version: 66.12
glider: 196
mission: 4
dive: 1
start: 6 4 114 8 16 44
data:
$ID,196
$MISSION,4
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$D_NO_BLEED,50
$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,15
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,54046
$MASS_COMP,0
$NAV_MODE,10
$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,692.04858
$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,-3207.5745
$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,2900
$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,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3362
$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,-74.834282
$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
$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
$GPS1,040614,163726,4743.324,-12224.376,3,1.3,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.5
$GPS2,040614,164054,4743.267,-12224.434,12,0.8,12,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,218.7,861,-17.5,-10.000,-21.04,2225
$D_GRID,176
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.75,-146.6,200,2004,531,548,0.0,0.0,0,155,0.00,0.00,-131.57,0.000,16390,0.000,0.000,200,2003,3960,3991,3930,0,0,0,0,0,0,28.83,28.83,14.97
$GC,156,-0.75,-146.6,201,2004,3991,3931,3.2,-3.7,13,172,10.90,2.33,0.00,0.000,2308,0.366,0.059,2639,3423,3961,3992,3930,0,0,0,0,0,0,14.50,14.74,28.83
$STATE,290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,290,begin apogee
$GC,295,-0.19,0.0,2639,2006,3995,3931,45.7,-27.3,39,427,0.75,0.00,119.93,0.892,10246,0.272,0.000,2830,2003,3355,3382,3329,0,0,0,0,1,0,14.52,28.83,13.93
$STATE,429,end apogee,CONTROL_FINISHED_OK
$STATE,429,begin climb
$GC,430,0.75,146.6,2829,2004,3382,3325,59.6,0.0,52,569,1.02,2.38,117.72,0.772,10756,0.191,0.070,3139,602,2755,2769,2742,0,0,0,0,1,0,14.33,14.29,13.89
$GC,750,0.81,226.4,3140,603,2766,2743,43.8,6.3,104,834,0.00,2.35,69.60,0.692,9222,0.000,0.083,3139,1995,2431,2439,2423,0,0,0,0,1,0,28.83,14.56,14.02
$GC,1009,0.84,272.1,3139,1996,2437,2416,22.9,7.9,134,1067,0.00,2.45,44.97,0.607,8452,0.000,0.084,3139,3414,2248,2256,2241,0,0,0,0,1,0,28.83,14.46,14.07
$STATE,1245,end climb,SURFACE_DEPTH_REACHED
$STATE,1245,begin surface coast
$FINISH,0.1,1.020958
$STATE,1265,end surface coast,CONTROL_FINISHED_OK
$STATE,1265,begin surface
$SM_CCo,1288,340.48,0.734,5,0,539,692.24
$SM_GC,0.91,8.57,2.35,340.48,0.073,0.061,0.734,200,2010,539,-8.38,1.19,692.24,0,0,0,0,5,0,14.72,14.66,13.94
$RAFOS_CLK,18
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12226.80,040614,161615
$TT8_MAMPS,0.044191,0.044191
$HUMID,39.52
$INTERNAL_PRESSURE,8.83625
$TCM_TEMP,18.60
$XPDR_PINGS,23
$SC_FREEKB,3937696
$TM_FREEKB,7878296
$24V_AH,13.9,7.506
$10V_AH,13.2,0.000
$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,21.250,14.175,352.225,340.475,0.000,0.000,0.000,0.000,5.750,0.000,16.376,0.000,430.970,819.456,451.844,22.480,0.000,1031.818,0.000,274.005,0.000,0.548,0.000
$DEVICE_MAMPS,366.435,84.150,891.990,734.400,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1246.000,1256.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.151,12.922,0.000,0.000
$MEM,312664
$DATA_FILE_SIZE,6804,182
$CAP_FILE_SIZE,60467,3
$CFSIZE,2097872896,2092400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$SOUNDSPEED,1484.8
$EKF,1695,2863.255859,-7344.509277,0.036243,-0.223076,-0.065931,-0.052247,0.000272,0.000600,0.001935,0.026900,0.026900,0.000121
$CURRENT,0.076, 82.8,1
$GPS,040614,170925,4743.212,-12224.429,6,1.1,6,16.3