version: 66.12
glider: 199
mission: 5
dive: 70
start: 8 4 114 16 2 12
data:
$ID,199
$MISSION,5
$DIVE,70
$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,-21709.252
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,040814,155124,7136.178,-14549.039,29,0.8,49,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.8
$GPS2,040814,160154,7136.242,-14549.251,5,0.8,26,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,169.1,627,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.11,-49.9,198,2350,513,493,0.0,0.0,0,70,0.00,0.00,-48.50,0.000,16386,0.000,0.000,199,2350,1740,1761,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.17,-103.7,201,2350,1761,1719,3.4,-3.2,5,134,10.48,2.67,-45.38,0.000,18692,0.483,0.146,2040,3770,3655,3696,3614,0,0,0,0,0,0,13.98,14.20,14.43
$GC,358,-1.17,-103.7,2040,3771,3696,3620,79.5,-27.4,59,366,0.00,2.42,0.00,0.000,1030,0.000,0.083,2043,2362,3659,3696,3622,0,0,0,0,0,0,28.83,14.31,28.83
$GC,670,-1.17,-103.7,2044,2361,3696,3621,154.0,-22.5,91,678,0.00,2.53,0.00,0.000,260,0.000,0.122,2034,3766,3658,3696,3621,0,0,0,0,0,0,28.83,14.28,28.83
$GC,903,-1.17,-103.7,2035,3762,3696,3621,207.3,-20.3,137,910,0.00,2.42,0.00,0.000,1030,0.000,0.083,2037,2352,3658,3696,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1235,-1.17,-103.7,2034,2353,3697,3621,266.2,-16.7,165,1242,0.00,2.55,0.00,0.000,260,0.000,0.124,2023,3767,3658,3696,3621,0,0,0,0,0,0,28.83,14.34,28.83
$MODEM_MSG,CACST,6,1,20140804160420.423196,3,776,28,0204,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,15.7,2.0,-100,1.0,-01,0.5,29,900,0025*25
$MODEM_MSG,CARDP,9,0,1,0,0,1;5;5aa0ba5cfe;,*50
$MODEM_MSG,CACST,6,0,20140804161129.952954,3,332,01,0098,0150,100,00,00,04,07,1,009,000,0,5,1,0,150,3.3,3.4,-100,-0.4,-01,-0.2,11,900,0025*30
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;57379a7cff;,*31
$MODEM_MSG,CACST,6,0,20140804161636.088606,3,523,27,0133,0150,100,00,00,00,03,1,014,000,0,5,1,0,150,23.2,4.0,-100,-1.0,-01,0.3,20,900,0025*2A
$EKF,range, 1938.4
$EKF,range,  762.4
$EKF,1345,4296.203125,-8749.696289,285.071259,-0.170916,-0.109580,0.173391,0.000013,0.000134,0.000095,0.000025,0.000025,0.000034
$GC,1469,-1.17,-103.7,2024,3768,3696,3621,309.9,-18.1,211,1477,0.15,2.42,0.00,0.000,3078,0.363,0.082,2048,2348,3658,3696,3621,0,0,0,0,0,0,14.26,14.43,28.83
$GC,1782,-1.17,-103.7,2050,2349,3697,3620,358.0,-15.1,223,1790,0.00,2.53,0.00,0.000,260,0.000,0.123,2044,3763,3657,3696,3619,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1924,-1.17,-103.7,2046,3763,3696,3619,381.8,-17.0,251,1932,0.00,2.40,0.00,0.000,1030,0.000,0.081,2044,2351,3657,3696,3619,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2236,-1.17,-103.7,2044,2353,3698,3619,428.3,-14.7,263,2244,0.00,2.50,0.00,0.000,260,0.000,0.121,2034,3763,3656,3696,3617,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2298,-1.17,-103.7,2035,3763,3696,3618,438.5,-16.6,275,2306,0.00,2.38,0.00,0.000,1030,0.000,0.081,2033,2357,3656,3696,3617,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2630,-1.17,-103.7,2034,2359,3698,3618,487.9,-14.7,291,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2358,3656,3696,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-1.17,-103.7,2033,2359,3698,3618,532.2,-14.8,301,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2358,3656,3696,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3230,-1.17,-103.7,2035,2359,3696,3616,576.3,-14.7,311,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2358,3659,3703,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-1.17,-103.7,2034,2359,3697,3617,620.1,-14.7,321,3537,0.00,2.53,0.00,0.000,260,0.000,0.122,2023,3769,3655,3696,3615,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3546,-1.17,-103.7,2024,3769,3696,3616,622.7,-14.5,324,3556,0.15,2.38,0.00,0.000,3078,0.358,0.080,2051,2360,3655,3696,3615,0,0,0,0,0,0,14.42,14.59,28.83
