,3541,0,0,0,0,0,0,28.83,14.47,28.83
$GC,550,-0.75,-155.7,3089,2403,3526,3542,84.4,-13.7,53,559,0.12,0.00,0.00,0.000,2054,0.290,0.000,3123,2403,3538,3533,3543,0,0,0,0,0,0,14.45,28.83,28.83
$STATE,689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,689,begin apogee
$GC,698,-0.32,0.0,3123,2704,3526,3541,100.7,-11.5,67,822,0.43,0.00,118.10,0.783,10246,0.216,0.000,3252,2704,2891,2952,2830,0,0,0,0,0,0,14.47,28.83,13.84
$STATE,829,end apogee,CONTROL_FINISHED_OK
$STATE,829,begin climb
$GC,832,0.81,155.7,3252,2704,2949,2823,107.5,0.0,80,967,1.15,2.50,120.40,0.762,10500,0.161,0.129,3611,3998,2251,2403,2099,0,0,0,0,0,0,14.13,13.95,13.69
$GC,1037,0.76,155.7,3611,3999,2398,2099,92.2,13.5,109,1046,0.00,2.38,0.00,0.000,1030,0.000,0.115,3614,2702,2248,2398,2098,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1236,0.71,155.7,3611,2701,2398,2093,69.8,10.6,129,1245,0.00,2.60,0.00,0.000,516,0.000,0.136,3617,1289,2245,2398,2093,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1299,0.68,155.7,3613,1289,2398,2093,63.2,10.2,139,1309,0.17,2.58,0.00,0.000,5126,0.278,0.123,3578,2699,2245,2398,2092,0,0,0,0,0,0,14.28,14.35,28.83
$GC,1501,0.72,227.0,3577,2699,2398,2092,46.8,6.8,159,1564,0.00,2.62,53.80,0.722,8708,0.000,0.131,3583,1290,1960,2106,1815,0,0,0,0,0,0,28.83,14.22,13.98
$GC,1658,0.76,283.4,3579,1290,2104,1814,35.4,7.4,184,1709,0.00,2.58,42.33,0.708,9222,0.000,0.122,3583,2699,1730,1893,1568,0,0,0,0,0,0,28.83,14.32,13.95
$GC,1890,0.78,303.0,3584,2698,1896,1557,14.8,9.2,209,1908,0.00,2.45,8.15,0.167,8452,0.000,0.132,3584,4003,1657,1827,1487,0,0,0,0,0,0,28.83,14.31,14.32
$GC,1981,0.82,352.8,3583,4003,1827,1493,7.8,7.8,223,2013,0.12,2.42,22.75,0.126,11270,0.169,0.138,3630,2701,1450,1623,1278,0,0,0,0,0,0,14.40,14.35,14.38
$STATE,2019,end climb,SURFACE_DEPTH_REACHED
$STATE,2019,begin surface coast
$FINISH,0.3,1.010211
$STATE,2061,end surface coast,CONTROL_FINISHED_OK
$STATE,2061,begin surface
$SM_CCo,2088,43.05,0.107,0,0,1056,450.13
$SM_GC,1.06,9.45,0.57,43.05,0.093,0.129,0.107,403,2390,1056,-9.20,0.34,450.13,0,0,0,0,0,0,14.40,14.41,14.41
$IRIDIUM_FIX,4735.69,-12459.78,220407,222222
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.51
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3931936
$PM_FREEKB,62077888
$24V_AH,13.7,4.388
$10V_AH,13.8,0.000
$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,25.075,26.350,365.525,43.050,0.000,0.000,0.000,166.850,0.000,0.000,17.798,650.756,569.711,473.863,595.262,233.416,0.000,925.584,0.000,363.325,0.000,0.536,0.000
$DEVICE_MAMPS,457.470,141.525,782.595,107.100,0.000,0.000,0.000,148.410,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2059.000,2058.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.994,4.235,0.000,0.000
$MEM,290892
$DATA_FILE_SIZE,6831,232
$CAP_FILE_SIZE,49307,0
$CFSIZE,260034560,255447040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2552.71,0x2378ba,7,5
$EKF,2195,2874.899170,-7505.256348,0.186311,-0.001286,-0.010123,-0.011792,0.000614,0.001367,0.002294,0.045546,0.045546,0.000129
$CURRENT,0.116,200.0,1
$GPS,260614,105255,4754.769,-12505.328,10,1.5,10,18.8