version: 66.12
glider: 199
mission: 4
dive: 3
start: 6 16 114 18 43 51
data:
$ID,199
$MISSION,4
$DIVE,3
$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,-21306.715
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$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,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
$GPS1,160614,183640,4743.681,-12223.962,2,0.9,32,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.7
$GPS2,160614,184312,4743.730,-12223.965,4,0.9,34,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,201.8,1358,-20.0,-10.000,-24.70,1991
$D_GRID,172
$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,CARDP,0,0,1,0,0,1;5;3a42bb54aa;,*5E
$MODEM_MSG,CACST,6,0,20140616183001.207879,3,2854,34,0359,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,30.2,11.4,-100,-8.4,-01,-0.2,45,900,0025*0C
$EKF,range,    7.0
$GC,17,-0.98,-146.6,189,1984,1642,1527,0.0,0.0,0,124,0.00,0.00,-103.22,0.000,16390,0.000,0.000,190,1984,3960,3984,3936,0,0,0,0,0,0,28.83,28.83,14.83
$GC,125,-0.98,-146.6,191,1984,3984,3936,2.1,-1.8,10,142,9.62,2.53,0.00,0.000,2308,0.428,0.110,2151,3410,3960,3985,3935,0,0,0,0,0,0,14.42,14.57,28.83
$MODEM_MSG,CACST,6,1,20140616184501.303413,3,1544,31,0213,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,30.1,1.2,-100,1.8,-01,0.1,35,900,0025*12
$EKF,368,2863.738770,-7344.003418,55.641285,0.021480,-0.229357,0.195406,0.000115,0.000255,0.001935,0.026900,0.026900,0.000121
$GC,369,-0.60,-146.6,2151,3415,3989,3936,56.5,-19.2,57,378,0.57,2.35,0.00,0.000,3078,0.329,0.073,2284,1973,3961,3988,3935,0,0,0,0,0,0,14.50,14.68,28.83
$GC,552,-0.53,-146.6,2285,1974,3989,3936,77.7,-11.8,76,560,0.00,2.50,0.00,0.000,260,0.000,0.121,2275,3410,3961,3989,3934,0,0,0,0,0,0,28.83,14.66,28.83
$GC,719,-0.42,-146.6,2276,3410,3989,3934,96.5,-10.8,109,728,0.28,2.33,0.00,0.000,3078,0.263,0.074,2340,1989,3965,3996,3934,0,0,0,0,0,0,14.59,14.73,28.83
$GC,904,-0.50,-146.6,2344,1990,3990,3935,107.8,-5.5,128,912,0.00,2.47,0.00,0.000,260,0.000,0.122,2333,3410,3962,3991,3934,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1148,-0.52,-146.6,2333,3411,3988,3934,125.2,-7.2,174,1157,0.00,2.33,0.00,0.000,1030,0.000,0.074,2333,1986,3962,3991,3934,0,0,0,0,0,0,28.83,14.71,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a429b54b0;,*5A
$MODEM_MSG,CACST,6,0,20140616190001.282618,3,1066,30,0164,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,28.2,8.9,-100,-5.9,-01,-0.3,43,900,0025*3E
$EKF,range,   82.9
$GC,1341,-0.59,-146.6,2334,1985,3991,3934,139.5,-7.5,194,1350,0.12,2.47,0.00,0.000,4356,0.139,0.123,2270,3408,3962,3991,3934,0,0,0,0,0,0,14.73,14.66,28.83
$GC,1409,-0.49,-146.6,2271,3408,3991,3934,147.1,-11.6,207,1419,0.20,2.33,0.00,0.000,3078,0.269,0.075,2319,1989,3963,3992,3934,0,0,0,0,0,0,14.59,14.73,28.83
$GC,1594,-0.54,-146.6,2319,1990,3993,3934,162.1,-7.5,226,1602,0.00,2.47,0.00,0.000,260,0.000,0.122,2309,3415,3962,3992,3933,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1635,begin apogee
$GC,1640,-0.20,0.0,2306,1984,3993,3934,165.0,-7.5,234,1813,0.40,0.00,149.88,1.723,10246,0.245,0.000,2415,1983,3423,3481,3366,0,0,0,0,3,0,14.62,28.83,13.43
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1814,begin climb
$GC,1815,0.98,146.6,2417,1984,3489,3368,169.5,0.0,251,2017,1.27,2.47,169.35,1.594,10756,0.173,0.086,2804,590,2825,2881,2769,0,0,0,0,4,0,14.14,14.01,13.38
