version: 66.12
glider: 198
mission: 4
dive: 6
start: 6 16 114 21 17 51
data:
$ID,198
$MISSION,4
$DIVE,6
$N_DIVES,6
$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,-2919.9866
$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,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,16
$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
$GPS1,160614,210905,4743.699,-12224.482,2,1.0,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,160614,211712,4743.708,-12224.417,6,1.0,36,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,211.3,822,-20.0,-10.000,-24.70,1991
$D_GRID,174
$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,-146.6,206,2420,1572,1566,0.0,0.0,0,124,0.00,0.00,-102.25,0.000,16390,0.000,0.000,202,2420,3960,3990,3931,0,0,0,0,0,0,28.83,28.83,14.87
$GC,125,-0.85,-146.6,206,2421,3994,3932,2.9,-2.7,10,142,10.35,2.40,0.00,0.000,2308,0.435,0.098,2327,3790,3963,4000,3926,0,0,0,0,0,0,14.44,14.61,28.83
$GC,266,-0.70,-146.6,2328,3791,4006,3923,37.4,-18.8,37,276,0.25,2.25,0.00,0.000,3078,0.337,0.066,2383,2398,3964,4006,3922,0,0,0,0,0,0,14.53,14.69,28.83
$GC,452,-0.65,-146.6,2384,2399,4007,3923,63.4,-12.5,56,459,0.00,2.42,0.00,0.000,260,0.000,0.116,2374,3794,3967,4007,3927,0,0,0,0,0,0,28.83,14.68,28.83
$GC,534,-0.56,-146.6,2374,3794,4008,3922,75.6,-15.9,72,541,0.25,2.25,0.00,0.000,3078,0.308,0.070,2433,2400,3964,4007,3921,0,0,0,0,0,0,14.62,14.75,28.83
$GC,734,-0.56,-146.6,2434,2401,4008,3922,96.7,-9.8,92,742,0.00,2.42,0.00,0.000,260,0.000,0.121,2430,3792,3962,4003,3922,0,0,0,0,0,0,28.83,14.70,28.83
$GC,920,-0.56,-146.6,2431,3792,4009,3921,118.6,-12.3,129,929,0.00,2.28,0.00,0.000,1030,0.000,0.067,2430,2418,3964,4007,3922,0,0,0,0,0,0,28.83,14.69,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fcb54ac;,*04
$MODEM_MSG,CACST,6,0,20140616213000.825990,3,2455,33,0395,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,27.0,13.3,-100,-10.3,-01,0.0,37,900,0025*1E
$EKF,range,  -31.1
$GC,1106,-0.56,-146.6,2431,2418,4009,3921,140.0,-10.7,148,1114,0.00,2.40,0.00,0.000,260,0.000,0.119,2430,3792,3964,4007,3921,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1242,-0.56,-146.6,2431,3792,4008,3922,157.0,-12.7,175,1254,0.00,2.25,0.00,0.000,1030,0.000,0.068,2430,2399,3964,4008,3921,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,1327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1327,begin apogee
$GC,1330,-0.17,0.0,2430,2709,4009,3921,166.0,-9.6,184,1443,0.50,0.00,104.88,1.066,10246,0.266,0.000,2562,2709,3392,3462,3322,0,0,0,0,0,0,14.66,28.83,13.88
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,0.85,146.6,2562,2709,3461,3320,169.9,0.0,195,1566,1.08,1.98,108.10,1.000,11012,0.186,0.108,2883,3780,2794,2860,2728,0,0,0,0,0,0,14.30,14.18,13.81
$GC,1627,0.72,146.6,2884,3784,2849,2723,146.1,20.1,221,1635,0.10,1.85,0.00,0.000,5126,0.298,0.067,2853,2693,2785,2848,2722,0,0,0,0,0,0,14.26,14.37,28.83
$GC,1819,0.66,146.6,2854,2692,2848,2723,118.0,14.1,241,1827,0.00,1.92,0.00,0.000,260,0.000,0.112,2853,3787,2785,2848,2722,0,0,0,0,0,0,28.83,14.52,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fdb54b0;,*53
$MODEM_MSG,CACST,6,0,20140616214500.876640,3,2661,34,0398,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,22.8,12.9,-100,-9.9,-01,0.1,40,900,0025*22
$EKF,range,   35.3
$GC,2051,0.57,146.6,2853,3789,2849,2721,75.6,19.0,287,2061,0.22,1.77,0.00,0.000,5126,0.292,0.068,2807,2690,2784,2847,2721,0,0,0,0,0,0,14.55,14.67,28.83
$GC,2245,0.57,146.6,2808,2691,2849,2722,51.5,12.3,307,2255,0.00,1.95,0.00,0.000,260,0.000,0.116,2807,3784,2784,2847,2721,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2289,0.52,146.6,2808,3784,2851,2721,46.3,11.8,315,2299,0.00,1.80,0.00,0.000,1030,0.000,0.068,2815,2693,2784,2847,2721,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2491,0.54,162.1,2816,2693,2849,2721,25.9,9.2,335,2508,0.00,1.90,8.60,0.194,8452,0.000,0.112,2816,3790,2750,2828,2672,0,0,0,0,0,0,28.83,14.69,14.59
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$FINISH,0.7,1.021630
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2718,141.80,0.152,0,0,1564,450.37
$SM_GC,1.36,7.60,2.33,141.80,0.091,0.076,0.152,197,2421,1564,-7.50,1.13,450.37,0,0,0,0,0,0,14.73,14.71,14.60
$RAFOS_CLK,23
$MODEM,3,1402955100,21.75000,21.73722,47.71780,-122.40000,0.877,1303.0
$MODEM,2,1402954200,21.50000,21.48917,47.71760,-122.40160,0.826,1227.7
$RAFOS_FIX,4748.235840,-12215.396484,160614,191931,2,255,7.08
$IRIDIUM_FIX,4726.11,-12227.78,160614,202032
$TT8_MAMPS,0.044191,0.044191
$HUMID,47.75
$INTERNAL_PRESSURE,9.01325
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,4017408
$TM_FREEKB,7875808
$24V_AH,13.81,1.058
$10V_AH,13.10,0.000
$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,20.350,34.725,221.575,141.800,0.000,0.000,0.000,325.300,0.000,0.000,37.127,0.000,1491.723,500.491,1300.635,49.995,0.000,1172.023,0.000,560.760,900.000,0.541,0.000
$DEVICE_MAMPS,435.285,129.285,1065.645,152.235,0.000,0.000,0.000,181.305,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2701.000,2702.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.096,13.472,0.000,0.000
$MEM,308412
$DATA_FILE_SIZE,13458,375
$CAP_FILE_SIZE,74604,0
$CFSIZE,2097872896,2093809664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3475.76,0x237952,7,5
$SOUNDSPEED,1486.4
$EKF,2958,2863.490479,-7344.708008,0.667179,-0.223934,0.026148,-0.130761,0.000526,0.001234,0.001939,0.062900,0.062900,0.000121
$CURRENT,0.033,101.4,1
$GPS,160614,220645,4743.447,-12224.623,2,0.8,33,16.3