version: 66.12
glider: 198
mission: 4
dive: 3
start: 6 16 114 18 19 25
data:
$ID,198
$MISSION,4
$DIVE,3
$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,-2915.7383
$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,25
$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
$GPS1,160614,181249,4743.492,-12224.160,2,1.1,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.6
$GPS2,160614,181845,4743.526,-12224.150,5,0.9,35,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,217.2,1060,-20.0,-10.000,-24.70,1991
$D_GRID,173
$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,17,-0.85,-146.6,200,2417,1572,1563,0.0,0.0,0,124,0.00,0.00,-103.15,0.000,16390,0.000,0.000,198,2414,3960,3996,3925,0,0,0,0,0,0,28.83,28.83,14.93
$GC,125,-0.85,-146.6,199,2417,3998,3925,2.8,-2.9,10,142,10.30,2.42,0.00,0.000,2564,0.433,0.090,2337,1009,3961,4001,3922,0,0,0,0,0,0,14.48,14.67,28.83
$GC,207,-0.61,-146.6,2338,1000,4003,3922,23.0,-18.7,25,216,0.35,2.42,0.00,0.000,3078,0.321,0.106,2417,2413,3963,4004,3922,0,0,0,0,0,0,14.58,14.68,28.83
$GC,391,-0.53,-146.6,2417,2414,4007,3921,49.1,-13.6,44,399,0.12,2.35,0.00,0.000,2564,0.327,0.083,2443,1002,3963,4006,3920,0,0,0,0,0,0,14.62,14.72,28.83
$GC,424,-0.59,-146.6,2444,1002,4007,3921,52.8,-10.3,50,432,0.00,2.42,0.00,0.000,1030,0.000,0.108,2443,2414,3963,4006,3920,0,0,0,0,0,0,28.83,14.72,28.83
$GC,632,-0.59,-146.6,2444,2414,4007,3920,73.7,-10.5,70,641,0.00,2.38,0.00,0.000,260,0.000,0.121,2443,3787,3961,4006,3916,0,0,0,0,0,0,28.83,14.68,28.83
$GC,754,-0.59,-146.6,2444,3788,4008,3920,87.8,-10.6,94,764,0.00,2.30,0.00,0.000,1030,0.000,0.067,2443,2368,3963,4007,3919,0,0,0,0,0,0,28.83,14.75,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a42bb54aa;,*5F
$MODEM_MSG,CACST,6,0,20140616183000.049211,3,3150,34,0412,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,28.9,13.3,-100,-10.3,-01,0.3,48,900,0025*1C
$EKF,range, -221.9
$GC,948,-0.65,-146.6,2444,2368,4008,3919,105.7,-8.5,114,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2368,3963,4007,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1128,-0.70,-146.6,2444,2368,4009,3919,120.2,-8.0,132,1136,0.15,2.45,0.00,0.000,4356,0.128,0.117,2374,3787,3963,4007,3919,0,0,0,0,0,0,14.82,14.73,28.83
$GC,1310,-0.47,-146.6,2374,3788,4009,3919,146.3,-16.9,168,1318,0.35,2.25,0.00,0.000,3078,0.295,0.070,2460,2398,3963,4007,3919,0,0,0,0,0,0,14.60,14.73,28.83
$GC,1509,-0.58,-146.6,2466,2398,4008,3920,163.8,-7.5,188,1517,0.00,2.42,0.00,0.000,260,0.000,0.120,2457,3793,3962,4007,3918,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,1525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1525,begin apogee
$GC,1529,-0.17,0.0,2457,2401,4009,3918,165.1,-7.5,191,1660,0.40,0.00,114.65,2.427,10246,0.251,0.000,2563,2399,3412,3487,3337,0,0,0,0,1,0,14.64,28.83,13.20
$STATE,1662,end apogee,CONTROL_FINISHED_OK
$STATE,1662,begin climb
$GC,1663,0.85,146.6,2564,2400,3492,3337,168.5,0.0,204,1794,1.08,2.47,115.62,1.156,10756,0.183,0.084,2890,1010,2792,2852,2732,0,0,0,0,0,0,14.12,14.17,13.81
