version: 66.12
glider: 199
mission: 5
dive: 54
start: 8 2 114 8 33 46
data:
$ID,199
$MISSION,5
$DIVE,54
$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,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,-21689.096
$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,29
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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
$GPS1,020814,082212,7122.975,-14514.491,38,0.8,58,22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.4
$GPS2,020814,083328,7122.848,-14514.467,6,0.8,26,22.2
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,312.8,32012,-19.5,-11.628,-22.92,2318
$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
$MODEM_MSG,CACST,6,1,20140802080416.200721,3,820,29,0168,0150,100,00,00,00,01,-1,-01,-01,1,3,0,0,150,15.9,1.4,-100,1.7,-01,0.1,34,900,0025*2E
$GC,18,-0.72,-175.1,190,2370,531,486,0.0,0.0,0,75,0.00,0.00,-53.72,0.000,16386,0.000,0.000,190,2370,1842,1853,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.72,-175.1,190,2371,1854,1833,3.1,-2.8,5,142,11.25,2.55,-44.17,0.000,18948,0.480,0.116,2198,956,3947,4003,3892,0,0,0,0,0,0,14.02,14.26,14.45
$GC,211,-0.72,-175.1,2197,957,4003,3896,31.7,-24.8,28,220,0.00,2.50,0.00,0.000,1030,0.000,0.105,2189,2359,3948,4002,3895,0,0,0,0,0,0,28.83,14.26,28.83
$GC,516,-0.72,-175.1,2190,2360,4002,3898,101.0,-20.7,59,523,0.00,2.55,0.00,0.000,260,0.000,0.131,2178,3775,3949,4002,3897,0,0,0,0,0,0,28.83,14.33,28.83
$GC,632,-0.72,-175.1,2178,3776,4004,3898,125.5,-20.0,82,642,0.00,2.42,0.00,0.000,1030,0.000,0.083,2178,2358,3949,4003,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,937,-0.72,-175.1,2178,2359,4004,3898,180.9,-16.4,113,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.72,-175.1,2178,2359,4004,3899,226.6,-14.8,143,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3954,4010,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.72,-175.1,2178,2359,4003,3898,270.6,-13.3,165,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.72,-175.1,2178,2359,4004,3898,309.2,-12.9,175,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,-0.72,-175.1,2178,2359,4004,3896,347.5,-12.8,185,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2358,3949,4002,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.72,-175.1,2179,2364,4002,3896,385.8,-12.8,195,2465,0.00,2.55,0.00,0.000,260,0.000,0.130,2167,3770,3948,4002,3895,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2519,-0.72,-175.1,2168,3771,4002,3896,394.4,-14.3,207,2527,0.15,2.40,0.00,0.000,3078,0.311,0.084,2197,2354,3948,4002,3895,0,0,0,0,0,0,14.46,14.56,28.83
$GC,2851,-0.72,-175.1,2198,2355,4002,3895,432.9,-11.4,223,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2354,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.72,-175.1,2195,2355,4005,3892,466.2,-11.0,233,3161,0.00,2.55,0.00,0.000,260,0.000,0.130,2188,3770,3948,4003,3894,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3210,-0.72,-175.1,2189,3770,4002,3895,473.4,-12.6,244,3219,0.00,2.40,0.00,0.000,1030,0.000,0.083,2188,2346,3948,4002,3895,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3516,-0.72,-175.1,2187,2348,4004,3896,509.3,-11.6,255,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2347,3947,4003,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3815,-0.72,-175.1,2189,2347,4001,3895,544.0,-11.6,265,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2347,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4115,-0.72,-175.1,2189,2348,4002,3895,578.6,-11.5,275,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2347,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4415,-0.72,-175.1,2189,2348,4002,3895,613.1,-11.5,285,4425,0.00,2.55,0.00,0.000,260,0.000,0.129,2178,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4468,-0.72,-175.1,2178,3769,4002,3901,619.9,-13.1,295,4476,0.00,2.38,0.00,0.000,1030,0.000,0.082,2178,2360,3948,4002,3895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4781,-0.72,-175.1,2179,2360,4002,3895,657.4,-11.9,307,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2360,3948,4002,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,-0.72,-175.1,2179,2360,4002,3895,692.7,-11.7,317,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2360,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5380,-0.72,-175.1,2176,2361,4004,3895,727.3,-11.5,327,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2360,3949,4003,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5593,-0.14,0.0,2176,2601,4007,3896,750.7,-11.1,334,5818,0.80,0.00,219.93,1.666,10246,0.288,0.000,2379,2604,3228,3283,3173,0,0,0,0,0,0,14.49,28.83,13.05
$STATE,5820,end apogee,CONTROL_FINISHED_OK
$STATE,5820,begin climb
$GC,5822,0.72,175.1,2380,2601,3278,3168,755.7,0.0,341,5991,0.98,2.38,155.35,1.942,10500,0.178,0.127,2655,3770,2508,2574,2443,0,0,0,0,0,0,13.71,13.25,12.59
