version: 66.12
glider: 198
mission: 4
dive: 2
start: 6 16 114 17 18 27
data:
$ID,198
$MISSION,4
$DIVE,2
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,180
$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,55
$T_MISSION,70
$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,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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2914.2893
$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,30
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,160614,171411,4743.433,-12223.992,3,1.3,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.6
$GPS2,160614,171741,4743.457,-12223.955,5,1.0,36,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,229.7,1304,-20.0,-10.000,-24.70,1991
$D_GRID,172
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-146.6,196,2408,509,574,0.0,0.0,0,173,0.00,0.00,-146.20,0.000,16390,0.000,0.000,195,2408,3959,3996,3923,0,0,0,0,0,0,28.83,28.83,15.02
$GC,174,-0.85,-146.6,196,2405,3997,3923,3.2,-3.6,15,189,10.18,0.00,-0.03,0.000,18950,0.428,0.000,2338,2408,3961,4000,3922,0,0,0,0,0,0,14.54,28.83,14.40
$GC,363,-0.56,-146.6,2338,2409,4006,3922,44.4,-17.5,35,371,0.35,2.38,0.00,0.000,2308,0.307,0.112,2417,3786,3963,4005,3921,0,0,0,0,0,0,14.61,14.75,28.83
$GC,426,-0.42,-146.6,2416,3786,4006,3920,53.1,-13.8,47,434,0.25,2.22,0.00,0.000,3078,0.282,0.070,2475,2408,3963,4006,3920,0,0,0,0,0,0,14.65,14.81,28.83
$GC,618,-0.55,-146.6,2478,2408,4007,3919,69.0,-7.6,67,626,0.12,2.38,0.00,0.000,4356,0.142,0.118,2412,3786,3962,4006,3919,0,0,0,0,0,0,14.83,14.76,28.83
$GC,723,-0.42,-146.6,2413,3786,4007,3919,81.9,-13.6,85,734,0.28,2.28,0.00,0.000,3078,0.277,0.068,2481,2383,3962,4006,3919,0,0,0,0,0,0,14.63,14.77,28.83
$GC,918,-0.58,-146.6,2481,2382,4008,3919,98.3,-8.2,105,927,0.15,2.45,0.00,0.000,4356,0.128,0.118,2403,3788,3962,4006,3919,0,0,0,0,0,0,14.78,14.70,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a43cb54c8;,*0A
$MODEM_MSG,CACST,6,0,20140616173000.544321,3,2820,34,0380,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,25.4,12.9,-100,-9.9,-01,0.5,41,900,0025*22
$EKF,range, -250.8
$GC,972,-0.44,-146.6,2404,3790,4007,3920,105.6,-14.7,115,980,0.28,2.22,0.00,0.000,3078,0.279,0.068,2472,2413,3962,4006,3919,0,0,0,0,0,0,14.62,14.76,28.83
$GC,1165,-0.57,-146.6,2473,2412,4006,3919,122.9,-8.3,135,1173,0.12,2.38,0.00,0.000,4356,0.145,0.119,2413,3786,3963,4007,3919,0,0,0,0,0,0,14.82,14.73,28.83
$GC,1272,-0.48,-146.6,2414,3786,4007,3919,135.6,-12.4,156,1281,0.17,2.22,0.00,0.000,3078,0.284,0.067,2456,2406,3963,4007,3919,0,0,0,0,0,0,14.62,14.78,28.83
$GC,1457,-0.59,-146.6,2456,2407,4008,3919,151.3,-7.8,175,1465,0.00,2.40,0.00,0.000,260,0.000,0.119,2456,3786,3963,4007,3919,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1582,-0.66,-146.6,2456,3790,4008,3919,162.0,-8.7,197,1591,0.15,2.22,0.00,0.000,5126,0.123,0.067,2391,2414,3962,4006,3919,0,0,0,0,0,0,14.78,14.76,28.83
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1616,-0.17,0.0,2392,2415,4007,3920,165.3,-10.5,201,1729,0.62,0.00,103.38,1.138,10246,0.272,0.000,2557,2413,3395,3459,3332,0,0,0,0,0,0,14.64,28.83,13.88
$STATE,1731,end apogee,CONTROL_FINISHED_OK
