version: 66.12
glider: 198
mission: 4
dive: 1
start: 6 16 114 16 25 41
data:
$ID,198
$MISSION,4
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$D_NO_BLEED,50
$D_BOOST,30
$T_BOOST,4
$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,30
$T_MISSION,42
$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,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53931
$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,701.37
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2898.2485
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-84.078575
$PRESSURE_SLOPE,0.0001160319
$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,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,160614,162205,4743.183,-12224.118,2,1.1,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.3
$GPS2,160614,162459,4743.203,-12224.086,4,1.0,34,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,279.5,1264,-20.0,-10.000,-24.70,1991
$D_GRID,175
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.01,-146.6,202,2404,568,522,0.0,0.0,0,173,0.00,0.00,-148.02,0.000,16390,0.000,0.000,201,2407,3961,3997,3925,0,0,0,0,0,0,28.83,28.83,15.05
$GC,174,-1.01,-146.6,202,2404,3998,3925,2.1,-1.8,15,192,9.80,2.35,0.00,0.000,2564,0.422,0.078,2285,1001,3961,4003,3920,0,0,0,0,0,0,14.56,14.79,28.83
$GC,430,-0.64,-146.6,2285,1002,4006,3921,48.9,-17.8,62,440,0.52,2.38,0.00,0.000,3078,0.324,0.099,2404,2406,3962,4005,3920,0,0,0,0,0,0,14.54,14.73,28.83
$MODEM_MSG,CACST,6,1,20140616163000.042905,3,3000,34,0381,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,27.0,1.5,-100,1.5,-01,0.2,45,900,0025*1D
$GC,616,-0.55,-146.6,2405,2406,4007,3919,71.8,-12.0,81,623,0.12,2.28,0.00,0.000,2564,0.313,0.076,2430,1005,3962,4006,3919,0,0,0,0,0,0,14.64,14.78,28.83
$GC,672,-0.61,-146.6,2432,1004,4007,3918,77.8,-10.3,92,683,0.00,2.40,0.00,0.000,1030,0.000,0.105,2430,2407,3962,4007,3918,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,787,begin apogee
$GC,789,-0.21,0.0,2429,2408,4007,3919,90.3,-11.3,104,892,0.43,0.00,99.10,0.923,10246,0.249,0.000,2543,2407,3398,3468,3329,0,0,0,0,0,0,14.67,28.83,14.09
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,895,1.01,146.6,2545,2408,3463,3327,95.5,0.0,114,1014,1.30,2.38,103.00,0.881,10756,0.192,0.073,2944,1002,2794,2861,2727,0,0,0,0,0,0,14.42,14.35,13.95
$GC,1028,0.69,146.6,2945,1003,2857,2728,82.8,15.4,133,1037,0.40,2.45,0.00,0.000,5126,0.280,0.097,2845,2416,2791,2856,2727,0,0,0,0,0,0,14.33,14.42,28.83
$GC,1222,0.58,146.6,2845,2416,2855,2726,56.6,13.5,152,1232,0.15,2.38,0.00,0.000,4356,0.293,0.113,2810,3783,2790,2855,2726,0,0,0,0,0,0,14.54,14.57,28.83
$GC,1346,0.46,146.6,2811,3786,2856,2724,39.0,13.5,176,1356,0.20,2.25,0.00,0.000,5126,0.259,0.067,2770,2399,2790,2855,2725,0,0,0,0,0,0,14.59,14.69,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a41cb54b7;,*07
$MODEM_MSG,CACST,6,0,20140616164500.234224,3,2770,34,0381,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,28.8,10.9,-100,-7.9,-01,0.7,42,900,0025*23
$EKF,range, -328.9
$GC,1540,0.63,193.4,2771,2400,2856,2726,23.3,7.6,196,1576,0.15,2.42,25.40,0.214,10500,0.120,0.114,2840,3783,2618,2691,2545,0,0,0,0,0,0,14.81,14.69,14.61
$STATE,1694,end climb,SURFACE_DEPTH_REACHED
$STATE,1694,begin surface coast
$FINISH,0.2,1.021682
$STATE,1704,end surface coast,CONTROL_FINISHED_OK
$STATE,1704,begin surface
$SM_CCo,1725,257.33,0.148,0,0,538,701.56
$SM_GC,1.01,7.57,2.30,257.33,0.085,0.073,0.148,195,2409,538,-7.50,1.05,701.56,0,0,0,0,0,0,14.81,14.78,14.63
$RAFOS_CLK,40
$MODEM,3,1402937100,16.75000,16.73861,47.72400,-122.39720,0.234,343.1
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,160614,161614
$TT8_MAMPS,0.041944,0.041944
$HUMID,45.39
$INTERNAL_PRESSURE,8.96442
$TCM_TEMP,18.50
$XPDR_PINGS,2
$SC_FREEKB,4019648
$TM_FREEKB,7900000
$24V_AH,13.95,0.253
$10V_AH,13.15,0.000
$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,20.650,23.575,227.500,257.325,0.000,0.000,0.000,0.000,0.500,0.000,35.367,0.000,802.104,636.619,614.869,26.777,0.000,875.540,0.000,343.833,600.000,0.544,0.000
$DEVICE_MAMPS,422.280,113.985,923.355,148.410,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1684.000,1691.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.015,13.582,0.000,0.000
$MEM,310968
$DATA_FILE_SIZE,6823,227
$CAP_FILE_SIZE,74029,0
$CFSIZE,2097872896,2094956544
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2132.01,0x237952,7,5
$INTR,1,787.31,0x237952,2,5
$SOUNDSPEED,1486.5
$EKF,2073,2863.238770,-7344.250000,0.096853,0.065892,-0.287676,-0.124105,0.000351,0.000746,0.001939,0.044900,0.044900,0.000121
$CURRENT,0.148, 50.8,1
$GPS,160614,165951,4743.339,-12224.179,1,1.4,32,16.3