version: 66.12
glider: 196
mission: 5
dive: 4
start: 6 5 114 14 15 17
data:
$ID,196
$MISSION,5
$DIVE,4
$N_DIVES,5
$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,-3890.3938
$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,2980
$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,1800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,36
$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
$GPS1,060614,194934,4743.173,-12225.187,37,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-74.7
$GPS2,060614,195359,4743.165,-12225.170,4,0.9,4,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,110.7,371,-22.2,-10.000,-26.47,1680
$D_GRID,181
$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,-0.90,-120.1,194,1810,1297,1439,0.0,0.0,0,112,0.00,0.00,-91.60,0.000,16390,0.000,0.000,193,1811,3690,3723,3657,0,0,0,0,0,0,28.83,28.83,14.84
$GC,114,-0.92,-146.6,194,1811,3723,3657,2.3,-3.3,9,137,11.32,2.38,-2.25,0.000,18948,0.381,0.093,2676,388,3798,3849,3748,0,0,0,0,0,0,14.42,14.61,14.81
$GC,360,-0.75,-146.6,2676,387,3850,3748,58.5,-20.1,57,369,0.28,2.38,0.00,0.000,3078,0.287,0.084,2730,1783,3798,3849,3748,0,0,0,0,0,0,14.54,14.63,28.83
$GC,553,-0.67,-146.6,2731,1784,3850,3749,92.2,-16.7,77,561,0.12,2.30,0.00,0.000,2564,0.292,0.076,2757,397,3798,3849,3748,0,0,0,0,0,0,14.56,14.69,28.83
$GC,785,-0.67,-146.6,2758,397,3850,3748,125.1,-13.4,123,794,0.00,2.38,0.00,0.000,1030,0.000,0.087,2748,1799,3798,3849,3748,0,0,0,0,0,0,28.83,14.69,28.83
$GC,981,-0.62,-146.6,2749,1801,3850,3749,152.7,-15.2,143,990,0.00,2.40,0.00,0.000,260,0.000,0.090,2737,3221,3798,3849,3748,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1057,-0.19,0.0,2738,2366,3849,3749,165.7,-19.0,157,1190,0.65,0.08,125.35,1.062,10246,0.239,0.192,2911,2410,3195,3219,3172,0,0,0,0,0,0,14.54,14.21,13.84
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1192,begin climb
$GC,1193,0.92,146.6,2911,2410,3218,3169,173.3,0.0,170,1318,1.17,2.50,111.00,0.985,10756,0.156,0.070,3278,993,2591,2606,2577,0,0,0,0,0,0,14.25,14.16,13.76
$GC,1388,0.78,146.6,3278,993,2600,2571,153.5,13.7,201,1397,0.20,2.45,0.00,0.000,5126,0.269,0.086,3234,2409,2584,2599,2569,0,0,0,0,0,0,14.28,14.39,28.83
$GC,1573,0.64,146.6,3235,2414,2599,2569,124.4,16.2,220,1580,0.20,2.33,0.00,0.000,4356,0.279,0.087,3187,3784,2583,2599,2568,0,0,0,0,0,0,14.42,14.55,28.83
$GC,1762,0.50,146.6,3188,3784,2600,2568,96.7,13.4,256,1770,0.22,2.22,0.00,0.000,5126,0.282,0.051,3144,2399,2583,2601,2565,0,0,0,0,0,0,14.48,14.63,28.83
$GC,1955,0.57,164.4,3145,2399,2605,2567,79.4,8.9,276,1969,0.00,2.35,6.28,0.286,8452,0.000,0.088,3148,3781,2537,2561,2513,0,0,0,0,0,0,28.83,14.57,14.40
$EKF,2043,2863.160645,-7344.970215,70.762764,0.002394,0.214401,-0.107834,0.000437,0.000966,0.001932,0.008900,0.008900,0.000119
$GC,2088,0.57,164.4,3145,3781,2586,2534,65.4,10.7,302,2096,0.00,2.22,3.17,0.207,9222,0.000,0.050,3152,2393,2530,2550,2510,0,0,0,0,0,0,28.83,14.66,14.45
$GC,2281,0.63,184.7,3153,2401,2599,2530,49.4,8.8,322,2298,0.00,2.42,11.93,0.287,8452,0.000,0.090,3152,3781,2449,2468,2430,0,0,0,0,0,0,28.83,14.64,14.46
$GC,2362,0.63,184.7,3153,3782,2493,2448,40.0,12.5,337,2372,0.00,2.22,2.65,0.211,9222,0.000,0.052,3159,2392,2446,2465,2428,0,0,0,0,0,0,28.83,14.69,14.51
$GC,2547,0.70,198.8,3163,2393,2500,2444,21.9,9.1,356,2563,0.12,2.42,8.50,0.223,10500,0.122,0.089,3218,3784,2388,2405,2372,0,0,0,0,0,0,14.71,14.66,14.57
$GC,2660,0.54,198.8,3220,3785,2427,2392,6.0,17.8,376,2668,0.30,2.22,2.20,0.213,13318,0.272,0.053,3156,2402,2384,2397,2372,0,0,0,0,0,0,14.47,14.63,14.59
$STATE,2701,end climb,SURFACE_DEPTH_REACHED
$STATE,2701,begin surface coast
$FINISH,0.5,1.021041
$STATE,2722,end surface coast,CONTROL_FINISHED_OK
$STATE,2722,begin surface
$SM_CCo,2743,105.60,0.157,0,0,1363,450.13
$SM_GC,0.52,8.88,0.98,105.60,0.097,0.062,0.157,202,1796,1363,-8.62,1.05,450.13,0,0,0,0,0,0,14.66,14.68,14.53
$RAFOS_CLK,8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12226.07,060614,181836
$TT8_MAMPS,0.080892,0.080892
$HUMID,46.92
$INTERNAL_PRESSURE,8.91438
$TCM_TEMP,17.80
$XPDR_PINGS,1
$SC_FREEKB,3936352
$TM_FREEKB,7870372
$24V_AH,13.8,0.697
$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,23.475,38.950,271.075,105.600,0.000,0.000,0.000,175.775,0.250,0.000,7.943,0.000,1498.784,487.571,1100.516,38.735,0.000,1017.903,0.000,572.736,900.000,0.546,0.000
$DEVICE_MAMPS,380.970,192.015,1061.820,156.825,0.000,0.000,0.000,146.115,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2727.000,2719.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.469,13.239,0.000,0.000
$MEM,310108
$DATA_FILE_SIZE,13430,383
$CAP_FILE_SIZE,68348,0
$CFSIZE,2097872896,2091450368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.4
$EKF,2890,2863.147461,-7344.902832,0.546589,-0.013892,0.013149,-0.061789,0.000575,0.001271,0.002295,0.117274,0.117274,0.000129
$CURRENT,0.095,164.2,1
$GPS,060614,204218,4743.003,-12224.841,6,1.5,6,16.3