version: 66.12
glider: 198
mission: 4
dive: 4
start: 6 16 114 19 20 6
data:
$ID,198
$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,70
$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,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,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,-2917.187
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,3400
$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,-84.078575
$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,32
$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
$GPS1,160614,191329,4743.604,-12224.328,2,0.9,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.2
$GPS2,160614,191926,4743.666,-12224.249,5,0.9,35,16.3
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,203.5,985,-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,-0.85,-146.6,201,2415,1570,1562,0.0,0.0,0,124,0.00,0.00,-102.72,0.000,16390,0.000,0.000,201,2414,3961,3993,3929,0,0,0,0,0,0,28.83,28.83,14.92
$GC,125,-0.85,-146.6,202,2416,3994,3930,2.9,-2.7,10,142,10.25,2.42,0.00,0.000,2308,0.432,0.103,2325,3793,3962,4002,3923,0,0,0,0,0,0,14.50,14.66,28.83
$GC,271,-0.58,-146.6,2328,3794,4006,3921,39.6,-21.6,38,280,0.40,2.25,0.00,0.000,3078,0.314,0.068,2424,2399,3963,4006,3920,0,0,0,0,0,0,14.59,14.73,28.83
$GC,464,-0.55,-146.6,2426,2401,4007,3921,62.4,-10.1,58,472,0.00,2.40,0.00,0.000,260,0.000,0.116,2417,3787,3963,4007,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,598,-0.49,-146.6,2418,3787,4008,3920,80.4,-13.9,82,606,0.17,2.22,0.00,0.000,3078,0.285,0.069,2458,2415,3963,4007,3920,0,0,0,0,0,0,14.64,14.79,28.83
$GC,790,-0.55,-146.6,2458,2415,4009,3920,99.5,-9.5,102,798,0.00,2.33,0.00,0.000,516,0.000,0.085,2458,1008,3963,4008,3919,0,0,0,0,0,0,28.83,14.69,28.83
$GC,832,-0.64,-146.6,2459,1008,4007,3920,103.2,-8.9,110,840,0.12,2.42,0.00,0.000,5126,0.142,0.106,2404,2415,3963,4007,3919,0,0,0,0,0,0,14.76,14.71,28.83
$GC,1024,-0.59,-146.6,2399,2417,4009,3920,124.6,-10.9,130,1032,0.12,2.38,0.00,0.000,2308,0.312,0.117,2418,3794,3963,4008,3919,0,0,0,0,0,0,14.64,14.74,28.83
$GC,1256,-0.54,-146.6,2415,3795,4008,3920,153.7,-12.2,176,1265,0.10,2.25,0.00,0.000,3078,0.317,0.068,2437,2398,3963,4008,3919,0,0,0,0,0,0,14.66,14.80,28.83
$STATE,1387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1387,begin apogee
$GC,1390,-0.17,0.0,2436,2707,4008,3920,165.7,-7.6,190,1522,0.47,0.00,122.38,1.684,10246,0.273,0.000,2560,2707,3401,3471,3332,0,0,0,0,1,0,14.68,28.83,13.35
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1524,0.85,146.6,2560,2707,3484,3333,168.9,0.0,203,1654,1.10,2.45,114.10,1.053,10756,0.178,0.078,2897,1283,2792,2854,2731,0,0,0,0,0,0,14.12,14.20,13.81
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a441b54b3;,*5B
$MODEM_MSG,CACST,6,0,20140616194500.363286,3,891,17,0306,0150,100,00,00,02,02,1,000,000,0,5,1,0,150,10.1,5.7,-100,-2.7,-01,0.3,54,900,0025*24
$EKF,range, -280.8
$GC,1829,0.71,146.6,2897,1282,2849,2728,127.5,17.2,256,1837,0.20,2.45,0.00,0.000,5126,0.285,0.106,2850,2697,2788,2847,2730,0,0,0,0,0,0,14.45,14.53,28.83
