version: 66.12
glider: 196
mission: 5
dive: 6
start: 6 5 114 15 54 33
data:
$ID,196
$MISSION,5
$DIVE,6
$N_DIVES,6
$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,-3952.5784
$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,35
$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
$GPS1,060614,212709,4743.126,-12224.785,15,1.7,15,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-76.1
$GPS2,060614,213315,4743.110,-12224.771,16,1.7,17,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,238.8,351,-26.3,-10.000,-30.00,1236
$D_GRID,178
$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
$EKF,30,2863.109863,-7344.770508,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.009975,0.370606,0.370606,0.002505
$GC,16,-1.03,-85.6,191,2616,1281,1448,0.0,0.0,0,113,0.00,0.00,-86.18,0.000,16390,0.000,0.000,191,2616,3548,3580,3517,0,0,0,0,0,0,28.83,28.83,14.76
$GC,115,-1.08,-146.6,190,2617,3580,3518,2.7,-3.9,9,136,11.38,2.03,-4.88,0.000,18692,0.391,0.108,2618,3779,3799,3856,3742,0,0,0,0,0,0,14.35,14.55,14.75
$GC,368,-0.76,-146.6,2618,3781,3857,3744,81.6,-29.0,57,376,0.45,1.90,0.00,0.000,3078,0.308,0.050,2728,2568,3797,3856,3739,0,0,0,0,0,0,14.46,14.62,28.83
$GC,560,-0.71,-146.6,2730,2567,3856,3743,120.2,-19.1,77,568,0.00,2.05,0.00,0.000,260,0.000,0.090,2717,3775,3799,3856,3743,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,781,-0.19,0.0,2718,2421,3857,3744,165.9,-21.1,120,902,0.75,0.00,113.97,1.106,10246,0.260,0.000,2910,2420,3194,3218,3170,0,0,0,0,0,0,14.50,28.83,13.78
$STATE,904,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,905,1.08,146.6,2911,2420,3217,3167,173.8,0.0,132,1032,1.35,2.50,110.32,0.998,10756,0.161,0.069,3325,999,2594,2604,2584,0,0,0,0,0,0,14.21,14.12,13.71
$GC,1189,0.91,146.6,3326,997,2600,2572,133.6,19.2,179,1199,0.22,2.40,0.00,0.000,5126,0.283,0.085,3277,2396,2584,2599,2570,0,0,0,0,0,0,14.33,14.43,28.83
$GC,1374,0.76,146.6,3277,2394,2596,2571,99.8,17.3,198,1382,0.20,2.38,0.00,0.000,4356,0.300,0.086,3228,3787,2584,2599,2570,0,0,0,0,0,0,14.40,14.50,28.83
$GC,1471,0.61,146.6,3232,3788,2601,2570,83.4,16.6,217,1480,0.25,2.25,0.00,0.000,5126,0.286,0.051,3183,2397,2584,2601,2568,0,0,0,0,0,0,14.42,14.56,28.83
$GC,1656,0.68,154.3,3184,2398,2603,2567,64.2,9.4,236,1667,0.00,2.42,2.15,0.184,8452,0.000,0.089,3183,3782,2570,2592,2549,0,0,0,0,0,0,28.83,14.59,14.55
$GC,1686,0.68,154.3,3180,3782,2600,2554,60.8,11.3,241,1695,0.00,2.22,1.33,0.216,9222,0.000,0.051,3192,2398,2569,2591,2548,0,0,0,0,0,0,28.83,14.63,14.55
$GC,1870,0.68,154.3,3193,2398,2611,2557,40.6,10.6,260,1875,0.00,0.00,1.67,0.200,8198,0.000,0.000,3191,2397,2568,2590,2546,0,0,0,0,0,0,28.83,28.83,14.59
$GC,2051,0.72,155.4,3193,2398,2611,2556,22.1,9.9,278,2059,0.00,2.42,1.92,0.199,8452,0.000,0.090,3192,3786,2567,2593,2541,0,0,0,0,0,0,28.83,14.60,14.59
$GC,2171,0.67,155.4,3194,3785,2610,2554,10.0,10.9,300,2181,0.00,2.22,1.77,0.200,9222,0.000,0.051,3203,2398,2567,2591,2543,0,0,0,0,0,0,28.83,14.66,14.50
$STATE,2274,end climb,SURFACE_DEPTH_REACHED
$STATE,2274,begin surface coast
$FINISH,0.9,1.020519
$STATE,2304,end surface coast,CONTROL_FINISHED_OK
$STATE,2304,begin surface
$SM_CCo,2325,124.12,0.155,0,0,1364,450.37
$SM_GC,0.68,9.20,0.35,124.12,0.113,0.093,0.155,199,2613,1364,-8.62,-0.68,450.37,0,0,0,0,0,0,14.64,14.65,14.52
$RAFOS_CLK,12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,060614,202000
$TT8_MAMPS,0.044191,0.044191
$HUMID,46.10
$INTERNAL_PRESSURE,8.89484
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,3935456
$TM_FREEKB,7863276
$24V_AH,13.7,0.962
$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,23.800,28.725,233.150,124.125,0.000,0.000,0.000,265.575,0.000,0.000,20.282,0.000,1259.630,465.875,1059.456,41.665,0.000,1031.646,0.000,472.449,900.000,0.545,0.000
$DEVICE_MAMPS,390.915,107.865,1106.190,154.530,0.000,0.000,0.000,159.120,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2307.000,2300.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.001,13.204,0.000,0.000
$MEM,310064
$DATA_FILE_SIZE,10122,314
$CAP_FILE_SIZE,60569,0
$CFSIZE,2097872896,2091024384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,54.64,0x2344f0,0,24
$SOUNDSPEED,1485.5
$EKF,2487,2863.185791,-7344.986328,0.898727,-0.000747,-0.007482,-0.019622,0.000460,0.001016,0.002294,0.045388,0.045388,0.000129
$CURRENT,0.132, 92.1,1
$GPS,060614,221452,4743.179,-12224.724,3,0.9,3,16.3