version: 66.12
glider: 199
mission: 5
dive: 64
start: 8 3 114 20 11 52
data:
$ID,199
$MISSION,5
$DIVE,64
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,360
$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,180
$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,-21701.691
$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,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$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,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,4
$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
$GPS1,030814,200145,7136.010,-14549.905,19,0.9,39,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.0
$GPS2,030814,201138,7135.958,-14549.944,5,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,329.0,85,-37.8,-11.628,-40.00,661
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.11,-49.9,192,2367,514,489,0.0,0.0,0,94,0.00,0.00,-72.68,0.000,16386,0.000,0.000,191,2367,2310,2315,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.16,-100.4,191,2368,2316,2309,3.8,-3.8,7,140,10.55,2.58,-25.52,0.000,18948,0.482,0.114,2057,943,3640,3684,3597,0,0,0,0,0,0,13.98,14.19,14.40
$GC,229,-1.16,-100.4,2058,944,3683,3605,43.2,-27.8,31,237,0.00,2.53,0.00,0.000,1030,0.000,0.102,2048,2359,3644,3684,3604,0,0,0,0,0,0,28.83,14.19,28.83
$GC,541,-1.16,-100.4,2049,2360,3684,3604,120.0,-24.6,63,549,0.00,2.47,0.00,0.000,516,0.000,0.091,2050,939,3644,3684,3605,0,0,0,0,0,0,28.83,14.28,28.83
$GC,618,-1.16,-100.4,2051,939,3684,3606,138.2,-23.0,78,628,0.00,2.53,0.00,0.000,1030,0.000,0.100,2041,2366,3644,3684,3605,0,0,0,0,0,0,28.83,14.30,28.83
$MODEM_MSG,CACST,6,1,20140803200420.380498,3,4458,24,0184,0150,100,00,00,02,03,-1,-01,-01,1,3,0,0,150,11.5,-0.4,-100,3.4,-01,-0.3,26,900,0025*10
$MODEM_MSG,CACST,6,1,20140803201634.890249,3,517,27,0152,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,17.5,0.8,-100,2.3,-01,0.7,23,900,0025*2B
$GC,924,-1.16,-100.4,2041,2367,3684,3606,203.1,-19.3,109,931,0.00,2.50,0.00,0.000,260,0.000,0.125,2034,3766,3644,3684,3605,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1156,-1.16,-100.4,2033,3766,3686,3606,249.4,-18.6,155,1164,0.00,2.42,0.00,0.000,1030,0.000,0.085,2034,2344,3644,3684,3605,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1468,-1.16,-100.4,2034,2345,3686,3606,300.5,-16.1,167,1476,0.00,2.58,0.00,0.000,260,0.000,0.124,2023,3769,3644,3684,3605,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1700,-1.16,-100.4,2023,3770,3686,3606,342.3,-17.7,213,1708,0.15,2.40,0.00,0.000,3078,0.359,0.085,2051,2358,3644,3684,3605,0,0,0,0,0,0,14.33,14.50,28.83
$GC,2013,-1.16,-100.4,2052,2361,3684,3605,389.2,-14.8,225,2021,0.00,2.53,0.00,0.000,260,0.000,0.125,2043,3773,3644,3684,3605,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2170,-1.16,-100.4,2044,3774,3684,3605,415.1,-16.9,256,2179,0.00,2.40,0.00,0.000,1030,0.000,0.084,2043,2360,3644,3684,3605,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2499,-1.16,-100.4,2043,2361,3686,3604,463.8,-14.6,271,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2360,3644,3684,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-1.16,-100.4,2044,2360,3684,3605,506.9,-14.4,281,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2360,3644,3684,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-1.16,-100.4,2043,2360,3686,3605,549.8,-14.2,291,3106,0.00,2.50,0.00,0.000,260,0.000,0.123,2034,3766,3644,3684,3604,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3160,-1.16,-100.4,2033,3767,3686,3605,559.5