version: 66.12
glider: 199
mission: 4
dive: 1
start: 6 16 114 16 26 43
data:
$ID,199
$MISSION,4
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,42
$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,53914
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,706.276
$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,-21288.738
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2485
$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,20
$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,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,-64.963387
$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
$GPS1,160614,162154,4743.182,-12224.124,2,1.3,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.7
$GPS2,160614,162549,4743.210,-12224.073,4,0.9,35,16.3
$SPEED_LIMITS,0.143,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,278.7,1273,-17.6,-10.000,-21.21,2209
$D_GRID,175
$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,-0.88,-146.6,185,2004,606,476,0.0,0.0,0,169,0.00,0.00,-148.20,0.000,16390,0.000,0.000,188,2005,3959,3985,3934,0,0,0,0,0,0,28.83,28.83,14.94
$GC,170,-0.88,-146.6,187,2003,3984,3935,2.0,-1.6,15,187,9.60,2.40,0.00,0.000,2564,0.418,0.079,2193,571,3960,3987,3934,0,0,0,0,0,0,14.50,14.69,28.83
$GC,191,0.11,-146.6,2192,569,3988,3935,4.5,-9.3,18,201,1.25,2.42,-0.03,0.000,19462,0.282,0.102,2508,1996,3962,3990,3934,0,0,0,0,0,0,14.55,14.64,14.33
$GC,376,-0.29,-146.6,2508,1996,3993,3935,12.5,-5.3,37,379,0.38,0.00,0.00,0.000,4102,0.123,0.000,2384,1996,3963,3992,3934,0,0,0,0,0,0,14.69,28.83,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a410b54af;,*06
$MODEM_MSG,CACST,6,0,20140616163001.024234,3,2459,33,0403,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,29.9,14.7,-100,-11.7,-01,0.2,46,900,0025*12
$EKF,range, 1331.0
$GC,556,-0.37,-146.6,2385,1996,3991,3935,23.1,-5.6,55,564,0.00,2.45,0.00,0.000,260,0.000,0.123,2374,3407,3962,3992,3933,0,0,0,0,0,0,28.83,14.68,28.83
$GC,788,-0.42,-146.6,2375,3408,3990,3934,37.2,-5.2,101,796,0.00,2.33,0.00,0.000,1030,0.000,0.075,2377,1976,3963,3992,3934,0,0,0,0,0,0,28.83,14.76,28.83
$GC,980,-0.48,-146.6,2375,1977,3991,3935,46.4,-6.0,121,988,0.15,2.50,0.00,0.000,4356,0.129,0.122,2298,3414,3960,3987,3934,0,0,0,0,0,0,14.78,14.62,28.83
$GC,1070,-0.37,-146.6,2299,3415,3991,3934,55.8,-11.2,136,1081,0.25,2.33,0.00,0.000,3078,0.249,0.075,2360,1998,3958,3991,3926,0,0,0,0,0,0,14.52,14.66,28.83
$GC,1255,-0.42,-146.6,2362,1998,3991,3934,70.8,-7.4,155,1263,0.00,2.47,0.00,0.000,260,0.000,0.125,2351,3410,3962,3992,3933,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,1266,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1266,begin apogee
$MODEM_MSG,CACST,6,1,20140616164501.118954,3,1022,30,0187,0150,100,00,00,00,00,1,000,000,2,5,1,0,150,25.2,1.7,-100,1.3,-01,0.6,40,900,0025*39
$EKF,1369,2863.206299,-7344.206055,75.364388,0.000526,-0.000590,0.017675,0.000320,0.000728,0.002294,0.045388,0.045388,0.000129
$GC,1271,-0.20,0.0,2351,1990,3993,3934,71.7,-7.4,157,1414,0.25,0.00,137.82,1.012,10246,0.227,0.000,2418,1989,3418,3477,3359,0,0,0,0,0,0,14.59,28.83,13.90
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,0.88,146.6,2419,1989,3476,3357,76.0,0.0,171,1525,1.15,2.50,87.43,1.333,10756,0.184,0.093,2769,584,2827,2882,2773,0,0,0,0,1,0,14.30,14.20,13.63
$GC,1549,0.71,146.6,2771,584,2884,2781,61.0,15.8,190,1559,0.22,2.50,1.38,0.252,13318,0.261,0.115,2716,1990,2824,2879,2769,0,0,0,0,0,0,14.26,14.33,14.26
$GC,1734,0.61,146.6,2716,1991,2891,2777,34.7,13.6,209,1743,0.15,2.50,1.33,0.250,12548,0.269,0.124,2682,3414,2826,2883,2769,0,0,0,0,0,0,14.53,14.58,14.47
$GC,1752,0.49,146.6,2682,3414,2888,2776,32.3,13.4,212,1763,0.17,2.40,1.15,0.265,13318,0.273,0.089,2650,1990,2826,2883,2769,0,0,0,0,0,0,14.52,14.62,14.50
$GC,1937,0.54,158.8,2651,1990,2890,2777,14.5,9.4,231,1965,0.00,2.38,6.97,0.200,8708,0.000,0.090,2660,592,2777,2834,2721,0,0,0,0,0,0,28.83,14.62,14.58
$STATE,2078,end climb,SURFACE_DEPTH_REACHED
$STATE,2078,begin surface coast
$FINISH,0.5,1.021808
$STATE,2098,end surface coast,CONTROL_FINISHED_OK
$STATE,2098,begin surface
$SM_CCo,2119,258.20,0.153,0,0,538,706.46
$SM_GC,1.02,7.20,2.45,258.20,0.090,0.103,0.153,191,1997,538,-7.11,-0.59,706.46,0,0,0,0,0,0,14.69,14.65,14.56
$RAFOS_CLK,14
$MODEM,2,1402936201,16.50000,16.48806,47.72160,-122.40040,1.024,1500.5
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,160614,161647
$TT8_MAMPS,0.04494,0.04494
$HUMID,46.45
$INTERNAL_PRESSURE,8.96356
$TCM_TEMP,17.80
$XPDR_PINGS,3
$SC_FREEKB,4016356
$TM_FREEKB,7899552
$24V_AH,13.63,10.059
$10V_AH,13.00,0.000
$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,20.775,34.050,236.075,258.200,0.000,0.000,0.000,0.000,0.750,0.000,36.448,0.000,1098.822,624.627,734.006,31.236,0.000,941.903,0.000,391.355,900.000,0.545,0.000
$DEVICE_MAMPS,418.455,124.695,1333.395,153.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2079.000,2085.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.967,1000.000,0.000,0.000
$MEM,310936
$DATA_FILE_SIZE,6785,259
$CAP_FILE_SIZE,81231,0
$CFSIZE,2097872896,2095185920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2206.03,0x237952,7,5
$SOUNDSPEED,1486.7
$EKF,2469,2863.231934,-7344.196777,0.348690,0.214424,0.082886,-0.038904,0.000498,0.001121,0.001939,0.044900,0.044900,0.000121
$CURRENT,0.083, 83.4,1
$GPS,160614,170728,4743.345,-12223.969,2,1.2,32,16.3