version: 66.12
glider: 187
mission: 4
dive: 25
start: 6 26 114 14 34 6
data:
$ID,187
$MISSION,4
$DIVE,25
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,400
$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,-1593212.4
$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,20
$R_STBD_OVSHOOT,12
$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,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,142725,4753.840,-12507.147,12,1.5,12,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.3
$GPS2,260614,143331,4753.848,-12507.119,15,1.8,15,18.8
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,215.7,5286,-14.3,-10.000,-21.83,2203
$D_GRID,136
$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,-155.7,400,2387,1174,945,0.0,0.0,0,111,0.00,0.00,-80.72,0.000,16386,0.000,0.000,401,2387,3260,3273,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.80,-155.7,400,2387,3277,3245,4.7,-7.4,8,142,13.10,2.55,-3.95,0.000,18948,0.438,0.139,3091,993,3535,3526,3544,0,0,0,0,0,0,14.24,14.40,14.61
$GC,378,-0.78,-155.7,3092,994,3526,3542,63.3,-15.6,56,386,0.00,2.47,0.00,0.000,1030,0.000,0.109,3092,2401,3534,3526,3542,0,0,0,0,0,0,28.83,14.47,28.83
$GC,577,-0.76,-155.7,3092,2402,3527,3542,92.3,-14.4,76,585,0.00,2.50,0.00,0.000,260,0.000,0.120,3092,3816,3537,3526,3548,0,0,0,0,0,0,28.83,14.51,28.83
$GC,680,-0.74,-155.7,3091,3816,3527,3543,106.5,-13.7,94,691,0.00,2.47,0.00,0.000,1030,0.000,0.104,3092,2404,3534,3526,3542,0,0,0,0,0,0,28.83,14.50,28.83
$GC,881,-0.73,-155.7,3092,2405,3533,3542,132.0,-12.6,114,893,0.12,0.00,0.00,0.000,2054,0.281,0.000,3126,2405,3537,3527,3548,0,0,0,0,0,0,14.48,28.83,28.83
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,929,-0.32,0.0,3127,2701,3523,3542,136.8,-11.2,118,1055,0.40,0.00,118.68,0.832,10246,0.213,0.000,3249,2700,2889,2952,2826,0,0,0,0,0,0,14.49,28.83,13.78
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1065,0.80,155.7,3249,2701,2951,2823,144.0,0.0,131,1202,1.17,0.00,120.53,0.811,10502,0.159,0.000,3613,2700,2253,2407,2100,0,0,0,0,0,0,14.12,28.83,13.64
$GC,1383,0.76,155.7,3616,2700,2406,2095,114.3,12.3,167,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,2700,2250,2406,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,0.72,155.7,3613,2699,2405,2093,91.1,12.0,186,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2700,2249,2405,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,0.67,155.7,3613,2700,2404,2092,69.1,10.7,205,1779,0.12,2.33,0.00,0.000,4356,0.298,0.123,3584,4001,2248,2404,2092,0,0,0,0,0,0,14.38,14.45,28.83
$GC,1951,0.63,155.7,3584,4000,2400,2092,50.2,10.5,237,1962,0.00,2.28,0.00,0.000,1030,0.000,0.106,3587,2699,2246,2400,2092,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2153,0.68,237.4,3588,2699,2400,2092,35.3,6.2,257,2227,0.00,2.65,60.70,0.727,8708,0.000,0.125,3591,1282,1920,2067,1774,0,0,0,0,0,0,28.83,14.28,14.04
$GC,2474,0.77,341.1,3591,1281,2067,1772,12.1,5.2,312,2532,0.00,2.55,46.53,0.148,9222,0.000,0.113,3591,2705,1503,1669,1337,0,0,0,0,0,0,28.83,14.43,14.39
$STATE,2588,end climb,SURFACE_DEPTH_REACHED
$STATE,2588,begin surface coast
$FINISH,0.3,1.022918
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2656,25.75,0.107,0,0,1261,400.08
$SM_GC,1.14,9.27,0.57,25.75,0.087,0.120,0.107,397,2398,1261,-9.22,0.57,400.08,0,0,0,0,0,0,14.43,14.47,14.46
$IRIDIUM_FIX,4735.69,-12502.41,230407,030305
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.14
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3930016
$PM_FREEKB,62010080
$24V_AH,13.6,4.997
$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,24.200,20.925,346.425,25.750,0.000,0.000,0.000,160.725,0.000,0.000,16.024,928.343,696.078,448.223,743.310,249.050,0.000,965.727,0.000,517.174,0.000,0.536,0.000
$DEVICE_MAMPS,437.580,139.230,831.555,107.100,0.000,0.000,0.000,148.410,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2629.000,1082.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.051,4.204,0.000,0.000
$MEM,290876
$DATA_FILE_SIZE,10141,330
$CAP_FILE_SIZE,56693,0
$CFSIZE,260034560,255188992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2524.43,0x2378ba,7,5
$EKF,2762,2873.680420,-7507.416504,0.296157,-0.000015,-0.000034,-0.073741,0.000703,0.001563,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.067,248.6,1
$GPS,260614,152005,4753.644,-12507.557,12,1.5,28,18.7