version: 66.12
glider: 197
mission: 5
dive: 6
start: 6 6 114 21 22 1
data:
$ID,197
$MISSION,5
$DIVE,6
$N_DIVES,6
$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,-6220.0405
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,060614,211718,4743.579,-12225.146,8,1.6,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.9
$GPS2,060614,212143,4743.562,-12225.159,11,1.6,11,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,88.2,230,-26.3,-10.000,-30.00,1236
$D_GRID,182
$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,-85.6,179,2716,412,575,0.0,0.0,0,145,0.00,0.00,-123.50,0.000,16390,0.000,0.000,178,2716,3549,3573,3526,0,0,0,0,0,0,28.83,28.83,15.05
$GC,146,-1.27,-146.6,180,2716,3574,3526,3.2,-2.2,12,175,9.68,2.38,-6.55,0.000,18948,0.446,0.100,2125,1307,3799,3785,3814,0,0,0,0,0,0,14.62,14.81,15.02
$GC,398,-1.01,-146.6,2126,1307,3786,3818,63.0,-24.4,61,408,0.40,2.35,0.00,0.000,3078,0.350,0.095,2205,2695,3801,3786,3817,0,0,0,0,0,0,14.71,14.88,28.83
$GC,587,-0.84,-146.6,2205,2696,3787,3819,100.9,-19.8,80,595,0.22,2.30,0.00,0.000,2564,0.331,0.072,2260,1305,3802,3786,3819,0,0,0,0,0,0,14.71,14.85,28.83
$GC,819,-0.80,-146.6,2261,1301,3787,3819,139.9,-17.2,126,827,0.00,2.38,0.00,0.000,1030,0.000,0.099,2252,2700,3802,3786,3819,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,953,-0.21,0.0,2254,2454,3787,3819,165.0,-18.7,140,1065,0.82,0.00,107.40,2.005,10246,0.285,0.000,2467,2451,3200,3150,3250,0,0,0,0,0,0,14.74,28.83,13.49
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1069,1.27,146.6,2468,2454,3152,3254,171.9,0.0,151,1195,1.58,2.30,110.35,1.991,10500,0.174,0.089,2939,3715,2603,2527,2679,0,0,0,0,0,0,14.26,14.14,13.40
$GC,1427,0.91,146.6,2940,3715,2529,2679,94.8,29.0,213,1435,0.40,2.08,0.00,0.000,5126,0.322,0.058,2842,2461,2603,2528,2678,0,0,0,0,0,0,14.51,14.64,28.83
$GC,1619,0.82,146.6,2842,2460,2529,2679,60.4,17.3,233,1626,0.15,2.10,0.00,0.000,4356,0.309,0.093,2808,3709,2603,2528,2678,0,0,0,0,0,0,14.61,14.73,28.83
$EKF,1645,2863.720703,-7345.014648,57.578045,0.155514,0.213076,-0.182210,0.000381,0.000842,0.001940,0.009142,0.009142,0.000122
$GC,1854,0.73,146.6,2808,3709,2524,2679,24.2,15.2,279,1863,0.10,2.03,0.00,0.000,5126,0.283,0.057,2777,2457,2602,2527,2678,0,0,0,0,0,0,14.72,14.85,28.83
$GC,2047,0.79,146.6,2778,2457,2528,2679,3.1,10.8,299,2057,0.00,2.10,0.00,0.000,260,0.000,0.096,2777,3710,2600,2527,2674,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,2060,end climb,SURFACE_DEPTH_REACHED
$STATE,2060,begin surface coast
$FINISH,1.1,1.021007
$STATE,2065,end surface coast,CONTROL_FINISHED_OK
$STATE,2065,begin surface
$SM_CCo,2085,125.80,0.143,0,0,1364,450.13
$SM_GC,2.02,7.65,1.62,125.80,0.106,0.053,0.143,180,2690,1364,-7.33,1.33,450.13,0,0,0,0,0,0,14.87,14.91,14.77
$RAFOS_CLK,30
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,060614,202012
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.03
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3935488
$TM_FREEKB,7874492
$24V_AH,13.4,9.824
$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,21.000,22.000,217.750,125.800,0.000,0.000,0.000,161.400,0.000,0.000,14.199,0.000,1059.353,479.181,916.734,29.152,0.000,922.705,0.000,452.265,600.000,0.539,0.000
$DEVICE_MAMPS,445.995,100.215,2005.065,143.055,0.000,0.000,0.000,145.350,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2067.000,2064.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.519,13.480,0.000,0.000
$MEM,310092
$DATA_FILE_SIZE,10095,302
$CAP_FILE_SIZE,53042,0
$CFSIZE,1047117824,1042710528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2710.28,0x237922,7,5
$SOUNDSPEED,1485.8
$EKF,2258,2863.742676,-7344.952637,1.144634,0.120495,0.155207,-0.117791,0.000452,0.000998,0.001945,0.056112,0.056112,0.000125
$CURRENT,0.016, 26.1,1
$GPS,060614,215936,4743.773,-12224.915,12,1.5,12,18.2