version: 66.12
glider: 197
mission: 5
dive: 1
start: 6 6 114 17 27 5
data:
$ID,197
$MISSION,5
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,652.31
$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,-6182.3198
$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,36
$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,-63.706085
$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
$GPS1,060614,172414,4743.080,-12224.614,10,2.3,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.0
$GPS2,060614,172639,4743.072,-12224.618,12,3.9,32,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,310.8,925,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,-146.6,180,2608,464,620,0.0,0.0,0,154,0.00,0.00,-133.90,0.000,16390,0.000,0.000,180,2610,3793,3777,3809,0,0,0,0,0,0,28.83,28.83,15.18
$GC,155,-0.91,-146.6,180,2610,3778,3809,2.0,-1.5,13,171,9.73,2.33,0.00,0.000,2564,0.418,0.063,2238,1187,3795,3777,3813,0,0,0,0,0,0,14.73,14.96,28.83
$GC,395,-0.63,-146.6,2239,1187,3778,3815,43.4,-17.3,60,405,0.38,2.38,0.00,0.000,3078,0.299,0.090,2320,2603,3796,3777,3815,0,0,0,0,0,0,14.74,14.91,28.83
$GC,580,-0.48,-146.6,2321,2603,3775,3818,67.4,-11.6,79,582,0.20,0.00,0.00,0.000,2054,0.284,0.000,2369,2603,3796,3774,3818,0,0,0,0,0,0,14.81,28.83,28.83
$GC,760,-0.44,-146.6,2370,2604,3774,3818,85.9,-10.0,97,767,0.00,2.30,0.00,0.000,516,0.000,0.072,2370,1187,3795,3772,3818,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,805,begin apogee
$GC,809,-0.21,0.0,2364,2502,3773,3823,90.5,-9.7,106,883,0.35,0.00,67.25,1.563,10246,0.230,0.000,2458,2502,3200,3154,3247,0,0,0,0,0,0,14.86,28.83,13.94
$STATE,885,end apogee,CONTROL_FINISHED_OK
$STATE,885,begin climb
$GC,886,0.91,146.6,2460,2502,3155,3247,94.1,0.0,113,970,1.15,2.08,69.28,1.537,10500,0.181,0.084,2810,3721,2601,2517,2685,0,0,0,0,0,0,14.57,14.45,13.83
$GC,1029,0.63,146.6,2811,3721,2519,2687,78.4,19.0,134,1037,0.35,1.95,0.00,0.000,5126,0.281,0.053,2735,2492,2602,2517,2688,0,0,0,0,0,0,14.57,14.70,28.83
$GC,1211,0.59,146.6,2736,2494,2518,2687,55.4,11.3,153,1219,0.00,2.03,0.00,0.000,260,0.000,0.094,2735,3709,2601,2516,2686,0,0,0,0,0,0,28.83,14.83,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3fab5495;,*0E
$RAFOS_MSG,CACST,6,0,20140606174459.064968,3,1761,32,0363,0150,100,00,00,00,02,1,000,000,0,5,1,0,150,20.6,3.8,-100,-0.8,-01,0.3,20,900,0025*10
$GC,1348,0.49,146.6,2736,3710,2516,2686,39.6,11.0,180,1359,0.15,1.95,0.00,0.000,5126,0.230,0.054,2697,2494,2600,2515,2686,0,0,0,0,0,0,14.82,14.91,28.83
$GC,1533,0.64,225.1,2698,2495,2514,2687,27.2,6.4,199,1577,0.12,2.03,32.78,0.215,10500,0.135,0.093,2765,3712,2279,2193,2365,0,0,0,0,0,0,14.99,14.90,14.78
$GC,1626,0.53,225.1,2766,3713,2193,2365,15.7,13.8,215,1634,0.25,1.90,0.00,0.000,5126,0.245,0.056,2705,2502,2278,2192,2364,0,0,0,0,0,0,14.84,14.95,28.83
$STATE,1797,end climb,SURFACE_DEPTH_REACHED
$STATE,1797,begin surface coast
$FINISH,0.9,0.999156
$STATE,1817,end surface coast,CONTROL_FINISHED_OK
$STATE,1817,begin surface
$SM_CCo,1836,179.62,0.138,0,0,539,652.50
$SM_GC,1.73,7.22,0.17,179.62,0.090,0.142,0.138,178,2606,539,-7.31,-0.71,652.50,0,0,0,0,0,0,14.95,15.00,14.86
$RAFOS_CLK,33
$MODEM,3,17.75000,17.73667,47.71720,-122.41080,-2.435,-3567.3
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,060614,171709
$TT8_MAMPS,0.041195,0.041195
$HUMID,41.29
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,18.30
$XPDR_PINGS,3
$SC_FREEKB,3937728
$TM_FREEKB,7891824
$24V_AH,13.8,8.870
$10V_AH,13.3,0.000
$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,19.900,21.375,169.300,179.625,0.000,0.000,0.000,0.000,0.750,0.000,34.587,0.000,982.640,463.488,641.345,24.317,0.000,730.543,0.000,354.585,600.000,0.543,0.000
$DEVICE_MAMPS,417.690,142.290,1562.895,137.700,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1797.000,1806.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.804,13.545,0.000,0.000
$MEM,312604
$DATA_FILE_SIZE,6834,235
$CAP_FILE_SIZE,79684,0
$CFSIZE,1047117824,1043349504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3672.32,0x237922,7,5
$SOUNDSPEED,1484.8
$EKF,2091,2863.233398,-7344.810059,0.892658,0.161652,-0.127065,-0.012492,0.000398,0.000879,0.002295,0.081388,0.081388,0.000129
$CURRENT,0.111,203.7,1
$GPS,060614,180153,4743.142,-12224.914,41,1.7,41,18.2