version: 66.12
glider: 196
mission: 3
dive: 5
start: 4 2 114 20 4 0
data:
$ID,196
$MISSION,3
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,500
$D_BOOST,130
$T_BOOST,4
$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,40
$T_MISSION,50
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53940
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,450
$N_FILEKB,4
$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,-2693.5317
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3080
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3348
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-74.974327
$PRESSURE_SLOPE,0.0001164176
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,030414,190535,4743.791,-12223.802,38,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-77.2
$GPS2,030414,191015,4743.830,-12223.776,5,0.9,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,163.5,2165,-17.5,-10.000,-21.04,2225
$D_GRID,168
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.75,-146.6,204,1990,984,1106,0.0,0.0,0,110,0.00,0.00,-88.88,0.000,16386,0.000,0.000,204,1990,3285,3312,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.75,-146.6,204,1990,3312,3260,3.4,-6.2,9,143,11.82,2.45,-12.15,0.000,18692,0.366,0.109,2821,3411,3947,4001,3893,0,0,0,0,0,0,14.25,14.45,14.67
$GC,222,-0.45,-146.6,2821,3413,4002,3895,32.5,-22.5,20,229,0.35,2.40,0.00,0.000,3078,0.228,0.070,2927,2013,3947,4001,3894,0,0,0,0,0,0,14.36,14.47,28.83
$GC,413,-0.52,-146.6,2928,2013,4002,3896,55.6,-10.6,39,419,0.00,2.45,0.00,0.000,516,0.000,0.094,2928,587,3947,4001,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,494,-0.65,-146.6,2929,588,4001,3896,64.7,-11.3,47,500,0.17,2.45,0.00,0.000,5126,0.098,0.098,2844,2000,3948,4001,3896,0,0,0,0,0,0,14.62,14.53,28.83
$GC,684,-0.49,-146.6,2844,2001,4002,3897,97.0,-17.7,66,691,0.28,2.42,0.00,0.000,2308,0.236,0.094,2908,3413,3948,4001,3896,0,0,0,0,0,0,14.47,14.57,28.83
$GC,815,-0.56,-146.6,2906,3414,4001,3896,112.1,-10.8,79,821,0.00,2.35,0.00,0.000,1030,0.000,0.069,2905,1999,3948,4001,3896,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,894,begin apogee
$GC,897,-0.19,0.0,2906,2265,4001,3896,121.1,-11.5,87,973,0.38,0.00,69.45,0.594,10246,0.197,0.000,3015,2266,3349,3377,3321,0,0,0,0,0,0,14.51,28.83,14.09
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,976,0.75,146.6,3015,2267,3381,3322,124.8,0.0,94,1058,0.95,0.00,70.70,0.600,10502,0.133,0.000,3316,2266,2754,2771,2738,0,0,0,0,0,0,14.40,28.83,13.98
$GC,1239,0.45,146.6,3316,2266,2769,2739,102.4,12.1,121,1246,0.35,2.40,0.00,0.000,4356,0.243,0.091,3229,3662,2753,2768,2739,0,0,0,0,0,0,14.32,14.44,28.83
$GC,1425,0.36,203.7,3230,3663,2768,2739,86.7,7.4,139,1458,0.15,2.38,25.88,0.447,13318,0.250,0.066,3208,2241,2515,2529,2501,0,0,0,0,0,0,14.35,14.45,14.19
$GC,1642,0.56,301.8,3202,2242,2537,2504,74.4,5.5,161,1696,0.17,2.50,43.62,0.396,10500,0.100,0.096,3284,3664,2118,2121,2115,0,0,0,0,0,0,14.54,14.36,14.19
$GC,1779,0.42,301.8,3284,3665,2124,2116,58.6,12.6,174,1786,0.30,2.38,0.00,0.000,5126,0.236,0.068,3219,2253,2118,2122,2115,0,0,0,0,0,0,14.38,14.47,28.83
$GC,1970,0.62,353.9,3219,2247,2123,2116,43.2,7.6,193,2004,0.17,2.47,22.92,0.298,10756,0.097,0.096,3303,841,1903,1885,1922,0,0,0,0,0,0,14.60,14.47,14.35
$GC,2023,0.59,353.9,3304,840,1889,1920,36.6,12.9,198,2031,0.15,2.42,0.00,0.000,5126,0.224,0.090,3270,2255,1904,1890,1918,0,0,0,0,0,0,14.43,14.52,28.83
$GC,2215,0.66,353.9,3269,2258,1892,1918,14.9,10.6,217,2221,0.00,2.40,0.00,0.000,260,0.000,0.092,3268,3659,1904,1891,1917,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2235,0.70,353.9,3269,3659,1893,1918,12.5,11.4,219,2242,0.10,2.35,0.00,0.000,3078,0.140,0.067,3319,2245,1904,1891,1917,0,0,0,0,0,0,14.53,14.50,28.83
$STATE,2345,end climb,SURFACE_DEPTH_REACHED
$STATE,2345,begin surface coast
$FINISH,0.0,1.020318
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2387,40.53,0.167,0,0,1510,450.13
$SM_GC,0.87,9.12,0.43,40.53,0.070,0.099,0.167,203,1983,1510,-8.93,0.57,450.13,0,0,0,0,0,0,14.62,14.62,14.50
$RAFOS_CLK,29
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,030414,181810
$TT8_MAMPS,0.044191,0.044191
$HUMID,42.43
$INTERNAL_PRESSURE,8.97297
$TCM_TEMP,16.90
$XPDR_PINGS,1
$SC_FREEKB,3935360
$TM_FREEKB,7868608
$24V_AH,14.0,6.654
$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,24.475,34.700,232.575,40.525,0.000,0.000,0.000,183.150,0.250,0.000,9.125,0.000,1359.816,290.255,1027.811,37.972,0.000,872.988,0.000,492.542,0.000,0.544,0.000
$DEVICE_MAMPS,365.670,108.630,599.760,166.770,0.000,0.000,0.000,143.820,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2362.000,2371.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.073,14.381,0.000,0.000
$MEM,318396
$DATA_FILE_SIZE,6807,232
$CAP_FILE_SIZE,65830,0
$CFSIZE,2097872896,2091286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.137,  4.4,1
$GPS,030414,195128,4743.735,-12223.737,3,1.0,3,16.3