version: 66.12
glider: 199
mission: 3
dive: 3
start: 6 10 114 21 14 25
data:
$ID,199
$MISSION,3
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,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,-21178.344
$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,2470
$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,0.02
$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,22
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3420
$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
$GPS1,100614,211043,4742.808,-12224.280,2,1.2,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.6
$GPS2,100614,211410,4742.780,-12224.271,4,1.1,35,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,354.4,1614,-20.0,-10.000,-24.70,1991
$D_GRID,166
$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,-0.98,-146.6,197,2001,620,565,0.0,0.0,0,140,0.00,0.00,-119.35,0.000,16386,0.000,0.000,197,2002,3575,3594,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-0.98,-146.6,197,2001,3594,3557,3.6,-4.7,12,171,9.52,2.40,-8.93,0.000,18948,0.428,0.108,2145,582,3962,4007,3917,0,0,0,0,0,0,14.42,14.58,14.84
$GC,181,-0.44,-146.6,2145,582,4008,3919,10.8,-14.6,18,189,0.88,2.47,0.00,0.000,3078,0.385,0.112,2322,1997,3962,4007,3918,0,0,0,0,0,0,14.39,14.55,28.83
$RAFOS_MSG,CACST,6,1,20140610211502.760691,3,991,29,0150,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,-79.9,0.7,-100,2.3,-01,-0.0,61,900,0025*2B
$GC,373,-0.36,-146.6,2323,2000,4008,3919,30.5,-8.7,38,376,0.12,0.00,0.00,0.000,2054,0.294,0.000,2348,1998,3963,4008,3918,0,0,0,0,0,0,14.51,28.83,28.83
$GC,553,-0.36,-146.6,2350,1998,4009,3918,41.8,-5.7,56,560,0.00,2.50,0.00,0.000,260,0.000,0.133,2344,3415,3963,4008,3918,0,0,0,0,0,0,28.83,14.64,28.83
$GC,784,-0.36,-146.6,2339,3417,4008,3920,59.9,-7.7,102,792,0.00,2.35,0.00,0.000,1030,0.000,0.079,2339,1986,3962,4006,3918,0,0,0,0,0,0,28.83,14.73,28.83
$GC,980,-0.41,-146.6,2338,1985,4009,3918,74.9,-8.0,122,988,0.00,2.53,0.00,0.000,260,0.000,0.132,2328,3409,3963,4009,3918,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1063,-0.41,-146.6,2329,3410,4004,3919,81.5,-8.5,138,1071,0.00,2.35,0.00,0.000,1030,0.000,0.078,2328,1983,3962,4007,3918,0,0,0,0,0,0,28.83,14.69,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f9b54a4;,*0F
$RAFOS_MSG,CACST,6,0,20140610213000.345669,3,2540,34,0326,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,23.9,7.7,-100,-4.7,-01,-0.2,43,900,0025*31
$GC,1255,-0.44,-146.6,2329,1984,4008,3920,98.1,-8.4,158,1262,0.00,2.53,0.00,0.000,260,0.000,0.131,2317,3416,3962,4007,3918,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1386,-0.44,-146.6,2318,3417,4008,3919,109.9,-8.9,184,1394,0.00,2.35,0.00,0.000,1030,0.000,0.077,2317,1987,3962,4007,3918,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1578,-0.44,-146.6,2317,1987,4009,3918,125.8,-9.3,204,1586,0.00,2.53,0.00,0.000,260,0.000,0.132,2306,3416,3961,4007,3915,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1674,-0.40,-146.6,2307,3416,4008,3917,135.5,-10.4,223,1684,0.12,2.35,0.00,0.000,3078,0.271,0.076,2333,1984,3962,4007,3917,0,0,0,0,0,0,14.58,14.73,28.83
$GC,1864,-0.47,-146.6,2334,1986,4008,3919,151.9,-8.4,242,1872,0.00,2.53,0.00,0.000,260,0.000,0.129,2323,3414,3962,4007,3917,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,2049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2049,begin apogee
