version: 66.12
glider: 199
mission: 4
dive: 2
start: 6 16 114 17 33 2
data:
$ID,199
$MISSION,4
$DIVE,2
$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,75
$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,0.012
$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,-21305.268
$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,23
$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,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
$GPS1,160614,172659,4743.473,-12223.806,2,1.0,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.1
$GPS2,160614,173223,4743.505,-12223.764,4,1.0,35,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,251.0,1540,-20.0,-10.000,-24.70,1991
$D_GRID,168
$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
$MODEM_MSG,CACST,6,1,20140616170001.524836,3,735,28,0119,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,22.0,1.1,-100,1.9,-01,-0.3,36,900,0025*02
$GC,17,-0.98,-146.6,190,2000,586,494,0.0,0.0,0,173,0.00,0.00,-147.20,0.000,16390,0.000,0.000,191,2000,3960,3987,3934,0,0,0,0,0,0,28.83,28.83,14.92
$GC,175,-0.98,-146.6,191,2000,3988,3935,2.3,-2.1,15,191,9.57,2.40,0.00,0.000,2564,0.428,0.080,2160,575,3961,3988,3935,0,0,0,0,0,0,14.49,14.70,28.83
$GC,195,0.00,-146.6,2160,576,3990,3934,7.5,-15.8,18,204,1.33,2.45,0.00,0.000,3078,0.311,0.111,2479,1996,3961,3989,3934,0,0,0,0,0,0,14.52,14.64,28.83
$GC,380,-0.37,-146.6,2479,1997,3993,3935,18.0,-4.9,37,389,0.35,2.47,0.00,0.000,4356,0.112,0.126,2361,3414,3963,3992,3934,0,0,0,0,0,0,14.71,14.62,28.83
$GC,614,-0.43,-146.6,2363,3414,3987,3934,37.4,-7.6,83,621,0.00,2.33,0.00,0.000,1030,0.000,0.076,2361,1988,3962,3991,3934,0,0,0,0,0,0,28.83,14.75,28.83
$GC,814,-0.49,-146.6,2363,1988,3992,3934,51.8,-6.2,103,822,0.12,2.47,0.00,0.000,4356,0.148,0.123,2297,3409,3962,3991,3934,0,0,0,0,0,0,14.69,14.65,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a427b54b5;,*53
$MODEM_MSG,CACST,6,0,20140616174501.114467,3,1995,32,0313,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,33.7,8.2,-100,-5.2,-01,-0.1,40,900,0025*3E
$EKF,range, 1460.8
$GC,1047,-0.42,-146.6,2297,3409,3993,3934,74.1,-8.4,149,1057,0.20,2.33,0.00,0.000,3078,0.258,0.075,2346,1988,3963,3992,3934,0,0,0,0,0,0,14.57,14.73,28.83
$GC,1241,-0.49,-146.6,2345,1988,3994,3934,87.2,-7.5,169,1250,0.00,2.47,0.00,0.000,260,0.000,0.125,2336,3406,3962,3992,3933,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1439,-0.53,-146.6,2336,3407,3993,3934,101.7,-6.1,208,1448,0.00,2.30,0.00,0.000,1030,0.000,0.073,2336,1994,3963,3992,3934,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1631,-0.59,-146.6,2333,1995,3994,3934,112.5,-6.0,227,1639,0.12,2.47,0.00,0.000,4356,0.137,0.122,2271,3407,3963,3992,3934,0,0,0,0,0,0,14.73,14.65,28.83
$GC,1778,-0.46,-146.6,2266,3407,3994,3934,126.2,-10.1,256,1788,0.20,2.35,0.00,0.000,3078,0.251,0.074,2333,1997,3962,3992,3933,0,0,0,0,0,0,14.54,14.69,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a436b54ba;,*0B
$MODEM_MSG,CACST,6,0,20140616180001.090778,3,2868,34,0382,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,29.3,11.9,-100,-8.9,-01,0.4,47,900,0025*27
$EKF,range, 1065.4
