version: 66.12
glider: 187
mission: 4
dive: 32
start: 6 26 114 21 17 41
data:
$ID,187
$MISSION,4
$DIVE,32
$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,-1593221.1
$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,19
$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,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,211018,4752.805,-12509.304,9,1.7,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.3
$GPS2,260614,211706,4752.850,-12509.285,13,1.1,30,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,210.5,170690,-14.3,-10.000,-21.83,2203
$D_GRID,157
$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,-155.7,403,2387,1385,1139,0.0,0.0,0,103,0.00,0.00,-72.22,0.000,16386,0.000,0.000,403,2387,3238,3253,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.80,-155.7,403,2387,3253,3225,4.3,-6.5,7,132,12.93,0.00,-4.45,0.000,18438,0.432,0.000,3092,2388,3530,3522,3538,0,0,0,0,0,0,14.26,28.83,14.63
$GC,313,-0.78,-155.7,3093,2387,3525,3541,53.0,-16.3,28,322,0.00,2.45,0.00,0.000,516,0.000,0.112,3092,988,3533,3525,3541,0,0,0,0,0,0,28.83,14.45,28.83
$GC,383,-0.75,-155.7,3092,990,3525,3541,64.7,-16.6,40,392,0.00,2.50,0.00,0.000,1030,0.000,0.102,3092,2406,3534,3526,3542,0,0,0,0,0,0,28.83,14.48,28.83
$GC,582,-0.73,-155.7,3088,2404,3526,3542,93.4,-13.6,60,592,0.12,2.50,0.00,0.000,2564,0.296,0.114,3127,992,3534,3526,3542,0,0,0,0,0,0,14.46,14.50,28.83
$GC,648,-0.73,-155.7,3127,995,3526,3541,101.4,-12.0,71,657,0.00,2.47,0.00,0.000,1030,0.000,0.106,3127,2404,3536,3526,3546,0,0,0,0,0,0,28.83,14.51,28.83
$GC,838,-0.73,-155.7,3132,2403,3527,3542,121.3,-10.1,90,848,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3534,3526,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1029,-0.73,-155.7,3127,2404,3526,3542,140.2,-9.6,109,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2405,3534,3527,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1214,-0.32,0.0,3127,2702,3526,3542,157.6,-9.7,127,1339,0.40,0.00,118.45,0.866,10246,0.213,0.000,3249,2702,2890,2952,2829,0,0,0,0,0,0,14.51,28.83,13.78
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1349,0.80,155.7,3249,2702,2952,2825,163.2,0.0,140,1487,1.15,2.47,120.80,0.840,10500,0.164,0.122,3607,3995,2256,2413,2099,0,0,0,0,0,0,14.10,13.92,13.61
$GC,1528,0.75,155.7,3607,3995,2404,2098,149.5,14.4,166,1540,0.00,2.35,0.00,0.000,1030,0.000,0.106,3614,2704,2251,2404,2098,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1731,0.70,155.7,3614,2702,2404,2095,122.5,14.1,186,1743,0.00,2.60,0.00,0.000,516,0.000,0.127,3617,1281,2249,2404,2095,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1812,0.66,155.7,3617,1281,2404,2094,111.5,14.4,199,1824,0.17,2.55,0.00,0.000,5126,0.281,0.112,3575,2697,2249,2404,2094,0,0,0,0,0,0,14.26,14.32,28.83
$GC,2005,0.63,155.7,3578,2697,2404,2093,89.0,10.7,218,2018,0.00,2.62,0.00,0.000,516,0.000,0.147,3586,1288,2248,2404,2092,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2254,0.61,164.6,3586,1288,2404,2092,64.7,9.6,264,2273,0.00,2.53,7.28,0.788,9222,0.000,0.115,3586,2703,2222,2382,2062,0,0,0,0,0,0,28.83,14.47,14.12
$GC,2454,0.67,259.6,3586,2703,2375,2061,49.4,5.6,284,2534,0.00,0.00,71.80,0.747,8454,0.000,0.000,3586,2703,1828,1985,1672,0,0,0,0,0,0,28.83,28.83,13.96
$GC,2715,0.67,272.2,3586,2703,1986,1670,26.9,9.4,313,2735,0.00,2.67,8.48,0.749,8708,0.000,0.131,3588,1283,1779,1940,1618,0,0,0,0,0,0,28.83,14.33,14.04
$GC,2979,0.71,317.7,3588,1283,1939,1617,5.4,7.9,360,3006,0.00,2.53,17.38,0.115,9218,0.000,0.110,3587,2698,1615,1783,1448,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,0.4,1.015352
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3090,37.20,0.106,0,0,1260,400.08
$SM_GC,1.72,9.32,0.57,37.20,0.094,0.123,0.106,401,2390,1260,-9.21,0.40,400.08,0,0,0,0,0,0,14.42,14.46,14.45
$IRIDIUM_FIX,4735.69,-12513.98,230407,090910
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.26
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3927776
$PM_FREEKB,61955424
$24V_AH,13.6,5.793
$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,24.100,31.375,344.175,37.200,0.000,0.000,0.000,200.350,0.000,0.000,31.092,1071.107,887.334,462.465,877.676,250.305,0.000,1064.746,0.000,583.235,0.000,0.535,0.000
$DEVICE_MAMPS,432.225,146.880,865.980,105.570,0.000,0.000,0.000,150.705,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3068.000,1357.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.069,4.219,0.000,0.000
$MEM,290776
$DATA_FILE_SIZE,13459,373
$CAP_FILE_SIZE,65481,0
$CFSIZE,260034560,254861312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3545.37,0x2378ba,7,5
$EKF,3207,2872.704346,-7509.554199,0.350251,0.011713,-0.008111,-0.000407,0.000835,0.001857,0.001943,0.059347,0.059347,0.000127
$CURRENT,0.045,291.9,1
$GPS,260614,221105,4752.734,-12509.663,26,1.9,26,18.7