version: 66.12
glider: 199
mission: 4
dive: 4
start: 6 16 114 19 47 42
data:
$ID,199
$MISSION,4
$DIVE,4
$N_DIVES,4
$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,40
$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,-21308.164
$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,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$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,14
$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
$GPS1,160614,194006,4743.784,-12224.021,2,0.8,32,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.1
$GPS2,160614,194655,4743.842,-12223.931,4,0.9,35,16.3
$SPEED_LIMITS,0.119,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,220.7,1475,-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
$GC,17,-0.81,-146.6,191,1991,1640,1527,0.0,0.0,0,124,0.00,0.00,-102.55,0.000,16390,0.000,0.000,191,1991,3962,3988,3936,0,0,0,0,0,0,28.83,28.83,14.86
$GC,125,-0.81,-146.6,191,1991,3989,3937,2.2,-2.0,10,142,9.77,2.50,0.00,0.000,2308,0.426,0.107,2205,3411,3963,3990,3936,0,0,0,0,0,0,14.45,14.60,28.83
$GC,276,-0.66,-146.6,2203,3409,3993,3937,31.5,-19.9,39,287,0.20,2.38,0.00,0.000,3078,0.309,0.073,2263,1983,3963,3991,3936,0,0,0,0,0,0,14.53,14.69,28.83
$GC,462,-0.60,-146.6,2264,1984,3992,3937,57.5,-13.4,58,469,0.00,2.47,0.00,0.000,260,0.000,0.119,2253,3412,3963,3991,3936,0,0,0,0,0,0,28.83,14.66,28.83
$GC,583,-0.52,-146.6,2255,3412,3992,3943,74.7,-13.4,82,591,0.25,2.33,0.00,0.000,3078,0.281,0.073,2313,1990,3964,3993,3936,0,0,0,0,0,0,14.59,14.73,28.83
$GC,783,-0.52,-146.6,2314,1990,3992,3936,91.4,-8.1,102,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1989,3962,3992,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.52,-146.6,2314,1990,3992,3937,105.3,-7.6,120,971,0.00,2.47,0.00,0.000,260,0.000,0.121,2303,3410,3964,3993,3935,0,0,0,0,0,0,28.83,14.66,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3b0b549a;,*05
$MODEM_MSG,CACST,6,0,20140616200003.273738,3,1683,32,0363,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,17.1,7.3,-100,-4.3,-01,-0.3,38,900,0025*3F
$EKF,range,  228.5
$GC,1195,-0.52,-146.6,2304,3410,3992,3936,129.6,-10.5,166,1204,0.00,2.33,0.00,0.000,1030,0.000,0.073,2303,1985,3964,3993,3935,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1387,-0.52,-146.6,2304,1985,3993,3942,148.7,-11.1,186,1396,0.00,2.50,0.00,0.000,260,0.000,0.125,2293,3417,3964,3993,3935,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1554,begin apogee
$GC,1558,-0.16,0.0,2293,1995,3992,3935,165.3,-9.4,219,1708,0.52,0.00,141.12,1.154,10246,0.253,0.000,2433,1995,3425,3481,3369,0,0,0,0,1,0,14.63,28.83,13.51
$STATE,1710,end apogee,CONTROL_FINISHED_OK
$STATE,1710,begin climb
$GC,1711,0.81,146.6,2431,1995,3485,3371,170.1,0.0,234,1901,1.00,0.00,164.90,1.733,10758,0.167,0.000,2731,1994,2826,2887,2765,0,0,0,0,2,0,14.16,28.83,13.36
$GC,2075,0.74,146.6,2735,1995,2890,2769,121.8,16.4,278,2083,0.00,2.50,0.00,0.000,260,0.000,0.120,2734,3413,2828,2886,2770,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2307,0.64,146.6,2736,3413,2890,2771,76.6,20.2,324,2315,0.22,2.35,0.00,0.000,5126,0.292,0.078,2694,1999,2830,2890,2770,0,0,0,0,0,0,14.47,14.62,28.83
$GC,2508,0.64,146.6,2694,1997,2891,2771,50.9,12.3,344,2516,0.00,2.47,0.00,0.000,260,0.000,0.121,2694,3414,2830,2890,2770,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2670,0.58,146.6,2694,3415,2891,2771,28.5,14.6,376,2678,0.00,2.38,0.00,0.000,1030,0.000,0.079,2703,1998,2830,2890,2770,0,0,0,0,0,0,28.83,14.62,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a416b54b2;,*5D
$MODEM_MSG,CACST,6,0,20140616203001.692233,3,2705,34,0377,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,24.1,6.7,-100,-3.7,-01,-0.3,38,900,0025*38
$EKF,range,  358.0
$GC,2862,0.56,146.6,2706,1996,2889,2770,6.0,12.1,396,2870,0.15,2.45,0.00,0.000,4356,0.254,0.120,2667,3411,2828,2890,2766,0,0,0,0,0,0,14.58,14.64,28.83
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$FINISH,0.7,1.021919
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2930,136.35,0.153,0,0,1584,450.62
$SM_GC,1.25,7.22,2.42,136.35,0.089,0.083,0.153,190,1997,1584,-7.11,0.74,450.62,0,0,0,0,0,0,14.69,14.69,14.58
$RAFOS_CLK,16
$MODEM,2,1402950601,20.50000,20.48778,47.72280,-122.39920,0.692,1029.2
$MODEM,0,1402948803,20.00000,19.98917,47.70240,-122.40880,2.274,3380.5
$RAFOS_FIX,4738.050293,-12229.500000,160614,202002,2,255,7.69
$IRIDIUM_FIX,4729.30,-12324.53,160614,181811
$TT8_MAMPS,0.043442,0.043442
$HUMID,49.76
$INTERNAL_PRESSURE,9.00263
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,4016140
$TM_FREEKB,7883520
$24V_AH,13.36,13.418
$10V_AH,13.07,0.000
$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,19.350,33.925,306.025,136.350,0.000,0.000,0.000,237.900,0.000,0.000,36.658,0.000,1600.585,457.112,1375.955,50.019,0.000,1168.648,0.000,603.706,900.000,0.543,0.000
$DEVICE_MAMPS,426.105,124.695,1732.725,153.000,0.000,0.000,0.000,159.885,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2915.000,2917.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.953,1000.000,0.000,0.000
$MEM,308432
$DATA_FILE_SIZE,13449,405
$CAP_FILE_SIZE,75855,0
$CFSIZE,2097872896,2094465024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,3830.46,0x237952,7,5
$SOUNDSPEED,1486.8
$EKF,3161,2863.719482,-7344.248535,0.686138,-0.201744,0.095017,-0.122626,0.000506,0.001416,0.001935,0.026901,0.026901,0.000121
$CURRENT,0.124,  9.6,1
$GPS,160614,203959,4743.835,-12224.143,2,1.0,32,16.3