version: 66.12
glider: 187
mission: 4
dive: 26
start: 6 26 114 15 26 41
data:
$ID,187
$MISSION,4
$DIVE,26
$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,-1593213.6
$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,18
$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
$GPS1,260614,152005,4753.644,-12507.557,12,1.5,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-73.6
$GPS2,260614,152607,4753.633,-12507.557,17,1.5,17,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,202.6,4616,-14.3,-10.000,-21.83,2203
$D_GRID,143
$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,-0.80,-155.7,397,2396,1385,1142,0.0,0.0,0,101,0.00,0.00,-70.10,0.000,16386,0.000,0.000,397,2396,3151,3175,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,397,2396,3171,3127,4.2,-6.1,7,137,13.00,2.58,-5.82,0.000,18948,0.435,0.142,3092,985,3531,3526,3537,0,0,0,0,0,0,14.25,14.40,14.64
$GC,263,-0.77,-155.7,3092,986,3527,3538,42.3,-14.7,33,271,0.00,2.50,0.00,0.000,1030,0.000,0.108,3093,2403,3533,3527,3539,0,0,0,0,0,0,28.83,14.45,28.83
$GC,463,-0.75,-155.7,3092,2402,3527,3540,68.7,-13.3,53,472,0.00,2.50,0.00,0.000,516,0.000,0.117,3093,986,3533,3527,3540,0,0,0,0,0,0,28.83,14.52,28.83
$GC,507,-0.73,-155.7,3092,986,3526,3540,74.9,-13.2,60,519,0.00,2.50,0.00,0.000,1030,0.000,0.110,3092,2404,3533,3527,3540,0,0,0,0,0,0,28.83,14.50,28.83
$GC,700,-0.71,-155.7,3093,2404,3523,3541,99.4,-13.5,79,709,0.12,2.53,0.00,0.000,2308,0.293,0.122,3126,3818,3534,3528,3540,0,0,0,0,0,0,14.46,14.52,28.83
$GC,820,-0.71,-155.7,3130,3818,3528,3540,113.1,-10.8,99,829,0.00,2.53,0.00,0.000,1030,0.000,0.113,3126,2399,3534,3528,3541,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1019,-0.71,-155.7,3126,2395,3527,3541,134.1,-11.0,119,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3534,3527,3541,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1114,-0.32,0.0,3126,2698,3528,3541,143.7,-10.1,128,1240,0.38,0.00,118.68,0.851,10246,0.213,0.000,3243,2697,2889,2952,2827,0,0,0,0,0,0,14.49,28.83,13.80
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1250,0.80,155.7,3243,2698,2952,2821,150.2,0.0,141,1387,1.20,2.50,120.75,0.824,10500,0.164,0.125,3614,3999,2254,2407,2101,0,0,0,0,0,0,14.12,13.93,13.64
$GC,1423,0.74,155.7,3614,4003,2403,2100,138.5,14.8,166,1435,0.00,2.40,0.00,0.000,1030,0.000,0.115,3614,2697,2251,2403,2100,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1617,0.70,155.7,3616,2696,2404,2099,113.5,11.6,185,1627,0.00,2.60,0.00,0.000,516,0.000,0.135,3617,1285,2250,2404,2096,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1706,0.66,155.7,3616,1285,2403,2096,103.3,11.3,199,1717,0.17,2.58,0.00,0.000,5126,0.285,0.119,3578,2698,2249,2403,2095,0,0,0,0,0,0,14.26,14.33,28.83
$GC,1908,0.63,164.6,3578,2698,2403,2093,82.1,9.6,219,1921,0.00,0.00,6.75,0.791,8198,0.000,0.000,3577,2698,2224,2380,2069,0,0,0,0,0,0,28.83,28.83,14.07
$GC,2102,0.66,224.2,3578,2698,2378,2066,65.7,7.2,238,2161,0.00,2.45,47.17,0.770,8452,0.000,0.128,3577,4007,1971,2125,1817,0,0,0,0,0,0,28.83,14.27,14.00
$GC,2193,0.64,228.7,3578,4007,2123,1819,58.4,9.8,251,2206,0.00,2.38,2.67,0.495,9222,0.000,0.120,3577,2700,1960,2108,1813,0,0,0,0,0,0,28.83,14.29,13.90
$GC,2387,0.65,255.5,3578,2700,2109,1816,43.7,8.8,270,2421,0.00,2.70,22.48,0.762,8708,0.000,0.145,3579,1291,1846,1998,1694,0,0,0,0,0,0,28.83,14.27,14.05
$GC,2635,0.68,287.4,3580,1291,1997,1694,20.5,8.5,315,2662,0.00,2.55,15.10,0.190,9222,0.000,0.119,3579,2705,1721,1887,1555,0,0,0,0,0,0,28.83,14.42,14.37
$STATE,2839,end climb,SURFACE_DEPTH_REACHED
$STATE,2839,begin surface coast
$FINISH,0.3,1.023559
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2919,48.38,0.106,0,0,1260,400.08
$SM_GC,1.31,9.35,0.60,48.38,0.100,0.124,0.106,397,2387,1260,-9.22,0.23,400.08,0,0,0,0,0,0,14.47,14.50,14.48
$IRIDIUM_FIX,4738.89,-12511.36,230407,030303
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.22
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3929696
$PM_FREEKB,62002752
$24V_AH,13.6,5.108
$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,24.225,36.450,333.600,48.375,0.000,0.000,0.000,170.650,0.000,0.000,17.846,989.099,857.969,461.411,786.445,248.644,0.000,1013.125,0.000,528.411,0.000,0.535,0.000
$DEVICE_MAMPS,435.285,145.350,850.680,106.335,0.000,0.000,0.000,148.410,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2895.000,1258.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.946,4.201,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,10135,341
$CAP_FILE_SIZE,63810,0
$CFSIZE,260034560,255135744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3154.27,0x2378ba,7,5
$EKF,3035,2873.469482,-7507.818848,0.246428,-0.000000,-0.000000,-0.063257,0.000735,0.001635,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.068,224.5,1
$GPS,260614,161713,4753.389,-12507.937,14,2.0,14,18.7