version: 66.12
glider: 187
mission: 4
dive: 17
start: 6 26 114 8 51 57
data:
$ID,187
$MISSION,4
$DIVE,17
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,100
$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,33
$T_MISSION,60
$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,-1593201.6
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,15
$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
$GPS1,260614,084451,4755.479,-12504.532,11,3.1,31,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.5
$GPS2,260614,085121,4755.443,-12504.506,13,2.8,33,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,213.5,9675,-14.5,-10.101,-21.94,2185
$D_GRID,115
$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,-0.81,-155.7,398,2409,1174,953,0.0,0.0,0,111,0.00,0.00,-80.25,0.000,16386,0.000,0.000,398,2409,3260,3274,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-155.7,394,2409,3275,3246,4.9,-7.9,8,142,13.15,2.60,-3.78,0.000,18692,0.441,0.145,3088,3807,3530,3523,3537,0,0,0,0,0,0,14.26,14.43,14.65
$GC,266,-0.79,-155.7,3089,3810,3524,3539,44.7,-16.8,34,275,0.00,2.50,0.00,0.000,1030,0.000,0.106,3089,2396,3531,3524,3539,0,0,0,0,0,0,28.83,14.47,28.83
$GC,456,-0.77,-155.7,3089,2394,3525,3539,76.1,-15.6,53,466,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2396,3532,3526,3539,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,629,begin apogee
$GC,637,-0.32,0.0,3089,2698,3525,3540,100.1,-13.6,70,766,0.55,0.00,118.38,0.780,10246,0.230,0.000,3257,2699,2889,2956,2822,0,0,0,0,0,0,14.46,28.83,13.86
$STATE,773,end apogee,CONTROL_FINISHED_OK
$STATE,773,begin climb
$GC,776,0.81,155.7,3252,2699,2947,2818,107.8,0.0,84,910,1.17,0.00,120.07,0.757,10502,0.166,0.000,3614,2699,2254,2407,2101,0,0,0,0,0,0,14.14,28.83,13.69
$GC,1091,0.77,157.2,3614,2699,2400,2088,79.3,10.0,117,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,2704,2246,2400,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,0.73,157.2,3614,2698,2400,2091,58.2,12.5,136,1291,0.00,2.55,0.00,0.000,516,0.000,0.125,3614,1284,2244,2398,2091,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1523,0.79,256.1,3615,1284,2399,2086,36.9,5.5,178,1607,0.00,2.55,75.65,0.702,9222,0.000,0.118,3614,2707,1843,1995,1691,0,0,0,0,0,0,28.83,14.46,13.96
$GC,1789,0.80,290.1,3614,2706,1991,1684,12.1,8.5,208,1812,0.00,2.35,14.77,0.151,8452,0.000,0.129,3614,3998,1708,1873,1543,0,0,0,0,0,0,28.83,14.34,14.32
$STATE,1890,end climb,SURFACE_DEPTH_REACHED
$STATE,1890,begin surface coast
$FINISH,3.1,1.023519
$STATE,1899,end surface coast,CONTROL_FINISHED_OK
$STATE,1899,begin surface
$SM_CCo,1928,71.05,0.109,0,0,1056,450.13
$SM_GC,1.43,10.00,2.95,71.05,0.143,0.119,0.109,401,2403,1056,-9.22,0.48,450.13,0,0,0,0,0,0,14.37,14.41,14.41
$IRIDIUM_FIX,4738.89,-12459.78,220407,212125
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.40
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3932576
$PM_FREEKB,62102432
$24V_AH,13.7,4.185
$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,24.875,16.650,328.875,71.050,0.000,0.000,0.000,166.850,0.000,0.000,34.388,635.963,494.398,471.364,592.894,213.562,0.000,893.469,0.000,351.428,0.000,0.536,0.000
$DEVICE_MAMPS,440.640,144.585,779.535,109.395,0.000,0.000,0.000,149.175,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1896.000,1894.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.129,4.266,0.000,0.000
$MEM,290868
$DATA_FILE_SIZE,6795,226
$CAP_FILE_SIZE,42984,0
$CFSIZE,260034560,255537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EKF,2085,2875.306641,-7504.734375,3.092914,-0.114243,-0.147865,-0.093228,0.000527,0.001175,0.001937,0.009051,0.009051,0.000124
$CURRENT,0.056,163.5,1
$GPS,260614,092639,4755.234,-12504.730,12,2.1,32,18.8