version: 66.12
glider: 199
mission: 5
dive: 39
start: 7 31 114 1 13 54
data:
$ID,199
$MISSION,5
$DIVE,39
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$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,215
$T_MISSION,250
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$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,688.85968
$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,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21670.191
$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,2470
$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
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3349
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,310714,010324,7110.261,-14447.341,30,0.7,50,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.7
$GPS2,310714,011337,7110.272,-14447.221,4,0.7,25,22.3
$SPEED_LIMITS,0.139,0.252
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,294.5,60143,-21.5,-11.628,-24.76,1932
$D_GRID,1000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-145.9,203,2397,535,456,0.0,0.0,0,75,0.00,0.00,-53.20,0.000,16386,0.000,0.000,201,2397,1879,1884,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.85,-145.9,202,2397,1884,1877,3.5,-3.4,5,139,11.07,2.53,-41.05,0.000,18692,0.482,0.152,2177,3770,3945,4002,3889,0,0,0,0,0,0,14.04,14.26,14.47
$GC,363,-0.85,-145.9,2176,3771,4010,3895,74.7,-22.8,59,370,0.00,2.38,0.00,0.000,1030,0.000,0.091,2176,2400,3948,4002,3895,0,0,0,0,0,0,28.83,14.34,28.83
$GC,674,-0.85,-145.9,2176,2401,4003,3896,136.4,-19.0,91,683,0.00,2.47,0.00,0.000,260,0.000,0.133,2166,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.38,28.83
$GC,907,-0.85,-145.9,2166,3768,4003,3895,180.9,-17.7,137,917,0.00,2.35,0.00,0.000,1030,0.000,0.090,2166,2399,3948,4002,3895,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1221,-0.85,-145.9,2172,2399,4001,3894,229.0,-14.7,169,1231,0.00,2.47,0.00,0.000,260,0.000,0.132,2155,3768,3948,4002,3895,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1260,-0.85,-145.9,2155,3769,4003,3895,235.3,-16.3,176,1269,0.17,2.35,0.00,0.000,3078,0.321,0.090,2190,2397,3948,4002,3894,0,0,0,0,0,0,14.33,14.45,28.83
$GC,1585,-0.85,-145.9,2192,2398,4001,3895,276.4,-12.4,195,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2397,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.85,-145.9,2191,2398,4003,3894,312.1,-11.7,205,1894,0.00,2.40,0.00,0.000,516,0.000,0.105,2191,995,3947,4002,3893,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1928,-0.85,-145.9,2191,995,4003,3894,317.2,-11.9,213,1938,0.00,2.47,0.00,0.000,1030,0.000,0.108,2182,2403,3950,4002,3899,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2252,-0.85,-145.9,2182,2403,4003,3893,356.8,-12.3,227,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2403,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.85,-145.9,2182,2403,4003,3893,393.2,-12.1,237,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2403,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.85,-145.9,2183,2403,4001,3892,429.2,-12.0,247,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2403,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.85,-145.9,2183,2403,4000,3892,465.0,-11.8,257,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2403,3947,4002,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.85,-145.9,2183,2403,4001,3891,500.7,-12.0,267,3460,0.00,2.45,0.00,0.000,516,0.000,0.103,2182,987,3946,4002,3890,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3509,-0.85,-145.9,2182,988,4002,3891,507.4,-11.9,278,3518,0.00,2.47,0.00,0.000,1030,0.000,0.107,2172,2401,3946,4002,3890,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3814,-0.85,-145.9,2172,2402,4003,3891,544.7,-12.2,289,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