version: 66.12
glider: 196
mission: 6
dive: 4
start: 6 10 114 21 17 27
data:
$ID,196
$MISSION,6
$DIVE,4
$N_DIVES,4
$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,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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4447.0356
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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
$GPS1,100614,211313,4743.129,-12224.469,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-75.8
$GPS2,100614,211708,4743.082,-12224.470,6,1.0,36,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,285.8,678,-26.3,-10.000,-30.00,1236
$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,17,-1.03,-85.6,198,2620,504,578,0.0,0.0,0,133,0.00,0.00,-111.40,0.000,16390,0.000,0.000,197,2620,3549,3579,3520,0,0,0,0,0,0,28.83,28.83,14.92
$GC,134,-1.06,-122.8,200,2621,3580,3521,4.1,-6.9,11,151,11.02,0.00,-2.90,0.000,18694,0.377,0.000,2630,2620,3703,3742,3664,0,0,0,0,0,0,14.45,28.83,14.89
$GC,325,-0.74,-122.8,2630,2620,3744,3664,48.7,-22.1,31,334,0.45,1.95,0.00,0.000,2308,0.311,0.086,2730,3779,3704,3745,3663,0,0,0,0,0,0,14.49,14.64,28.83
$GC,558,-0.62,-122.8,2730,3780,3746,3665,94.2,-19.6,77,566,0.20,1.88,0.00,0.000,3078,0.265,0.051,2775,2581,3704,3745,3663,0,0,0,0,0,0,14.54,14.73,28.83
$GC,753,-0.66,-122.8,2776,2582,3745,3665,122.7,-14.0,97,760,0.00,2.03,0.00,0.000,260,0.000,0.091,2768,3779,3704,3745,3664,0,0,0,0,0,0,28.83,14.62,28.83
$GC,835,-0.66,-122.8,2769,3780,3746,3665,135.9,-15.7,113,842,0.00,1.85,0.00,0.000,1030,0.000,0.048,2769,2600,3704,3745,3664,0,0,0,0,0,0,28.83,14.69,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f9b54a4;,*0D
$RAFOS_MSG,CACST,6,0,20140610212959.167762,3,380,25,0183,0150,100,01,01,00,01,1,000,000,0,5,1,0,150,22.5,5.1,-100,-2.1,-01,0.4,12,900,0025*2D
$GC,1029,-0.70,-122.8,2770,2599,3745,3664,163.1,-12.1,133,1036,0.00,2.28,0.00,0.000,516,0.000,0.071,2769,1205,3703,3744,3662,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,1044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1044,begin apogee
$GC,1049,-0.19,0.0,2761,2392,3745,3665,165.5,-12.6,136,1150,0.57,0.00,95.90,1.217,10246,0.233,0.000,2912,2391,3195,3216,3175,0,0,0,0,0,0,14.50,28.83,13.83
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1153,1.06,122.8,2912,2392,3216,3172,170.6,0.0,146,1266,1.33,2.50,93.45,1.066,11012,0.161,0.083,3309,3783,2690,2693,2687,0,0,0,0,0,0,14.25,14.15,13.74
$GC,1490,0.73,122.8,3311,3783,2690,2688,108.3,21.3,206,1498,0.45,2.22,0.00,0.000,5126,0.308,0.050,3219,2406,2687,2690,2685,0,0,0,0,0,0,14.40,14.57,28.83
$GC,1686,0.65,122.8,3219,2407,2696,2678,79.6,13.8,226,1693,0.00,2.35,0.00,0.000,260,0.000,0.086,3219,3792,2687,2696,2678,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1782,0.51,122.8,3221,3793,2695,2678,63.9,15.6,245,1791,0.32,2.25,0.00,0.000,5126,0.287,0.050,3151,2397,2686,2695,2678,0,0,0,0,0,0,14.43,14.56,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f7b54a6;,*02
$RAFOS_MSG,CACST,6,0,20140610214459.471736,3,2991,22,0337,0150,174,03,03,02,03,1,000,000,0,5,1,0,150,23.6,7.6,-100,-4.6,-01,0.3,24,900,0025*13
$GC,1968,0.60,129.9,3152,2397,2697,2674,45.3,9.4,264,1978,0.00,2.42,2.12,0.199,8452,0.000,0.089,3151,3785,2672,2687,2657,0,0,0,0,0,0,28.83,14.60,14.52
$GC,2066,0.60,137.3,3151,3787,2703,2669,35.3,9.4,283,2083,0.00,2.22,5.18,0.243,9222,0.000,0.052,3159,2399,2644,2663,2626,0,0,0,0,0,0,28.83,14.66,14.45
$GC,2267,0.71,163.3,3158,2399,2682,2632,19.2,7.8,304,2290,0.15,2.38,12.70,0.216,10756,0.111,0.075,3234,997,2534,2545,2524,0,0,0,0,0,0,14.71,14.64,14.54
$GC,2522,0.78,267.2,3231,998,2560,2533,8.3,1.4,352,2576,0.00,2.38,44.20,0.178,9222,0.000,0.084,3234,2403,2108,2113,2104,0,0,0,0,0,0,28.83,14.58,14.51
$STATE,2659,end climb,SURFACE_DEPTH_REACHED
$STATE,2659,begin surface coast
$FINISH,0.1,1.018523
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2721,164.15,0.155,0,0,538,652.50
$SM_GC,0.48,9.27,0.32,164.15,0.109,0.093,0.155,202,2608,538,-8.62,-0.79,652.50,0,0,0,0,0,0,14.62,14.64,14.50
$RAFOS_CLK,12
$MODEM,3,21.75000,21.73861,47.71660,-122.40400,-2.028,-2971.4
$MODEM,2,21.50000,21.48778,47.71700,-122.40480,-2.332,-3416.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12138.96,100614,212105
$TT8_MAMPS,0.044191,0.044191
$HUMID,41.57
$INTERNAL_PRESSURE,8.9925
$TCM_TEMP,18.10
$XPDR_PINGS,11
$SC_FREEKB,3936352
$TM_FREEKB,7875000
$24V_AH,13.7,2.053
$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,23.775,31.100,253.550,164.150,0.000,0.000,0.000,0.000,2.750,0.000,37.382,0.000,1491.568,551.871,909.083,25.191,0.000,894.897,0.000,557.152,900.000,0.546,0.000
$DEVICE_MAMPS,377.145,92.565,1217.115,154.530,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2677.000,2686.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.464,13.243,0.000,0.000
$MEM,310072
$DATA_FILE_SIZE,13466,373
$CAP_FILE_SIZE,87540,0
$CFSIZE,2097872896,2091384832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3216.66,0x237922,7,5
$SOUNDSPEED,1486.1
$EKF,2952,2863.222900,-7344.771973,0.082253,-0.004571,0.001915,-0.027358,0.000526,0.001162,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.222,202.9,1
$GPS,100614,220636,4742.895,-12224.977,3,0.9,33,16.3