$STATE,1731,begin climb
$GC,1732,0.85,146.6,2557,2413,3459,3331,169.8,0.0,212,1854,1.08,0.00,109.18,1.100,10758,0.185,0.000,2878,2413,2794,2852,2736,0,0,0,0,0,0,14.32,28.83,13.81
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a427b54b5;,*52
$MODEM_MSG,CACST,6,0,20140616174500.149162,3,2834,34,0398,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,26.0,7.6,-100,-4.6,-01,0.4,43,900,0025*1C
$EKF,range, -142.9
$GC,2029,0.63,146.6,2876,2414,2848,2732,130.2,16.3,246,2036,0.22,2.40,0.00,0.000,4356,0.279,0.112,2825,3791,2787,2847,2727,0,0,0,0,0,0,14.50,14.52,28.83
$GC,2260,0.42,146.6,2826,3792,2848,2731,92.6,15.4,292,2269,0.30,2.25,0.00,0.000,5126,0.263,0.069,2758,2403,2788,2847,2730,0,0,0,0,0,0,14.60,14.69,28.83
$GC,2460,0.60,194.3,2759,2404,2848,2731,76.1,7.5,312,2504,0.15,2.50,35.95,0.949,10500,0.124,0.114,2832,3786,2599,2658,2540,0,0,0,0,0,0,14.71,14.54,14.19
$GC,2728,0.47,194.3,2833,3788,2649,2536,38.0,14.0,363,2738,0.20,2.30,0.00,0.000,5126,0.237,0.070,2772,2409,2592,2649,2535,0,0,0,0,0,0,14.54,14.66,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a436b54ba;,*0B
$MODEM_MSG,CACST,6,0,20140616180000.381775,3,343,25,0173,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,27.7,10.0,-100,-7.0,-01,0.6,41,900,0025*14
$EKF,range, -292.3
$GC,2914,0.69,236.4,2773,2408,2650,2535,23.2,7.8,382,2944,0.20,2.45,21.73,0.220,10500,0.103,0.113,2862,3784,2440,2502,2379,0,0,0,0,0,0,14.78,14.67,14.61
$STATE,3057,end climb,SURFACE_DEPTH_REACHED
$STATE,3057,begin surface coast
$FINISH,0.3,1.021675
$STATE,3067,end surface coast,CONTROL_FINISHED_OK
$STATE,3067,begin surface
$SM_CCo,3088,105.20,0.151,0,0,1563,450.37
$SM_GC,1.39,7.65,2.30,105.20,0.085,0.073,0.151,199,2419,1563,-7.50,1.10,450.37,0,0,0,0,0,0,14.78,14.76,14.65
$RAFOS_CLK,36
$MODEM,0,1402941600,18.00000,17.98972,47.72920,-122.39600,0.382,559.3
$MODEM,3,1402940700,17.75000,17.73889,47.72620,-122.39800,0.149,218.5
$MODEM,2,1402939800,17.50000,17.48778,47.73040,-122.39040,0.544,797.4
$RAFOS_FIX,4743.434570,-12223.633789,160614,171700,3,255,0.25
$IRIDIUM_FIX,4726.11,-12226.07,160614,171701
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.46
$INTERNAL_PRESSURE,9.03279
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,4019200
$TM_FREEKB,7894912
$24V_AH,13.81,0.412
$10V_AH,13.13,0.000
$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,22.475,37.350,270.225,105.200,0.000,0.000,0.000,0.000,0.000,0.000,37.517,0.000,1695.217,547.134,1026.357,28.882,0.000,931.293,0.000,612.943,900.000,0.543,0.000
$DEVICE_MAMPS,428.400,119.340,1138.320,151.470,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3047.000,3054.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.961,13.556,0.000,0.000
$MEM,308588
$DATA_FILE_SIZE,13433,411
$CAP_FILE_SIZE,94151,0
$CFSIZE,2097872896,2094727168
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3164.89,0x237952,7,5
$INTR,1,1614.95,0x237952,2,5
$SOUNDSPEED,1486.3
$EKF,3285,2863.369141,-7344.062012,0.177458,-0.299839,-0.005740,-0.099810,0.000495,0.001256,0.001935,0.026900,0.026900,0.000121
$CURRENT,0.121,354.0,1
$GPS,160614,181249,4743.492,-12224.160,2,1.1,33,16.3