version: 66.12
glider: 196
mission: 3
dive: 6
start: 4 2 114 20 50 57
data:
$ID,196
$MISSION,3
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,500
$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,40
$T_MISSION,50
$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,53940
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2711.7935
$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,3080
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,1000
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3348
$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,-74.974327
$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
$DEEPGLIDERMB,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
$GPS1,030414,195128,4743.735,-12223.737,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-77.5
$GPS2,030414,195711,4743.776,-12223.674,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,191.0,2190,-17.5,-10.000,-21.04,2225
$D_GRID,168
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.75,-146.6,203,999,1432,1578,0.0,0.0,0,94,0.00,0.00,-72.03,0.000,16386,0.000,0.000,204,997,3379,3407,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.75,-146.6,203,999,3408,3353,3.4,-6.0,7,123,12.00,0.00,-9.85,0.000,18438,0.374,0.000,2828,995,3945,3998,3893,0,0,0,0,0,0,14.28,28.83,14.69
$GC,299,-0.75,-146.6,2829,996,3998,3896,50.0,-19.9,28,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,995,3946,3998,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-0.75,-146.6,2829,996,3998,3897,83.1,-18.4,46,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,995,3947,3998,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,659,-0.75,-146.6,2828,996,3999,3897,115.0,-18.2,64,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,995,3947,3998,3896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,688,begin apogee
$GC,690,-0.19,0.0,2829,996,3998,3896,120.4,-17.9,67,766,0.65,0.00,68.97,0.593,10246,0.215,0.000,3013,995,3348,3374,3322,0,0,0,0,0,0,14.43,28.83,14.07
$STATE,768,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,769,0.75,146.6,3013,995,3378,3320,125.0,0.0,74,851,0.95,0.00,71.32,0.602,10246,0.137,0.000,3313,995,2749,2759,2740,0,0,0,0,0,0,14.38,28.83,13.94
$GC,1029,0.77,177.1,3312,995,2761,2741,109.0,8.6,101,1052,0.00,0.00,14.88,0.528,8198,0.000,0.000,3312,995,2625,2639,2612,0,0,0,0,0,0,28.83,28.83,14.09
$GC,1229,0.77,177.1,3312,996,2642,2613,88.1,10.3,121,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,995,2626,2641,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,0.77,178.9,3313,996,2641,2613,69.5,9.9,139,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,995,2627,2642,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,0.79,198.7,3312,996,2643,2613,52.3,9.1,157,1604,0.00,0.00,9.52,0.331,8198,0.000,0.000,3312,995,2536,2547,2525,0,0,0,0,0,0,28.83,28.83,14.39
$GC,1779,0.79,198.7,3313,996,2553,2525,31.7,11.1,176,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,995,2538,2552,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,0.79,198.7,3313,996,2551,2526,12.4,10.3,194,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,995,2538,2552,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,1.00,498.9,3313,996,2552,2526,7.5,-3.8,212,2256,0.25,0.00,110.03,0.179,10242,0.087,0.000,3409,996,1464,1443,1486,0,0,0,0,0,0,14.62,28.83,28.83
$STATE,2257,end climb,SURFACE_DEPTH_REACHED
$STATE,2257,begin surface coast
$FINISH,-0.4,1.020565
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2342,0.00,0.000,0,0,1458,463.62
$SM_GC,0.58,9.52,0.00,0.00,0.073,0.000,0.000,216,995,1458,-8.94,-0.14,463.62,0,0,0,0,0,0,14.32,28.83,28.83
$RAFOS_CLK,11
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12241.04,030414,191918
$TT8_MAMPS,0.080892,0.080892
$HUMID,41.65
$INTERNAL_PRESSURE,8.96321
$TCM_TEMP,16.80
$XPDR_PINGS,0
$SC_FREEKB,3934912
$TM_FREEKB,7861560
$24V_AH,13.9,6.730
$10V_AH,13.7,0.000
$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,23.375,1.725,274.725,0.000,0.000,0.000,0.000,237.625,0.000,0.000,9.135,0.000,1483.228,263.940,903.538,35.631,0.000,814.288,0.000,366.409,0.000,0.543,0.000
$DEVICE_MAMPS,374.085,85.680,602.055,0.000,0.000,0.000,0.000,143.055,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2259.000,2275.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.931,14.690,0.000,0.000
$MEM,318384
$DATA_FILE_SIZE,6803,224
$CAP_FILE_SIZE,50950,0
$CFSIZE,2097872896,2091089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1575.5
$CURRENT,0.049,356.3,1
$GPS,030414,203651,4743.981,-12223.722,3,1.2,3,16.3