version: 66.12
glider: 196
mission: 6
dive: 2
start: 6 10 114 19 37 6
data:
$ID,196
$MISSION,6
$DIVE,2
$N_DIVES,2
$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,-4406.999
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,100614,193303,4742.479,-12224.486,3,0.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-77.3
$GPS2,100614,193647,4742.430,-12224.470,6,0.9,36,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,356.7,1246,-20.0,-10.000,-24.70,1991
$D_GRID,138
$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,-0.84,-146.6,201,2607,498,582,0.0,0.0,0,133,0.00,0.00,-113.43,0.000,16386,0.000,0.000,201,2607,3560,3587,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.84,-146.6,201,2607,3589,3535,3.4,-5.2,11,158,11.30,2.40,-4.45,0.000,18948,0.375,0.096,2711,1193,3802,3854,3751,0,0,0,0,0,0,14.47,14.66,14.90
$GC,382,-0.65,-146.6,2712,1193,3854,3752,50.7,-15.1,59,390,0.25,2.38,0.00,0.000,3078,0.278,0.087,2760,2597,3801,3851,3751,0,0,0,0,0,0,14.52,14.69,28.83
$GC,576,-0.55,-146.6,2760,2598,3855,3751,79.3,-13.6,79,579,0.15,0.00,0.00,0.000,2054,0.269,0.000,2795,2597,3803,3855,3751,0,0,0,0,0,0,14.51,28.83,28.83
$RAFOS_MSG,CACST,6,1,20140610194459.064953,3,1214,30,0232,0150,100,01,01,00,01,-1,-01,-01,1,3,0,0,150,25.7,4.6,-100,-1.6,-01,0.3,21,900,0025*31
$EKF,747,2862.503906,-7344.481934,95.906128,0.223765,0.053007,0.096849,0.000175,0.000387,0.002294,0.045388,0.045388,0.000129
$GC,756,-0.55,-146.6,2796,2598,3856,3752,98.1,-10.4,97,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2597,3803,3855,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.55,-146.6,2797,2597,3855,3751,115.0,-11.4,115,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2597,3803,3855,3751,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1105,end dive,NO_VERTICAL_VELOCITY
$STATE,1105,begin apogee
$GC,1108,-0.19,0.0,2796,2371,3856,3752,116.6,0.0,132,1180,0.40,0.00,67.95,0.544,10246,0.171,0.000,2914,2370,3200,3222,3179,0,0,0,0,0,0,14.62,28.83,14.27
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1183,0.84,146.6,2914,2371,3229,3179,116.2,0.0,139,1268,1.05,2.25,68.82,0.545,10756,0.144,0.069,3258,1024,2608,2619,2597,0,0,0,0,0,0,14.51,14.45,14.16
$GC,1500,0.65,146.6,3258,1025,2628,2604,75.3,20.2,195,1508,0.28,2.35,1.38,0.281,13318,0.267,0.086,3194,2404,2603,2617,2589,0,0,0,0,0,0,14.38,14.49,14.33
$GC,1692,0.53,146.6,3195,2405,2634,2595,49.3,11.3,215,1701,0.17,2.30,1.30,0.280,12804,0.267,0.071,3163,1021,2605,2624,2586,0,0,0,0,0,0,14.42,14.62,14.39
$GC,1755,0.54,154.3,3163,1022,2628,2597,43.4,9.6,227,1771,0.00,2.33,4.55,0.285,9222,0.000,0.088,3162,2397,2571,2590,2553,0,0,0,0,0,0,28.83,14.62,14.40
$GC,1945,0.57,193.5,3163,2398,2603,2556,25.1,8.0,247,1969,0.00,0.00,17.17,0.231,8198,0.000,0.000,3162,2397,2411,2426,2397,0,0,0,0,0,0,28.83,28.83,14.48
$GC,2145,0.67,339.2,3163,2398,2438,2398,10.3,2.5,267,2217,0.00,2.42,60.75,0.181,8452,0.000,0.093,3163,3778,1817,1814,1821,0,0,0,0,0,0,28.83,14.57,14.54
$STATE,2264,end climb,SURFACE_DEPTH_REACHED
$STATE,2264,begin surface coast
$FINISH,1.1,1.018912
$STATE,2274,end surface coast,CONTROL_FINISHED_OK
$STATE,2274,begin surface
$SM_CCo,2296,133.25,0.155,0,0,537,652.50
$SM_GC,0.57,8.80,1.90,133.25,0.086,0.050,0.155,205,2619,537,-8.61,1.92,652.50,0,0,0,0,0,0,14.63,14.64,14.47
$RAFOS_CLK,8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,100614,191917
$TT8_MAMPS,0.081641,0.081641
$HUMID,41.57
$INTERNAL_PRESSURE,9.01204
$TCM_TEMP,18.30
$XPDR_PINGS,3
$SC_FREEKB,3937248
$TM_FREEKB,7880436
$24V_AH,14.2,1.846
$10V_AH,13.9,0.000
$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,22.400,18.625,221.925,133.250,0.000,0.000,0.000,0.000,0.750,0.000,37.484,0.000,1291.599,469.762,740.494,20.644,0.000,746.402,0.000,433.822,900.000,0.547,0.000
$DEVICE_MAMPS,374.850,95.625,544.680,154.530,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2255.000,2264.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.892,13.236,0.000,0.000
$MEM,310088
$DATA_FILE_SIZE,10150,288
$CAP_FILE_SIZE,63912,0
$CFSIZE,2097872896,2091876352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2260.92,0x237922,7,5
$INTR,1,1142.44,0x2344ee,2,24
$SOUNDSPEED,1485.4
$EKF,2497,2862.565918,-7344.381348,1.068282,0.000000,0.000000,-0.065715,0.000509,0.001123,0.001939,0.044907,0.044907,0.000121
$CURRENT,0.228,213.2,1
$GPS,100614,201840,4742.307,-12224.633,2,1.0,33,16.3