version: 66.12
glider: 197
mission: 5
dive: 2
start: 6 6 114 18 15 7
data:
$ID,197
$MISSION,5
$DIVE,2
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,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,53993
$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,-6215.0068
$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,2540
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,060614,181131,4743.146,-12224.930,11,1.4,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.2
$GPS2,060614,181448,4743.150,-12224.935,11,1.4,28,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,349.8,653,-20.0,-10.000,-24.70,1991
$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,-1.01,-146.6,179,2607,465,604,0.0,0.0,0,153,0.00,0.00,-133.05,0.000,16390,0.000,0.000,178,2607,3798,3804,3792,0,0,0,0,0,0,28.83,28.83,15.19
$GC,154,-1.01,-146.6,179,2608,3804,3793,3.6,-3.1,13,171,10.07,1.83,0.00,0.000,2308,0.449,0.078,2199,3712,3800,3801,3799,0,0,0,0,0,0,14.73,14.95,28.83
$GC,395,-0.66,-146.6,2199,3713,3796,3808,65.9,-23.0,60,405,0.43,1.77,0.00,0.000,3078,0.308,0.051,2319,2593,3801,3793,3810,0,0,0,0,0,0,14.78,14.97,28.83
$GC,580,-0.57,-146.6,2320,2594,3790,3815,91.8,-12.1,79,589,0.15,2.25,0.00,0.000,2564,0.281,0.073,2354,1196,3801,3789,3814,0,0,0,0,0,0,14.85,14.94,28.83
$GC,713,-0.57,-146.6,2355,1195,3789,3816,104.8,-10.1,105,722,0.00,2.38,0.00,0.000,1030,0.000,0.096,2349,2600,3802,3788,3816,0,0,0,0,0,0,28.83,14.96,28.83
$GC,910,-0.54,-146.6,2349,2600,3787,3817,128.0,-11.4,125,919,0.00,2.30,0.00,0.000,516,0.000,0.078,2349,1198,3802,3787,3817,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1068,-0.54,-146.6,2353,1200,3793,3819,144.5,-10.9,156,1077,0.00,2.38,0.00,0.000,1030,0.000,0.096,2341,2605,3801,3786,3817,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,1252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1252,begin apogee
$GC,1255,-0.21,0.0,2341,2503,3787,3817,165.2,-11.2,175,1369,0.47,0.00,106.45,2.110,10246,0.243,0.000,2470,2502,3198,3146,3250,0,0,0,0,0,0,14.81,28.83,13.52
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1372,1.01,146.6,2471,2507,3155,3251,169.9,0.0,186,1499,1.27,2.15,109.75,2.097,10500,0.170,0.088,2859,3708,2604,2526,2683,0,0,0,0,0,0,14.36,14.26,13.50
$GC,1578,0.68,146.6,2860,3708,2526,2683,140.9,22.0,219,1587,0.45,1.98,0.00,0.000,5126,0.304,0.053,2762,2468,2603,2525,2682,0,0,0,0,0,0,14.52,14.66,28.83
$GC,1766,0.61,146.6,2762,2467,2525,2683,115.5,12.3,238,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2467,2603,2524,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1946,0.55,146.6,2762,2467,2525,2683,93.2,13.2,256,1954,0.17,2.08,0.00,0.000,4356,0.274,0.092,2718,3716,2603,2524,2683,0,0,0,0,0,0,14.77,14.84,28.83
$GC,2032,0.51,146.6,2719,3716,2525,2682,82.3,11.4,273,2043,0.00,1.95,0.00,0.000,1030,0.000,0.054,2720,2504,2601,2524,2679,0,0,0,0,0,0,28.83,14.85,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3fcb5493;,*06
$RAFOS_MSG,CACST,6,0,20140606184459.236057,3,2793,22,0104,0150,100,01,01,02,01,1,000,000,0,5,1,0,150,25.6,9.5,-100,-6.5,-01,0.3,14,900,0025*10
$GC,2218,0.55,157.6,2721,2505,2529,2683,64.8,9.4,292,2231,0.00,0.00,5.45,1.083,8198,0.000,0.000,2721,2504,2556,2476,2637,0,0,0,0,0,0,28.83,28.83,14.31
$GC,2408,0.63,191.7,2721,2505,2477,2637,47.5,8.3,311,2432,0.00,0.00,15.25,1.131,8198,0.000,0.000,2721,2504,2414,2331,2497,0,0,0,0,0,0,28.83,28.83,14.32
$GC,2608,0.72,214.6,2722,2505,2337,2497,30.4,8.8,331,2623,0.15,2.10,10.12,0.963,10500,0.123,0.093,2791,3719,2322,2242,2402,0,0,0,0,0,0,14.94,14.85,14.39
$GC,2725,0.58,214.6,2792,3720,2245,2402,13.1,16.8,352,2734,0.28,1.92,0.00,0.000,5126,0.256,0.054,2731,2496,2322,2243,2402,0,0,0,0,0,0,14.76,14.86,28.83
$STATE,2849,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,1.0,1.008058
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2887,98.32,0.143,0,0,1364,450.13
$SM_GC,1.96,7.43,0.17,98.32,0.096,0.144,0.143,176,2607,1364,-7.35,-0.88,450.13,0,0,0,0,0,0,14.88,14.91,14.81
$RAFOS_CLK,14
$MODEM,3,18.75000,18.73861,47.71760,-122.41160,-2.264,-3316.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,060614,181808
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.29
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,17.60
$XPDR_PINGS,0
$SC_FREEKB,3937280
$TM_FREEKB,7887344
$24V_AH,13.5,9.085
$10V_AH,13.5,0.000
$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,20.875,25.400,247.025,98.325,0.000,0.000,0.000,0.000,0.000,0.000,31.052,0.000,1642.493,502.995,902.416,23.368,0.000,844.061,0.000,548.237,900.000,0.539,0.000
$DEVICE_MAMPS,449.055,143.820,2109.870,143.055,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2848.000,2856.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.879,13.535,0.000,0.000
$MEM,310144
$DATA_FILE_SIZE,13441,367
$CAP_FILE_SIZE,75832,0
$CFSIZE,1047117824,1043218432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2881.01,0x237922,7,5
$SOUNDSPEED,1485.5
$EKF,3027,2863.395264,-7344.899902,1.007300,0.000075,0.000024,-0.000610,0.000617,0.001362,0.002294,0.045388,0.045388,0.000129
$CURRENT,0.032,253.7,1
$GPS,060614,190531,4743.380,-12224.976,7,1.8,7,18.2