version: 66.12
glider: 197
mission: 4
dive: 3
start: 6 4 114 18 3 33
data:
$ID,197
$MISSION,4
$DIVE,3
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,64
$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,-3757.3362
$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,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$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
$GPS1,040614,180049,4743.595,-12224.544,7,1.8,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.0
$GPS2,040614,180318,4743.613,-12224.542,11,1.5,28,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,238.0,607,-20.5,-10.000,-23.73,1665
$D_GRID,174
$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
$RAFOS_MSG,CACST,6,1,20140604174459.622999,3,2439,09,0227,0150,217,03,03,04,03,-1,-01,-01,1,3,0,0,150,22.7,1.0,-100,2.0,-01,0.1,23,900,0025*18
$EKF,30,2863.612793,-7344.541992,0.000000,0.000000,0.000000,0.000000,0.000000,0.000001,0.010004,0.164641,0.164641,0.001144
$GC,16,-0.99,-109.5,179,2605,445,560,0.0,0.0,0,152,0.00,0.00,-130.48,0.000,16390,0.000,0.000,179,2605,3647,3653,3641,0,0,0,0,0,0,28.83,28.83,15.07
$GC,154,-1.03,-146.6,180,2605,3654,3641,3.1,-2.4,13,177,10.43,1.85,-3.30,0.000,18692,0.459,0.116,2183,3710,3796,3784,3809,0,0,0,0,0,0,14.57,14.80,15.02
$GC,401,-0.67,-146.6,2184,3710,3785,3811,69.1,-23.3,61,409,0.45,1.80,0.00,0.000,3078,0.324,0.060,2305,2599,3797,3783,3811,0,0,0,0,0,0,14.61,14.79,28.83
$GC,593,-0.58,-146.6,2306,2600,3783,3814,96.8,-13.7,81,601,0.15,1.85,0.00,0.000,2308,0.312,0.103,2333,3698,3797,3782,3813,0,0,0,0,0,0,14.66,14.83,28.83
$GC,832,-0.55,-146.6,2334,3700,3783,3814,128.1,-13.2,127,841,0.00,1.77,0.00,0.000,1030,0.000,0.058,2333,2605,3798,3782,3814,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,1024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1024,begin apogee
$GC,1027,-0.21,0.0,2334,2501,3782,3814,150.6,-12.1,147,1149,0.47,0.00,110.35,2.175,10246,0.252,0.000,2458,2501,3202,3158,3246,0,0,0,0,0,0,14.71,28.83,13.35
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1152,1.03,146.6,2458,2501,3160,3247,156.3,0.0,159,1282,1.35,2.47,112.25,2.095,10756,0.194,0.083,2865,1090,2606,2528,2684,0,0,0,0,0,0,14.28,14.17,13.35
$GC,1471,0.82,146.6,2865,1089,2530,2678,108.8,19.1,214,1481,0.30,2.40,0.00,0.000,5126,0.299,0.092,2796,2491,2603,2529,2677,0,0,0,0,0,0,14.57,14.69,28.83
$GC,1659,0.68,146.6,2796,2491,2529,2678,82.0,12.9,233,1662,0.20,0.00,0.00,0.000,4102,0.303,0.000,2750,2490,2603,2529,2677,0,0,0,0,0,0,14.62,28.83,28.83
$GC,1839,0.64,146.6,2751,2491,2526,2677,62.3,10.3,251,1848,0.00,2.05,0.00,0.000,260,0.000,0.096,2750,3708,2603,2529,2677,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1880,0.52,146.6,2751,3708,2529,2678,57.5,11.1,258,1890,0.22,1.95,0.00,0.000,5126,0.284,0.064,2703,2497,2603,2528,2678,0,0,0,0,0,0,14.69,14.80,28.83
$GC,2066,0.64,187.4,2704,2496,2529,2682,42.9,7.5,277,2090,0.00,0.00,18.75,1.139,8198,0.000,0.000,2703,2496,2433,2355,2512,0,0,0,0,0,0,28.83,28.83,14.21
$GC,2266,0.75,221.0,2704,2496,2355,2514,26.6,7.9,297,2289,0.22,2.05,14.35,0.232,10500,0.112,0.091,2789,3710,2296,2218,2374,0,0,0,0,0,0,14.86,14.76,14.71
$GC,2383,0.62,221.0,2790,3710,2218,2374,6.8,19.0,319,2393,0.20,1.98,0.00,0.000,5126,0.270,0.059,2731,2500,2295,2217,2373,0,0,0,0,0,0,14.71,14.83,28.83
$STATE,2426,end climb,SURFACE_DEPTH_REACHED
$STATE,2426,begin surface coast
$FINISH,0.8,0.999959
$STATE,2446,end surface coast,CONTROL_FINISHED_OK
$STATE,2446,begin surface
$SM_CCo,2465,188.43,0.145,0,0,499,662.31
$SM_CCo,2655,-0.15,0.000,0,0,501,662.06
$SM_CCo,2656,0.08,1.867,0,0,498,662.31
$SM_GC,1.62,7.53,0.17,0.08,0.103,0.141,1.867,177,2608,498,-7.31,-0.68,662.31,0,0,0,0,0,0,14.80,14.85,14.59
$RAFOS_CLK,11
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,040614,171735
$TT8_MAMPS,0.079394,0.079394
$HUMID,41.21
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,17.60
$XPDR_PINGS,0
$SC_FREEKB,3936832
$TM_FREEKB,7886724
$24V_AH,13.3,7.740
$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,21.525,20.500,255.700,188.500,0.000,0.000,0.000,0.000,0.000,0.000,30.379,0.000,1317.863,591.637,811.460,16.551,0.000,903.145,0.000,487.118,0.000,0.539,0.000
$DEVICE_MAMPS,459.000,140.760,2174.895,1866.600,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2425.000,2434.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.975,13.525,0.000,0.000
$MEM,310140
$DATA_FILE_SIZE,10122,325
$CAP_FILE_SIZE,78131,7
$CFSIZE,1024409600,1020657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.2
$EKF,2701,2863.711914,-7344.744141,0.804793,-0.004918,-0.204431,-0.046901,0.000547,0.001209,0.002294,0.045372,0.045372,0.000129
$CURRENT,0.078, 60.4,1
$GPS,040614,184831,4743.768,-12224.641,10,1.5,10,18.2