version: 66.12
glider: 196
mission: 4
dive: 2
start: 6 4 114 9 3 14
data:
$ID,196
$MISSION,4
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,42
$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,-3256.1511
$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,2960
$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,27
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,040614,172413,4743.295,-12224.358,5,1.1,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-74.8
$GPS2,040614,172733,4743.319,-12224.345,7,1.1,8,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,225.9,1007,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.75,-146.6,201,2006,457,537,0.0,0.0,0,153,0.00,0.00,-126.93,0.000,16390,0.000,0.000,200,2009,3797,3827,3768,0,0,0,0,0,0,28.83,28.83,14.91
$GC,155,-0.75,-146.6,200,2010,3828,3769,3.8,-6.0,13,173,11.12,2.40,0.00,0.000,2308,0.366,0.070,2697,3427,3798,3828,3768,0,0,0,0,0,0,14.47,14.68,28.83
$GC,396,-0.43,-146.6,2698,3425,3830,3769,68.3,-22.4,60,407,0.40,2.35,0.00,0.000,3078,0.249,0.057,2817,1994,3801,3834,3768,0,0,0,0,0,0,14.58,14.71,28.83
$GC,582,-0.43,-146.6,2821,1994,3830,3768,88.5,-9.9,79,590,0.00,2.40,0.00,0.000,260,0.000,0.087,2805,3424,3798,3830,3767,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,603,-0.19,0.0,2806,1998,3830,3768,90.2,-8.9,82,736,0.32,0.00,125.07,0.835,10246,0.213,0.000,2895,1996,3198,3219,3177,0,0,0,0,1,0,14.61,28.83,13.88
$STATE,738,end apogee,CONTROL_FINISHED_OK
$STATE,738,begin climb
$GC,739,0.75,146.6,2895,1996,3211,3168,96.4,0.0,95,886,1.00,2.45,122.60,0.777,10756,0.164,0.078,3207,604,2592,2606,2578,0,0,0,0,1,0,14.28,14.21,13.83
$GC,1110,0.64,146.6,3208,605,2603,2577,61.1,11.6,160,1120,0.17,2.38,0.00,0.000,5126,0.240,0.083,3167,2010,2589,2603,2576,0,0,0,0,0,0,14.46,14.57,28.83
$GC,1296,0.58,176.5,3168,2010,2603,2576,42.6,8.6,179,1345,0.00,2.45,37.38,0.510,8708,0.000,0.078,3176,600,2474,2485,2463,0,0,0,0,1,0,28.83,14.54,14.13
$GC,1504,0.61,216.5,3176,600,2481,2459,24.0,8.2,218,1565,0.00,2.38,45.88,0.550,9222,0.000,0.087,3175,2000,2308,2316,2301,0,0,0,0,1,0,28.83,14.62,14.12
$STATE,1728,end climb,SURFACE_DEPTH_REACHED
$STATE,1728,begin surface coast
$FINISH,-0.2,1.020998
$STATE,1748,end surface coast,CONTROL_FINISHED_OK
$STATE,1748,begin surface
$SM_CCo,1768,393.02,0.748,3,0,497,662.31
$SM_CCo,2179,-0.30,0.000,0,0,501,662.31
$SM_CCo,2181,0.00,0.000,0,0,499,662.31
$SM_GC,0.56,8.70,0.00,0.00,0.071,0.000,0.000,197,2000,499,-8.57,-0.08,662.31,0,0,0,0,0,0,14.66,28.83,28.83
$RAFOS_CLK,16
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,040614,171706
$TT8_MAMPS,0.044191,0.044191
$HUMID,41.49
$INTERNAL_PRESSURE,8.78742
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3937248
$TM_FREEKB,7875572
$24V_AH,13.8,7.713
$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,21.725,19.150,330.925,393.025,0.000,0.000,0.000,0.000,0.000,0.000,11.335,0.000,791.417,778.835,650.322,17.555,0.000,1117.783,0.000,366.060,0.000,0.546,0.000
$DEVICE_MAMPS,366.435,87.210,834.615,748.170,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1729.000,1739.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.080,13.179,0.000,0.000
$MEM,310152
$DATA_FILE_SIZE,6803,244
$CAP_FILE_SIZE,62757,6
$CFSIZE,2097872896,2092171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$SOUNDSPEED,1484.6
$EKF,2244,2863.429443,-7344.266113,-0.227349,-0.079896,0.206009,-0.076844,0.000380,0.000840,0.002294,0.045388,0.045388,0.000129
$CURRENT,0.106,315.1,1
$GPS,040614,180504,4743.499,-12224.318,29,1.1,29,16.3