version: 66.12
glider: 197
mission: 4
dive: 2
start: 6 4 114 17 18 21
data:
$ID,197
$MISSION,4
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,130
$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,30
$T_MISSION,42
$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,-3729.052
$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,2530
$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,20
$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,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
$GPS1,040614,171515,4743.387,-12224.498,10,2.5,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.2
$GPS2,040614,171803,4743.396,-12224.499,9,2.4,29,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,279.2,653,-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,17,-0.91,-146.6,180,2108,438,557,0.0,0.0,0,162,0.00,0.00,-136.45,0.000,16390,0.000,0.000,180,2111,3798,3801,3796,0,0,0,0,0,0,28.83,28.83,15.09
$GC,164,-0.91,-146.6,180,2112,3802,3797,4.7,-5.8,14,180,10.27,2.38,0.00,0.000,2308,0.444,0.078,2219,3524,3799,3800,3799,0,0,0,0,0,0,14.58,14.82,28.83
$GC,404,-0.54,-146.6,2221,3524,3792,3811,64.0,-20.7,61,414,0.52,2.30,0.00,0.000,3078,0.308,0.062,2346,2101,3801,3790,3813,0,0,0,0,0,0,14.66,14.85,28.83
$GC,589,-0.49,-146.6,2347,2101,3789,3816,85.3,-10.8,80,599,0.00,2.40,0.00,0.000,260,0.000,0.102,2340,3516,3801,3787,3816,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,631,-0.21,0.0,2341,2287,3788,3817,90.0,-13.0,87,705,0.45,0.00,70.28,1.709,10246,0.246,0.000,2460,2285,3199,3159,3240,0,0,0,0,0,0,14.73,28.83,13.59
$STATE,707,end apogee,CONTROL_FINISHED_OK
$STATE,707,begin climb
$GC,708,0.91,146.6,2460,2284,3154,3243,94.5,0.0,94,795,1.20,2.50,71.53,1.671,10756,0.187,0.083,2827,890,2600,2526,2675,0,0,0,0,0,0,14.38,14.26,13.63
$GC,975,0.71,146.6,2827,890,2527,2676,62.1,15.6,140,985,0.28,2.40,0.00,0.000,5126,0.276,0.086,2763,2303,2599,2524,2675,0,0,0,0,0,0,14.53,14.65,28.83
$GC,1168,0.60,146.6,2764,2304,2527,2676,39.1,10.1,160,1171,0.15,0.00,0.00,0.000,4102,0.287,0.000,2727,2304,2600,2526,2675,0,0,0,0,0,0,14.66,28.83,28.83
$GC,1348,0.62,191.5,2728,2304,2527,2676,24.4,7.9,178,1379,0.00,2.42,19.17,0.220,8452,0.000,0.098,2727,3703,2416,2341,2492,0,0,0,0,0,0,28.83,14.79,14.67
$GC,1452,0.56,191.5,2728,3704,2342,2492,13.0,11.8,197,1462,0.00,2.28,0.00,0.000,1030,0.000,0.066,2733,2304,2415,2340,2491,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,1589,end climb,SURFACE_DEPTH_REACHED
$STATE,1589,begin surface coast
$FINISH,0.7,1.021111
$STATE,1609,end surface coast,CONTROL_FINISHED_OK
$STATE,1609,begin surface
$SM_CCo,1629,202.18,0.144,0,0,500,662.31
$SM_CCo,1832,0.00,0.000,0,0,499,662.31
$SM_CCo,1834,-0.03,0.000,0,0,500,662.31
$SM_GC,1.57,7.47,0.32,-0.03,0.102,0.093,0.000,184,2078,500,-7.29,0.90,662.31,0,0,0,0,0,0,14.82,14.87,14.42
$RAFOS_CLK,11
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,040614,171754
$TT8_MAMPS,0.079394,0.079394
$HUMID,40.82
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,17.70
$XPDR_PINGS,0
$SC_FREEKB,3937280
$TM_FREEKB,7890544
$24V_AH,13.6,7.530
$10V_AH,12.9,0.000
$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,20.350,19.025,160.975,202.175,0.000,0.000,0.000,0.000,0.000,0.000,31.476,0.000,832.992,462.900,610.536,12.201,0.000,727.371,0.000,322.522,0.000,0.539,0.000
$DEVICE_MAMPS,444.465,101.745,1709.010,143.820,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1590.000,1598.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.522,13.499,0.000,0.000
$MEM,310152
$DATA_FILE_SIZE,6818,213
$CAP_FILE_SIZE,56485,5
$CFSIZE,1024409600,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.1
$EKF,1879,2863.520264,-7344.556641,0.689882,0.071529,-0.165415,-0.048710,0.000339,0.000749,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.036,113.2,1
$GPS,040614,174937,4743.516,-12224.542,11,1.6,11,18.2