2401,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.85,-145.9,2174,2401,4001,3891,581.3,-12.2,299,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2401,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-0.85,-145.9,2172,2402,4003,3891,617.5,-12.2,309,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2401,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4714,-0.85,-145.9,2174,2401,4001,3891,653.5,-12.2,319,4722,0.00,2.42,0.00,0.000,516,0.000,0.103,2172,991,3946,4002,3890,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4771,-0.85,-145.9,2172,992,4003,3891,660.5,-12.0,330,4780,0.12,2.47,0.00,0.000,3078,0.337,0.107,2186,2411,3946,4002,3890,0,0,0,0,0,0,14.46,14.57,28.83
$GC,5076,-0.85,-145.9,2188,2411,4001,3890,694.4,-11.1,341,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2411,3946,4002,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,-0.85,-145.9,2186,2412,4003,3890,727.2,-11.0,351,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2411,3945,4001,3890,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5585,begin apogee
$GC,5588,-0.16,0.0,2187,2702,4001,3890,750.3,-11.0,358,5761,0.88,0.00,167.77,1.739,10246,0.286,0.000,2409,2701,3349,3405,3294,0,0,0,0,0,0,14.49,28.83,13.17
$STATE,5763,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5764,0.85,145.9,2409,2702,3399,3288,754.8,0.0,363,5908,1.10,2.10,129.57,2.012,10500,0.150,0.129,2736,3766,2745,2794,2697,0,0,0,0,0,0,13.78,13.47,12.78
$GC,6086,0.85,145.9,2736,3767,2782,2684,713.9,18.0,420,6094,0.00,1.92,0.00,0.000,1030,0.000,0.086,2744,2698,2732,2782,2683,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6404,0.85,145.9,2745,2699,2780,2682,662.4,16.2,433,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2698,2733,2786,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6703,0.85,145.9,2745,2698,2780,2681,613.7,16.1,443,6711,0.00,2.45,0.00,0.000,516,0.000,0.099,2755,1292,2730,2781,2680,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6750,0.85,145.9,2753,1292,2782,2681,606.2,16.3,452,6758,0.00,2.53,0.00,0.000,1030,0.000,0.107,2754,2701,2730,2781,2680,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7068,0.85,145.9,2756,2702,2780,2687,553.3,16.8,465,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2702,2730,2780,2680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,0.85,145.9,2754,2702,2782,2680,503.6,16.4,475,7375,0.00,2.45,0.00,0.000,516,0.000,0.099,2765,1292,2730,2781,2680,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7394,0.85,145.9,2765,1293,2782,2680,499.2,16.0,480,7403,0.00,2.50,0.00,0.000,1030,0.000,0.107,2765,2708,2730,2781,2680,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7699,0.85,145.9,2766,2708,2780,2680,447.3,17.1,491,7707,0.00,2.45,0.00,0.000,516,0.000,0.099,2776,1293,2730,2781,2679,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7721,0.85,145.9,2776,1294,2780,2679,443.4,16.5,495,7730,0.12,2.50,0.00,0.000,5126,0.333,0.106,2753,2708,2730,2781,2679,0,0,0,0,0,0,14.36,14.46,28.83
$GC,8034,0.85,145.9,2752,2709,2782,2680,392.6,16.3,507,8042,0.00,2.45,0.00,0.000,516,0.000,0.098,2760,1293,2730,2781,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8065,0.85,145.9,2761,1293,2780,2680,387.6,16.0,513,8075,0.00,2.47,0.00,0.000,1030,0.000,0.107,2761,2701,2730,2781,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8399,0.85,145.9,2763,2702,2781,2680,332.7,16.4,529,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2701,2729,2780,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8699,0.85,145.9,2761,2701,2782,2680,283.9,16.1,539,8707,0.00,2.45,0.00,0.000,516,0.000,0.098,2772,1285,2730,2781,2679,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8736,0.85,145.9,2773,1286,2782,2680,278.2,15.5,546,8745,0.00,2.50,0.00,0.000,1030,0.000,0.106,2771,2704,2730,2781,2679,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9044,0.85,145.9,2773,2708,2780,2680,228.3,16.1,569,9053,0.00,2.45,0.00,0.000,516,0.000,0.097,2781,1293,2730,2781,2679,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9062,0.85,145.9,2781,1294,2782,2680,225.3,15.7,572,9072,0.17,2.50,0.00,0.000,5126,0.331,0.106,2747,2710,2727,2780,2675,0,0,0,0,0,0,14.42,14.52,28.83
