version: 66.12
glider: 196
mission: 5
dive: 3
start: 6 5 114 13 20 30
data:
$ID,196
$MISSION,5
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,55
$T_MISSION,67
$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,0.012
$HD_C,5.9999998e-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,450
$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,-3839.3264
$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,2990
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,48
$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
$GPS1,060614,185454,4742.992,-12224.852,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-78.4
$GPS2,060614,185914,4742.922,-12224.782,4,1.2,4,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,314.3,307,-21.4,-10.000,-25.85,1780
$D_GRID,178
$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,-0.88,-128.4,202,2593,1290,1433,0.0,0.0,0,112,0.00,0.00,-90.72,0.000,16390,0.000,0.000,202,2593,3724,3761,3688,0,0,0,0,0,0,28.83,28.83,14.88
$GC,114,-0.90,-146.6,202,2594,3762,3688,3.5,-5.4,9,129,11.35,0.00,-1.35,0.000,18950,0.382,0.000,2691,2593,3798,3847,3750,0,0,0,0,0,0,14.45,28.83,14.83
$GC,313,-0.67,-146.6,2692,2593,3850,3751,58.8,-23.3,30,321,0.32,1.95,0.00,0.000,2308,0.272,0.087,2765,3764,3799,3849,3750,0,0,0,0,0,0,14.56,14.69,28.83
$GC,395,-0.55,-146.6,2765,3764,3850,3750,73.5,-16.6,46,403,0.15,1.88,0.00,0.000,3078,0.230,0.050,2817,2586,3799,3849,3750,0,0,0,0,0,0,14.59,14.74,28.83
$GC,591,-0.60,-146.6,2817,2586,3850,3750,96.6,-10.9,66,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2586,3799,3849,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,771,-0.65,-146.6,2818,2587,3850,3751,114.5,-9.9,84,779,0.12,2.25,0.00,0.000,4612,0.124,0.064,2752,1204,3799,3848,3750,0,0,0,0,0,0,14.68,14.69,28.83
$GC,894,-0.65,-146.6,2753,1204,3850,3751,131.0,-14.5,108,902,0.15,2.33,0.00,0.000,3078,0.284,0.092,2773,2575,3800,3850,3750,0,0,0,0,0,0,14.56,14.69,28.83
$GC,1086,-0.65,-146.6,2774,2575,3851,3750,157.4,-13.2,128,1093,0.00,2.22,0.00,0.000,516,0.000,0.065,2773,1204,3799,3849,3750,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1147,begin apogee
$GC,1151,-0.19,0.0,2767,2400,3850,3751,165.1,-12.3,140,1272,0.57,0.00,112.30,1.125,10246,0.221,0.000,2922,2399,3190,3214,3167,0,0,0,0,0,0,14.57,28.83,13.87
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1275,0.90,146.6,2923,2399,3216,3166,170.1,0.0,152,1400,1.15,0.00,109.70,1.007,10758,0.168,0.000,3266,2400,2594,2608,2581,0,0,0,0,0,0,14.29,28.83,13.81
$GC,1576,0.67,146.6,3266,2399,2606,2579,128.0,17.7,186,1579,0.22,0.00,0.00,0.000,4102,0.269,0.000,3215,2400,2589,2605,2573,0,0,0,0,0,0,14.38,28.83,28.83
$EKF,1736,2863.085693,-7344.911621,105.822235,0.213781,-0.115215,-0.140345,0.000447,0.000988,0.002294,0.045388,0.045388,0.000129
$GC,1756,0.56,146.6,3216,2400,2606,2572,101.7,13.9,204,1759,0.17,0.00,0.00,0.000,4102,0.275,0.000,3174,2400,2588,2605,2572,0,0,0,0,0,0,14.48,28.83,28.83
$GC,1936,0.56,146.6,3174,2400,2606,2572,81.9,10.7,222,1943,0.00,2.35,0.00,0.000,260,0.000,0.089,3174,3788,2589,2607,2571,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1962,0.46,146.6,3174,3789,2607,2571,78.6,12.6,227,1973,0.17,2.20,0.00,0.000,5126,0.282,0.050,3142,2408,2591,2613,2570,0,0,0,0,0,0,14.52,14.65,28.83
$GC,2148,0.53,163.2,3142,2409,2608,2571,62.3,9.0,246,2161,0.00,0.00,6.38,0.273,8198,0.000,0.000,3141,2408,2538,2560,2516,0,0,0,0,0,0,28.83,28.83,14.47
$GC,2340,0.63,212.4,3142,2408,2590,2531,47.2,7.2,265,2370,0.15,2.40,23.58,0.295,10500,0.106,0.088,3209,3784,2335,2346,2325,0,0,0,0,0,0,14.71,14.64,14.50
$GC,2449,0.49,212.4,3210,3785,2366,2342,33.0,15.2,285,2457,0.28,2.20,2.12,0.235,13318,0.264,0.050,3153,2400,2331,2340,2323,0,0,0,0,0,0,14.52,14.67,14.50
$GC,2643,0.60,242.1,3153,2401,2378,2330,16.3,8.3,305,2665,0.00,0.00,14.65,0.207,8198,0.000,0.000,3152,2400,2212,2226,2198,0,0,0,0,0,0,28.83,28.83,14.56
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,0.3,1.020995
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2852,88.15,0.157,0,0,1364,450.62
$SM_GC,0.68,8.65,0.35,88.15,0.079,0.090,0.157,193,2621,1364,-8.67,-0.51,450.62,0,0,0,0,0,0,14.73,14.73,14.59
$RAFOS_CLK,14
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,060614,181814
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.16
$INTERNAL_PRESSURE,8.92414
$TCM_TEMP,17.90
$XPDR_PINGS,2
$SC_FREEKB,3936800
$TM_FREEKB,7874624
$24V_AH,13.8,0.558
$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,23.475,22.200,268.725,88.150,0.000,0.000,0.000,168.400,0.500,0.000,7.906,0.000,1711.884,463.342,996.379,36.263,0.000,948.638,0.000,491.429,900.000,0.546,0.000
$DEVICE_MAMPS,381.735,91.800,1124.550,156.825,0.000,0.000,0.000,146.880,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2836.000,2828.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.552,13.220,0.000,0.000
$MEM,310056
$DATA_FILE_SIZE,10133,324
$CAP_FILE_SIZE,65973,0
$CFSIZE,2097872896,2091679744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3089.29,0x237922,7,5
$SOUNDSPEED,1485.5
$EKF,3012,2863.125244,-7344.952148,0.309768,0.000000,-0.000000,-0.073480,0.000707,0.001562,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.101,287.0,1
$GPS,060614,194934,4743.173,-12225.187,37,0.9,37,16.3