version: 66.12
glider: 187
mission: 4
dive: 34
start: 6 26 114 23 21 0
data:
$ID,187
$MISSION,4
$DIVE,34
$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,-1593223.6
$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,20
$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,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,231405,4752.604,-12509.989,31,1.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.7
$GPS2,260614,232025,4752.649,-12509.928,15,1.5,15,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,214.0,169813,-14.3,-10.000,-21.83,2203
$D_GRID,159
$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,-155.7,395,2388,1386,1137,0.0,0.0,0,101,0.00,0.00,-70.15,0.000,16386,0.000,0.000,395,2390,3137,3161,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,395,2389,3162,3114,4.1,-6.0,7,137,12.85,2.53,-6.35,0.000,18948,0.428,0.139,3093,984,3531,3526,3536,0,0,0,0,0,0,14.23,14.40,14.63
$GC,326,-0.77,-155.7,3093,984,3528,3540,49.4,-15.9,45,335,0.00,2.50,0.00,0.000,1030,0.000,0.103,3093,2407,3534,3528,3540,0,0,0,0,0,0,28.83,14.45,28.83
$GC,527,-0.75,-155.7,3092,2411,3528,3541,77.0,-11.4,65,535,0.00,2.50,0.00,0.000,260,0.000,0.119,3093,3818,3538,3534,3542,0,0,0,0,0,0,28.83,14.48,28.83
$GC,579,-0.73,-155.7,3093,3818,3528,3541,83.4,-13.3,73,588,0.12,2.50,0.00,0.000,3078,0.290,0.107,3122,2408,3534,3528,3541,0,0,0,0,0,0,14.44,14.49,28.83
$GC,780,-0.73,-155.7,3125,2406,3525,3541,104.5,-10.1,93,788,0.00,2.53,0.00,0.000,516,0.000,0.125,3122,983,3534,3528,3541,0,0,0,0,0,0,28.83,14.49,28.83
$GC,856,-0.73,-155.7,3122,983,3528,3542,113.0,-11.3,106,866,0.00,2.50,0.00,0.000,1030,0.000,0.106,3122,2407,3532,3523,3541,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1047,-0.73,-155.7,3122,2407,3528,3546,131.6,-9.0,125,1056,0.00,2.50,0.00,0.000,260,0.000,0.122,3122,3817,3534,3527,3541,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1101,-0.73,-155.7,3122,3814,3529,3541,137.2,-10.3,134,1111,0.00,2.60,0.00,0.000,1030,0.000,0.138,3122,2397,3533,3524,3542,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1292,-0.73,-155.7,3122,2396,3527,3541,156.1,-10.2,153,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2397,3534,3528,3541,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1326,-0.32,0.0,3123,2702,3528,3541,159.1,-9.8,156,1452,0.43,0.00,117.30,0.870,10246,0.215,0.000,3251,2702,2889,2952,2827,0,0,0,0,0,0,14.50,28.83,13.78
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1462,0.80,155.7,3249,2702,2952,2823,165.0,0.0,169,1599,1.17,2.42,119.88,0.843,10500,0.164,0.121,3612,4007,2253,2407,2100,0,0,0,0,0,0,14.10,13.91,13.60
$GC,1656,0.75,155.7,3612,4002,2405,2105,149.3,15.9,198,1668,0.00,2.45,0.00,0.000,1030,0.000,0.134,3614,2705,2252,2405,2100,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1850,0.70,155.7,3614,2702,2404,2096,121.7,15.0,217,1861,0.00,2.65,0.00,0.000,516,0.000,0.148,3616,1282,2250,2405,2096,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1932,0.66,155.7,3614,1282,2404,2096,111.5,12.7,230,1944,0.17,2.60,0.00,0.000,5126,0.285,0.118,3578,2702,2250,2404,2096,0,0,0,0,0,0,14.26,14.31,28.83
$GC,2126,0.62,155.7,3578,2703,2404,2094,90.4,10.0,249,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2702,2249,2404,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,0.60,166.1,3578,2702,2404,2093,71.5,9.5,268,2338,0.00,2.65,8.62,0.799,8708,0.000,0.149,3586,1282,2213,2370,2056,0,0,0,0,0,0,28.83,14.38,14.11
$GC,2551,0.65,241.7,3586,1282,2369,2056,51.7,6.5,310,2622,0.00,2.55,57.28,0.752,9222,0.000,0.113,3586,2709,1902,2053,1752,0,0,0,0,0,0,28.83,14.47,14.00
$GC,2803,0.63,241.7,3586,2711,2053,1750,26.5,11.1,338,2813,0.00,2.70,0.00,0.000,516,0.000,0.149,3587,1281,1902,2053,1751,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3051,0.71,322.6,3588,1286,2053,1747,6.9,6.2,384,3098,0.00,2.53,34.50,0.120,9222,0.000,0.110,3587,2698,1576,1741,1412,0,0,0,0,0,0,28.83,14.43,14.43
$STATE,3105,end climb,SURFACE_DEPTH_REACHED
$STATE,3105,begin surface coast
$FINISH,0.2,1.023297
$STATE,3156,end surface coast,CONTROL_FINISHED_OK
$STATE,3157,begin surface
$SM_CCo,3182,33.42,0.106,0,0,1260,400.08
$SM_GC,1.71,9.35,0.60,33.42,0.096,0.127,0.106,397,2384,1260,-9.22,0.06,400.08,0,0,0,0,0,0,14.44,14.47,14.46
$IRIDIUM_FIX,4735.69,-12502.41,230407,111137
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.11
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3927136
$PM_FREEKB,61938144
$24V_AH,13.6,6.018
$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,24.100,41.875,337.575,33.425,0.000,0.000,0.000,188.100,0.000,0.000,15.993,1133.943,865.801,465.605,886.293,257.399,0.000,1076.472,0.000,610.845,0.000,0.536,0.000
$DEVICE_MAMPS,427.635,149.175,869.805,105.570,0.000,0.000,0.000,152.235,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3160.000,1470.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.984,4.112,0.000,0.000
$MEM,290896
$DATA_FILE_SIZE,13447,396
$CAP_FILE_SIZE,68758,0
$CFSIZE,260034560,254763008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3773.18,0x2378ba,7,5
$EKF,3280,2872.514648,-7510.254395,0.209934,0.009303,-0.001416,-0.009185,0.000767,0.001704,0.002295,0.117523,0.117523,0.000129
$CURRENT,0.075,243.4,1
$GPS,270614,001537,4752.456,-12510.433,12,1.6,12,18.7