version: 66.12
glider: 187
mission: 3
dive: 4
start: 6 6 114 20 27 49
data:
$ID,187
$MISSION,3
$DIVE,4
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,165
$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,50
$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,-1592526.5
$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,13
$R_STBD_OVSHOOT,15
$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
$GPS1,060614,202343,4743.534,-12224.739,13,1.2,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.0
$GPS2,060614,202713,4743.546,-12224.729,12,1.4,12,18.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,228.5,348,-21.7,-10.000,-24.90,1500
$D_GRID,175
$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,23,begin dive
$GC,27,-0.72,-99.1,406,1886,1378,1163,0.0,0.0,0,120,0.00,0.00,-86.12,0.000,16390,0.000,0.000,411,1888,3501,3474,3529,0,0,0,0,0,0,28.83,28.83,14.81
$GC,125,-0.74,-146.6,406,1886,3479,3529,3.5,-4.8,9,155,16.23,2.58,-3.20,0.000,18692,0.516,0.155,3222,3313,3701,3647,3755,1,0,0,0,0,0,14.33,14.52,14.75
$GC,391,-0.85,-146.6,3222,3309,3648,3747,52.3,-13.7,58,401,0.00,2.50,0.00,0.000,1030,0.000,0.116,3222,1904,3699,3648,3751,0,0,0,0,0,0,28.83,14.55,28.83
$GC,582,-0.97,-146.6,3222,1904,3648,3751,76.1,-11.8,77,593,0.17,2.53,0.00,0.000,4356,0.154,0.123,3161,3319,3695,3643,3748,0,0,0,0,0,0,14.62,14.59,28.83
$GC,831,-1.02,-146.6,3158,3319,3649,3751,113.0,-14.4,123,839,0.00,2.53,0.00,0.000,1030,0.000,0.122,3158,1899,3699,3648,3751,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1029,-1.02,-146.6,3158,1899,3646,3750,143.5,-15.2,143,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1904,3698,3646,3750,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1085,-0.22,0.0,3158,2408,3644,3750,151.1,-15.7,148,1210,0.82,0.00,114.28,0.836,10246,0.254,0.000,3383,2408,3091,3125,3057,0,0,0,0,0,0,14.53,28.83,13.93
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1219,0.74,146.6,3387,2408,3124,3053,155.1,0.0,161,1353,0.95,0.00,116.25,0.807,10502,0.142,0.000,3694,2408,2494,2621,2367,0,0,0,0,0,0,14.26,28.83,13.81
$GC,1534,0.62,146.6,3695,2409,2619,2353,124.9,13.5,194,1543,0.00,2.62,0.00,0.000,516,0.000,0.140,3701,979,2487,2619,2356,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1736,0.53,146.6,3695,980,2617,2352,96.0,14.0,230,1746,0.22,2.53,0.00,0.000,5126,0.296,0.119,3644,2403,2486,2617,2355,0,0,0,0,0,0,14.42,14.50,28.83
$GC,1938,0.53,146.6,3644,2402,2617,2354,70.8,11.7,250,1946,0.00,2.53,0.00,0.000,260,0.000,0.129,3641,3812,2485,2617,2354,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2124,0.46,146.6,3640,3812,2616,2353,47.4,10.0,283,2133,0.00,2.55,0.00,0.000,1030,0.000,0.131,3644,2404,2485,2616,2354,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2315,0.48,197.9,3641,2399,2616,2354,32.2,6.5,302,2369,0.00,2.67,41.33,0.692,8708,0.000,0.151,3644,983,2284,2428,2140,0,0,0,0,0,0,28.83,14.42,14.22
$GC,2618,0.55,244.6,3644,983,2430,2132,5.1,6.8,355,2634,0.00,2.53,9.32,0.120,9218,0.000,0.120,3644,2405,2194,2345,2044,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,2636,end climb,SURFACE_DEPTH_REACHED
$STATE,2636,begin surface coast
$FINISH,2.1,1.021126
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2654,begin surface
$SM_CCo,2682,99.88,0.104,0,0,1264,450.13
$SM_GC,1.19,10.55,0.95,99.88,0.190,0.132,0.104,403,1887,1264,-9.56,0.11,450.13,0,0,0,0,0,0,14.48,14.55,14.54
$IRIDIUM_FIX,4729.30,-12226.80,060614,202057
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3936832
$PM_FREEKB,62309440
$24V_AH,13.8,2.105
$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,28.950,27.425,281.175,99.875,0.000,0.000,0.000,0.000,0.000,0.000,13.349,1022.773,631.450,489.308,602.822,127.272,0.000,835.675,0.000,552.579,0.000,0.538,0.000
$DEVICE_MAMPS,515.610,155.295,836.145,104.040,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2626.000,2628.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.330,5.024,0.000,0.000
$MEM,316776
$DATA_FILE_SIZE,10133,360
$CAP_FILE_SIZE,67766,0
$CFSIZE,260034560,256929792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,3692.87,0x237922,7,5
$EKF,2867,2863.580566,-7345.115234,2.171826,-0.027233,-0.129647,-0.071675,0.000590,0.001304,0.001964,0.048855,0.048855,0.000125
$CURRENT,0.063, 40.1,1
$GPS,060614,211533,4743.653,-12225.043,13,2.1,33,18.2