version: 66.12
glider: 187
mission: 4
dive: 29
start: 6 26 114 18 16 29
data:
$ID,187
$MISSION,4
$DIVE,29
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,400
$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,-1593217.4
$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,15
$R_STBD_OVSHOOT,17
$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,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,180936,4753.225,-12508.552,8,1.2,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.8
$GPS2,260614,181554,4753.227,-12508.482,14,1.1,19,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,198.6,3271,-14.3,-10.000,-21.83,2203
$D_GRID,152
$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,-0.80,-155.7,401,2405,1392,1134,0.0,0.0,0,101,0.00,0.00,-70.50,0.000,16386,0.000,0.000,403,2405,3157,3181,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,403,2402,3181,3135,4.3,-6.1,7,137,13.05,2.58,-5.68,0.000,18948,0.437,0.140,3092,993,3531,3526,3537,0,0,0,0,0,0,14.23,14.39,14.62
$GC,152,-0.68,-155.7,3091,993,3527,3538,25.8,-38.4,13,164,0.17,2.50,0.00,0.000,3078,0.277,0.108,3135,2405,3532,3527,3537,0,0,0,0,0,0,14.34,14.40,28.83
$GC,354,-0.68,-155.7,3134,2408,3534,3540,53.8,-13.6,33,365,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3533,3527,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,545,-0.68,-155.7,3135,2405,3528,3541,74.4,-10.8,52,554,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2404,3534,3528,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,735,-0.68,-155.7,3135,2405,3528,3541,94.3,-9.1,71,745,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3535,3528,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,926,-0.68,-155.7,3135,2405,3528,3541,113.6,-9.3,90,934,0.00,2.50,0.00,0.000,260,0.000,0.119,3135,3825,3534,3528,3541,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1021,-0.68,-155.7,3134,3821,3528,3541,121.6,-9.2,106,1029,0.00,2.47,0.00,0.000,1030,0.000,0.098,3134,2397,3536,3532,3540,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1221,-0.68,-155.7,3135,2396,3528,3541,139.8,-8.2,126,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3534,3528,3541,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1379,-0.32,0.0,3135,2699,3528,3541,152.6,-8.2,141,1503,0.38,0.00,118.43,0.861,10246,0.216,0.000,3249,2699,2891,2953,2829,0,0,0,0,0,0,14.50,28.83,13.80
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1512,0.80,155.7,3250,2699,2951,2823,157.8,0.0,154,1649,1.15,2.50,120.05,0.837,10500,0.163,0.122,3609,4003,2254,2408,2100,0,0,0,0,0,0,14.12,13.92,13.62
$GC,1706,0.75,155.7,3609,4003,2407,2100,142.8,13.9,183,1718,0.00,2.38,0.00,0.000,1030,0.000,0.108,3615,2705,2251,2405,2098,0,0,0,0,0,0,28.83,14.09,28.83
$GC,1900,0.70,155.7,3614,2703,2405,2097,115.9,14.1,202,1911,0.00,2.60,0.00,0.000,516,0.000,0.131,3617,1280,2251,2405,2097,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1964,0.66,155.7,3617,1280,2411,2096,107.8,11.4,212,1976,0.22,2.58,0.00,0.000,5126,0.272,0.115,3564,2701,2249,2403,2096,0,0,0,0,0,0,14.26,14.33,28.83
$GC,2167,0.63,155.7,3570,2704,2405,2094,87.9,10.2,232,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2704,2249,2404,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2359,0.63,185.0,3564,2708,2404,2093,70.2,8.6,251,2391,0.00,0.00,23.15,0.788,8198,0.000,0.000,3565,2704,2133,2291,1975,0,0,0,0,0,0,28.83,28.83,14.08
$GC,2572,0.61,185.0,3564,2704,2286,1972,50.0,11.3,272,2582,0.00,2.58,0.00,0.000,516,0.000,0.127,3564,1278,2132,2291,1973,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2833,0.69,274.6,3564,1280,2291,1972,31.3,5.8,318,2910,0.00,2.53,66.22,0.725,9222,0.000,0.110,3564,2700,1770,1932,1608,0,0,0,0,0,0,28.83,14.50,13.99
$GC,3101,0.76,350.1,3564,2704,1931,1606,13.5,6.5,348,3149,0.12,2.67,34.22,0.156,10756,0.160,0.126,3616,1279,1465,1631,1299,0,0,0,0,0,0,14.42,14.35,14.35
$STATE,3207,end climb,SURFACE_DEPTH_REACHED
$STATE,3207,begin surface coast
$FINISH,0.4,1.023455
$STATE,3240,end surface coast,CONTROL_FINISHED_OK
$STATE,3240,begin surface
$SM_CCo,3267,21.70,0.108,0,0,1260,400.08
$SM_GC,0.88,9.35,2.05,21.70,0.086,0.108,0.108,400,2407,1260,-9.20,-0.40,400.08,0,0,0,0,0,0,14.43,14.42,14.42
$IRIDIUM_FIX,4738.89,-12504.26,230407,060611
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3928736
$PM_FREEKB,61979424
$24V_AH,13.6,5.454
$10V_AH,13.2,0.000
$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,24.450,30.500,362.075,21.700,0.000,0.000,0.000,181.800,0.000,0.000,20.739,1058.458,1050.435,469.675,848.178,254.880,0.000,1058.808,0.000,580.681,0.000,0.535,0.000
$DEVICE_MAMPS,436.815,139.995,861.390,107.865,0.000,0.000,0.000,150.705,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3244.000,1521.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.948,4.191,0.000,0.000
$MEM,290808
$DATA_FILE_SIZE,13465,370
$CAP_FILE_SIZE,66356,0
$CFSIZE,260034560,254992384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3436.50,0x2378ba,7,5
$EKF,3379,2873.057861,-7508.705566,0.425801,-0.001697,-0.002136,-0.103926,0.000875,0.001945,0.001933,0.008943,0.008943,0.000119
$CURRENT,0.037,258.7,1
$GPS,260614,191245,4753.044,-12508.805,16,3.3,36,18.7