version: 66.12
glider: 187
mission: 4
dive: 36
start: 6 27 114 1 25 35
data:
$ID,187
$MISSION,4
$DIVE,36
$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,-1593226.1
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,270614,011849,4752.205,-12510.948,11,1.7,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.0
$GPS2,270614,012501,4752.211,-12510.940,11,1.9,11,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,212.4,168299,-14.3,-10.000,-21.83,2203
$D_GRID,189
$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,-155.7,397,2401,1384,1140,0.0,0.0,0,102,0.00,0.00,-70.78,0.000,16386,0.000,0.000,395,2405,3143,3167,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.80,-155.7,398,2405,3168,3120,4.0,-5.6,7,138,12.77,2.58,-6.20,0.000,18948,0.427,0.138,3086,973,3531,3526,3536,0,0,0,0,0,0,14.26,14.40,14.61
$GC,267,-0.77,-155.7,3090,973,3526,3539,46.5,-15.7,35,276,0.00,2.50,0.00,0.000,1030,0.000,0.103,3087,2401,3532,3528,3537,0,0,0,0,0,0,28.83,14.44,28.83
$GC,466,-0.75,-155.7,3087,2401,3528,3540,78.4,-15.2,55,475,0.12,0.00,0.00,0.000,2054,0.300,0.000,3121,2401,3534,3528,3541,0,0,0,0,0,0,14.41,28.83,28.83
$GC,657,-0.75,-155.7,3121,2401,3529,3541,101.3,-11.6,74,666,0.00,2.50,0.00,0.000,516,0.000,0.115,3121,986,3534,3527,3541,0,0,0,0,0,0,28.83,14.50,28.83
$GC,730,-0.75,-155.7,3121,985,3528,3541,109.8,-11.8,86,739,0.00,2.50,0.00,0.000,1030,0.000,0.103,3121,2406,3534,3528,3541,0,0,0,0,0,0,28.83,14.52,28.83
$GC,931,-0.75,-155.7,3121,2405,3528,3541,130.3,-9.3,106,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2407,3534,3528,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1120,-0.75,-155.7,3126,2405,3528,3541,147.0,-9.0,125,1131,0.00,2.47,0.00,0.000,260,0.000,0.118,3121,3814,3534,3528,3541,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1182,-0.75,-155.7,3121,3814,3528,3541,152.9,-9.3,135,1191,0.00,2.47,0.00,0.000,1030,0.000,0.106,3121,2406,3534,3528,3541,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1381,-0.75,-155.7,3121,2403,3528,3541,171.8,-9.5,155,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3534,3528,3541,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1468,begin apogee
$GC,1476,-0.32,0.0,3121,2699,3528,3541,180.0,-9.3,164,1601,0.43,0.00,118.35,0.897,10246,0.224,0.000,3249,2699,2889,2952,2827,0,0,0,0,0,0,14.50,28.83,13.79
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1611,0.80,155.7,3249,2699,2952,2822,184.8,0.0,177,1750,1.17,2.42,120.20,0.870,10500,0.173,0.116,3608,4007,2253,2408,2098,0,0,0,0,0,0,14.09,13.89,13.59
$GC,1770,0.75,155.7,3610,4007,2406,2098,172.1,13.1,197,1783,0.00,2.40,0.00,0.000,1030,0.000,0.106,3615,2695,2252,2406,2098,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1973,0.70,155.7,3621,2696,2406,2095,145.0,12.9,217,1986,0.00,2.60,0.00,0.000,516,0.000,0.135,3617,1293,2250,2406,2095,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2027,0.66,155.7,3617,1293,2406,2095,137.7,13.2,225,2040,0.22,2.55,0.00,0.000,5126,0.274,0.115,3564,2699,2253,2406,2100,0,0,0,0,0,0,14.21,14.30,28.83
$GC,2231,0.65,168.4,3564,2698,2401,2094,117.9,9.4,245,2252,0.00,2.70,10.62,0.842,8708,0.000,0.144,3565,1293,2203,2361,2045,0,0,0,0,0,0,28.83,14.31,14.03
$GC,2321,0.66,202.1,3565,1293,2361,2043,110.3,8.4,259,2359,0.00,2.55,27.20,0.824,9222,0.000,0.116,3564,2711,2065,2226,1905,0,0,0,0,0,0,28.83,14.38,13.97
$GC,2550,0.64,203.1,3564,2711,2225,1902,88.0,10.0,283,2561,0.00,2.67,0.00,0.000,516,0.000,0.149,3564,1293,2064,2225,1903,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2792,0.63,203.1,3565,1292,2225,1901,62.1,10.9,328,2804,0.00,2.53,0.00,0.000,1030,0.000,0.114,3563,2705,2063,2225,1901,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2985,0.68,276.1,3564,2705,2225,1900,44.3,6.6,347,3054,0.00,2.70,54.45,0.747,8708,0.000,0.136,3564,1284,1762,1926,1599,0,0,0,0,0,0,28.83,14.24,14.02
$GC,3290,0.75,345.9,3564,1284,1925,1599,22.1,6.7,402,3350,0.15,2.53,48.00,0.710,11270,0.145,0.110,3617,2698,1477,1643,1311,0,0,0,0,0,0,14.45,14.41,13.99
$STATE,3468,end climb,SURFACE_DEPTH_REACHED
$STATE,3469,begin surface coast
$FINISH,0.4,1.023679
$STATE,3498,end surface coast,CONTROL_FINISHED_OK
$STATE,3499,begin surface
$SM_CCo,3524,22.10,0.106,0,0,1260,400.08
$SM_GC,1.44,9.48,0.57,22.10,0.093,0.119,0.106,395,2388,1260,-9.22,0.31,400.08,0,0,0,0,0,0,14.35,14.38,14.38
$IRIDIUM_FIX,4732.49,-12507.66,230407,131307
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3926496
$PM_FREEKB,61919520
$24V_AH,13.6,6.261
$10V_AH,13.7,0.000
$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,24.350,41.800,378.825,22.100,0.000,0.000,0.000,182.675,0.000,0.000,12.842,1214.566,1027.964,495.195,928.464,264.476,0.000,1134.368,0.000,656.994,0.000,0.536,0.000
$DEVICE_MAMPS,426.870,149.175,897.345,105.570,0.000,0.000,0.000,152.235,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3500.000,1623.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.879,4.170,0.000,0.000
$MEM,290872
$DATA_FILE_SIZE,13489,425
$CAP_FILE_SIZE,73849,0
$CFSIZE,260034560,254656512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3754.90,0x2378ba,7,5
$EKF,3633,2872.041016,-7511.300293,0.441958,0.157891,-0.194253,-0.115369,0.000874,0.001943,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.090,259.0,1
$GPS,270614,022605,4752.019,-12511.582,34,1.0,34,18.7