version: 66.12
glider: 199
mission: 4
dive: 5
start: 6 16 114 20 46 46
data:
$ID,199
$MISSION,4
$DIVE,5
$N_DIVES,5
$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,-21309.607
$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,19
$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
$GPS1,160614,203959,4743.835,-12224.143,2,1.0,32,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.6
$GPS2,160614,204559,4743.854,-12224.080,4,1.0,34,16.3
$SPEED_LIMITS,0.119,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,197.8,1320,-20.0,-10.000,-24.70,1991
$D_GRID,173
$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,-146.6,186,1994,1640,1530,0.0,0.0,0,123,0.00,0.00,-102.22,0.000,16390,0.000,0.000,190,1993,3963,3987,3940,0,0,0,0,0,0,28.83,28.83,14.85
$GC,125,-0.81,-146.6,190,1994,3988,3936,2.1,-1.7,10,142,9.85,2.50,0.00,0.000,2308,0.428,0.107,2207,3415,3962,3989,3935,0,0,0,0,0,0,14.44,14.59,28.83
$GC,321,-0.66,-146.6,2206,3421,3992,3936,40.5,-16.4,48,329,0.25,2.38,0.00,0.000,3078,0.311,0.075,2263,1970,3963,3991,3935,0,0,0,0,0,0,14.53,14.66,28.83
$GC,513,-0.61,-146.6,2264,1970,3991,3935,64.6,-10.8,68,521,0.00,2.50,0.00,0.000,260,0.000,0.120,2253,3414,3963,3992,3934,0,0,0,0,0,0,28.83,14.68,28.83
$GC,640,-0.53,-146.6,2255,3415,3991,3935,79.5,-11.5,93,649,0.22,2.33,0.00,0.000,3078,0.282,0.073,2306,1990,3963,3992,3934,0,0,0,0,0,0,14.56,14.70,28.83
$GC,835,-0.53,-146.6,2307,1991,3994,3935,97.1,-8.9,112,842,0.00,2.47,0.00,0.000,260,0.000,0.121,2297,3416,3962,3992,3933,0,0,0,0,0,0,28.83,14.66,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fab54a8;,*51
$MODEM_MSG,CACST,6,0,20140616210001.968348,3,2872,34,0400,0150,100,00,00,00,00,1,000,000,0,5,1,0,150,23.7,11.9,-100,-8.9,-01,-0.2,38,900,0025*0A
$EKF,range,   26.6
$GC,1067,-0.50,-146.6,2297,3417,3994,3940,120.0,-9.7,158,1081,0.00,2.30,0.00,0.000,1030,0.000,0.074,2297,1997,3963,3993,3934,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1265,-0.50,-146.6,2298,1998,3992,3934,138.6,-10.2,178,1275,0.00,2.45,0.00,0.000,260,0.000,0.119,2286,3412,3963,3993,3934,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1494,-0.16,0.0,2285,1996,3994,3935,165.3,-12.2,222,1661,0.52,0.00,148.07,1.716,10246,0.244,0.000,2428,1994,3420,3479,3361,0,0,0,0,3,0,14.62,28.83,13.40
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1664,0.81,146.6,2429,1994,3482,3365,170.0,0.0,239,1848,1.05,0.00,161.15,1.309,10758,0.177,0.000,2736,1994,2823,2886,2761,0,0,0,0,2,0,14.06,28.83,13.36
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3fcb54aa;,*0C
$MODEM_MSG,CACST,6,0,20140616211501.884016,3,190,04,0112,0150,100,00,00,03,03,1,000,000,0,5,1,0,150,-1.1,3.6,-100,-0.6,-01,0.1,53,900,0025*32
$EKF,range,   35.2
$GC,2022,0.74,146.6,2736,1993,2892,2771,119.0,16.1,282,2031,0.00,2.50,0.00,0.000,260,0.000,0.120,2735,3410,2831,2891,2771,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2256,0.64,146.6,2736,3411,2892,2770,74.2,19.7,328,2263,0.22,2.35,0.00,0.000,5126,0.291,0.076,2695,1999,2830,2890,2770,0,0,0,0,0,0,14.48,14.59,28.83
$GC,2447,0.64,146.6,2695,1998,2893,2770,48.2,12.1,348,2455,0.00,2.47,0.00,0.000,260,0.000,0.119,2695,3418,2830,2890,2770,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2563,0.58,146.6,2695,3419,2892,2770,35.1,14.9,366,2572,0.12,2.38,0.00,0.000,5126,0.289,0.078,2678,1988,2830,2890,2770,0,0,0,0,0,0,14.56,14.65,28.83
$GC,2756,0.59,153.9,2683,1988,2897,2770,10.1,9.6,386,2766,0.00,2.58,4.45,0.199,8452,0.000,0.120,2678,3417,2791,2851,2731,0,0,0,0,0,0,28.83,14.58,14.59
$STATE,2829,end climb,SURFACE_DEPTH_REACHED
$STATE,2829,begin surface coast
$FINISH,0.6,1.021791
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2861,132.55,0.154,0,0,1583,450.62
$SM_GC,1.16,7.35,2.45,132.55,0.095,0.083,0.154,193,1992,1583,-7.10,0.62,450.62,0,0,0,0,0,0,14.65,14.64,14.56
$RAFOS_CLK,14
$MODEM,1,1402953301,21.25000,21.23861,47.71760,-122.40240,0.884,1314.3
$MODEM,0,1402952401,21.00000,20.99083,47.71720,-122.40320,0.968,1439.7
$RAFOS_FIX,4738.050293,-12229.500000,160614,202002,2,255,7.69
$IRIDIUM_FIX,4726.11,-12223.37,160614,191936
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.80
$INTERNAL_PRESSURE,8.99286
$TCM_TEMP,17.40
$XPDR_PINGS,0
$SC_FREEKB,4016068
$TM_FREEKB,7878784
$24V_AH,13.36,14.404
$10V_AH,13.04,0.000
$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,19.600,34.025,313.675,132.550,0.000,0.000,0.000,197.350,0.000,0.000,36.106,0.000,1518.663,558.622,1243.609,43.309,0.000,1142.164,0.000,598.680,900.000,0.542,0.000
$DEVICE_MAMPS,428.400,120.870,1715.895,153.765,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2844.000,2845.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.005,1000.000,0.000,0.000
$MEM,308396
$DATA_FILE_SIZE,13444,402
$CAP_FILE_SIZE,74008,0
$CFSIZE,2097872896,2094235648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$INTR,0,3543.34,0x237952,7,5
$SOUNDSPEED,1486.8
$EKF,3091,2863.605957,-7344.329590,0.624351,-0.257540,0.031555,-0.129265,0.000499,0.001353,0.001939,0.062900,0.062900,0.000121
$CURRENT,0.081, 31.1,1
$GPS,160614,213754,4743.682,-12224.218,2,0.9,32,16.3