version: 66.12
glider: 197
mission: 5
dive: 4
start: 6 6 114 19 52 51
data:
$ID,197
$MISSION,5
$DIVE,4
$N_DIVES,5
$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,-6217.522
$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,2400
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,29
$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
$GPS1,060614,194759,4743.417,-12225.174,37,1.3,37,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.6
$GPS2,060614,195237,4743.402,-12225.163,13,1.3,13,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,13.4,272,-26.3,-10.000,-30.00,1236
$D_GRID,181
$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,CARDP,0,0,1,0,0,1;5;3a3fbb5497;,*02
$RAFOS_MSG,CACST,6,0,20140606194459.684017,3,251,11,0236,0150,174,02,02,02,02,1,000,000,0,5,1,0,150,7.5,4.2,-100,-1.2,-01,0.1,35,900,0025*1A
$GC,17,-1.20,-85.6,180,2400,1284,1427,0.0,0.0,0,114,0.00,0.00,-92.15,0.000,16390,0.000,0.000,180,2401,3549,3571,3528,0,0,0,0,0,0,28.83,28.83,15.06
$GC,116,-1.27,-146.6,180,2401,3567,3528,2.9,-1.8,9,138,9.40,0.00,-6.35,0.000,18950,0.434,0.000,2120,2400,3800,3785,3815,0,0,0,0,0,0,14.62,28.83,15.03
$GC,312,-0.97,-146.6,2120,2400,3786,3818,54.2,-27.1,30,320,0.43,2.33,0.00,0.000,2564,0.340,0.077,2227,987,3801,3785,3817,0,0,0,0,0,0,14.69,14.88,28.83
$GC,552,-0.88,-146.6,2227,985,3785,3820,97.5,-18.2,76,562,0.15,2.40,0.00,0.000,3078,0.323,0.096,2247,2401,3799,3779,3819,0,0,0,0,0,0,14.74,14.85,28.83
$GC,746,-0.80,-146.6,2249,2401,3785,3820,129.0,-15.0,96,755,0.12,2.35,0.00,0.000,2564,0.343,0.086,2273,994,3802,3785,3819,0,0,0,0,0,0,14.76,14.88,28.83
$GC,979,-0.80,-146.6,2274,989,3786,3820,164.1,-14.0,142,988,0.00,2.38,0.00,0.000,1030,0.000,0.099,2268,2399,3801,3784,3819,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,993,-0.21,0.0,2266,2465,3785,3820,165.5,-13.0,144,1106,0.77,0.00,107.43,2.076,10246,0.278,0.000,2467,2465,3201,3153,3249,0,0,0,0,0,0,14.77,28.83,13.47
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1110,1.27,146.6,2470,2466,3157,3251,170.3,0.0,155,1235,1.58,2.17,109.65,2.050,10500,0.184,0.086,2937,3708,2603,2527,2679,0,0,0,0,0,0,14.28,14.15,13.46
$GC,1468,0.92,146.6,2938,3707,2529,2680,89.9,27.6,217,1476,0.47,2.05,0.00,0.000,5126,0.331,0.056,2840,2436,2603,2528,2679,0,0,0,0,0,0,14.57,14.66,28.83
$GC,1660,0.85,146.6,2840,2435,2529,2680,56.7,15.0,237,1667,0.00,2.30,0.00,0.000,516,0.000,0.080,2851,1043,2603,2528,2679,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1701,0.81,146.6,2848,1042,2529,2680,50.6,14.3,245,1709,0.20,2.38,0.00,0.000,5126,0.301,0.088,2804,2453,2603,2528,2679,0,0,0,0,0,0,14.69,14.80,28.83
$GC,1893,0.81,146.6,2805,2454,2529,2681,27.2,11.3,265,1901,0.00,2.10,0.00,0.000,260,0.000,0.093,2803,3708,2603,2528,2679,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2000,0.74,146.6,2804,3708,2524,2679,12.8,12.8,286,2009,0.10,2.03,0.00,0.000,5126,0.299,0.056,2786,2453,2603,2528,2679,0,0,0,0,0,0,14.76,14.90,28.83
$STATE,2094,end climb,SURFACE_DEPTH_REACHED
$STATE,2094,begin surface coast
$FINISH,1.1,1.019654
$STATE,2105,end surface coast,CONTROL_FINISHED_OK
$STATE,2105,begin surface
$SM_CCo,2124,126.22,0.145,0,0,1363,450.13
$SM_GC,2.04,7.57,0.05,126.22,0.099,0.257,0.145,180,2399,1363,-7.33,1.30,450.13,0,0,0,0,0,0,14.90,14.91,14.81
$RAFOS_CLK,34
$MODEM,3,19.75000,19.73778,47.71740,-122.41000,-1.816,-2697.7
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12222.38,060614,191925
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.95
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3936384
$TM_FREEKB,7880912
$24V_AH,13.5,9.456
$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,20.800,22.950,217.075,126.225,0.000,0.000,0.000,173.500,0.000,0.000,15.194,0.000,1123.683,452.336,925.289,29.974,0.000,911.376,0.000,445.881,600.000,0.539,0.000
$DEVICE_MAMPS,433.755,257.040,2076.210,144.585,0.000,0.000,0.000,145.350,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2107.000,2103.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.732,13.474,0.000,0.000
$MEM,310040
$DATA_FILE_SIZE,10137,297
$CAP_FILE_SIZE,55536,0
$CFSIZE,1047117824,1042972672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.6
$EKF,2312,2863.631836,-7345.163574,1.051571,0.009992,0.006033,-0.090086,0.000405,0.000895,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.029,164.7,1
$GPS,060614,203120,4743.598,-12225.148,8,3.1,28,18.2