version: 66.12
glider: 197
mission: 4
dive: 1
start: 6 4 114 16 40 41
data:
$ID,197
$MISSION,4
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$D_NO_BLEED,50
$D_BOOST,30
$T_BOOST,0
$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,15
$T_MISSION,27
$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,53993
$MASS_COMP,0
$NAV_MODE,10
$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,692.04858
$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,-3656.4009
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3362
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-60.549187
$PRESSURE_SLOPE,0.000117962
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$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
$GPS1,040614,163730,4743.315,-12224.372,45,1.9,45,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.5
$GPS2,040614,164015,4743.322,-12224.369,15,2.9,35,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,274.5,852,-17.5,-10.000,-21.04,2225
$D_GRID,175
$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,16,-0.91,-146.6,174,2094,468,610,0.0,0.0,0,162,0.00,0.00,-141.12,0.000,16390,0.000,0.000,173,2094,3961,3966,3957,0,0,0,0,0,0,28.83,28.83,15.12
$GC,163,-0.91,-146.6,174,2094,3968,3957,3.5,-4.0,14,180,9.93,2.38,0.00,0.000,2564,0.428,0.080,2205,690,3962,3965,3960,0,0,0,0,0,0,14.57,14.88,28.83
$STATE,346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,346,begin apogee
$GC,351,-0.21,0.0,2198,2301,3964,3965,45.6,-19.8,48,423,0.90,0.00,66.82,1.309,10246,0.305,0.000,2425,2300,3359,3321,3397,0,0,0,0,0,0,14.57,28.83,13.81
$STATE,425,end apogee,CONTROL_FINISHED_OK
$STATE,425,begin climb
$GC,426,0.91,146.6,2425,2301,3321,3400,52.8,0.0,55,509,1.23,0.00,67.60,1.266,10502,0.204,0.000,2783,2301,2763,2702,2825,0,0,0,0,0,0,14.43,28.83,13.76
$EKF,527,2863.333496,-7344.429199,46.940372,0.053829,-0.146372,-0.034966,0.000123,0.000272,0.002475,0.102812,0.102812,0.000200
$GC,683,0.74,146.6,2784,2301,2704,2824,28.0,11.3,83,691,0.17,2.40,0.00,0.000,4356,0.286,0.092,2745,3716,2763,2702,2824,0,0,0,0,0,0,14.62,14.74,28.83
$GC,739,0.57,146.6,2746,3716,2703,2825,21.5,11.4,94,749,0.28,2.28,0.00,0.000,5126,0.269,0.057,2686,2300,2763,2702,2824,0,0,0,0,0,0,14.64,14.78,28.83
$GC,925,0.77,255.9,2688,2300,2702,2825,9.8,5.0,113,982,0.20,2.33,45.90,0.163,10756,0.110,0.076,2775,891,2313,2241,2386,0,0,0,0,0,0,14.88,14.81,14.73
$STATE,1025,end climb,SURFACE_DEPTH_REACHED
$STATE,1025,begin surface coast
$FINISH,0.7,1.020665
$STATE,1035,end surface coast,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$SM_CCo,1055,186.93,0.142,0,0,538,692.24
$SM_GC,1.36,7.53,2.10,186.93,0.093,0.085,0.142,180,2110,538,-7.21,-0.48,692.24,0,0,0,0,0,0,14.83,14.84,14.73
$RAFOS_CLK,33
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,040614,161602
$TT8_MAMPS,0.044191,0.044191
$HUMID,39.01
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,18.90
$XPDR_PINGS,4
$SC_FREEKB,3937728
$TM_FREEKB,7893052
$24V_AH,13.8,7.401
$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,20.225,14.275,180.325,186.925,0.000,0.000,0.000,0.000,1.000,0.000,37.427,0.000,422.086,499.672,401.907,16.949,0.000,660.105,0.000,202.991,0.000,0.542,0.000
$DEVICE_MAMPS,427.635,93.330,1308.915,141.525,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1014.000,1021.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.266,13.552,0.000,0.000
$MEM,312584
$DATA_FILE_SIZE,3504,132
$CAP_FILE_SIZE,53163,4
$CFSIZE,1024409600,1020919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.9
$EKF,1309,2863.350098,-7344.502930,0.674674,0.145249,-0.189636,-0.085274,0.000239,0.000527,0.001939,0.062905,0.062905,0.000121
$CURRENT,0.066,152.1,1
$GPS,040614,170227,4743.330,-12224.512,13,3.0,33,18.2