version: 66.12
glider: 187
mission: 4
dive: 20
start: 6 26 114 11 0 14
data:
$ID,187
$MISSION,4
$DIVE,20
$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,-1593205.6
$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,8
$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
$GPS1,260614,105255,4754.769,-12505.328,10,1.5,10,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,260614,105939,4754.738,-12505.335,10,2.3,30,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,224.3,8040,-14.5,-10.101,-21.94,2185
$D_GRID,119
$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,-0.81,-155.7,403,2387,1174,950,0.0,0.0,0,110,0.00,0.00,-79.78,0.000,16386,0.000,0.000,403,2387,3236,3255,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.81,-155.7,405,2387,3250,3219,4.7,-7.6,8,141,13.07,2.55,-4.28,0.000,18948,0.440,0.138,3085,990,3531,3524,3538,0,0,0,0,0,0,14.23,14.40,14.63
$GC,319,-0.78,-155.7,3086,990,3526,3542,55.9,-17.1,45,329,0.00,2.53,0.00,0.000,1030,0.000,0.112,3085,2412,3533,3525,3541,0,0,0,0,0,0,28.83,14.47,28.83
$GC,510,-0.76,-155.7,3086,2412,3526,3542,82.3,-13.7,64,518,0.00,2.55,0.00,0.000,516,0.000,0.126,3086,984,3534,3526,3542,0,0,0,0,0,0,28.83,14.47,28.83
$GC,569,-0.74,-155.7,3086,983,3522,3542,90.6,-13.8,74,580,0.12,2.53,0.00,0.000,3078,0.285,0.113,3116,2407,3531,3522,3541,0,0,0,0,0,0,14.43,14.50,28.83
$STATE,647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,647,begin apogee
$GC,656,-0.32,0.0,3116,2698,3526,3542,100.2,-11.1,82,782,0.45,0.00,117.85,0.782,10246,0.218,0.000,3252,2699,2889,2951,2828,0,0,0,0,0,0,14.46,28.83,13.83
$STATE,786,end apogee,CONTROL_FINISHED_OK
$STATE,786,begin climb
$GC,789,0.81,155.7,3252,2699,2951,2824,106.7,0.0,95,927,1.17,2.45,120.38,0.763,10500,0.167,0.128,3617,4007,2249,2401,2098,0,0,0,0,0,0,14.12,13.94,13.67
$GC,973,0.76,155.7,3616,4007,2400,2098,95.9,12.2,122,984,0.00,2.42,0.00,0.000,1030,0.000,0.123,3617,2702,2247,2397,2098,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1165,0.71,155.7,3617,2702,2398,2093,73.8,11.4,141,1173,0.00,2.62,0.00,0.000,516,0.000,0.141,3617,1284,2245,2398,2093,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1427,0.69,173.0,3614,1284,2398,2092,49.5,9.3,187,1450,0.15,2.55,12.93,0.756,13318,0.285,0.118,3581,2700,2186,2343,2030,0,0,0,0,0,0,14.33,14.42,14.09
$GC,1641,0.76,271.2,3585,2699,2340,2023,35.1,5.5,209,1725,0.00,2.62,74.43,0.710,8708,0.000,0.130,3592,1284,1781,1939,1623,0,0,0,0,0,0,28.83,14.17,13.94
$GC,1758,0.76,278.0,3591,1284,1938,1621,26.8,9.8,226,1770,0.00,2.62,3.05,0.529,9222,0.000,0.125,3592,2710,1756,1917,1595,0,0,0,0,0,0,28.83,14.23,13.85
$GC,1961,0.83,356.9,3597,2710,1921,1603,9.7,6.4,246,2006,0.10,2.78,36.30,0.139,10756,0.188,0.152,3630,1280,1436,1602,1270,0,0,0,0,0,0,14.39,14.30,14.35
$STATE,2032,end climb,SURFACE_DEPTH_REACHED
$STATE,2032,begin surface coast
$FINISH,0.3,1.016859
$STATE,2076,end surface coast,CONTROL_FINISHED_OK
$STATE,2076,begin surface
$SM_CCo,2105,41.00,0.106,0,0,1056,450.13
$SM_GC,1.14,9.45,2.08,41.00,0.090,0.117,0.106,400,2407,1056,-9.22,-0.31,450.13,0,0,0,0,0,0,14.38,14.40,14.41
$IRIDIUM_FIX,4735.69,-12509.51,220407,232315
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3931616
$PM_FREEKB,62065120
$24V_AH,13.7,4.492
$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,24.525,30.850,364.925,41.000,0.000,0.000,0.000,184.875,0.000,0.000,32.790,724.373,477.518,465.656,669.550,229.931,0.000,955.561,0.000,404.547,0.000,0.536,0.000
$DEVICE_MAMPS,439.875,152.235,781.830,105.570,0.000,0.000,0.000,145.350,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2075.000,2074.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.997,4.253,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,6810,263
$CAP_FILE_SIZE,50384,0
$CFSIZE,260034560,255406080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2629.25,0x2378ba,7,5
$INTR,1,732.07,0x234488,2,24
$EKF,2210,2874.634766,-7505.606934,0.260235,-0.002124,-0.026566,-0.007676,0.000585,0.001301,0.001933,0.008944,0.008944,0.000119
$CURRENT,0.098,211.3,1
$GPS,260614,113701,4754.534,-12505.701,11,1.7,11,18.8