version: 66.12
glider: 187
mission: 3
dive: 2
start: 6 6 114 18 38 21
data:
$ID,187
$MISSION,3
$DIVE,2
$N_DIVES,2
$D_SURF,4
$D_FLARE,3
$D_TGT,60
$D_ABORT,130
$D_NO_BLEED,50
$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,20
$T_MISSION,27
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53141
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,694.68958
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1592464.1
$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,3600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.050000001
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-63.666306
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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,48
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,060614,183335,4743.090,-12224.714,19,2.0,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.7
$GPS2,060614,183751,4743.095,-12224.718,10,2.3,30,18.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,316.7,828,-17.6,-10.000,-21.21,2209
$D_GRID,177
$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,-0.61,-146.6,404,2201,526,419,0.0,0.0,0,150,0.00,0.00,-120.65,0.000,16386,0.000,0.000,404,2202,3677,3615,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.61,-146.6,404,2202,3617,3742,4.2,-5.9,12,181,16.58,2.62,-0.32,0.000,18692,0.513,0.149,3674,3631,3700,3639,3761,0,0,0,0,0,0,14.40,14.60,14.76
$GC,269,-1.13,-146.6,3661,3633,3778,3632,29.9,-4.9,31,279,0.25,2.47,0.00,0.000,5126,0.119,0.112,3229,2225,3703,3775,3631,0,0,0,0,0,0,14.65,14.60,28.83
$GC,460,-1.26,-146.6,3229,2221,3788,3624,51.7,-11.3,50,470,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2221,3706,3788,3624,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,544,-0.22,0.0,3228,2221,3788,3623,60.1,-10.5,58,662,1.00,0.00,111.57,0.719,10246,0.227,0.000,3521,2221,3102,3204,3000,0,0,0,0,0,0,14.58,28.83,14.07
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,671,0.61,146.6,3522,2221,3198,2992,65.2,0.0,70,800,0.50,2.70,115.25,0.705,10756,0.098,0.138,3707,800,2495,2629,2362,0,0,0,0,0,0,14.40,14.19,13.95
$GC,846,0.11,146.6,3709,800,2620,2359,61.4,12.5,96,855,0.30,2.58,0.00,0.000,5126,0.299,0.125,3639,2218,2491,2626,2357,0,0,0,0,0,0,14.24,14.32,28.83
$GC,1046,-0.06,174.7,3639,2225,2618,2352,39.4,8.7,116,1082,0.22,2.65,23.40,0.682,12548,0.286,0.133,3582,3639,2381,2521,2241,0,0,0,0,0,0,14.43,14.42,14.16
$GC,1107,-0.03,247.0,3582,3644,2519,2237,35.7,6.6,125,1176,0.00,2.60,57.85,0.677,9222,0.000,0.133,3584,2220,2085,2241,1929,0,0,0,0,0,0,28.83,14.44,14.07
$GC,1368,0.24,300.7,3588,2220,2239,1923,16.9,7.5,154,1397,0.28,0.00,24.60,0.182,10246,0.116,0.000,3678,2223,1874,2022,1727,0,0,0,0,0,0,14.54,28.83,14.46
$STATE,1464,end climb,SURFACE_DEPTH_REACHED
$STATE,1467,begin surface coast
$FINISH,0.2,1.020715
$STATE,1485,end surface coast,CONTROL_FINISHED_OK
$STATE,1486,begin surface
$SM_CCo,1513,151.55,0.108,0,0,470,645.14
$SM_CCo,1672,0.30,0.142,0,0,470,645.14
$SM_CCo,1677,0.20,0.158,0,0,470,645.14
$SM_GC,1.31,9.93,0.00,0.20,0.132,0.000,0.158,406,2218,470,-9.96,-0.06,645.14,0,0,0,0,0,0,14.49,28.83,14.56
$IRIDIUM_FIX,4726.11,-12222.38,060614,181816
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.99
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3937472
$PM_FREEKB,62326624
$24V_AH,13.9,1.863
$10V_AH,13.3,0.000
$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,29.050,15.625,332.675,152.050,0.000,0.000,0.000,0.000,0.000,0.000,31.530,427.415,360.879,574.794,321.434,96.594,0.000,797.211,0.000,259.153,0.000,0.539,0.000
$DEVICE_MAMPS,513.315,149.175,719.100,158.355,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1457.000,1458.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.075,5.330,0.000,0.000
$MEM,316808
$DATA_FILE_SIZE,3486,166
$CAP_FILE_SIZE,55439,0
$CFSIZE,260034560,257044480
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3334.93,0x237922,7,5
$INTR,1,540.37,0x237922,2,5
$INTR,2,1497.64,0x237922,7,5
$EKF,1741,2863.240234,-7344.813477,0.199706,0.299894,-0.160991,-0.174407,0.000489,0.001081,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.088,119.5,1
$GPS,060614,190719,4743.241,-12224.738,11,1.8,11,18.2