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a438b54a8;,*5C
$MODEM_MSG,CACST,6,0,20140616184500.251830,3,1355,19,0347,0150,100,00,00,02,01,1,000,000,0,5,1,0,150,24.6,7.5,-100,-4.5,-01,0.2,41,900,0025*18
$EKF,range, -172.9
$GC,1913,0.68,146.6,2891,1009,2848,2732,137.6,13.7,246,1923,0.20,2.42,0.00,0.000,5126,0.288,0.098,2844,2411,2788,2846,2731,0,0,0,0,0,0,14.41,14.49,28.83
$GC,2107,0.56,146.6,2844,2411,2848,2731,110.7,14.1,266,2117,0.17,2.40,0.00,0.000,4356,0.290,0.112,2802,3793,2790,2846,2734,0,0,0,0,0,0,14.56,14.63,28.83
$GC,2312,0.43,146.6,2803,3793,2847,2734,82.0,14.0,306,2322,0.20,2.25,0.00,0.000,5126,0.270,0.067,2763,2403,2788,2847,2730,0,0,0,0,0,0,14.62,14.73,28.83
$GC,2513,0.57,166.0,2763,2404,2846,2731,63.1,9.0,326,2535,0.12,2.47,15.07,0.911,10500,0.138,0.113,2825,3787,2713,2775,2652,0,0,0,0,0,0,14.73,14.63,14.31
$GC,2699,0.41,166.0,2826,3787,2774,2648,38.2,13.4,362,2709,0.30,2.25,0.00,0.000,5126,0.256,0.068,2757,2403,2710,2773,2648,0,0,0,0,0,0,14.57,14.69,28.83
$MODEM_MSG,CACST,6,1,20140616190000.367001,3,850,29,0150,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,22.7,1.2,-100,1.8,-01,0.3,41,900,0025*25
$GC,2893,0.67,237.3,2759,2404,2773,2649,24.4,6.3,382,2937,0.20,2.47,36.12,0.220,10500,0.107,0.113,2850,3787,2432,2495,2370,0,0,0,0,0,0,14.76,14.64,14.62
$STATE,3039,end climb,SURFACE_DEPTH_REACHED
$STATE,3039,begin surface coast
$FINISH,0.3,1.021621
$STATE,3050,end surface coast,CONTROL_FINISHED_OK
$STATE,3050,begin surface
$SM_CCo,3071,104.40,0.151,0,0,1563,450.13
$SM_GC,1.33,7.62,2.30,104.40,0.086,0.070,0.151,201,2416,1563,-7.49,1.05,450.13,0,0,0,0,0,0,14.78,14.75,14.65
$RAFOS_CLK,36
$MODEM,3,1402944300,18.75000,18.73889,47.72960,-122.40320,0.252,374.3
$MODEM,2,1402943400,18.50000,18.48972,47.72700,-122.40240,0.049,73.1
$RAFOS_FIX,4744.059082,-12224.055664,160614,181800,3,255,2.83
$IRIDIUM_FIX,4726.11,-12225.08,160614,171750
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.22
$INTERNAL_PRESSURE,9.02302
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,4018752
$TM_FREEKB,7889824
$24V_AH,13.20,0.608
$10V_AH,13.04,0.000
$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,21.575,42.775,281.475,104.400,0.000,0.000,0.000,188.725,0.000,0.000,36.669,0.000,1698.297,525.289,1268.070,44.102,0.000,1093.966,0.000,616.902,900.000,0.543,0.000
$DEVICE_MAMPS,432.990,120.870,2427.345,151.470,0.000,0.000,0.000,168.300,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3057.000,3055.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.976,13.489,0.000,0.000
$MEM,308432
$DATA_FILE_SIZE,13431,411
$CAP_FILE_SIZE,81196,0
$CFSIZE,2097872896,2094497792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3656.98,0x237952,7,5
$SOUNDSPEED,1486.3
$EKF,3268,2863.420166,-7344.334961,0.215622,-0.028488,0.020659,-0.111537,0.000567,0.001465,0.001932,0.008900,0.008900,0.000119
$CURRENT,0.124,  3.3,1
$GPS,160614,191329,4743.604,-12224.328,2,0.9,33,16.3