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f7b54a6;,*02
$RAFOS_MSG,CACST,6,0,20140610214500.227096,3,1789,32,0240,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,31.9,8.5,-100,-5.5,-01,0.2,35,900,0025*13
$GC,2054,-0.20,0.0,2324,1993,4009,3917,165.3,-4.2,279,2215,0.30,0.00,141.00,1.742,10246,0.245,0.000,2401,1991,3424,3483,3366,0,0,0,0,2,0,14.50,28.83,13.34
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2217,begin climb
$GC,2218,0.98,146.6,2402,1992,3485,3370,169.5,0.0,295,2398,1.25,2.53,161.55,1.756,10756,0.170,0.092,2786,592,2826,2885,2767,0,0,0,0,1,0,14.12,14.00,13.33
$GC,2457,0.80,146.6,2784,592,2885,2774,135.2,19.9,332,2466,0.25,2.53,0.00,0.000,5126,0.279,0.116,2728,2001,2829,2885,2773,0,0,0,0,0,0,14.20,14.27,28.83
$GC,2650,0.68,146.6,2728,2002,2885,2774,103.3,15.5,352,2658,0.15,2.50,0.00,0.000,4356,0.285,0.131,2695,3411,2828,2884,2772,0,0,0,0,0,0,14.44,14.50,28.83
$GC,2822,0.57,146.6,2698,3411,2885,2772,73.7,15.5,383,2831,0.20,2.38,0.00,0.000,5126,0.279,0.081,2659,1994,2828,2884,2772,0,0,0,0,0,0,14.47,14.58,28.83
$RAFOS_MSG,CARDP,0,0,1,0,0,1;5;3a3f4b54a8;,*0E
$RAFOS_MSG,CACST,6,0,20140610220000.290426,3,2269,33,0307,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,35.5,10.3,-100,-7.3,-01,0.2,31,900,0025*2F
$GC,3010,0.60,148.4,2659,1994,2885,2774,54.0,9.9,402,3018,0.00,2.60,1.73,0.326,8452,0.000,0.129,2659,3417,2815,2873,2758,0,0,0,0,0,0,28.83,14.59,14.48
$GC,3222,0.58,148.4,2659,3417,2876,2759,29.4,12.1,444,3230,0.00,2.38,0.00,0.000,1030,0.000,0.082,2667,1999,2815,2875,2756,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3414,0.77,270.3,2669,1999,2875,2760,12.4,3.7,464,3481,0.15,0.00,55.90,0.183,10246,0.137,0.000,2725,1997,2317,2396,2238,0,0,0,0,0,0,14.71,28.83,14.56
$STATE,3524,end climb,SURFACE_DEPTH_REACHED
$STATE,3524,begin surface coast
$FINISH,0.9,1.019598
$STATE,3534,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3553,185.73,0.156,0,0,708,665.25
$SM_GC,1.40,7.47,0.00,185.73,0.098,0.000,0.156,195,1997,708,-7.06,0.08,665.25,0,0,0,0,0,0,14.66,28.83,14.54
$RAFOS_CLK,24
$MODEM,0,22.00000,21.98833,47.71600,-122.40320,-1.210,-1772.0
$MODEM,3,21.75000,21.73750,47.71660,-122.40400,-1.273,-1864.8
$MODEM,2,21.50000,21.48917,47.71700,-122.40480,-1.154,-1691.1
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12146.09,100614,212136
$TT8_MAMPS,0.045689,0.045689
$HUMID,49.33
$INTERNAL_PRESSURE,8.9245
$TCM_TEMP,17.40
$XPDR_PINGS,0
$SC_FREEKB,4016232
$TM_FREEKB,7891840
$24V_AH,13.3,8.684
$10V_AH,13.0,0.000
$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,20.425,44.175,360.175,185.725,0.000,0.000,0.000,0.000,0.000,0.000,36.463,0.000,1967.264,605.452,1228.823,29.135,0.000,1138.026,0.000,709.919,1200.000,0.544,0.000
$DEVICE_MAMPS,428.400,133.110,1755.675,156.060,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3514.000,3521.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.050,1000.000,0.000,0.000
$MEM,310064
$DATA_FILE_SIZE,16778,476
$CAP_FILE_SIZE,93076,0
$CFSIZE,2097872896,2094759936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,3063.25,0x237922,7,5
$INTR,1,3543.49,0x237922,7,5
$SOUNDSPEED,1486.9
$EKF,3809,2862.989258,-7344.224121,0.847589,0.013839,0.000402,-0.086653,0.000736,0.001625,0.002295,0.081401,0.081401,0.000129
$CURRENT,0.127,244.0,1
$GPS,100614,221751,4742.877,-12224.573,2,0.9,32,16.3