version: 66.12
glider: 199
mission: 3
dive: 2
start: 6 10 114 20 23 21
data:
$ID,199
$MISSION,3
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,110
$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,39
$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,53914
$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,665.06561
$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,-21167.309
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,1994
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3300
$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,-64.885689
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,100614,201934,4743.103,-12223.989,2,1.2,30,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.2
$GPS2,100614,202302,4743.057,-12223.997,4,1.1,35,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,332.0,1495,-20.0,-10.000,-24.70,1991
$D_GRID,169
$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
$RAFOS_MSG,CACST,6,1,20140610191500.174060,3,460,14,0285,0150,100,00,00,02,02,1,000,000,2,5,1,0,150,20.6,-2.5,-100,5.5,-01,1.4,46,900,0025*23
$GC,17,-0.98,-146.6,185,1996,573,512,0.0,0.0,0,162,0.00,0.00,-134.68,0.000,16390,0.000,0.000,184,1996,3899,3928,3870,0,0,0,0,0,0,28.83,28.83,14.91
$GC,164,-0.98,-146.6,185,1996,3929,3870,4.4,-6.3,14,182,9.12,2.47,0.00,0.000,2308,0.432,0.108,2017,3419,3899,3928,3870,0,0,0,0,0,0,14.38,14.63,28.83
$GC,353,-0.65,-146.6,2018,3417,3930,3870,25.4,-10.7,48,362,0.52,2.38,0.00,0.000,3078,0.366,0.072,2132,1975,3899,3929,3870,0,0,0,0,0,0,14.42,14.67,28.83
$GC,536,-0.46,-146.6,2133,1976,3931,3871,48.7,-11.9,67,544,0.28,2.50,0.00,0.000,2308,0.330,0.122,2183,3410,3899,3930,3869,0,0,0,0,0,0,14.44,14.60,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f9b54b4;,*0C
$RAFOS_MSG,CACST,6,0,20140610203000.050520,3,3097,34,0416,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,22.7,8.3,-100,-5.3,-01,0.2,52,900,0025*1F
$GC,769,-0.28,-146.6,2184,3415,3930,3870,82.2,-16.6,113,777,0.30,2.33,0.00,0.000,3078,0.323,0.075,2249,1991,3900,3930,3870,0,0,0,0,0,0,14.47,14.69,28.83
$STATE,839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,839,begin apogee
$GC,842,-0.20,0.0,2250,1992,3929,3871,90.9,-11.1,121,1005,0.12,0.00,154.10,1.030,10246,0.311,0.000,2276,1991,3298,3358,3239,0,0,0,0,0,0,14.52,28.83,13.77
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1007,begin climb
$GC,1008,0.98,146.6,2277,1992,3359,3239,96.9,0.0,137,1181,1.42,2.47,155.55,0.978,10756,0.262,0.091,2661,595,2694,2763,2625,0,0,0,0,0,0,14.17,14.15,13.75
$GC,1235,1.07,177.9,2661,596,2760,2622,79.7,8.4,173,1270,0.00,2.53,23.33,0.978,9222,0.000,0.123,2660,2003,2574,2649,2500,0,0,0,0,1,0,28.83,14.32,13.68
$GC,1450,1.10,177.9,2659,2004,2669,2523,54.1,11.7,198,1460,0.12,2.60,2.22,0.368,10500,0.145,0.137,2715,3412,2580,2654,2506,0,0,0,0,0,0,14.54,14.47,13.97
$EKF,1559,2863.127930,-7344.015625,36.537437,0.133753,-0.290046,-0.167037,0.000360,0.000795,0.001939,0.062900,0.062900,0.000121
$GC,1684,1.06,177.9,2716,3412,2662,2522,15.1,17.1,244,1693,0.15,2.35,2.28,0.217,13318,0.278,0.082,2694,2003,2574,2648,2500,0,0,0,0,0,0,14.51,14.63,14.50
$STATE,1825,end climb,SURFACE_DEPTH_REACHED
$STATE,1826,begin surface coast
$FINISH,0.9,1.019373
$STATE,1846,end surface coast,CONTROL_FINISHED_OK
$STATE,1846,begin surface
$SM_CCo,1864,230.15,0.158,0,0,587,665.50
$SM_GC,1.26,7.20,0.00,230.15,0.081,0.000,0.158,197,2000,587,-6.67,0.20,665.50,0,0,0,0,0,0,14.69,28.83,14.53
$RAFOS_CLK,19
$MODEM,2,20.50000,20.48667,47.71700,-122.39840,-1.449,-2123.5
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,100614,202057
$TT8_MAMPS,0.04494,0.04494
$HUMID,47.95
$INTERNAL_PRESSURE,8.94403
$TCM_TEMP,17.60
$XPDR_PINGS,0
$SC_FREEKB,4016304
$TM_FREEKB,7897664
$24V_AH,13.7,7.465
$10V_AH,13.1,0.000
$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,19.250,19.625,337.475,230.150,0.000,0.000,0.000,0.000,0.000,0.000,36.312,0.000,843.931,650.665,676.813,19.152,0.000,945.899,0.000,390.189,600.000,0.544,0.000
$DEVICE_MAMPS,432.225,136.935,1030.455,157.590,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1827.000,1833.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.651,1000.000,0.000,0.000
$MEM,310060
$DATA_FILE_SIZE,6841,261
$CAP_FILE_SIZE,88005,0
$CFSIZE,2097872896,2094989312
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5183.94,0x237922,7,5
$INTR,1,840.80,0x237922,2,5
$INTR,2,1855.37,0x237922,7,5
$SOUNDSPEED,1486.1
$EKF,2165,2863.151855,-7344.047363,0.942112,0.000064,-0.000033,-0.033398,0.000410,0.000907,0.002295,0.081388,0.081388,0.000129
$CURRENT,0.242,215.6,1
$GPS,100614,205923,4742.920,-12224.294,2,1.3,32,16.3