$GC,2021,0.60,146.6,2850,2697,2850,2730,97.7,15.1,276,2029,0.15,1.90,0.00,0.000,4356,0.305,0.115,2816,3792,2788,2847,2729,0,0,0,0,0,0,14.57,14.64,28.83
$GC,2148,0.48,146.6,2817,3789,2848,2729,79.2,14.8,301,2157,0.12,1.80,0.00,0.000,5126,0.256,0.067,2786,2698,2788,2847,2729,0,0,0,0,0,0,14.59,14.70,28.83
$GC,2333,0.51,146.6,2787,2698,2848,2730,59.5,10.4,320,2353,0.00,1.90,0.00,0.000,260,0.000,0.118,2786,3791,2789,2849,2729,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2492,0.46,146.6,2787,3789,2849,2729,40.9,11.8,349,2502,0.00,1.80,0.00,0.000,1030,0.000,0.067,2794,2694,2787,2847,2728,0,0,0,0,0,0,28.83,14.73,28.83
$MODEM_MSG,CARDP,0,0,1,0,0,1;5;3a3b0b549a;,*04
$MODEM_MSG,CACST,6,0,20140616200002.019360,3,1312,25,0187,0150,100,00,00,01,00,1,000,000,0,5,1,0,150,14.8,9.2,-100,-6.2,-01,-0.4,42,900,0025*3E
$EKF,range,  379.9
$GC,2677,0.47,153.7,2794,2694,2848,2729,25.0,9.6,368,2686,0.00,2.38,3.35,0.168,8708,0.000,0.080,2801,1285,2777,2844,2711,0,0,0,0,0,0,28.83,14.75,14.69
$GC,2720,0.56,188.8,2802,1284,2864,2712,21.4,8.2,376,2749,0.00,2.45,21.12,0.216,9222,0.000,0.109,2801,2707,2633,2700,2566,0,0,0,0,0,0,28.83,14.72,14.63
$GC,2923,0.62,211.7,2802,2707,2730,2566,6.0,8.8,398,2944,0.00,1.88,13.62,0.168,8452,0.000,0.113,2801,3800,2537,2606,2468,0,0,0,0,0,0,28.83,14.70,14.66
$STATE,2962,end climb,SURFACE_DEPTH_REACHED
$STATE,2962,begin surface coast
$FINISH,0.6,1.021621
$STATE,2972,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,2993,116.50,0.151,0,0,1566,450.13
$SM_GC,1.25,7.47,2.30,116.50,0.085,0.067,0.151,201,2412,1566,-7.50,1.19,450.13,0,0,0,0,0,0,14.77,14.76,14.65
$RAFOS_CLK,36
$MODEM,0,1402948802,20.00000,19.98806,47.70240,-122.40880,2.019,3001.4
$MODEM,3,1402947900,19.75000,19.73917,47.73140,-122.39880,0.363,540.0
$RAFOS_FIX,4748.235840,-12215.396484,160614,191931,2,255,7.08
$IRIDIUM_FIX,4722.92,-12220.67,160614,181817
$TT8_MAMPS,0.044191,0.044191
$HUMID,48.11
$INTERNAL_PRESSURE,9.01325
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,4018304
$TM_FREEKB,7884864
$24V_AH,13.35,0.775
$10V_AH,13.26,0.000
$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,20.700,40.525,274.575,116.500,0.000,0.000,0.000,190.325,0.000,0.000,36.384,0.000,1673.680,447.389,1308.080,44.443,0.000,1096.821,0.000,609.143,900.000,0.543,0.000
$DEVICE_MAMPS,432.225,136.170,1683.765,150.705,0.000,0.000,0.000,169.065,420.000,0.000,0.750,0.000,2.310,8.730,28.200,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2979.000,2977.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.049,13.487,0.000,0.000
$MEM,308488
$DATA_FILE_SIZE,13422,407
$CAP_FILE_SIZE,81041,0
$CFSIZE,2097872896,2094268416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3640.26,0x237952,7,5
$INTR,1,1435.40,0x23451e,2,24
$SOUNDSPEED,1486.4
$EKF,3205,2863.611084,-7344.458984,0.637533,-0.065710,0.216752,-0.119762,0.000484,0.001338,0.001939,0.063084,0.063084,0.000121
$CURRENT,0.105, 20.2,1
$GPS,160614,201307,4743.703,-12224.363,2,0.9,33,16.3