version: 66.12
glider: 197
mission: 5
dive: 5
start: 6 6 114 20 36 50
data:
$ID,197
$MISSION,5
$DIVE,5
$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,-6218.7827
$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,2700
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,41
$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
$GPS1,060614,203120,4743.598,-12225.148,8,3.1,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.1
$GPS2,060614,203635,4743.581,-12225.130,14,1.1,30,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,109.4,220,-26.3,-10.000,-30.00,1236
$D_GRID,180
$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,17,-1.20,-85.6,179,2715,1284,1424,0.0,0.0,0,105,0.00,0.00,-85.38,0.000,16386,0.000,0.000,177,2714,3431,3438,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.27,-146.6,178,2715,3440,3426,3.1,-1.9,8,136,9.50,2.35,-9.57,0.000,18948,0.438,0.095,2128,1288,3796,3776,3817,0,0,0,0,0,0,14.62,14.83,15.02
$GC,360,-1.02,-146.6,2129,1284,3782,3820,63.7,-23.7,57,369,0.38,2.35,0.00,0.000,3078,0.356,0.093,2202,2680,3800,3780,3820,0,0,0,0,0,0,14.69,14.84,28.83
$GC,549,-0.85,-146.6,2202,2684,3782,3821,102.4,-20.3,76,557,0.25,2.28,0.00,0.000,2564,0.323,0.074,2260,1297,3800,3781,3820,0,0,0,0,0,0,14.73,14.83,28.83
$EKF,756,2863.661865,-7345.097168,133.409515,0.233108,-0.086517,0.151331,0.000190,0.000420,0.001932,0.008900,0.008900,0.000119
$GC,781,-0.83,-146.6,2260,1292,3782,3828,138.4,-16.7,122,789,0.00,2.40,0.00,0.000,1030,0.000,0.096,2252,2706,3800,3780,3821,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,945,-0.21,0.0,2253,2437,3781,3822,166.5,-18.1,139,1058,0.80,0.00,108.22,2.092,10246,0.272,0.000,2463,2435,3199,3150,3248,0,0,0,0,0,0,14.78,28.83,13.47
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1061,1.27,146.6,2465,2436,3155,3249,171.6,0.0,150,1186,1.58,2.50,110.47,2.061,10756,0.161,0.081,2949,1053,2603,2526,2680,0,0,0,0,0,0,14.28,14.16,13.44
$GC,1418,1.07,146.6,2951,1055,2524,2680,103.1,21.8,212,1426,0.25,2.40,0.00,0.000,5126,0.308,0.089,2893,2460,2603,2527,2680,0,0,0,0,0,0,14.53,14.64,28.83
$GC,1610,0.90,146.6,2893,2461,2528,2680,64.1,19.9,232,1618,0.28,2.35,0.00,0.000,4612,0.324,0.080,2839,1050,2603,2527,2679,0,0,0,0,0,0,14.61,14.76,28.83
$GC,1686,0.87,146.6,2838,1050,2528,2680,52.1,16.5,246,1694,0.00,2.42,0.00,0.000,1030,0.000,0.091,2838,2450,2603,2527,2679,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1878,0.81,146.6,2839,2451,2528,2680,21.4,13.1,266,1886,0.15,2.12,0.00,0.000,4356,0.313,0.091,2802,3719,2603,2527,2679,0,0,0,0,0,0,14.73,14.79,28.83
$GC,2005,0.74,146.6,2805,3720,2527,2679,2.3,14.0,291,2016,0.15,2.00,0.00,0.000,5126,0.307,0.054,2780,2444,2602,2526,2679,0,0,0,0,0,0,14.76,14.90,28.83
$STATE,2019,end climb,SURFACE_DEPTH_REACHED
$STATE,2019,begin surface coast
$FINISH,2.3,1.019436
$STATE,2050,end surface coast,CONTROL_FINISHED_OK
$STATE,2050,begin surface
$SM_CCo,2053,216.07,0.144,0,0,499,662.31
$SM_GC,1.90,7.32,0.45,0.00,0.065,0.102,0.000,178,2714,496,-7.33,-0.59,663.29,0,0,0,0,0,0,14.82,14.85,28.83
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,060614,191946
$TT8_MAMPS,0.040446,0.040446
$HUMID,46.18
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3935936
$TM_FREEKB,7877712
$24V_AH,13.4,9.645
$10V_AH,13.0,0.000
$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,20.650,24.550,218.700,216.075,0.000,0.000,0.000,192.800,0.000,0.000,32.397,0.000,1166.741,536.380,957.409,29.621,0.000,1012.127,0.000,442.812,600.000,0.539,0.000
$DEVICE_MAMPS,437.580,101.745,2091.510,143.820,0.000,0.000,0.000,137.700,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2052.000,2045.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.855,13.506,0.000,0.000
$MEM,310144
$DATA_FILE_SIZE,10119,296
$CAP_FILE_SIZE,55386,0
$CFSIZE,1047117824,1042841600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.9
$EKF,2431,2863.645264,-7345.151367,2.324170,-0.005424,0.004758,0.017741,0.000447,0.000988,0.002290,0.009399,0.009399,0.000127
$CURRENT,0.049,178.0,1
$GPS,060614,211718,4743.579,-12225.146,8,1.6,26,18.2