version: 66.12
glider: 196
mission: 5
dive: 5
start: 6 5 114 15 7 48
data:
$ID,196
$MISSION,5
$DIVE,5
$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,-3911.2612
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,060614,204218,4743.003,-12224.841,6,1.5,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-77.5
$GPS2,060614,204632,4742.995,-12224.852,4,1.5,5,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,288.0,185,-26.3,-10.000,-30.00,1236
$D_GRID,179
$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,-1.03,-85.6,203,1797,1284,1449,0.0,0.0,0,113,0.00,0.00,-85.57,0.000,16390,0.000,0.000,202,1798,3548,3576,3520,0,0,0,0,0,0,28.83,28.83,14.80
$GC,115,-1.07,-146.4,203,1798,3575,3520,3.0,-5.0,9,136,11.18,2.47,-4.62,0.000,18692,0.385,0.105,2618,3220,3799,3856,3742,0,0,0,0,0,0,14.42,14.56,14.78
$GC,360,-0.80,-146.4,2619,3221,3857,3744,77.9,-28.0,57,369,0.40,2.33,0.00,0.000,3078,0.303,0.057,2713,1804,3799,3856,3743,0,0,0,0,0,0,14.47,14.60,28.83
$GC,555,-0.80,-146.4,2713,1803,3857,3743,116.5,-18.8,77,562,0.00,2.38,0.00,0.000,260,0.000,0.090,2704,3208,3799,3856,3743,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,779,-0.19,0.0,2705,2363,3855,3743,165.5,-20.7,121,911,0.80,0.03,117.22,1.072,10246,0.253,0.161,2913,2391,3205,3234,3176,0,0,0,0,1,0,14.52,14.10,13.53
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,914,1.07,146.4,2914,2392,3242,3179,173.1,0.0,134,1047,1.33,2.45,116.65,1.020,10756,0.151,0.068,3329,998,2593,2606,2581,0,0,0,0,0,0,14.25,14.16,13.74
$GC,1271,0.91,146.4,3330,997,2600,2575,122.1,17.9,197,1289,0.22,2.40,0.00,0.000,5126,0.287,0.086,3279,2405,2587,2599,2575,0,0,0,0,0,0,14.36,14.48,28.83
$GC,1463,0.76,146.4,3280,2404,2600,2575,90.7,15.3,216,1466,0.20,0.00,0.00,0.000,4102,0.302,0.000,3233,2405,2586,2599,2574,0,0,0,0,0,0,14.44,28.83,28.83
$GC,1643,0.71,146.4,3234,2406,2600,2575,65.4,14.5,234,1651,0.00,2.35,0.00,0.000,260,0.000,0.088,3233,3790,2586,2600,2573,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1725,0.55,146.4,3234,3791,2601,2574,52.5,16.0,250,1734,0.32,2.22,0.00,0.000,5126,0.285,0.051,3165,2401,2589,2602,2576,0,0,0,0,0,0,14.48,14.64,28.83
$GC,1918,0.66,160.0,3162,2400,2604,2570,33.7,8.9,270,1932,0.00,0.00,4.85,0.212,8198,0.000,0.000,3165,2400,2550,2572,2529,0,0,0,0,0,0,28.83,28.83,14.53
$GC,2108,0.79,177.6,3166,2401,2598,2545,17.2,8.5,289,2128,0.20,2.35,10.10,0.211,10756,0.096,0.071,3262,1002,2479,2493,2465,0,0,0,0,0,0,14.71,14.66,14.56
$GC,2137,0.79,177.6,3263,1002,2499,2472,13.6,12.5,293,2147,0.00,2.38,1.10,0.243,9222,0.000,0.090,3262,2404,2475,2491,2460,0,0,0,0,0,0,28.83,14.66,14.59
$STATE,2234,end climb,SURFACE_DEPTH_REACHED
$STATE,2234,begin surface coast
$FINISH,-0.0,1.021167
$STATE,2244,end surface coast,CONTROL_FINISHED_OK
$STATE,2244,begin surface
$SM_CCo,2265,115.15,0.157,0,0,1362,450.13
$SM_GC,0.63,9.10,0.98,115.15,0.087,0.060,0.157,197,1805,1362,-8.63,1.24,450.13,0,0,0,0,0,0,14.66,14.67,14.52
$RAFOS_CLK,9
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,060614,191916
$TT8_MAMPS,0.081641,0.081641
$HUMID,46.25
$INTERNAL_PRESSURE,8.90461
$TCM_TEMP,17.70
$XPDR_PINGS,0
$SC_FREEKB,3935904
$TM_FREEKB,7866872
$24V_AH,13.5,0.827
$10V_AH,13.1,0.000
$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,23.750,23.675,249.925,115.150,0.000,0.000,0.000,162.175,0.000,0.000,8.929,0.000,1209.396,471.280,926.883,34.540,0.000,937.540,0.000,457.103,900.000,0.545,0.000
$DEVICE_MAMPS,384.795,160.650,1071.765,156.825,0.000,0.000,0.000,147.645,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2247.000,2241.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.605,13.224,0.000,0.000
$MEM,310148
$DATA_FILE_SIZE,10140,304
$CAP_FILE_SIZE,56877,0
$CFSIZE,2097872896,2091253760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3150.84,0x237922,7,5
$SOUNDSPEED,1485.3
$EKF,2430,2863.172119,-7344.854980,-0.019565,0.065064,-0.177289,-0.101381,0.000465,0.001027,0.002295,0.117426,0.117426,0.000129
$CURRENT,0.063,128.8,1
$GPS,060614,212709,4743.126,-12224.785,15,1.7,15,16.3