version: 66.12
glider: 187
mission: 4
dive: 22
start: 6 26 114 12 28 30
data:
$ID,187
$MISSION,4
$DIVE,22
$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,-1593208.2
$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,10
$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
$GPS1,260614,122133,4754.283,-12506.079,12,5.0,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.6
$GPS2,260614,122755,4754.256,-12506.114,15,1.7,27,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,224.4,6724,-14.5,-10.101,-21.94,2185
$D_GRID,127
$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,-155.7,402,2408,1182,942,0.0,0.0,0,113,0.00,0.00,-82.35,0.000,16386,0.000,0.000,402,2408,3329,3338,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.81,-155.7,402,2408,3338,3322,4.7,-7.3,8,142,13.30,0.00,-2.75,0.000,18438,0.447,0.000,3088,2408,3530,3519,3541,0,0,0,0,0,0,14.26,28.83,14.64
$GC,323,-0.79,-155.7,3089,2408,3523,3541,58.4,-14.8,29,332,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2408,3532,3524,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,514,-0.77,-155.7,3089,2408,3530,3541,85.2,-13.8,48,523,0.00,2.53,0.00,0.000,516,0.000,0.116,3089,977,3532,3524,3541,0,0,0,0,0,0,28.83,14.50,28.83
$GC,591,-0.74,-155.7,3089,981,3530,3543,95.7,-14.4,61,601,0.12,2.50,0.00,0.000,3078,0.282,0.108,3120,2400,3533,3524,3542,0,0,0,0,0,0,14.45,14.50,28.83
$STATE,628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,628,begin apogee
$GC,637,-0.32,0.0,3120,2698,3524,3541,100.8,-12.4,65,762,0.43,0.00,117.43,0.783,10246,0.221,0.000,3248,2698,2888,2950,2827,0,0,0,0,0,0,14.47,28.83,13.83
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,772,0.81,155.7,3248,2698,2949,2822,106.9,0.0,78,912,1.20,2.65,119.05,0.761,11012,0.168,0.124,3617,1281,2253,2406,2101,0,0,0,0,0,0,14.12,13.94,13.67
$GC,953,0.77,155.7,3617,1282,2412,2098,95.2,11.7,103,964,0.00,2.62,0.00,0.000,1030,0.000,0.116,3617,2701,2252,2406,2098,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1145,0.73,155.7,3616,2701,2404,2093,70.7,12.7,122,1153,0.00,2.62,0.00,0.000,516,0.000,0.135,3617,1283,2247,2405,2089,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1406,0.76,223.8,3617,1282,2405,2092,49.7,6.9,168,1468,0.00,2.58,51.55,0.726,9222,0.000,0.116,3617,2715,1974,2128,1821,0,0,0,0,0,0,28.83,14.40,13.97
$GC,1661,0.74,238.4,3616,2720,2114,1820,24.1,9.4,196,1678,0.00,2.70,8.88,0.725,8708,0.000,0.129,3617,1281,1915,2061,1769,0,0,0,0,0,0,28.83,14.32,14.06
$GC,1927,0.80,313.3,3617,1281,2062,1768,6.8,6.6,243,1967,0.00,2.55,32.62,0.120,9222,0.000,0.119,3617,2697,1612,1781,1444,0,0,0,0,0,0,28.83,14.42,14.42
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1974,begin surface coast
$FINISH,0.2,1.002414
$STATE,2026,end surface coast,CONTROL_FINISHED_OK
$STATE,2026,begin surface
$SM_CCo,2053,59.47,0.105,0,0,1056,450.13
$SM_GC,1.29,9.40,0.57,59.47,0.093,0.126,0.105,400,2391,1056,-9.21,0.37,450.13,0,0,0,0,0,0,14.44,14.46,14.45
$IRIDIUM_FIX,4742.09,-12526.65,230407,010148
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3930976
$PM_FREEKB,62040320
$24V_AH,13.7,4.686
$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,24.450,21.875,329.525,59.475,0.000,0.000,0.000,163.300,0.000,0.000,30.614,710.153,485.783,460.330,629.400,225.462,0.000,910.196,0.000,394.142,0.000,0.537,0.000
$DEVICE_MAMPS,446.760,135.405,782.595,104.805,0.000,0.000,0.000,146.115,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2023.000,2022.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.957,4.227,0.000,0.000
$MEM,290832
$DATA_FILE_SIZE,6816,254
$CAP_FILE_SIZE,47700,0
$CFSIZE,260034560,255324160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2645.59,0x2378ba,7,5
$EKF,2196,2874.239014,-7506.390625,0.189130,-0.012368,-0.193268,0.004730,0.000616,0.001370,0.002295,0.081539,0.081539,0.000129
$CURRENT,0.081,233.7,1
$GPS,260614,130503,4754.180,-12506.535,10,2.4,30,18.8