$GC,9367,0.85,145.9,2746,2714,2781,2680,184.1,12.4,603,9375,0.00,2.45,0.00,0.000,516,0.000,0.096,2756,1293,2729,2780,2679,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9409,0.85,145.9,2757,1293,2780,2680,179.1,11.8,611,9417,0.00,2.47,0.00,0.000,1030,0.000,0.106,2755,2705,2729,2780,2678,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9721,0.93,205.9,2756,2705,2782,2680,147.6,8.4,643,9777,0.00,0.00,52.20,1.343,8198,0.000,0.000,2756,2704,2507,2567,2448,0,0,0,0,0,0,28.83,28.83,13.63
$GC,10082,0.95,205.9,2757,2704,2548,2418,108.1,10.4,678,10090,0.00,2.50,0.00,0.000,516,0.000,0.097,2762,1288,2482,2548,2417,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10205,0.98,205.9,2766,1294,2550,2417,95.5,10.3,702,10212,0.00,2.53,0.00,0.000,1030,0.000,0.107,2766,2700,2482,2548,2417,0,0,0,0,0,0,28.83,14.29,28.83
$GC,10517,1.04,253.6,2762,2700,2550,2417,65.0,9.1,734,10541,0.12,0.00,20.90,0.347,10246,0.172,0.000,2804,2699,2313,2380,2247,0,0,0,0,0,0,14.35,28.83,14.16
$GC,10837,1.20,390.5,2806,2700,2404,2270,41.5,4.3,766,10918,0.15,2.00,70.50,0.291,10500,0.171,0.135,2855,3766,1758,1847,1670,0,0,0,0,0,0,14.33,14.21,14.12
$GC,11142,1.46,598.5,2856,3767,1845,1686,10.6,0.6,823,11258,0.17,1.88,106.25,0.204,11270,0.120,0.091,2941,2707,907,991,824,0,0,0,0,0,0,14.26,14.28,14.14
$MODEM_MSG,CARDP,13,0,1,0,0,1;5;56915a79dc;,*6C
$MODEM_MSG,CACST,6,0,20140731040421.837826,3,587,21,0094,0150,100,00,00,01,03,1,013,000,0,5,1,0,150,14.6,4.8,-100,-1.8,-01,0.2,21,900,0025*27
$MODEM_MSG,CACST,6,1,20140731041624.857965,3,417,20,0107,0150,100,00,00,01,04,-1,-01,-01,1,3,1,0,150,10.0,2.2,-100,0.8,-01,0.2,25,900,0025*27
$EKF,range,348078.4
$EKF,11444,4271.357422,-8689.762695,5.464697,0.013569,-0.011121,-0.010145,0.000239,0.002297,0.000099,0.000025,0.000025,0.000050
$STATE,11541,end climb,SURFACE_DEPTH_REACHED
$STATE,11541,begin surface coast
$FINISH,0.9,1.013512
$STATE,11592,end surface coast,CONTROL_FINISHED_OK
$STATE,11592,begin surface
$SM_CCo,11613,47.15,0.186,0,0,537,689.05
$SM_GC,2.41,8.40,0.55,47.15,0.102,0.109,0.186,198,2395,537,-7.06,0.71,689.05,0,0,0,0,0,0,14.33,14.35,14.26
$RAFOS_CLK,78
$MODEM,13,1406779461,70.91620,-144.80800,260.838,378306.9
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7032.78,-14446.30,300714,214721
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.14
$INTERNAL_PRESSURE,8.4948
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4012660
$TM_FREEKB,7486144
$24V_AH,12.78,64.214
$10V_AH,12.73,0.000
$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,22.500,77.875,547.200,47.150,0.000,0.000,0.000,379.275,0.000,0.000,26.695,0.000,8970.059,751.487,2460.032,93.113,0.000,1919.615,0.000,1293.912,1496.000,0.537,0.000
$DEVICE_MAMPS,481.950,152.235,2011.950,185.895,0.000,0.000,0.000,193.545,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11616.000,11662.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.585,12.696,0.000,0.000
$MEM,295684
$DATA_FILE_SIZE,30085,874
$CAP_FILE_SIZE,143219,0
$CFSIZE,2097872896,2084438016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12172.12,0x2378b6,7,5
$SOUNDSPEED,1450.8
$EKF,11757,4271.359375,-8689.770508,0.922641,0.041028,0.017753,0.013906,0.000240,0.002303,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.035,116.82,1
$GPS,310714,042948,7111.194,-14449.140,37,0.9,57,22.3