version: 66.12
glider: 187
mission: 4
dive: 24
start: 6 26 114 13 52 0
data:
$ID,187
$MISSION,4
$DIVE,24
$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,-1593211
$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,14
$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
$GPS1,260614,134519,4753.965,-12506.904,10,1.3,10,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.8
$GPS2,260614,135125,4753.990,-12506.870,10,1.8,10,18.8
$SPEED_LIMITS,0.175,0.251
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,211.6,5691,-14.5,-10.101,-21.94,2185
$D_GRID,134
$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,27,-0.81,-155.7,395,2407,1186,944,0.0,0.0,0,113,0.00,0.00,-81.82,0.000,16386,0.000,0.000,401,2407,3301,3314,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.81,-155.7,395,2407,3315,3289,4.4,-6.6,8,149,13.12,2.58,-3.28,0.000,18692,0.440,0.138,3088,3816,3532,3523,3542,0,0,0,0,0,0,14.26,14.40,14.63
$GC,246,-0.78,-155.7,3088,3819,3524,3543,45.0,-19.3,29,256,0.00,2.50,0.00,0.000,1030,0.000,0.099,3087,2396,3534,3525,3543,0,0,0,0,0,0,28.83,14.45,28.83
$GC,438,-0.76,-155.7,3084,2390,3526,3544,75.9,-14.8,48,446,0.00,2.50,0.00,0.000,516,0.000,0.122,3088,983,3535,3526,3544,0,0,0,0,0,0,28.83,14.48,28.83
$GC,478,-0.74,-155.7,3085,987,3526,3544,81.9,-15.0,54,487,0.12,2.50,0.00,0.000,3078,0.284,0.109,3118,2401,3535,3526,3544,0,0,0,0,0,0,14.44,14.48,28.83
$STATE,634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,634,begin apogee
$GC,643,-0.32,0.0,3118,2700,3526,3543,100.9,-11.9,70,768,0.45,0.00,118.28,0.782,10246,0.225,0.000,3253,2698,2888,2950,2826,0,0,0,0,0,0,14.47,28.83,13.83
$STATE,774,end apogee,CONTROL_FINISHED_OK
$STATE,774,begin climb
$GC,778,0.81,155.7,3253,2698,2950,2822,107.5,0.0,83,910,1.17,0.00,119.65,0.760,10502,0.169,0.000,3616,2698,2256,2409,2103,0,0,0,0,0,0,14.12,28.83,13.66
$GC,1091,0.77,155.7,3616,2699,2407,2094,80.9,11.0,118,1099,0.00,2.35,0.00,0.000,260,0.000,0.124,3616,4000,2249,2405,2094,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1202,0.72,155.7,3617,4001,2402,2098,67.5,12.4,137,1212,0.00,2.33,0.00,0.000,1030,0.000,0.113,3617,2702,2248,2402,2094,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1394,0.69,168.8,3610,2703,2402,2093,46.6,9.5,156,1413,0.15,0.00,10.85,0.756,12294,0.289,0.000,3616,2703,2199,2356,2043,0,0,0,0,0,0,14.33,28.83,14.09
$GC,1595,0.73,232.9,3653,2707,2355,2045,33.7,7.1,176,1655,0.08,2.65,48.53,0.715,12804,0.330,0.121,3574,1279,1938,2085,1791,0,0,0,0,0,0,14.40,14.26,14.02
$GC,1703,0.80,300.7,3574,1280,2084,1791,25.7,6.9,192,1760,0.12,2.58,47.15,0.695,11270,0.164,0.113,3624,2708,1662,1830,1495,0,0,0,0,0,0,14.35,14.31,13.93
$STATE,1927,end climb,SURFACE_DEPTH_REACHED
$STATE,1927,begin surface coast
$FINISH,0.3,1.023872
$STATE,1971,end surface coast,CONTROL_FINISHED_OK
$STATE,1971,begin surface
$SM_CCo,1999,63.88,0.105,0,0,1056,450.13
$SM_GC,1.38,9.48,0.60,63.88,0.094,0.119,0.105,401,2388,1056,-9.21,0.31,450.13,0,0,0,0,0,0,14.35,14.38,14.38
$IRIDIUM_FIX,4738.89,-12504.26,230407,020247
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.20
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3930336
$PM_FREEKB,62016384
$24V_AH,13.7,4.894
$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,24.700,21.125,344.450,63.875,0.000,0.000,0.000,166.275,0.000,0.000,11.091,623.509,557.994,470.378,567.643,227.455,0.000,905.652,0.000,347.059,0.000,0.537,0.000
$DEVICE_MAMPS,439.875,138.465,781.830,104.805,0.000,0.000,0.000,145.350,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1967.000,1967.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.170,4.212,0.000,0.000
$MEM,290916
$DATA_FILE_SIZE,6812,221
$CAP_FILE_SIZE,46219,0
$CFSIZE,260034560,255242240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2416.78,0x2378ba,7,5
$EKF,2128,2873.880859,-7507.114258,0.255577,0.165215,-0.126499,-0.064936,0.000650,0.001447,0.002294,0.045388,0.045388,0.000129
$CURRENT,0.048,191.0,1
$GPS,260614,142725,4753.840,-12507.147,12,1.5,12,18.8