$GC,3866,-1.17,-103.7,2050,2360,3698,3616,667.4,-13.8,337,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2360,3655,3696,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4165,-1.17,-103.7,2052,2360,3695,3616,708.8,-13.7,347,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2360,3655,3696,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-1.17,-103.7,2050,2361,3698,3616,749.7,-13.5,357,4473,0.00,2.38,0.00,0.000,516,0.000,0.091,2051,950,3655,3696,3615,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4476,begin apogee
$GC,4481,-0.14,0.0,2041,2596,3697,3615,751.3,-13.6,359,4616,1.45,0.00,130.23,1.763,10246,0.350,0.000,2378,2596,3230,3277,3183,0,0,0,0,0,0,14.42,28.83,13.15
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4620,1.17,103.7,2377,2597,3275,3178,755.0,0.0,363,4727,1.48,2.22,91.18,2.029,10500,0.176,0.120,2800,3769,2798,2834,2762,0,0,0,0,0,0,13.81,13.56,12.83
$GC,4806,1.17,103.7,2801,3769,2827,2759,729.0,21.0,394,4814,0.00,2.08,0.00,0.000,1030,0.000,0.079,2809,2594,2792,2826,2758,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5134,1.17,103.7,2809,2594,2828,2757,668.1,18.5,409,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2594,2792,2828,2756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,1.17,103.7,2806,2594,2827,2756,612.1,18.7,419,5441,0.00,2.12,0.00,0.000,260,0.000,0.125,2809,3767,2791,2828,2755,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5485,1.17,103.7,2809,3768,2829,2760,601.5,20.9,429,5492,0.00,2.00,0.00,0.000,1030,0.000,0.084,2817,2599,2791,2828,2755,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5797,1.17,103.7,2818,2600,2832,2752,542.6,18.8,441,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2599,2791,2828,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,1.17,103.7,2819,2600,2827,2754,486.4,18.6,451,6104,0.00,2.10,0.00,0.000,260,0.000,0.126,2818,3770,2791,2828,2755,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6148,1.17,103.7,2818,3771,2829,2755,475.7,21.0,461,6156,0.00,2.00,0.00,0.000,1030,0.000,0.085,2826,2594,2791,2828,2754,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6461,1.17,103.7,2834,2594,2827,2755,417.7,18.4,473,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2594,2791,2828,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,1.17,103.7,2825,2594,2829,2755,362.6,18.3,483,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2593,2791,2828,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,1.17,103.7,2826,2594,2830,2754,308.1,18.1,493,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2593,2791,2828,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,1.17,103.7,2826,2594,2829,2755,254.9,17.5,503,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2594,2791,2828,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7660,1.17,103.7,2828,2594,2827,2754,206.0,14.8,531,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2593,2791,2828,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,1.21,103.7,2826,2591,2829,2755,169.4,10.6,561,7968,0.00,2.38,0.00,0.000,516,0.000,0.088,2837,1195,2790,2826,2754,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8092,1.23,123.6,2838,1195,2828,2754,157.3,8.5,587,8115,0.00,2.47,16.42,1.362,9222,0.000,0.102,2837,2602,2724,2762,2686,0,0,0,0,0,0,28.83,14.51,13.82
