version: 66.12
glider: 187
mission: 4
dive: 23
start: 6 26 114 13 11 42
data:
$ID,187
$MISSION,4
$DIVE,23
$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,-1593209.6
$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,19
$R_STBD_OVSHOOT,7
$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
$GPS1,260614,130503,4754.180,-12506.535,10,2.4,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.7
$GPS2,260614,131107,4754.175,-12506.590,12,1.5,12,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,207.0,6180,-14.5,-10.101,-21.94,2185
$D_GRID,129
$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,23,begin dive
$GC,26,-0.81,-155.7,400,2384,1174,945,0.0,0.0,0,111,0.00,0.00,-80.03,0.000,16386,0.000,0.000,400,2388,3234,3251,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-155.7,400,2388,3252,3218,4.6,-7.1,8,142,12.93,2.58,-4.50,0.000,18948,0.432,0.148,3089,993,3531,3524,3538,0,0,0,0,0,0,14.25,14.41,14.64
$GC,392,-0.79,-155.7,3090,993,3525,3543,64.7,-15.9,56,401,0.00,2.50,0.00,0.000,1030,0.000,0.109,3090,2410,3534,3525,3544,0,0,0,0,0,0,28.83,14.49,28.83
$GC,591,-0.77,-155.7,3090,2410,3525,3541,92.9,-13.3,76,600,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2410,3536,3525,3548,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,649,begin apogee
$GC,657,-0.32,0.0,3090,2698,3525,3545,100.3,-11.8,82,782,0.52,0.00,117.60,0.781,10246,0.231,0.000,3246,2698,2890,2952,2829,0,0,0,0,0,0,14.45,28.83,13.83
$STATE,788,end apogee,CONTROL_FINISHED_OK
$STATE,788,begin climb
$GC,791,0.81,155.7,3247,2698,2951,2822,106.3,0.0,95,931,1.20,2.70,119.78,0.759,11012,0.170,0.121,3617,1292,2251,2405,2098,0,0,0,0,0,0,14.12,13.95,13.68
$GC,1019,0.77,155.7,3617,1295,2404,2094,88.3,11.7,128,1028,0.00,2.58,0.00,0.000,1030,0.000,0.115,3617,2701,2249,2405,2093,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1219,0.77,195.1,3617,2700,2404,2090,66.0,8.2,148,1263,0.00,2.65,30.12,0.746,8708,0.000,0.128,3617,1296,2093,2252,1935,0,0,0,0,0,0,28.83,14.22,13.96
$GC,1293,0.83,291.2,3617,1296,2253,1931,61.6,5.6,158,1376,0.00,2.55,71.20,0.720,9222,0.000,0.116,3617,2698,1700,1867,1534,0,0,0,0,0,0,28.83,14.26,13.83
$GC,1557,0.81,291.2,3617,2698,1866,1528,27.8,11.2,188,1566,0.00,2.60,0.00,0.000,516,0.000,0.138,3617,1296,1697,1867,1528,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,1816,end climb,SURFACE_DEPTH_REACHED
$STATE,1816,begin surface coast
$FINISH,0.1,1.023571
$STATE,1860,end surface coast,CONTROL_FINISHED_OK
$STATE,1860,begin surface
$SM_CCo,1889,67.75,0.105,0,0,1056,450.13
$SM_GC,1.24,9.38,2.03,67.75,0.090,0.115,0.105,396,2406,1056,-9.22,-0.40,450.13,0,0,0,0,0,0,14.44,14.44,14.44
$IRIDIUM_FIX,4738.89,-12508.73,230407,010113
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.92
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3930656
$PM_FREEKB,62028704
$24V_AH,13.7,4.790
$10V_AH,13.8,0.000
$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,24.025,20.700,338.700,67.750,0.000,0.000,0.000,161.550,0.000,0.000,13.711,660.806,400.872,468.221,590.290,218.327,0.000,902.760,0.000,378.885,0.000,0.536,0.000
$DEVICE_MAMPS,432.225,147.645,781.065,104.805,0.000,0.000,0.000,149.940,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1857.000,1855.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.044,4.250,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,6816,242
$CAP_FILE_SIZE,43712,0
$CFSIZE,260034560,255287296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2591.33,0x2378ba,7,5
$EKF,2020,2874.037354,-7506.809082,0.128413,-0.007192,-0.018682,-0.064851,0.000473,0.001052,0.001936,0.008983,0.008983,0.000121
$CURRENT,0.086,220.9,1
$GPS,260614,134519,4753.965,-12506.904,10,1.3,10,18.8