version: 66.12
glider: 187
mission: 4
dive: 30
start: 6 26 114 19 19 38
data:
$ID,187
$MISSION,4
$DIVE,30
$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,-1593218.6
$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,13
$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,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,191245,4753.044,-12508.805,16,3.3,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.9
$GPS2,260614,191903,4753.047,-12508.747,12,3.4,32,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,198.8,2803,-14.3,-10.000,-21.83,2203
$D_GRID,154
$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,-155.7,400,2408,1387,1138,0.0,0.0,0,101,0.00,0.00,-70.72,0.000,16386,0.000,0.000,400,2409,3167,3188,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,400,2408,3190,3147,4.3,-6.6,7,133,13.02,0.00,-5.62,0.000,18438,0.435,0.000,3090,2408,3529,3520,3538,0,0,0,0,0,0,14.24,28.83,14.62
$GC,315,-0.78,-155.7,3090,2408,3526,3541,54.0,-17.4,28,324,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2405,3534,3527,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,504,-0.75,-155.7,3090,2406,3527,3542,79.8,-14.4,47,515,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3534,3527,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-0.74,-155.7,3090,2408,3527,3542,106.7,-14.4,66,706,0.12,0.00,0.00,0.000,2054,0.293,0.000,3125,2408,3534,3527,3542,0,0,0,0,0,0,14.46,28.83,28.83
$GC,886,-0.74,-155.7,3125,2408,3528,3542,126.6,-10.4,85,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3533,3528,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.74,-155.7,3125,2408,3529,3542,145.5,-9.4,104,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2408,3534,3527,3542,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1182,-0.32,0.0,3125,2703,3528,3542,155.0,-9.8,114,1307,0.40,0.00,118.38,0.863,10246,0.217,0.000,3246,2703,2889,2951,2828,0,0,0,0,0,0,14.50,28.83,13.78
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1316,0.80,155.7,3246,2703,2951,2823,160.3,0.0,127,1453,1.17,2.50,120.30,0.838,10500,0.163,0.122,3609,4007,2253,2407,2099,0,0,0,0,0,0,14.11,13.90,13.62
$GC,1567,0.75,155.7,3609,4007,2402,2099,136.8,15.5,167,1579,0.00,2.35,0.00,0.000,1030,0.000,0.104,3614,2699,2250,2402,2098,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1770,0.70,155.7,3614,2697,2402,2092,110.4,11.9,187,1782,0.00,2.58,0.00,0.000,516,0.000,0.126,3617,1285,2249,2402,2096,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1879,0.66,155.7,3617,1280,2401,2095,96.1,12.8,206,1892,0.17,2.55,0.00,0.000,5126,0.280,0.111,3576,2701,2247,2401,2094,0,0,0,0,0,0,14.32,14.37,28.83
$GC,2073,0.67,193.3,3578,2702,2401,2093,77.4,8.2,225,2112,0.00,2.67,29.12,0.789,8708,0.000,0.129,3585,1280,2101,2260,1942,0,0,0,0,0,0,28.83,14.31,14.04
$GC,2247,0.64,193.3,3582,1278,2260,1942,61.2,10.0,253,2259,0.00,2.58,0.00,0.000,1030,0.000,0.114,3586,2708,2100,2260,1941,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2442,0.61,193.3,3585,2706,2260,1938,40.9,10.3,272,2453,0.00,2.28,0.00,0.000,260,0.000,0.128,3585,3994,2098,2259,1938,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2485,0.58,193.3,3584,3994,2260,1938,35.8,11.9,278,2497,0.17,2.33,0.00,0.000,5126,0.276,0.126,3547,2702,2098,2258,1938,0,0,0,0,0,0,14.39,14.43,28.83
$GC,2688,0.69,305.6,3547,2702,2258,1937,23.7,4.8,298,2782,0.12,2.62,79.00,0.709,10756,0.170,0.133,3602,1283,1644,1812,1476,0,0,0,0,0,0,14.51,14.19,13.97
$STATE,2946,end climb,SURFACE_DEPTH_REACHED
$STATE,2946,begin surface coast
$FINISH,0.4,1.023461
$STATE,2988,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3016,39.95,0.105,0,0,1260,400.08
$SM_GC,1.53,9.38,2.05,39.95,0.092,0.110,0.105,405,2404,1260,-9.21,-0.45,400.08,0,0,0,0,0,0,14.37,14.38,14.40
$IRIDIUM_FIX,4735.69,-12513.98,230407,070703
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.77
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3928416
$PM_FREEKB,61971584
$24V_AH,13.6,5.570
$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,24.575,25.050,346.800,39.950,0.000,0.000,0.000,168.250,0.000,0.000,33.220,1002.737,921.402,471.330,809.898,242.196,0.000,1022.802,0.000,537.546,0.000,0.536,0.000
$DEVICE_MAMPS,435.285,133.110,862.920,104.805,0.000,0.000,0.000,154.530,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2993.000,1325.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.952,4.211,0.000,0.000
$MEM,290884
$DATA_FILE_SIZE,10126,349
$CAP_FILE_SIZE,62513,0
$CFSIZE,260034560,254955520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3787.75,0x2378ba,7,5
$EKF,3127,2872.838379,-7508.974609,0.389745,-0.000459,-0.002293,-0.082299,0.000895,0.001991,0.001936,0.026942,0.026942,0.000121
$CURRENT,0.027,348.1,1
$GPS,260614,201142,4752.883,-12508.989,13,1.7,18,18.7