version: 66.12
glider: 187
mission: 4
dive: 15
start: 6 26 114 7 29 11
data:
$ID,187
$MISSION,4
$DIVE,15
$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,-1593198.9
$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,14
$R_STBD_OVSHOOT,9
$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
$GPS1,260614,072218,4755.752,-12504.107,13,1.3,31,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.8
$GPS2,260614,072836,4755.680,-12504.092,15,1.2,26,18.8
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,220.5,10351,-14.3,-10.000,-21.83,2203
$D_GRID,112
$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,-155.7,404,2098,1173,958,0.0,0.0,0,111,0.00,0.00,-80.45,0.000,16386,0.000,0.000,404,2098,3280,3293,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.80,-155.7,404,2099,3294,3268,5.2,-8.5,8,141,13.18,2.58,-3.47,0.000,18948,0.443,0.138,3090,686,3530,3519,3542,0,0,0,0,0,0,14.28,14.44,14.66
$GC,208,-0.77,-155.7,3091,686,3524,3540,37.5,-20.3,22,217,0.00,2.53,0.00,0.000,1030,0.000,0.111,3091,2108,3532,3525,3540,0,0,0,0,0,0,28.83,14.46,28.83
$GC,409,-0.75,-155.7,3091,2108,3524,3540,68.5,-13.6,42,418,0.00,2.53,0.00,0.000,260,0.000,0.125,3091,3521,3532,3524,3541,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,581,-0.32,0.0,3091,2692,3524,3541,90.5,-12.7,71,706,0.52,0.00,117.53,0.763,10246,0.232,0.000,3247,2693,2889,2949,2829,0,0,0,0,0,0,14.44,28.83,13.85
$STATE,713,end apogee,CONTROL_FINISHED_OK
$STATE,713,begin climb
$GC,716,0.80,155.7,3247,2693,2948,2823,97.0,0.0,84,855,1.17,2.62,120.45,0.744,10756,0.170,0.125,3614,1297,2250,2404,2097,0,0,0,0,0,0,14.14,13.97,13.71
$GC,965,0.76,155.7,3614,1298,2400,2092,78.9,11.1,122,974,0.00,2.58,0.00,0.000,1030,0.000,0.120,3614,2697,2246,2400,2092,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1166,0.72,155.7,3614,2699,2399,2090,54.1,11.4,142,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,2700,2246,2399,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1355,0.76,239.6,3614,2699,2399,2087,38.4,6.1,161,1425,0.00,0.00,63.40,0.702,8198,0.000,0.000,3614,2700,1908,2056,1761,0,0,0,0,0,0,28.83,28.83,13.98
$GC,1607,0.76,265.0,3614,2699,2053,1756,16.8,8.8,186,1629,0.00,2.42,11.00,0.174,8452,0.000,0.133,3614,4006,1813,1967,1659,0,0,0,0,0,0,28.83,14.36,14.33
$STATE,1777,end climb,SURFACE_DEPTH_REACHED
$STATE,1778,begin surface coast
$FINISH,0.2,1.011286
$STATE,1836,end surface coast,CONTROL_FINISHED_OK
$STATE,1837,begin surface
$SM_CCo,1867,82.35,0.110,0,0,1056,450.13
$SM_GC,1.03,9.45,3.45,82.35,0.100,0.110,0.110,405,2107,1056,-9.20,0.59,450.13,0,0,0,0,0,0,14.43,14.45,14.45
$IRIDIUM_FIX,4738.89,-12506.88,220407,202054
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.67
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3933216
$PM_FREEKB,62125952
$24V_AH,13.7,3.991
$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,24.325,20.200,312.375,82.350,0.000,0.000,0.000,161.050,0.000,0.000,27.617,638.406,445.748,460.271,582.807,218.066,0.000,879.616,0.000,356.500,0.000,0.536,0.000
$DEVICE_MAMPS,442.935,138.465,763.470,110.160,0.000,0.000,0.000,149.940,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1836.000,1836.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.166,4.242,0.000,0.000
$MEM,290940
$DATA_FILE_SIZE,6787,226
$CAP_FILE_SIZE,42892,0
$CFSIZE,260034560,255619072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2514.95,0x2378ba,7,5
$EKF,2015,2875.616699,-7504.325195,0.122799,-0.010170,-0.011062,-0.023487,0.000505,0.001126,0.001933,0.008942,0.008942,0.000119
$CURRENT,0.053,155.2,1
$GPS,260614,080243,4755.562,-12504.290,13,1.9,13,18.8