$GC,1964,-0.53,-146.6,2334,1998,3992,3934,138.0,-6.2,275,1971,0.00,2.45,0.00,0.000,260,0.000,0.123,2324,3407,3963,3992,3934,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2095,-0.56,-146.6,2329,3408,3994,3934,147.9,-7.2,301,2104,0.00,2.33,0.00,0.000,1030,0.000,0.074,2323,1989,3963,3992,3934,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,2257,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2257,begin apogee
$GC,2260,-0.20,0.0,2323,1989,3994,3934,158.7,-6.6,318,2412,0.35,0.00,141.98,1.763,10246,0.231,0.000,2417,1988,3424,3480,3368,0,0,0,0,1,0,14.60,28.83,13.43
$STATE,2415,end apogee,CONTROL_FINISHED_OK
$STATE,2415,begin climb
$GC,2416,0.98,146.6,2417,1988,3483,3373,162.7,0.0,333,2612,1.25,0.00,166.12,1.710,10758,0.175,0.000,2789,1987,2822,2877,2768,0,0,0,0,4,0,14.13,28.83,13.40
$MODEM_MSG,CACST,6,1,20140616181501.175943,3,1306,25,0122,0150,100,00,00,01,01,-1,-01,-01,1,3,0,0,150,14.5,0.7,-100,2.3,-01,-0.2,50,900,0025*3E
$GC,2791,0.76,146.6,2788,1988,2884,2775,99.5,21.1,390,2799,0.20,2.50,0.00,0.000,4356,0.293,0.119,2739,3406,2828,2883,2774,0,0,0,0,0,0,14.39,14.47,28.83
$GC,2913,0.55,146.6,2739,3406,2885,2775,74.6,18.8,414,2922,0.32,2.35,0.00,0.000,5126,0.284,0.081,2670,2003,2828,2883,2774,0,0,0,0,0,0,14.46,14.56,28.83
$GC,3106,0.55,146.6,2669,2002,2882,2775,53.6,10.4,434,3114,0.00,2.47,0.00,0.000,260,0.000,0.125,2670,3413,2828,2883,2773,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3338,0.51,146.6,2669,3413,2885,2775,26.8,11.9,480,3346,0.00,2.35,0.80,0.301,9222,0.000,0.080,2679,1993,2822,2877,2768,0,0,0,0,0,0,28.83,14.67,14.60
$GC,3538,0.52,149.3,2681,1992,2882,2770,7.3,9.9,500,3546,0.00,2.50,1.88,0.219,8452,0.000,0.120,2680,3412,2807,2862,2753,0,0,0,0,0,0,28.83,14.65,14.59
$STATE,3584,end climb,SURFACE_DEPTH_REACHED
$STATE,3584,begin surface coast
$FINISH,0.5,1.021933
$STATE,3595,end surface coast,CONTROL_FINISHED_OK
$STATE,3595,begin surface
$SM_CCo,3616,134.27,0.153,0,0,1584,450.13
$SM_GC,1.17,7.28,2.45,134.27,0.087,0.086,0.153,189,1986,1584,-7.12,0.45,450.13,0,0,0,0,0,0,14.71,14.68,14.58
$RAFOS_CLK,12
$MODEM,0,1402941601,18.00000,17.98861,47.72920,-122.39600,1.091,1598.0
$MODEM,3,1402940701,17.75000,17.73944,47.72620,-122.39800,1.114,1632.7
$RAFOS_FIX,4743.385254,-12222.603516,160614,171731,2,255,1.23
$IRIDIUM_FIX,4726.11,-12223.37,160614,171708
$TT8_MAMPS,0.04494,0.04494
$HUMID,50.07
$INTERNAL_PRESSURE,9.02216
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,4016284
$TM_FREEKB,7893600
$24V_AH,13.40,11.308
$10V_AH,13.01,0.000
$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,21.300,43.450,310.775,134.275,0.000,0.000,0.000,0.000,0.000,0.000,36.477,0.000,2001.328,514.008,1299.642,31.711,0.000,1076.631,0.000,757.971,1200.000,0.544,0.000
$DEVICE_MAMPS,427.635,126.225,1763.325,153.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3576.000,3582.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.845,1000.000,0.000,0.000
$MEM,308408
$DATA_FILE_SIZE,16767,511
$CAP_FILE_SIZE,106712,0
$CFSIZE,2097872896,2094923776
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$INTR,0,3978.73,0x237952,7,5
$INTR,1,2258.14,0x237952,2,5
$SOUNDSPEED,1486.9
$EKF,3841,2863.319092,-7343.701172,0.541669,-0.165488,0.143807,-0.114704,0.000623,0.001504,0.001935,0.026900,0.026900,0.000121
$CURRENT,0.122,334.0,1
$GPS,160614,183640,4743.681,-12223.962,2,0.9,32,16.3