version: 66.12
glider: 199
mission: 5
dive: 66
start: 8 4 114 2 58 52
data:
$ID,199
$MISSION,5
$DIVE,66
$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,-21704.211
$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,26
$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
$GPS1,040814,024724,7136.267,-14550.155,40,0.7,60,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.1
$GPS2,040814,025833,7136.294,-14550.434,6,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,118.6,600,-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,-49.9,198,2354,521,489,0.0,0.0,0,97,0.00,0.00,-75.07,0.000,16386,0.000,0.000,197,2354,2362,2365,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.17,-104.7,198,2355,2365,2360,3.5,-3.1,7,142,10.43,2.53,-25.73,0.000,18948,0.483,0.120,2049,952,3660,3702,3619,0,0,0,0,0,0,14.04,14.24,14.46
$GC,366,-1.17,-104.7,2050,953,3704,3624,79.1,-25.6,58,376,0.00,2.50,0.00,0.000,1030,0.000,0.100,2041,2362,3662,3702,3623,0,0,0,0,0,0,28.83,14.33,28.83
$GC,671,-1.17,-104.7,2040,2363,3704,3625,152.9,-22.6,89,679,0.00,2.42,0.00,0.000,516,0.000,0.090,2044,950,3662,3701,3624,0,0,0,0,0,0,28.83,14.40,28.83
$GC,793,-1.17,-104.7,2046,951,3707,3624,178.7,-20.1,113,801,0.00,2.47,0.00,0.000,1030,0.000,0.100,2035,2361,3662,3702,3623,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1105,-1.17,-104.7,2036,2361,3702,3624,236.4,-16.5,145,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2360,3663,3702,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-1.17,-104.7,2034,2361,3704,3624,286.5,-16.4,161,1414,0.00,2.50,0.00,0.000,260,0.000,0.125,2025,3773,3662,3702,3623,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1503,-1.17,-104.7,2025,3774,3702,3624,304.5,-18.7,180,1513,0.15,2.42,0.00,0.000,3078,0.360,0.084,2052,2349,3662,3702,3623,0,0,0,0,0,0,14.33,14.50,28.83
$GC,1832,-1.17,-104.7,2053,2350,3702,3624,356.0,-15.4,195,1839,0.00,2.55,0.00,0.000,260,0.000,0.125,2043,3767,3662,3701,3623,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1864,-1.17,-104.7,2043,3768,3703,3624,361.3,-16.6,201,1871,0.00,2.38,0.00,0.000,1030,0.000,0.083,2044,2361,3662,3702,3623,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2196,-1.17,-104.7,2043,2362,3704,3625,413.6,-15.6,217,2204,0.00,2.50,0.00,0.000,260,0.000,0.124,2034,3767,3662,3702,3622,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2228,-1.17,-104.7,2035,3767,3700,3623,418.9,-17.4,223,2236,0.00,2.40,0.00,0.000,1030,0.000,0.082,2034,2348,3662,3702,3622,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2561,-1.17,-104.7,2034,2349,3704,3623,471.4,-15.6,239,2569,0.00,2.53,0.00,0.000,260,0.000,0.122,2023,3773,3662,3702,3622,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2613,-1.17,-104.7,2023,3779,3703,3623,480.4,-17.6,249,2621,0.15,2.40,0.00,0.000,3078,0.360,0.083,2050,2352,3660,3698,3622,0,0,0,0,0,0,14.38,14.55,28.83
$GC,2926,-1.17,-104.7,2051,2352,3701,3619,527.1,-14.7,261,2933,0.00,2.53,0.00,0.000,260,0.000,0.125,2044,3772,3662,3702,3622,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3002,-1.17,-104.7,2045,3772,3702,3623,539.7,-16.7,276,3012,0.00,2.40,0.00,0.000,1030,0.000,0.082,2045,2354,3662,3702,3623,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3322,-1.17,-104.7,2046,2355,3702,3622,586.8,-14.5,289,3330,0.00,2.50,0.00,0.000,260,0.000,0.122,2036,3767,3662,3702,3622,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3369,-1.17,-104.7,2035,3768,3703,3622,594.5,-16