$GC,8420,1.25,146.4,2836,2602,2755,2671,127.4,8.1,621,8444,0.00,0.00,20.08,1.349,8454,0.000,0.000,2837,2602,2628,2672,2584,0,0,0,0,0,0,28.83,28.83,13.74
$GC,8740,1.27,163.0,2837,2602,2666,2569,95.9,9.0,654,8753,0.00,0.00,6.28,0.399,8198,0.000,0.000,2837,2602,2567,2616,2518,0,0,0,0,0,0,28.83,28.83,14.18
$GC,9049,1.30,194.3,2837,2603,2631,2533,69.5,6.8,685,9070,0.00,0.00,17.35,0.371,8710,0.000,0.000,2837,2602,2437,2488,2386,0,0,0,0,0,0,28.83,28.83,14.23
$GC,9375,1.36,256.3,2838,2602,2504,2399,49.4,2.0,719,9418,0.12,2.10,31.58,0.317,10500,0.171,0.127,2882,3769,2188,2246,2130,0,0,0,0,0,0,14.44,14.33,14.25
$GC,9642,1.40,256.3,2882,3772,2254,2141,22.1,10.6,770,9652,0.00,2.00,1.55,0.249,9222,0.000,0.088,2891,2601,2183,2241,2125,0,0,0,0,0,0,28.83,14.42,14.33
$GC,9948,1.47,325.9,2892,2602,2258,2134,12.8,0.8,801,9990,0.00,2.12,33.45,0.216,8452,0.000,0.126,2892,3773,1899,1974,1824,0,0,0,0,0,0,28.83,14.36,14.32
$GC,10214,1.55,404.4,2893,3773,1974,1831,11.4,-0.6,852,10259,0.00,2.00,37.38,0.210,9222,0.000,0.089,2901,2601,1578,1660,1496,0,0,0,0,0,0,28.83,14.44,14.29
$GC,10563,1.62,474.9,2900,2601,1663,1497,6.6,0.7,889,10606,0.15,2.50,33.83,0.200,10756,0.154,0.090,2963,1194,1293,1379,1208,0,0,0,0,0,0,14.41,14.39,14.33
$GC,10830,1.70,554.2,2961,1195,1384,1209,5.0,-0.7,940,10880,0.00,2.50,39.67,0.196,9222,0.000,0.103,2964,2609,968,1051,886,0,0,0,0,0,0,28.83,14.40,14.31
$STATE,10963,end climb,SURFACE_DEPTH_REACHED
$STATE,10963,begin surface coast
$FINISH,1.0,1.017671
$STATE,11013,end surface coast,CONTROL_FINISHED_OK
$STATE,11013,begin surface
$SM_CCo,11034,57.58,0.187,0,0,499,669.67
$SM_CCo,11093,-0.15,0.000,0,0,500,669.67
$SM_CCo,11095,-0.03,0.000,0,0,501,668.93
$SM_GC,2.21,8.50,0.45,-0.03,0.105,0.102,0.000,199,2362,501,-6.94,0.88,668.93,0,0,0,0,0,0,14.42,14.43,14.07
$RAFOS_CLK,479
$MODEM,14,1407168996,71.44820,-144.48680,35.089,50868.0
$MODEM,9,1407168689,74.24220,-147.76401,208.953,302919.2
$RAFOS_FIX,7134.431641,-14552.332031,040814,161602,2,255,5.25
$IRIDIUM_FIX,7058.96,-14544.58,040814,124240
$TT8_MAMPS,0.047936,0.047936
$HUMID,51.77
$INTERNAL_PRESSURE,8.51433
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4009080
$TM_FREEKB,6897120
$24V_AH,12.83,75.498
$10V_AH,12.75,0.000
$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,22.475,66.075,458.975,57.575,0.000,0.000,0.000,382.475,0.000,0.000,27.523,0.000,8362.660,621.078,2619.883,121.743,0.000,1850.814,0.000,1423.585,1276.000,0.538,0.000
$DEVICE_MAMPS,483.480,146.115,2028.780,187.425,0.000,0.000,0.000,192.780,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11043.000,11077.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.271,12.621,0.000,0.000
$MEM,280096
$DATA_FILE_SIZE,33324,961
$CAP_FILE_SIZE,146998,0
$CFSIZE,2097872896,2075656192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11593.85,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,11194,4295.338867,-8750.175781,1.037513,0.135790,-0.028489,-0.008935,0.000202,0.002030,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.080,310.89,1
$GPS,040814,190843,7135.671,-14551.350,38,0.7,58,22.0