,-16.0,303,3168,0.00,2.38,0.00,0.000,1030,0.000,0.083,2034,2360,3643,3684,3603,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3492,-1.16,-100.4,2035,2360,3683,3604,607.7,-14.4,319,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2360,3644,3684,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-1.16,-100.4,2034,2361,3680,3604,650.5,-14.2,329,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2360,3644,3684,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-1.16,-100.4,2035,2360,3684,3604,692.8,-14.1,339,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2360,3644,3684,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-1.16,-100.4,2041,2360,3684,3604,734.9,-14.0,349,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2360,3644,3685,3604,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4514,-0.14,0.0,2033,2602,3684,3603,751.5,-13.8,353,4647,1.50,0.00,127.62,1.704,10246,0.353,0.000,2382,2602,3229,3279,3180,0,0,0,0,0,0,14.44,28.83,13.23
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4650,1.16,100.4,2383,2603,3275,3176,754.6,0.0,357,4754,1.45,2.28,87.47,1.909,10500,0.174,0.126,2797,3762,2811,2851,2771,0,0,0,0,0,0,13.83,13.60,12.95
$GC,4813,1.16,100.4,2798,3763,2844,2767,733.4,20.2,384,4823,0.00,2.08,0.00,0.000,1030,0.000,0.083,2806,2589,2805,2844,2766,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5132,1.16,100.4,2807,2594,2844,2765,674.6,18.4,397,5140,0.00,2.15,0.00,0.000,260,0.000,0.126,2806,3766,2804,2844,2765,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5199,1.16,100.4,2807,3766,2844,2770,661.0,20.6,410,5208,0.00,2.05,0.00,0.000,1030,0.000,0.085,2814,2609,2804,2844,2765,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5527,1.16,100.4,2816,2609,2844,2764,599.3,18.8,425,5535,0.00,2.10,0.00,0.000,260,0.000,0.127,2815,3767,2802,2841,2764,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5629,1.16,100.4,2816,3768,2843,2765,578.0,21.0,445,5637,0.00,2.00,0.00,0.000,1030,0.000,0.086,2823,2597,2804,2844,2764,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5951,1.16,100.4,2823,2598,2846,2764,516.7,18.9,459,5959,0.00,2.10,0.00,0.000,260,0.000,0.126,2820,3767,2803,2844,2763,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6044,1.16,100.4,2823,3769,2846,2764,497.8,20.4,477,6052,0.00,1.98,0.00,0.000,1030,0.000,0.086,2832,2604,2804,2845,2763,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6377,1.16,100.4,2833,2600,2844,2762,435.0,18.8,493,6384,0.00,2.10,0.00,0.000,260,0.000,0.128,2832,3770,2803,2844,2763,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6418,1.16,100.4,2832,3771,2846,2764,426.4,20.9,501,6426,0.15,2.00,0.00,0.000,5126,0.346,0.086,2813,2590,2803,2844,2763,0,0,0,0,0,0,14.36,14.52,28.83
$GC,6740,1.16,100.4,2813,2590,2846,2768,369.0,17.6,515,6748,0.00,2.12,0.00,0.000,260,0.000,0.126,2812,3774,2803,2844,2763,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6787,1.16,100.4,2813,3775,2844,2769,360.0,19.4,524,6797,0.00,2.03,0.00,0.000,1030,0.000,0.086,2820,2604,2803,2844,2762,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7106,1.16,100.4,2817,2604,2846,2763,303.5,17.6,537,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2604,2804,2845,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7406,1.16,100.4,2821,2603,2845,2763,252.7,16.8,547,7413,0.00,2.08,0.00,0.000,260,0.000,0.128,2825,3766,2804,2845,2763,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7602,1.16,100.4,2820,3767,2846,2763,217.1,17.8,586,7611,0.00,2.03,0.00,0.000,1030,0.000,0.