version: 66.12
glider: 187
mission: 4
dive: 12
start: 6 26 114 5 22 50
data:
$ID,187
$MISSION,4
$DIVE,12
$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,160
$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,-1593194.9
$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,3360
$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,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,12
$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
$GPS1,260614,051548,4756.143,-12503.793,9,1.5,14,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.9
$GPS2,260614,052215,4756.110,-12503.735,12,2.2,32,18.8
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,224.8,11217,-14.3,-10.000,-21.83,2203
$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,-0.80,-155.7,401,2097,1183,947,0.0,0.0,0,101,0.00,0.00,-70.65,0.000,16386,0.000,0.000,401,2098,2930,2978,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,401,2097,2978,2883,3.2,-4.4,7,138,13.02,2.65,-10.10,0.000,18692,0.437,0.151,3093,3519,3533,3540,3527,0,0,0,0,0,0,14.28,14.42,14.67
$GC,386,-0.78,-155.7,3094,3519,3533,3529,59.0,-15.8,56,398,0.00,2.53,0.00,0.000,1030,0.000,0.103,3094,2089,3531,3533,3529,0,0,0,0,0,0,28.83,14.50,28.83
$GC,579,-0.75,-155.7,3094,2087,3533,3530,86.2,-12.8,75,588,0.00,2.55,0.00,0.000,260,0.000,0.122,3094,3518,3532,3534,3530,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,616,-0.32,0.0,3094,2690,3534,3525,90.3,-13.4,79,740,0.52,0.00,118.28,0.763,10246,0.234,0.000,3249,2693,2890,2953,2827,0,0,0,0,0,0,14.47,28.83,13.85
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,746,begin climb
$GC,750,0.80,155.7,3249,2693,2950,2819,97.5,0.0,92,887,1.17,2.62,120.70,0.744,10756,0.168,0.125,3620,1289,2250,2401,2099,0,0,0,0,0,0,14.14,13.97,13.71
$GC,1034,0.77,155.7,3614,1291,2400,2094,77.5,10.1,139,1044,0.00,2.58,0.00,0.000,1030,0.000,0.121,3614,2698,2246,2400,2093,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1225,0.73,166.3,3614,2699,2400,2091,59.7,9.5,158,1240,0.00,2.60,4.78,0.701,8708,0.000,0.133,3617,1288,2213,2369,2057,0,0,0,0,0,0,28.83,14.33,13.97
$GC,1289,0.73,200.3,3617,1288,2369,2069,54.2,8.4,168,1334,0.00,2.58,31.62,0.732,9222,0.000,0.125,3616,2697,2068,2225,1912,0,0,0,0,0,0,28.83,14.38,14.02
$GC,1515,0.73,235.0,3616,2700,2223,1909,33.2,8.4,192,1553,0.00,2.40,26.73,0.716,8452,0.000,0.133,3617,4007,1926,2073,1779,0,0,0,0,0,0,28.83,14.29,14.04
$GC,1790,0.83,370.8,3617,4008,2068,1779,6.6,3.7,242,1857,0.00,2.33,59.35,0.122,9218,0.000,0.112,3617,2699,1381,1543,1219,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1859,begin surface coast
$FINISH,0.3,1.011021
$STATE,1903,end surface coast,CONTROL_FINISHED_OK
$STATE,1904,begin surface
$SM_CCo,1931,36.05,0.107,0,0,1056,450.13
$SM_GC,1.29,9.27,1.10,36.05,0.080,0.116,0.107,394,2092,1056,-9.22,0.31,450.13,0,0,0,0,0,0,14.44,14.45,14.45
$IRIDIUM_FIX,4738.89,-12506.88,220407,181844
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3934176
$PM_FREEKB,62160800
$24V_AH,13.7,3.704
$10V_AH,13.1,0.000
$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,24.000,25.425,361.450,36.050,0.000,0.000,0.000,166.050,0.000,0.000,33.632,696.672,356.830,451.173,643.353,224.320,0.000,908.993,0.000,407.564,0.000,0.537,0.000
$DEVICE_MAMPS,436.815,151.470,763.470,107.100,0.000,0.000,0.000,145.350,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1902.000,1901.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.961,4.314,0.000,0.000
$MEM,290912
$DATA_FILE_SIZE,6810,260
$CAP_FILE_SIZE,46179,0
$CFSIZE,260034560,255737856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2455.76,0x2378ba,7,5
$EKF,2036,2876.056641,-7503.964355,0.172630,-0.091179,-0.134976,-0.033850,0.000453,0.001010,0.001943,0.063022,0.063022,0.000121
$CURRENT,0.061, 99.1,1
$GPS,260614,055643,4756.039,-12503.880,10,1.7,16,18.8