version: 66.12
glider: 187
mission: 4
dive: 10
start: 6 26 114 4 0 20
data:
$ID,187
$MISSION,4
$DIVE,10
$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,-1593192.1
$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,15
$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
$GPS1,260614,035324,4756.406,-12503.992,13,1.1,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.3
$GPS2,260614,035949,4756.397,-12503.897,10,1.3,10,18.8
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.9,11451,-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,-116.8,394,2101,1176,951,0.0,0.0,0,103,0.00,0.00,-72.55,0.000,16386,0.000,0.000,395,2101,2993,3038,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.91,-116.8,394,2101,3038,2951,3.1,-3.8,7,139,13.10,2.55,-6.15,0.000,18692,0.438,0.140,3087,3515,3369,3404,3334,0,0,0,0,0,0,14.26,14.40,14.64
$GC,232,-0.89,-116.8,3087,3515,3406,3337,36.0,-18.5,27,241,0.00,2.50,0.00,0.000,1030,0.000,0.104,3087,2103,3374,3413,3336,0,0,0,0,0,0,28.83,14.46,28.83
$GC,433,-0.88,-116.8,3087,2096,3410,3337,65.5,-13.0,47,441,0.00,2.55,0.00,0.000,260,0.000,0.126,3087,3516,3372,3409,3336,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,622,-0.32,0.0,3089,2289,3409,3337,90.1,-12.1,79,724,0.65,0.00,89.18,0.757,10246,0.240,0.000,3276,2289,2889,2959,2819,0,0,0,0,0,0,14.46,28.83,13.93
$STATE,730,end apogee,CONTROL_FINISHED_OK
$STATE,730,begin climb
$GC,734,0.91,116.8,3277,2288,2953,2816,95.9,0.0,90,842,1.27,2.65,91.30,0.749,10756,0.155,0.134,3683,885,2410,2540,2281,0,0,0,0,0,0,14.22,14.04,13.77
$GC,886,0.88,143.6,3682,885,2540,2277,89.8,8.4,111,916,0.00,2.58,22.25,0.751,9222,0.000,0.118,3682,2298,2302,2444,2160,0,0,0,0,0,0,28.83,14.16,13.83
$GC,1097,0.83,143.6,3682,2298,2441,2150,65.6,10.1,133,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,3682,2299,2295,2441,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1287,0.83,197.1,3682,2298,2440,2149,50.3,6.8,152,1337,0.00,2.70,41.45,0.723,8452,0.000,0.132,3682,3723,2079,2232,1926,0,0,0,0,0,0,28.83,14.28,14.02
$GC,1573,0.79,208.2,3682,3723,2225,1927,20.6,9.3,204,1590,0.15,2.58,4.12,0.168,13318,0.319,0.116,3652,2293,2043,2193,1893,0,0,0,0,0,0,14.32,14.40,14.37
$GC,1771,0.90,346.4,3652,2294,2193,1904,12.0,1.6,224,1846,0.00,2.67,65.80,0.155,8452,0.000,0.130,3652,3719,1477,1636,1319,0,0,0,0,0,0,28.83,14.42,14.40
$STATE,1890,end climb,SURFACE_DEPTH_REACHED
$STATE,1891,begin surface coast
$FINISH,0.4,1.023463
$STATE,1921,end surface coast,CONTROL_FINISHED_OK
$STATE,1921,begin surface
$SM_CCo,1951,46.45,0.107,0,0,1056,450.13
$SM_GC,1.22,9.43,3.00,46.45,0.087,0.124,0.107,396,2101,1056,-9.31,0.42,450.13,0,0,0,0,0,0,14.45,14.44,14.47
$IRIDIUM_FIX,4738.89,-12520.31,220407,161603
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.83
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3934816
$PM_FREEKB,62184160
$24V_AH,13.8,3.521
$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,24.600,26.000,314.100,46.450,0.000,0.000,0.000,185.500,0.000,0.000,10.986,688.626,437.178,427.866,619.291,222.428,0.000,891.083,0.000,395.349,0.000,0.538,0.000
$DEVICE_MAMPS,437.580,139.995,757.350,107.100,0.000,0.000,0.000,149.940,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1916.000,1917.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.090,4.219,0.000,0.000
$MEM,290936
$DATA_FILE_SIZE,6806,249
$CAP_FILE_SIZE,46182,0
$CFSIZE,260034560,255819776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2636.23,0x2378ba,7,5
$EKF,2089,2876.324707,-7504.039551,0.299666,-0.230657,0.009418,-0.088780,0.000517,0.001152,0.001939,0.044943,0.044943,0.000121
$CURRENT,0.118,111.1,1
$GPS,260614,043506,4756.254,-12503.850,38,1.0,38,18.8