version: 66.12
glider: 187
mission: 4
dive: 16
start: 6 26 114 8 9 56
data:
$ID,187
$MISSION,4
$DIVE,16
$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,-1593200.2
$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,10
$R_STBD_OVSHOOT,5
$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
$GPS1,260614,080243,4755.562,-12504.290,13,1.9,13,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.7
$GPS2,260614,080921,4755.503,-12504.280,14,2.8,34,18.8
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,221.3,9958,-14.3,-10.000,-21.83,2203
$D_GRID,114
$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,-155.7,404,2101,1174,957,0.0,0.0,0,101,0.00,0.00,-70.62,0.000,16386,0.000,0.000,405,2102,2921,2969,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,408,2101,2972,2875,3.1,-3.9,7,138,13.05,2.65,-10.52,0.000,18692,0.438,0.145,3090,3524,3529,3533,3526,0,0,0,0,0,0,14.27,14.42,14.66
$GC,373,-0.78,-155.7,3090,3524,3529,3529,55.8,-17.6,56,383,0.00,2.53,0.00,0.000,1030,0.000,0.104,3090,2093,3529,3529,3529,0,0,0,0,0,0,28.83,14.49,28.83
$GC,563,-0.76,-155.7,3090,2090,3534,3529,83.5,-12.2,75,574,0.00,2.55,0.00,0.000,260,0.000,0.119,3090,3523,3531,3534,3529,0,0,0,0,0,0,28.83,14.51,28.83
$STATE,620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,620,begin apogee
$GC,630,-0.32,0.0,3090,2701,3534,3530,90.5,-10.4,85,754,0.52,0.00,117.88,0.765,10246,0.230,0.000,3251,2700,2889,2952,2826,0,0,0,0,0,0,14.45,28.83,13.85
$STATE,761,end apogee,CONTROL_FINISHED_OK
$STATE,761,begin climb
$GC,765,0.80,155.7,3247,2700,2950,2819,96.7,0.0,98,903,1.17,2.70,120.07,0.746,10756,0.170,0.126,3616,1291,2250,2401,2100,0,0,0,0,0,0,14.14,13.95,13.70
$GC,1091,0.77,166.2,3617,1290,2401,2094,73.6,9.5,151,1109,0.00,2.58,8.45,0.755,9222,0.000,0.117,3617,2709,2213,2369,2058,0,0,0,0,0,0,28.83,14.28,13.96
$GC,1302,0.73,166.2,3617,2709,2365,2061,50.0,10.5,172,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2709,2210,2365,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,0.74,215.0,3617,2708,2364,2050,35.3,7.7,191,1543,0.00,2.40,38.75,0.715,8452,0.000,0.131,3616,3996,2008,2163,1853,0,0,0,0,0,0,28.83,14.31,14.04
$GC,1792,0.84,361.8,3617,3996,2154,1852,10.8,3.1,243,1868,0.00,2.30,66.78,0.145,9222,0.000,0.112,3617,2700,1415,1578,1252,0,0,0,0,0,0,28.83,14.43,14.38
$STATE,1908,end climb,SURFACE_DEPTH_REACHED
$STATE,1908,begin surface coast
$FINISH,0.1,1.023556
$STATE,1947,end surface coast,CONTROL_FINISHED_OK
$STATE,1947,begin surface
$SM_CCo,1975,39.35,0.108,0,0,1056,450.13
$SM_GC,1.03,9.38,1.10,39.35,0.090,0.121,0.108,399,2096,1056,-9.21,0.48,450.13,0,0,0,0,0,0,14.42,14.44,14.45
$IRIDIUM_FIX,4735.69,-12518.46,220407,202059
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.89
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3932896
$PM_FREEKB,62114048
$24V_AH,13.7,4.086
$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,24.125,20.300,351.925,39.350,0.000,0.000,0.000,174.750,0.000,0.000,35.721,707.615,402.674,445.832,655.267,219.151,0.000,907.734,0.000,405.303,0.000,0.537,0.000
$DEVICE_MAMPS,437.580,145.350,765.000,107.865,0.000,0.000,0.000,147.645,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1946.000,1944.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.080,4.279,0.000,0.000
$MEM,290880
$DATA_FILE_SIZE,6828,262
$CAP_FILE_SIZE,44955,0
$CFSIZE,260034560,255578112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2443.87,0x2378ba,7,5
$EKF,2098,2875.503906,-7504.533203,0.130010,-0.106087,-0.193415,-0.080150,0.000584,0.001301,0.002295,0.081388,0.081388,0.000129
$CURRENT,0.020,132.1,1
$GPS,260614,084451,4755.479,-12504.532,11,3.1,31,18.8