.2,298,3377,0.00,2.38,0.00,0.000,1030,0.000,0.083,2036,2358,3661,3702,3621,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3686,-1.17,-104.7,2035,2359,3702,3623,642.0,-14.7,311,3694,0.00,2.50,0.00,0.000,260,0.000,0.125,2030,3767,3662,3702,3622,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3763,-1.17,-104.7,2032,3768,3702,3622,654.7,-16.5,326,3771,0.00,2.38,0.00,0.000,1030,0.000,0.082,2030,2360,3662,3702,3622,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4081,-1.17,-104.7,2031,2360,3702,3622,701.6,-14.7,339,4088,0.00,2.50,0.00,0.000,260,0.000,0.121,2021,3767,3662,3702,3622,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4227,-1.17,-104.7,2021,3768,3703,3622,725.6,-16.0,368,4238,0.15,2.40,0.00,0.000,3078,0.364,0.082,2049,2360,3660,3699,3621,0,0,0,0,0,0,14.32,14.49,28.83
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4414,-0.14,0.0,2050,2602,3702,3622,751.5,-13.7,375,4546,1.42,0.00,125.43,1.714,10246,0.347,0.000,2379,2602,3227,3275,3180,0,0,0,0,0,0,14.31,28.83,13.19
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4550,1.17,104.7,2380,2602,3275,3175,754.5,0.0,379,4656,1.50,0.00,92.07,1.876,10502,0.174,0.000,2803,2602,2793,2834,2752,0,0,0,0,0,0,13.79,28.83,12.91
$GC,4952,1.17,104.7,2804,2602,2830,2739,690.1,18.4,398,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2606,2786,2830,2742,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140804041636.488062,3,195,22,0108,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,13.8,1.1,-100,1.9,-01,-0.2,23,900,0025*03
$GC,5253,1.17,104.7,2804,2602,2830,2742,635.3,18.3,408,5262,0.00,2.10,0.00,0.000,260,0.000,0.125,2799,3765,2783,2825,2741,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5311,1.17,104.7,2803,3765,2832,2741,623.3,21.2,419,5320,0.00,2.00,0.00,0.000,1030,0.000,0.085,2811,2599,2784,2830,2739,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5616,1.17,104.7,2812,2599,2829,2741,566.4,18.6,430,5624,0.00,2.12,0.00,0.000,260,0.000,0.126,2811,3770,2785,2830,2741,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5683,1.17,104.7,2811,3771,2832,2742,552.7,21.1,443,5691,0.00,2.03,0.00,0.000,1030,0.000,0.086,2820,2587,2784,2830,2739,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6010,1.17,104.7,2821,2588,2830,2740,491.3,18.8,458,6018,0.00,2.12,0.00,0.000,260,0.000,0.125,2820,3771,2785,2830,2740,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6057,1.17,104.7,2820,3772,2832,2741,481.5,20.8,467,6064,0.00,2.03,0.00,0.000,1030,0.000,0.086,2829,2581,2785,2830,2740,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6374,1.17,104.7,2829,2583,2831,2741,420.9,19.1,480,6383,0.00,2.12,0.00,0.000,260,0.000,0.125,2829,3770,2785,2830,2740,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6422,1.17,104.7,2829,3771,2832,2741,410.6,21.5,489,6430,0.00,2.00,0.00,0.000,1030,0.000,0.086,2838,2594,2783,2830,2736,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6740,1.17,104.7,2837,2594,2832,2739,349.9,19.1,502,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2594,2785,2830,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7039,1.17,104.7,2838,2594,2830,2741,294.1,18.3,512,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2594,2785,2830,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,1.17,104.7,2841,2594,2830,2741,240.9,16.9,524,7349,0.00,2.10,0.00,0.000,260,0.000,0.126,2838,3768,2785,2830,2740,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7488,1.17,104.7,2838,3769,2831,2741,212.3,17.9,553,7498,0.12,2.03,0.00,0.000,5126,0.334,0.086,2818,2600,2785,2830,2740,0,0,0,0,0,0,14.39,14.54,28.83
