version: 66.12
glider: 187
mission: 4
dive: 7
start: 6 26 114 1 52 6
data:
$ID,187
$MISSION,4
$DIVE,7
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,55
$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,120
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593188.1
$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,3390
$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,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,014449,4756.489,-12504.146,13,1.3,13,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.0
$GPS2,260614,015131,4756.490,-12504.109,15,1.9,15,18.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,215.7,11397,-17.4,-10.000,-24.25,1692
$D_GRID,111
$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,-0.91,-116.8,397,2090,1178,966,0.0,0.0,0,111,0.00,0.00,-80.40,0.000,16386,0.000,0.000,398,2085,3287,3305,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.91,-116.8,398,2086,3305,3271,5.2,-8.4,8,140,12.98,2.58,-1.20,0.000,18692,0.436,0.146,3084,3509,3373,3393,3353,0,0,0,0,0,0,14.27,14.43,14.65
$GC,390,-0.89,-116.8,3084,3509,3401,3352,67.0,-14.8,56,399,0.00,2.50,0.00,0.000,1030,0.000,0.107,3085,2093,3373,3395,3352,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,554,-0.32,0.0,3085,2312,3396,3352,90.4,-13.2,72,652,0.68,0.00,91.88,0.763,10246,0.236,0.000,3282,2312,2888,2950,2827,0,0,0,0,0,0,14.46,28.83,13.93
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,662,0.91,116.8,3283,2312,2948,2816,95.6,0.0,82,771,1.25,0.00,92.35,0.746,10758,0.155,0.000,3679,2312,2408,2543,2273,0,0,0,0,0,0,14.22,28.83,13.77
$GC,956,0.89,145.5,3675,2312,2532,2266,75.7,8.3,114,983,0.00,0.00,23.00,0.735,8198,0.000,0.000,3678,2312,2300,2443,2158,0,0,0,0,0,0,28.83,28.83,13.97
$GC,1164,0.88,188.4,3679,2312,2432,2139,59.1,7.4,135,1206,0.00,2.65,34.35,0.724,8452,0.000,0.129,3679,3714,2114,2266,1963,0,0,0,0,0,0,28.83,14.28,14.00
$GC,1443,0.82,188.4,3679,3714,2259,1960,28.6,13.4,186,1453,0.00,2.53,0.00,0.000,1030,0.000,0.112,3683,2300,2113,2266,1960,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1634,0.85,257.9,3683,2299,2254,1953,15.8,5.8,205,1679,0.00,2.60,32.62,0.177,8708,0.000,0.133,3687,887,1841,1992,1691,0,0,0,0,0,0,28.83,14.42,14.41
$STATE,1839,end climb,SURFACE_DEPTH_REACHED
$STATE,1839,begin surface coast
$FINISH,0.5,1.023496
$STATE,1883,end surface coast,CONTROL_FINISHED_OK
$STATE,1883,begin surface
$SM_CCo,1912,86.28,0.109,0,0,1056,450.13
$SM_GC,1.18,9.48,2.20,86.28,0.086,0.115,0.109,402,2098,1056,-9.30,-0.54,450.13,0,0,0,0,0,0,14.51,14.51,14.50
$IRIDIUM_FIX,4735.69,-12502.41,220407,141445
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3935776
$PM_FREEKB,62220864
$24V_AH,13.8,3.235
$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,24.375,15.450,274.200,86.275,0.000,0.000,0.000,193.650,0.000,0.000,16.485,711.872,428.926,422.938,637.860,215.205,0.000,878.820,0.000,396.642,0.000,0.537,0.000
$DEVICE_MAMPS,436.050,146.115,762.705,108.630,0.000,0.000,0.000,151.470,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1882.000,1877.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.074,4.211,0.000,0.000
$MEM,290912
$DATA_FILE_SIZE,6822,250
$CAP_FILE_SIZE,43954,0
$CFSIZE,260034560,255946752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2879.71,0x2378ba,7,5
$EKF,2062,2876.487549,-7504.233887,0.486243,0.110696,-0.112266,-0.085255,0.000466,0.001038,0.001935,0.008981,0.008981,0.000119
$CURRENT,0.087,126.7,1
$GPS,260614,022625,4756.440,-12504.133,11,1.4,11,18.8