$GC,2046,0.77,146.6,2804,589,2884,2774,134.9,20.0,299,2055,0.30,2.50,0.00,0.000,5126,0.285,0.107,2735,1992,2827,2881,2773,0,0,0,0,0,0,14.10,14.19,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a439b54b4;,*56
$MODEM_MSG,CACST,6,0,20140616191501.143038,3,811,23,0391,0150,100,00,00,01,01,1,000,000,0,5,1,0,150,19.6,8.7,-100,-5.7,-01,0.1,51,900,0025*20
$EKF,range,  -63.5
$GC,2239,0.64,146.6,2733,1993,2881,2774,102.5,16.4,319,2247,0.17,2.50,0.00,0.000,4356,0.276,0.122,2695,3410,2827,2882,2773,0,0,0,0,0,0,14.42,14.49,28.83
$GC,2401,0.52,146.6,2696,3411,2881,2773,74.8,17.6,351,2410,0.20,2.35,0.00,0.000,5126,0.276,0.079,2658,1995,2827,2881,2773,0,0,0,0,0,0,14.47,14.58,28.83
$GC,2594,0.57,159.5,2658,1994,2883,2774,54.8,9.3,371,2614,0.00,2.50,12.68,0.968,8452,0.000,0.120,2658,3417,2766,2824,2708,0,0,0,0,0,0,28.83,14.57,14.19
$GC,2755,0.57,159.5,2659,3416,2823,2708,37.8,11.8,400,2764,0.00,2.40,0.00,0.000,1030,0.000,0.077,2667,1999,2766,2829,2704,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2940,0.63,179.9,2667,1999,2825,2710,20.0,9.0,419,2955,0.00,0.00,9.43,0.218,8198,0.000,0.000,2664,1998,2685,2747,2623,0,0,0,0,0,0,28.83,28.83,14.55
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a430b54a9;,*54
$MODEM_MSG,CACST,6,0,20140616193001.231961,3,3297,35,0417,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,29.1,16.2,-100,-13.2,-01,-0.6,49,900,0025*37
$EKF,range,  141.4
$GC,3130,0.69,193.3,2668,1995,2753,2624,3.2,9.3,438,3147,0.12,2.50,6.28,0.175,10500,0.154,0.119,2712,3407,2629,2696,2563,0,0,0,0,0,0,14.71,14.63,14.62
$STATE,3150,end climb,SURFACE_DEPTH_REACHED
$STATE,3150,begin surface coast
$FINISH,0.3,1.021836
$STATE,3160,end surface coast,CONTROL_FINISHED_OK
$STATE,3160,begin surface
$SM_CCo,3181,114.78,0.153,0,0,1583,450.13
$SM_GC,1.20,7.32,2.40,114.78,0.084,0.078,0.153,191,1992,1583,-7.11,0.76,450.13,0,0,0,0,0,0,14.71,14.70,14.59
$RAFOS_CLK,17
$MODEM,2,1402947001,19.50000,19.48806,47.72800,-122.40280,0.232,344.9
$MODEM,1,1402946101,19.25000,19.24472,47.72980,-122.39840,0.143,212.7
$MODEM,0,1402945201,19.00000,18.98889,47.72660,-122.40000,0.283,420.2
$MODEM,2,1402943401,18.50000,18.48778,47.72700,-122.40240,0.208,309.1
$RAFOS_FIX,4743.385254,-12222.603516,160614,171731,2,255,1.23
$IRIDIUM_FIX,4726.11,-12225.08,160614,171735
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.03
$INTERNAL_PRESSURE,9.01239
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,4016212
$TM_FREEKB,7888352
$24V_AH,13.38,12.414
$10V_AH,12.99,0.000
$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,20.600,43.800,347.600,114.775,0.000,0.000,0.000,219.975,0.000,0.000,36.265,0.000,1722.197,394.177,1530.574,46.068,0.000,1231.164,0.000,659.652,1200.000,0.543,0.000
$DEVICE_MAMPS,427.635,123.165,1722.780,153.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3168.000,3169.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.130,1000.000,0.000,0.000
$MEM,308420
$DATA_FILE_SIZE,13467,443
$CAP_FILE_SIZE,87855,0
$CFSIZE,2097872896,2094727168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$INTR,0,4248.03,0x237952,7,5
$SOUNDSPEED,1486.8
$EKF,3399,2863.740234,-7343.996094,0.196290,0.003915,0.015962,-0.059560,0.000574,0.001021,0.001943,0.009114,0.009114,0.000122
$CURRENT,0.033,  3.1,1
$GPS,160614,194006,4743.784,-12224.021,2,0.8,32,16.3