version: 66.12
glider: 187
mission: 3
dive: 3
start: 6 6 114 19 26 15
data:
$ID,187
$MISSION,3
$DIVE,3
$N_DIVES,3
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,145
$D_NO_BLEED,50
$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,40
$T_MISSION,52
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53141
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1592493.8
$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,3470
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-63.666306
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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,48
$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,0.0
$GPS1,060614,192107,4743.162,-12224.674,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.6
$GPS2,060614,192543,4743.136,-12224.658,12,1.7,12,18.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,300.2,797,-17.6,-10.000,-21.21,2209
$D_GRID,177
$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,-0.61,-146.6,406,1885,541,417,0.0,0.0,0,151,0.00,0.00,-119.90,0.000,16386,0.000,0.000,406,1883,3669,3611,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.61,-146.6,406,1886,3611,3729,3.8,-5.3,12,181,15.90,2.65,-0.45,0.000,18692,0.503,0.153,3260,3319,3705,3744,3666,0,0,0,0,0,0,14.38,14.56,14.76
$GC,244,-0.70,-146.6,3260,3318,3780,3630,27.7,-11.1,26,253,0.00,2.55,0.00,0.000,1030,0.000,0.121,3260,1900,3704,3782,3627,0,0,0,0,0,0,28.83,14.56,28.83
$GC,444,-0.81,-146.6,3265,1897,3790,3612,47.2,-9.4,46,453,0.15,2.55,0.00,0.000,4356,0.170,0.130,3205,3326,3704,3789,3619,0,0,0,0,0,0,14.64,14.59,28.83
$GC,559,-0.81,-146.6,3205,3321,3793,3616,61.9,-13.7,67,568,0.00,2.55,0.00,0.000,1030,0.000,0.125,3205,1893,3704,3790,3619,0,0,0,0,0,0,28.83,14.58,28.83
$GC,748,-0.81,-146.6,3205,1892,3791,3618,84.4,-11.1,86,757,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1892,3705,3791,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.81,-146.6,3208,1892,3791,3617,107.6,-12.4,105,947,0.00,2.55,0.00,0.000,260,0.000,0.136,3205,3318,3704,3791,3617,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1001,-0.86,-146.6,3205,3317,3791,3616,115.4,-12.4,115,1009,0.00,2.58,0.00,0.000,1030,0.000,0.138,3209,1893,3703,3789,3617,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,1036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1036,begin apogee
$GC,1045,-0.22,0.0,3205,2411,3791,3616,120.1,-12.3,119,1170,0.62,0.00,114.62,0.795,10246,0.233,0.000,3388,2407,3091,3191,2991,0,0,0,0,0,0,14.57,28.83,13.98
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1179,0.61,146.6,3388,2408,3195,2986,124.1,0.0,132,1313,0.82,0.00,116.85,0.771,10246,0.144,0.000,3654,2409,2495,2629,2361,0,0,0,0,0,0,14.31,28.83,13.86
$GC,1493,0.49,146.6,3657,2410,2623,2352,99.3,11.1,164,1504,0.00,2.62,0.00,0.000,516,0.000,0.143,3659,983,2486,2622,2351,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1549,0.38,146.6,3657,979,2619,2346,92.9,11.4,173,1559,0.25,2.58,0.00,0.000,5126,0.282,0.126,3600,2409,2486,2621,2352,0,0,0,0,0,0,14.38,14.45,28.83
$GC,1740,0.39,189.0,3598,2409,2623,2348,76.1,8.0,192,1781,0.00,0.00,34.83,0.730,8454,0.000,0.000,3601,2409,2323,2468,2178,0,0,0,0,0,0,28.83,28.83,14.16
$GC,1962,0.40,213.8,3597,2409,2465,2168,57.7,8.9,215,1992,0.00,2.60,20.15,0.731,8708,0.000,0.139,3600,983,2221,2375,2068,0,0,0,0,0,0,28.83,14.43,14.21
$GC,2035,0.45,232.6,3601,982,2379,2066,51.2,9.1,226,2058,0.00,2.55,16.05,0.721,9222,0.000,0.123,3600,2406,2151,2307,1996,0,0,0,0,0,0,28.83,14.47,14.16
$GC,2249,0.47,263.2,3601,2406,2297,1985,31.0,8.6,248,2281,0.00,0.00,24.45,0.706,8710,0.000,0.000,3600,2406,2021,2175,1867,0,0,0,0,0,0,28.83,28.83,14.19
$GC,2462,0.55,307.7,3601,2403,2170,1863,13.0,7.9,270,2493,0.12,2.60,19.80,0.164,10756,0.174,0.138,3654,984,1846,1991,1701,0,0,0,0,0,0,14.55,14.50,14.48
$GC,2513,0.55,307.7,3655,979,1992,1709,7.9,10.9,277,2522,0.00,2.55,0.00,0.000,1030,0.000,0.125,3656,2406,1850,1990,1710,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,2540,end climb,SURFACE_DEPTH_REACHED
$STATE,2540,begin surface coast
$FINISH,0.2,1.020971
$STATE,2571,end surface coast,CONTROL_FINISHED_OK
$STATE,2571,begin surface
$SM_CCo,2600,62.65,0.105,0,0,1264,450.13
$SM_GC,1.12,10.02,0.95,62.65,0.146,0.140,0.105,406,1893,1264,-9.56,0.25,450.13,0,0,0,0,0,0,14.47,14.54,14.55
$IRIDIUM_FIX,4729.30,-12201.00,060614,191945
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.03
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3937152
$PM_FREEKB,62318400
$24V_AH,13.9,1.989
$10V_AH,14.1,0.000
$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,27.900,32.825,346.750,62.650,0.000,0.000,0.000,0.000,0.000,0.000,13.697,810.123,769.147,536.522,497.433,138.881,0.000,860.342,0.000,442.580,0.000,0.538,0.000
$DEVICE_MAMPS,503.370,153.000,794.835,104.805,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2541.000,2542.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.569,5.575,0.000,0.000
$MEM,316828
$DATA_FILE_SIZE,10130,283
$CAP_FILE_SIZE,72237,0
$CFSIZE,260034560,256970752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2873.25,0x237922,7,5
$EKF,2754,2863.396973,-7344.923828,0.142218,0.259346,-0.276079,-0.113452,0.000657,0.001451,0.002295,0.081374,0.081374,0.000129
$CURRENT,0.104, 56.6,1
$GPS,060614,201206,4743.509,-12224.772,37,1.7,37,18.2