087,2826,2598,2803,2844,2762,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7908,1.21,100.4,2830,2599,2844,2763,179.6,10.6,617,7916,0.00,2.10,0.00,0.000,260,0.000,0.128,2828,3771,2804,2845,2763,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7935,1.24,100.4,2829,3772,2844,2765,176.6,10.7,622,7944,0.00,1.98,0.00,0.000,1030,0.000,0.086,2837,2599,2803,2844,2763,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8240,1.28,135.7,2832,2599,2846,2763,151.6,6.1,653,8275,0.00,2.20,29.33,1.341,8452,0.000,0.127,2837,3770,2670,2715,2626,0,0,0,0,0,0,28.83,14.28,13.73
$GC,8499,1.32,135.7,2838,3769,2707,2616,125.1,10.6,703,8507,0.00,2.00,0.00,0.000,1030,0.000,0.088,2846,2601,2661,2707,2615,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8811,1.34,160.8,2844,2602,2708,2614,98.2,7.7,735,8828,0.00,2.17,10.62,0.435,8452,0.000,0.128,2845,3767,2576,2626,2526,0,0,0,0,0,0,28.83,14.36,14.19
$GC,8852,1.41,160.8,2845,3768,2630,2538,94.5,9.9,742,8862,0.12,2.00,1.65,0.276,11270,0.151,0.087,2894,2596,2575,2626,2525,0,0,0,0,0,0,14.42,14.44,14.24
$GC,9158,1.44,184.2,2896,2597,2639,2542,63.8,8.0,773,9181,0.00,0.00,13.60,0.351,8198,0.000,0.000,2894,2596,2480,2534,2427,0,0,0,0,0,0,28.83,28.83,14.25
$GC,9478,1.52,266.6,2894,2597,2548,2440,47.8,-1.2,805,9525,0.00,2.50,41.53,0.317,8708,0.000,0.091,2905,1193,2142,2207,2077,0,0,0,0,0,0,28.83,14.36,14.22
$GC,9619,1.55,266.6,2905,1193,2224,2082,37.1,10.9,831,9628,0.00,2.53,1.27,0.253,9222,0.000,0.105,2905,2606,2141,2210,2072,0,0,0,0,0,0,28.83,14.37,14.32
$GC,9932,1.63,352.0,2905,2606,2220,2083,15.7,-1.7,863,9982,0.15,2.10,40.88,0.222,10500,0.172,0.130,2955,3771,1792,1868,1717,0,0,0,0,0,0,14.41,14.35,14.28
$GC,10061,1.71,433.8,2956,3772,1870,1722,14.1,-1.1,886,10112,0.00,2.00,39.83,0.220,9222,0.000,0.090,2965,2602,1457,1544,1371,0,0,0,0,0,0,28.83,14.41,14.27
$GC,10406,1.78,496.3,2966,2603,1547,1371,6.5,1.9,923,10449,0.12,2.17,30.55,0.199,10500,0.164,0.132,3004,3765,1203,1289,1117,0,0,0,0,0,0,14.42,14.31,14.31
$STATE,10472,end climb,SURFACE_DEPTH_REACHED
$STATE,10473,begin surface coast
$FINISH,1.0,1.020406
$STATE,10482,end surface coast,CONTROL_FINISHED_OK
$STATE,10482,begin surface
$SM_CCo,10505,85.30,0.182,0,0,498,669.67
$SM_CCo,10592,-0.03,0.000,0,0,499,669.42
$SM_CCo,10594,-0.10,0.000,0,0,500,669.67
$SM_GC,1.93,8.62,2.50,-0.10,0.103,0.088,0.000,196,2354,500,-6.96,0.71,669.67,0,0,0,0,0,0,14.38,14.40,14.34
$RAFOS_CLK,452
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-14548.41,030814,170239
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.26
$INTERNAL_PRESSURE,8.48503
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,4009768
$TM_FREEKB,7003840
$24V_AH,12.95,73.553
$10V_AH,12.77,0.000
$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,22.825,85.575,424.350,85.300,0.000,0.000,0.000,362.975,0.000,0.000,27.424,0.000,7859.192,700.077,2516.170,113.039,0.000,1878.564,0.000,1384.362,0.000,0.537,0.000
$DEVICE_MAMPS,481.950,132.345,1909.440,182.070,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10507.000,10544.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.582,12.657,0.000,0.000
$MEM,283388
$DATA_FILE_SIZE,33374,936
$CAP_FILE_SIZE,145705,0
$CFSIZE,2097872896,2077261824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10891.06,0x2378b6,7,5
$SOUNDSPEED,1450.7
$EKF,10685,4296.940918,-8750.463867,0.959607,-0.138069,-0.114558,-0.077107,0.000192,0.001934,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.095,304.71,1
$GPS,030814,230954,7137.239,-14551.938,30,0.9,50,22.0