version: 66.12
glider: 187
mission: 4
dive: 8
start: 6 26 114 2 33 23
data:
$ID,187
$MISSION,4
$DIVE,8
$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,-1593189.5
$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,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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,260614,022625,4756.440,-12504.133,11,1.4,11,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.0
$GPS2,260614,023249,4756.438,-12504.072,12,1.7,12,18.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.9,11358,-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,-116.8,402,2098,1172,965,0.0,0.0,0,101,0.00,0.00,-70.70,0.000,16386,0.000,0.000,402,2099,2939,2986,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-116.8,402,2100,2986,2893,3.2,-4.1,7,138,13.27,2.58,-7.18,0.000,18692,0.446,0.143,3090,3522,3371,3409,3333,0,0,0,0,0,0,14.29,14.42,14.67
$GC,369,-0.89,-116.8,3090,3522,3404,3333,58.2,-14.4,55,379,0.00,2.50,0.00,0.000,1030,0.000,0.103,3090,2100,3369,3405,3333,0,0,0,0,0,0,28.83,14.51,28.83
$GC,570,-0.88,-116.8,3090,2096,3406,3333,83.9,-13.2,75,580,0.00,2.55,0.00,0.000,260,0.000,0.129,3090,3517,3369,3405,3333,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,628,-0.32,0.0,3090,2297,3406,3333,90.1,-11.9,83,730,0.65,0.00,91.00,0.767,10246,0.238,0.000,3280,2297,2887,2958,2817,0,0,0,0,0,0,14.46,28.83,13.93
$STATE,736,end apogee,CONTROL_FINISHED_OK
$STATE,736,begin climb
$GC,740,0.91,116.8,3280,2297,2951,2813,96.0,0.0,94,853,1.25,2.67,91.93,0.750,10756,0.156,0.132,3685,887,2406,2536,2277,0,0,0,0,0,0,14.22,14.02,13.80
$GC,1089,0.91,168.7,3685,890,2535,2268,69.3,6.8,153,1139,0.00,2.53,41.05,0.730,9222,0.000,0.118,3685,2298,2197,2345,2050,0,0,0,0,0,0,28.83,14.35,13.95
$GC,1330,0.87,171.5,3685,2298,2341,2038,47.0,9.8,179,1341,0.00,2.55,0.00,0.000,260,0.000,0.134,3685,3711,2189,2340,2038,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1453,0.84,208.9,3685,3710,2335,2038,36.9,7.7,201,1496,0.15,2.55,31.77,0.710,13318,0.329,0.119,3661,2297,2031,2183,1879,0,0,0,0,0,0,14.34,14.42,14.06
$GC,1677,0.83,232.2,3665,2297,2180,1872,18.8,8.6,225,1701,0.00,2.62,9.73,0.176,8708,0.000,0.136,3669,888,1950,2097,1804,0,0,0,0,0,0,28.83,14.40,14.38
$STATE,1904,end climb,SURFACE_DEPTH_REACHED
$STATE,1904,begin surface coast
$FINISH,0.3,1.023466
$STATE,1967,end surface coast,CONTROL_FINISHED_OK
$STATE,1967,begin surface
$SM_CCo,1997,97.93,0.112,0,0,1056,450.13
$SM_GC,0.98,9.48,2.20,97.93,0.090,0.114,0.112,402,2104,1056,-9.30,-0.54,450.13,0,0,0,0,0,0,14.50,14.50,14.48
$IRIDIUM_FIX,4735.69,-12512.13,220407,151534
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.71
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3935456
$PM_FREEKB,62208928
$24V_AH,13.8,3.324
$10V_AH,13.9,0.000
$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,24.800,24.950,265.475,97.925,0.000,0.000,0.000,182.900,0.000,0.000,13.198,785.332,377.158,446.594,666.763,219.503,0.000,918.204,0.000,435.328,0.000,0.537,0.000
$DEVICE_MAMPS,445.995,143.055,767.295,111.690,0.000,0.000,0.000,149.940,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1962.000,1963.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.053,4.193,0.000,0.000
$MEM,290916
$DATA_FILE_SIZE,10109,279
$CAP_FILE_SIZE,47567,0
$CFSIZE,260034560,255897600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2475.77,0x2378ba,7,5
$EKF,2159,2876.441406,-7504.235840,0.254546,0.041734,-0.052800,-0.061955,0.000537,0.001197,0.001939,0.062900,0.062900,0.000121
$CURRENT,0.079,110.2,1
$GPS,260614,030919,4756.414,-12504.113,11,1.2,11,18.8