$GC,7794,1.23,104.7,2819,2599,2830,2741,174.3,10.0,584,7803,0.00,2.40,0.00,0.000,516,0.000,0.089,2827,1188,2785,2830,2741,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7868,1.25,117.7,2828,1188,2830,2741,167.0,9.6,598,7882,0.00,2.47,4.03,1.054,9222,0.000,0.102,2827,2599,2759,2803,2716,0,0,0,0,0,0,28.83,14.51,13.83
$GC,8178,1.28,145.8,2828,2600,2815,2727,141.7,7.3,630,8219,0.00,2.10,31.58,1.329,8452,0.000,0.123,2827,3771,2625,2671,2580,0,0,0,0,0,0,28.83,14.26,13.73
$GC,8389,1.28,145.8,2826,3772,2670,2574,118.2,12.2,670,8396,0.00,2.00,0.00,0.000,1030,0.000,0.087,2836,2601,2621,2669,2573,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8700,1.30,165.9,2837,2602,2666,2571,88.3,8.5,702,8715,0.00,0.00,8.00,0.392,8710,0.000,0.000,2836,2601,2554,2606,2503,0,0,0,0,0,0,28.83,28.83,14.19
$GC,9010,1.33,200.8,2836,2602,2621,2518,63.6,6.2,734,9039,0.00,2.12,19.25,0.355,8452,0.000,0.130,2833,3764,2413,2467,2360,0,0,0,0,0,0,28.83,14.38,14.25
$GC,9253,1.39,259.3,2836,3765,2480,2375,46.4,2.5,781,9289,0.12,2.00,30.15,0.310,11270,0.158,0.089,2884,2597,2171,2233,2109,0,0,0,0,0,0,14.42,14.45,14.24
$GC,9584,1.41,280.8,2883,2598,2250,2121,17.8,8.3,816,9601,0.00,2.20,11.60,0.233,8452,0.000,0.130,2883,3770,2082,2153,2012,0,0,0,0,0,0,28.83,14.36,14.32
$GC,9825,1.49,358.3,2885,3771,2160,2028,12.1,-0.4,863,9868,0.00,2.00,37.12,0.211,9222,0.000,0.090,2893,2600,1767,1844,1690,0,0,0,0,0,0,28.83,14.45,14.30
$GC,10172,1.57,438.0,2893,2597,1849,1692,10.9,-0.8,900,10217,0.15,2.50,38.42,0.211,10756,0.156,0.091,2950,1198,1442,1529,1356,0,0,0,0,0,0,14.43,14.35,14.31
$GC,10441,1.64,513.4,2950,1193,1535,1357,3.0,-0.1,951,10485,0.00,2.50,37.33,0.191,9222,0.000,0.104,2956,2607,1132,1221,1043,0,0,0,0,0,0,28.83,14.36,14.31
$STATE,10647,end climb,SURFACE_DEPTH_REACHED
$STATE,10647,begin surface coast
$FINISH,1.1,1.018454
$STATE,11108,end surface coast,NO_VERTICAL_VELOCITY
$STATE,11108,begin surface
$SM_CCo,11130,76.82,0.183,0,0,498,669.67
$SM_CCo,11208,-0.17,0.000,0,0,501,669.67
$SM_CCo,11210,0.05,1.713,0,0,499,669.67
$SM_GC,2.20,8.45,0.43,0.05,0.111,0.103,1.713,199,2362,499,-6.94,1.05,669.67,0,0,0,0,0,0,14.47,14.49,14.00
$RAFOS_CLK,327
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-14548.41,030814,231346
$TT8_MAMPS,0.047187,0.047187
$HUMID,51.33
$INTERNAL_PRESSURE,8.52409
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,4009532
$TM_FREEKB,6966656
$24V_AH,12.91,74.244
$10V_AH,12.70,0.000
$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,22.650,93.000,434.975,76.875,0.000,0.000,0.000,409.325,0.000,0.000,27.214,0.000,8266.748,726.223,2757.575,128.432,0.000,2001.546,0.000,1510.789,1483.000,0.538,0.000
$DEVICE_MAMPS,483.480,130.050,1875.780,1712.835,0.000,0.000,0.000,194.310,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11132.000,11182.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.520,12.602,0.000,0.000
$MEM,282252
$DATA_FILE_SIZE,36653,1020
$CAP_FILE_SIZE,156031,0
$CFSIZE,2097872896,2076704768
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13092.10,0x2378b6,7,5
$INTR,1,85.87,0x234484,0,24
$SOUNDSPEED,1449.7
$EKF,11287,4295.598633,-8748.243164,1.055719,0.073944,-0.079323,0.008806,0.000182,0.001827,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.073,309.18,1
$GPS,040814,060656,7135.888,-14549.361,17,0.7,37,22.0