version: 66.12
glider: 196
mission: 5
dive: 1
start: 6 5 114 11 43 26
data:
$ID,196
$MISSION,5
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,110
$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,652.31
$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,-3795.116
$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,34
$R_STBD_OVSHOOT,22
$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,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,-75.003433
$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
$GPS1,060614,171836,4743.089,-12224.607,2,1.1,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.5
$GPS2,060614,172202,4743.082,-12224.613,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,236.3,505,-17.5,-10.000,-21.04,2225
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.75,-146.6,194,1981,517,566,0.0,0.0,0,148,0.00,0.00,-126.70,0.000,16390,0.000,0.000,194,1982,3799,3838,3761,0,0,0,0,0,0,28.83,28.83,14.95
$GC,150,-0.75,-146.6,195,1984,3837,3762,3.7,-4.0,13,171,11.12,2.35,0.00,0.000,2308,0.364,0.061,2699,3416,3799,3837,3761,0,0,0,0,0,0,14.55,14.74,28.83
$EKF,360,2863.106934,-7344.595703,49.852768,0.285979,0.173374,0.240460,0.000073,0.000162,0.001932,0.008900,0.008900,0.000119
$GC,395,-0.44,-146.6,2698,3416,3839,3761,58.2,-20.2,61,403,0.45,2.25,0.00,0.000,3078,0.259,0.044,2813,1989,3799,3838,3760,0,0,0,0,0,0,14.61,14.78,28.83
$GC,587,-0.44,-146.6,2813,1988,3839,3761,81.6,-10.8,81,595,0.00,2.38,0.00,0.000,260,0.000,0.086,2803,3420,3799,3839,3759,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,658,begin apogee
$GC,662,-0.19,0.0,2802,1996,3839,3759,90.6,-12.4,95,733,0.32,0.00,65.32,0.450,10246,0.214,0.000,2892,1994,3201,3223,3180,0,0,0,0,0,0,14.63,28.83,14.42
$STATE,735,end apogee,CONTROL_FINISHED_OK
$STATE,735,begin climb
$GC,736,0.75,146.6,2892,1995,3230,3181,95.4,0.0,102,815,0.98,2.38,66.57,0.454,10756,0.167,0.067,3202,597,2604,2618,2590,0,0,0,0,0,0,14.61,14.57,14.34
$GC,1048,0.68,146.6,3201,598,2621,2602,66.8,10.8,157,1058,0.00,2.35,0.95,0.276,9222,0.000,0.080,3202,2007,2603,2617,2589,0,0,0,0,0,0,28.83,14.65,14.49
$GC,1233,0.55,147.9,3203,2007,2627,2592,46.6,9.9,176,1243,0.25,2.35,1.38,0.308,12548,0.234,0.080,3139,3416,2599,2618,2580,0,0,0,0,0,0,14.58,14.65,14.52
$GC,1293,0.52,179.1,3140,3416,2627,2581,41.3,8.6,187,1316,0.00,2.25,13.90,0.277,9222,0.000,0.047,3146,1995,2471,2484,2459,0,0,0,0,0,0,28.83,14.75,14.54
$GC,1490,0.56,241.6,3147,1996,2493,2459,26.4,7.1,208,1527,0.00,2.38,26.70,0.230,8452,0.000,0.083,3146,3412,2215,2224,2207,0,0,0,0,0,0,28.83,14.71,14.57
$GC,1601,0.56,241.6,3147,3413,2233,2208,15.5,11.0,228,1611,0.00,2.30,0.00,0.000,1030,0.000,0.049,3154,1999,2219,2232,2207,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,1754,end climb,SURFACE_DEPTH_REACHED
$STATE,1754,begin surface coast
$FINISH,0.3,1.021072
$STATE,1774,end surface coast,CONTROL_FINISHED_OK
$STATE,1774,begin surface
$SM_CCo,1794,173.80,0.151,0,0,539,652.50
$SM_GC,0.98,8.50,0.00,173.80,0.070,0.000,0.151,199,1998,539,-8.57,-0.11,652.50,0,0,0,0,0,0,14.80,28.83,14.62
$RAFOS_CLK,18
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12226.80,060614,171730
$TT8_MAMPS,0.042693,0.042693
$HUMID,41.65
$INTERNAL_PRESSURE,8.94367
$TCM_TEMP,17.50
$XPDR_PINGS,25
$SC_FREEKB,3937696
$TM_FREEKB,7883204
$24V_AH,14.3,0.260
$10V_AH,14.0,0.000
$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,21.625,23.275,174.825,173.800,0.000,0.000,0.000,0.000,6.250,0.000,8.939,0.000,923.574,396.105,686.016,25.208,0.000,730.986,0.000,371.686,600.000,0.548,0.000
$DEVICE_MAMPS,364.140,85.680,454.410,151.470,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1754.000,1762.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.709,13.205,0.000,0.000
$MEM,312588
$DATA_FILE_SIZE,6802,246
$CAP_FILE_SIZE,78315,0
$CFSIZE,2097872896,2092138496
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3392.88,0x237922,7,5
$INTR,1,1783.75,0x237922,7,5
$SOUNDSPEED,1484.6
$EKF,2004,2863.155029,-7344.668945,0.323171,-0.091827,0.182116,-0.078375,0.000347,0.000766,0.002294,0.045388,0.045388,0.000129
$CURRENT,0.102,167.7,1
$GPS,060614,175542,4743.035,-12224.600,2,1.6,2,16.3