version: 66.12
glider: 198
mission: 3
dive: 2
start: 6 10 114 20 22 50
data:
$ID,198
$MISSION,3
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,52
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53931
$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,666.53741
$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,-2716.3269
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,-84.087852
$PRESSURE_SLOPE,0.0001160319
$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,-0.44999999
$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,48
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,100614,201838,4743.131,-12223.989,5,1.4,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.4
$GPS2,100614,202232,4743.073,-12223.996,6,1.4,37,16.3
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,331.0,1479,-20.0,-10.000,-24.70,1991
$D_GRID,167
$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
$RAFOS_MSG,CACST,6,1,20140610191459.832682,3,11568,34,0396,0150,100,00,00,01,00,-1,-01,-01,1,3,0,0,150,19.8,1.3,-100,1.7,-01,-0.1,48,900,0025*02
$GC,17,-1.01,-146.6,201,2415,519,562,0.0,0.0,0,163,0.00,0.00,-138.57,0.000,16390,0.000,0.000,201,2415,3857,3887,3828,0,0,0,0,0,0,28.83,28.83,14.98
$GC,165,-1.01,-146.6,202,2415,3885,3829,3.8,-5.1,14,182,9.73,2.35,0.00,0.000,2820,0.419,0.092,2253,3789,3857,3889,3826,0,0,0,0,0,0,14.49,14.73,28.83
$GC,417,-0.37,-146.6,2254,3789,3897,3821,42.1,-15.9,61,427,0.93,2.28,0.00,0.000,3078,0.340,0.073,2474,2397,3859,3899,3819,0,0,0,0,0,0,14.51,14.71,28.83
$GC,602,-0.43,-146.6,2475,2397,3901,3818,54.6,-6.2,80,611,0.00,2.40,0.00,0.000,260,0.000,0.114,2469,3780,3858,3901,3816,0,0,0,0,0,0,28.83,14.66,28.83
$RAFOS_MSG,CACST,6,1,20140610202959.572348,3,938,29,0168,0150,100,00,00,00,00,-1,-01,-01,1,3,0,0,150,24.2,1.4,-100,1.6,-01,0.2,45,900,0025*26
$GC,837,-0.50,-146.6,2471,3782,3901,3816,74.1,-8.2,126,846,0.00,2.25,0.00,0.000,1030,0.000,0.073,2470,2402,3858,3901,3816,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1030,-0.60,-146.6,2471,2401,3901,3815,90.3,-8.4,146,1033,0.20,0.00,0.00,0.000,4102,0.109,0.000,2387,2401,3858,3901,3815,0,0,0,0,0,0,14.81,28.83,28.83
$GC,1210,-0.47,-146.6,2387,2402,3903,3815,110.6,-12.0,164,1218,0.22,2.38,0.00,0.000,2308,0.286,0.112,2430,3781,3857,3901,3814,0,0,0,0,0,0,14.58,14.65,28.83
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1311,-0.21,0.0,2431,2411,3903,3814,120.1,-8.8,181,1424,0.38,0.00,108.72,0.963,10246,0.269,0.000,2527,2411,3257,3325,3189,0,0,0,0,0,0,14.56,28.83,13.91
$STATE,1426,end apogee,CONTROL_FINISHED_OK
$STATE,1426,begin climb
$GC,1427,1.01,146.6,2527,2413,3322,3185,127.4,0.0,192,1550,1.35,2.42,107.50,0.928,10756,0.212,0.086,2927,1011,2651,2711,2592,0,0,0,0,0,0,14.29,14.21,13.82
$GC,1559,0.70,146.6,2928,1011,2708,2587,109.8,20.5,211,1568,0.40,2.45,0.00,0.000,5126,0.278,0.096,2829,2403,2647,2707,2588,0,0,0,0,0,0,14.19,14.27,28.83
$EKF,1596,2863.149902,-7343.991211,104.986740,0.183714,-0.040969,-0.173217,0.000368,0.000813,0.002293,0.099605,0.099605,0.000129
$GC,1744,0.61,146.6,2829,2405,2707,2585,80.5,15.1,230,1754,0.12,2.40,0.00,0.000,4356,0.305,0.111,2805,3787,2644,2706,2583,0,0,0,0,0,0,14.50,14.52,28.83
$GC,1878,0.52,146.6,2797,3788,2707,2583,58.5,16.5,256,1886,0.17,2.28,0.00,0.000,5126,0.272,0.076,2769,2415,2644,2706,2582,0,0,0,0,0,0,14.57,14.66,28.83
$GC,2070,0.64,172.1,2768,2415,2707,2583,39.4,8.7,276,2104,0.12,2.42,25.73,0.874,10500,0.138,0.112,2828,3795,2550,2618,2482,0,0,0,0,0,0,14.76,14.56,14.21
$GC,2294,0.55,172.1,2829,3796,2612,2479,6.4,10.7,317,2303,0.22,2.30,0.00,0.000,5126,0.264,0.073,2780,2396,2545,2611,2479,0,0,0,0,0,0,14.57,14.66,28.83
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,1.4,1.018495
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2418,begin surface
$SM_CCo,2437,252.82,0.154,0,0,539,666.73
$SM_GC,1.22,7.57,0.00,252.82,0.099,0.000,0.154,202,2397,539,-7.43,-0.40,666.73,0,0,0,0,0,0,14.71,28.83,14.57
$RAFOS_CLK,29
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,100614,202048
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.38
$INTERNAL_PRESSURE,9.04255
$TCM_TEMP,17.80
$XPDR_PINGS,1
$SC_FREEKB,4019200
$TM_FREEKB,7896960
$24V_AH,13.8,6.412
$10V_AH,13.0,0.000
$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,21.425,28.225,241.950,252.825,0.000,0.000,0.000,0.000,0.250,0.000,37.804,0.000,1286.319,635.193,841.799,23.163,0.000,950.694,0.000,493.900,900.000,0.542,0.000
$DEVICE_MAMPS,419.220,113.985,963.135,153.765,0.000,0.000,0.000,0.000,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2399.000,2405.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.681,13.444,0.000,0.000
$MEM,310136
$DATA_FILE_SIZE,10122,330
$CAP_FILE_SIZE,105667,0
$CFSIZE,2097872896,2094759936
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5109.93,0x237922,7,5
$INTR,1,1547.73,0x213680,1,24
$INTR,2,2427.96,0x237922,7,5
$SOUNDSPEED,1485.1
$EKF,2761,2863.218262,-7344.064941,1.374213,0.000077,-0.000026,-0.002468,0.000524,0.001157,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.192,226.2,1
$GPS,100614,210849,4743.019,-12224.374,5,1.2,36,16.3