version: 66.12
glider: 187
mission: 4
dive: 35
start: 6 27 114 0 22 59
data:
$ID,187
$MISSION,4
$DIVE,35
$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,-1593224.9
$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,14
$R_STBD_OVSHOOT,13
$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
$GPS1,270614,001537,4752.456,-12510.433,12,1.6,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.8
$GPS2,270614,002224,4752.456,-12510.336,16,1.4,32,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,213.8,169185,-14.3,-10.000,-21.83,2203
$D_GRID,164
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.80,-155.7,397,2410,1379,1141,0.0,0.0,0,102,0.00,0.00,-70.80,0.000,16386,0.000,0.000,397,2406,3156,3176,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.80,-155.7,397,2406,3182,3137,4.1,-6.1,7,138,12.85,2.58,-5.90,0.000,18948,0.428,0.135,3090,984,3532,3526,3538,0,0,0,0,0,0,14.26,14.40,14.63
$GC,189,-0.77,-155.7,3090,984,3527,3540,30.4,-18.2,19,197,0.00,2.50,0.00,0.000,1030,0.000,0.103,3090,2405,3533,3527,3540,0,0,0,0,0,0,28.83,14.42,28.83
$GC,388,-0.75,-155.7,3091,2405,3528,3543,61.4,-14.8,39,396,0.00,2.53,0.00,0.000,516,0.000,0.120,3091,982,3534,3528,3541,0,0,0,0,0,0,28.83,14.45,28.83
$GC,433,-0.72,-155.7,3090,982,3528,3542,68.9,-16.3,46,443,0.12,2.50,0.00,0.000,3078,0.288,0.103,3121,2406,3535,3528,3542,0,0,0,0,0,0,14.41,14.48,28.83
$GC,625,-0.72,-155.7,3121,2407,3528,3542,94.0,-11.8,65,634,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2407,3535,3528,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-0.72,-155.7,3121,2407,3529,3548,114.7,-10.8,84,825,0.00,2.53,0.00,0.000,516,0.000,0.117,3122,980,3536,3529,3543,0,0,0,0,0,0,28.83,14.52,28.83
$GC,914,-0.72,-155.7,3121,981,3528,3543,125.8,-11.6,101,924,0.00,2.47,0.00,0.000,1030,0.000,0.103,3121,2404,3534,3526,3543,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1104,-0.72,-155.7,3120,2404,3530,3542,145.5,-9.6,120,1115,0.00,2.50,0.00,0.000,260,0.000,0.121,3121,3810,3535,3529,3542,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1213,-0.72,-155.7,3121,3809,3529,3542,156.0,-9.4,139,1222,0.00,2.55,0.00,0.000,1030,0.000,0.127,3121,2401,3535,3529,3542,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1308,-0.32,0.0,3121,2704,3524,3542,164.2,-9.1,148,1434,0.43,0.00,117.95,0.874,10246,0.214,0.000,3250,2703,2889,2952,2827,0,0,0,0,0,0,14.50,28.83,13.78
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1444,0.80,155.7,3250,2703,2952,2823,170.6,0.0,161,1581,1.15,0.00,119.55,0.851,10502,0.161,0.000,3610,2704,2256,2411,2101,0,0,0,0,0,0,14.09,28.83,13.60
$GC,1762,0.76,155.7,3610,2704,2410,2098,141.2,13.9,198,1773,0.00,2.35,0.00,0.000,260,0.000,0.122,3610,3996,2254,2410,2098,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1886,0.70,155.7,3610,3996,2412,2098,123.6,13.7,220,1898,0.00,2.35,0.00,0.000,1030,0.000,0.113,3614,2685,2252,2406,2098,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2089,0.66,155.7,3614,2684,2401,2097,100.2,11.8,240,2103,0.15,2.60,0.00,0.000,4612,0.299,0.143,3586,1288,2251,2405,2097,0,0,0,0,0,0,14.33,14.35,28.83
$GC,2226,0.63,155.7,3587,1288,2405,2096,86.1,10.6,264,2239,0.00,2.53,0.00,0.000,1030,0.000,0.114,3586,2698,2250,2405,2096,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2430,0.61,171.5,3587,2695,2405,2095,65.7,9.3,284,2451,0.00,0.00,13.48,0.799,8198,0.000,0.000,3587,2697,2187,2344,2030,0,0,0,0,0,0,28.83,28.83,14.13
$GC,2632,0.65,240.8,3587,2698,2340,2029,49.2,6.8,304,2699,0.00,2.62,51.88,0.753,8708,0.000,0.130,3588,1285,1907,2057,1758,0,0,0,0,0,0,28.83,14.25,14.01
$GC,2895,0.63,240.8,3588,1285,2057,1758,25.8,10.7,350,2906,0.00,2.55,0.00,0.000,1030,0.000,0.111,3588,2709,1906,2056,1757,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3097,0.68,300.8,3588,2709,2056,1754,9.3,7.2,370,3135,0.00,2.62,26.23,0.133,8708,0.000,0.140,3588,1296,1666,1834,1498,0,0,0,0,0,0,28.83,14.40,14.42
$STATE,3169,end climb,SURFACE_DEPTH_REACHED
$STATE,3169,begin surface coast
$FINISH,0.3,1.023690
$STATE,3219,end surface coast,CONTROL_FINISHED_OK
$STATE,3219,begin surface
$SM_CCo,3247,42.62,0.103,0,0,1260,400.08
$SM_GC,1.48,9.15,2.00,42.62,0.079,0.111,0.103,398,2404,1260,-9.21,-0.59,400.08,0,0,0,0,0,0,14.47,14.47,14.47
$IRIDIUM_FIX,4735.69,-12506.88,230407,121230
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3926816
$PM_FREEKB,61929152
$24V_AH,13.6,6.131
$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,23.850,40.400,329.075,42.625,0.000,0.000,0.000,196.975,0.000,0.000,32.881,1134.493,926.708,480.425,907.544,259.968,0.000,1096.856,0.000,607.521,0.000,0.537,0.000
$DEVICE_MAMPS,428.400,399.330,874.395,103.275,0.000,0.000,0.000,152.235,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3222.000,1455.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.978,4.187,0.000,0.000
$MEM,290844
$DATA_FILE_SIZE,13433,391
$CAP_FILE_SIZE,69157,0
$CFSIZE,260034560,254713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EKF,3353,2872.272949,-7510.725586,0.249855,0.000002,-0.000017,-0.017012,0.000802,0.001782,0.001939,0.044901,0.044901,0.000121
$CURRENT,0.090,245.4,1
$GPS,270614,011849,4752.205,-12510.948,11,1.7,11,18.7