version: 66.12
glider: 197
mission: 5
dive: 3
start: 6 6 114 19 10 51
data:
$ID,197
$MISSION,5
$DIVE,3
$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,-6216.2637
$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,43
$R_STBD_OVSHOOT,30
$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
$GPS1,060614,190531,4743.380,-12224.976,7,1.8,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.0
$GPS2,060614,191037,4743.341,-12224.955,12,1.9,12,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,341.8,300,-26.3,-10.000,-30.00,1236
$D_GRID,178
$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,6,1,20140606185959.470529,3,803,17,0120,0150,174,03,03,02,03,1,000,000,2,5,1,0,150,19.3,1.3,-100,1.7,-01,0.3,28,900,0025*02
$GC,17,-1.20,-85.6,176,2607,1290,1419,0.0,0.0,0,112,0.00,0.00,-91.75,0.000,16390,0.000,0.000,175,2607,3549,3570,3528,0,0,0,0,0,0,28.83,28.83,15.07
$GC,114,-1.27,-146.6,177,2607,3572,3529,3.2,-2.1,9,135,9.40,2.40,-6.28,0.000,18948,0.429,0.101,2128,1197,3799,3786,3813,0,0,0,0,0,0,14.62,14.80,15.06
$GC,367,-1.04,-146.6,2128,1192,3787,3817,65.3,-21.7,56,376,0.35,2.38,0.00,0.000,3078,0.343,0.093,2201,2597,3801,3785,3817,0,0,0,0,0,0,14.69,14.87,28.83
$GC,552,-0.86,-146.6,2198,2597,3786,3818,103.3,-21.2,75,560,0.25,2.30,0.00,0.000,2564,0.318,0.075,2255,1194,3801,3785,3817,0,0,0,0,0,0,14.70,14.90,28.83
$GC,784,-0.81,-146.6,2255,1189,3786,3818,143.1,-16.5,121,792,0.12,2.38,0.00,0.000,3078,0.315,0.095,2271,2599,3801,3785,3818,0,0,0,0,0,0,14.78,14.91,28.83
$STATE,925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,925,begin apogee
$GC,928,-0.21,0.0,2273,2499,3785,3819,165.3,-15.6,136,1041,0.73,0.00,106.47,2.050,10246,0.268,0.000,2467,2497,3201,3152,3250,0,0,0,0,0,0,14.81,28.83,13.50
$STATE,1044,end apogee,CONTROL_FINISHED_OK
$STATE,1044,begin climb
$GC,1045,1.27,146.6,2467,2498,3155,3251,169.9,0.0,147,1167,1.55,2.15,109.97,2.052,10500,0.168,0.085,2938,3706,2603,2528,2678,0,0,0,0,0,0,14.33,14.17,13.48
$GC,1391,0.92,146.6,2939,3705,2530,2675,93.0,26.7,218,1401,0.40,1.98,0.00,0.000,5126,0.326,0.054,2839,2488,2602,2529,2675,0,0,0,0,0,0,14.55,14.73,28.83
$RAFOS_MSG,CACST,6,1,20140606192959.465475,3,336,13,0323,0150,100,00,00,02,03,1,000,000,2,5,1,0,150,10.7,3.4,-100,-0.4,-01,0.1,22,900,0025*2F
$GC,1585,0.85,146.6,2839,2488,2530,2677,57.2,17.0,238,1594,0.00,2.05,0.00,0.000,260,0.000,0.093,2839,3721,2602,2529,2676,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1743,0.68,146.6,2839,3721,2530,2674,29.5,16.3,269,1753,0.35,1.92,0.00,0.000,5126,0.297,0.054,2761,2500,2602,2528,2676,0,0,0,0,0,0,14.74,14.87,28.83
$GC,1928,0.77,146.6,2762,2500,2530,2677,9.8,10.0,288,1936,0.00,2.30,0.00,0.000,516,0.000,0.080,2770,1099,2602,2529,2676,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1975,0.92,157.7,2771,1098,2531,2677,5.6,9.1,297,1992,0.20,2.38,4.85,0.181,11270,0.105,0.094,2858,2506,2554,2477,2631,0,0,0,0,0,0,14.95,14.90,14.86
$STATE,2008,end climb,SURFACE_DEPTH_REACHED
$STATE,2008,begin surface coast
$FINISH,1.1,0.998849
$STATE,2018,end surface coast,CONTROL_FINISHED_OK
$STATE,2018,begin surface
$SM_CCo,2038,121.60,0.143,0,0,1363,450.13
$SM_GC,2.07,7.93,0.15,121.60,0.112,0.154,0.143,180,2603,1363,-7.33,-0.93,450.13,0,0,0,0,0,0,14.89,14.91,14.78
$RAFOS_CLK,8
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,060614,181805
$TT8_MAMPS,0.078645,0.078645
$HUMID,44.13
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,17.60
$XPDR_PINGS,0
$SC_FREEKB,3936832
$TM_FREEKB,7884196
$24V_AH,13.5,9.272
$10V_AH,13.1,0.000
$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,21.275,22.525,221.300,121.600,0.000,0.000,0.000,195.325,0.000,0.000,15.077,0.000,1043.957,392.415,1001.114,29.922,0.000,923.490,0.000,453.335,900.000,0.540,0.000
$DEVICE_MAMPS,429.165,153.765,2052.495,143.055,0.000,0.000,0.000,149.940,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2025.000,2017.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.607,13.481,0.000,0.000
$MEM,310168
$DATA_FILE_SIZE,10110,302
$CAP_FILE_SIZE,56429,0
$CFSIZE,1047117824,1043103744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3343.62,0x237922,7,5
$SOUNDSPEED,1485.6
$EKF,2231,2863.496338,-7345.147949,0.984851,0.152489,-0.003721,-0.042695,0.000392,0.000866,0.002297,0.131300,0.131300,0.000130
$CURRENT,0.081,190.0,1
$GPS,060614,194759,4743.417,-12225.174,37,1.3,37,18.2