$GC,6035,0.72,175.1,2655,3770,2565,2434,734.5,15.5,375,6043,0.00,2.12,0.00,0.000,1030,0.000,0.080,2664,2602,2498,2565,2431,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6347,0.72,175.1,2665,2603,2565,2429,690.8,13.9,387,6355,0.00,2.50,0.00,0.000,516,0.000,0.093,2670,1196,2496,2565,2428,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6379,0.72,175.1,2670,1197,2567,2429,686.4,13.5,393,6389,0.00,2.58,0.00,0.000,1030,0.000,0.104,2670,2603,2496,2565,2428,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6713,0.72,175.1,2676,2604,2565,2429,638.7,14.1,409,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2603,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7013,0.72,175.1,2670,2604,2567,2428,597.4,13.6,419,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2603,2496,2565,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,0.72,175.1,2670,2604,2567,2427,556.9,13.4,429,7322,0.00,2.45,0.00,0.000,516,0.000,0.091,2681,1191,2495,2565,2426,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7347,0.72,175.1,2680,1191,2567,2427,552.5,13.0,435,7354,0.00,2.50,0.00,0.000,1030,0.000,0.105,2680,2599,2495,2565,2426,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7679,0.72,175.1,2680,2600,2567,2427,506.5,13.9,451,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7978,0.72,175.1,2682,2600,2564,2427,465.6,13.6,461,7988,0.00,2.45,0.00,0.000,516,0.000,0.090,2690,1187,2495,2565,2426,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8012,0.72,175.1,2690,1188,2567,2427,461.0,13.7,467,8020,0.00,2.47,0.00,0.000,1030,0.000,0.104,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8345,0.72,175.1,2692,2596,2565,2427,412.7,14.6,483,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8644,0.72,175.1,2692,2599,2565,2426,368.9,14.5,493,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8944,0.72,175.1,2692,2599,2565,2427,325.8,14.3,503,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9244,0.72,175.1,2691,2599,2567,2427,282.9,14.1,513,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9544,0.72,175.1,2692,2599,2565,2426,242.4,13.4,525,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2495,2565,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9844,0.72,175.1,2691,2600,2567,2427,203.3,12.8,555,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2599,2497,2568,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10144,0.77,175.1,2692,2599,2565,2425,168.7,10.6,585,10153,0.00,2.42,0.00,0.000,516,0.000,0.091,2701,1192,2495,2565,2426,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10198,0.82,175.1,2702,1192,2565,2426,163.2,10.2,595,10205,0.00,2.47,0.00,0.000,1030,0.000,0.105,2701,2599,2493,2560,2426,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10510,0.87,227.2,2701,2600,2574,2427,133.2,9.3,627,10565,0.00,2.50,44.67,1.307,8708,0.000,0.090,2711,1188,2289,2360,2219,0,0,0,0,0,0,28.83,14.21,13.69
$GC,10594,0.92,274.8,2711,1189,2358,2215,125.1,9.5,641,10643,0.00,2.53,41.50,1.248,9222,0.000,0.103,2714,2599,2103,2184,2023,0,0,0,0,0,0,28.83,14.23,13.57
$GC,10948,0.94,274.8,2712,2599,2172,1997,85.2,11.1,679,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2599,2084,2172,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11248,0.99,323.0,2711,2599,2170,1997,56.4,9.5,709,11277,0.12,2.53,21.12,0.329,10756,0.159,0.091,2763,1200,1912,2001,1823,0,0,0,0,0,0,14.40,14.33,14.21
$GC,11406,1.06,390.2,2763,1195,2024,1842,40.7,8.6,739,11450,0.00,2.50,35.60,0.288,9222,0.000,0.106,2763,2599,1639,1735,1544,0,0,0,0,0,0,28.83,14.33,14.20
$GC,11744,1.30,635.2,2760,2599,1743,1557,10.9,0.8,775,11876,0.25,2.20,122.72,0.203,10500,0.125,0.129,2855,3772,637,692,583,0,0,0,0,0,0,14.40,14.23,14.21
$GC,11930,1.42,748.0,2860,3778,694,584,3.7,6.6,805,11953,0.00,2.03,17.83,0.197,9222,0.000,0.088,2862,2601,498,542,454,0,0,0,0,0,0,28.83,14.31,14.20
$STATE,11966,end climb,SURFACE_DEPTH_REACHED
$STATE,11966,begin surface coast
$FINISH,1.0,1.011651
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12028,0.00,0.000,0,0,499,669.67
$SM_CCo,12030,-0.03,0.000,0,0,500,669.67
$SM_CCo,12032,0.00,0.000,0,0,499,669.67
$SM_GC,2.83,8.32,0.43,0.00,0.116,0.116,0.000,196,2364,499,-6.94,0.90,669.67,0,0,0,0,0,0,14.33,14.33,28.83
$RAFOS_CLK,519
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7045.80,-14517.01,020814,045449
$TT8_MAMPS,0.047187,0.047187
$HUMID,50.39
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,4010904
$TM_FREEKB,7192128
$24V_AH,12.59,69.754
$10V_AH,12.66,0.000
$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,21.875,64.350,658.725,0.000,0.000,0.000,0.000,423.675,0.000,0.000,28.078,0.000,9451.979,767.796,2384.193,105.164,0.000,1955.296,0.000,1209.084,0.000,0.537,0.000
$DEVICE_MAMPS,480.420,134.640,1942.335,0.000,0.000,0.000,0.000,191.250,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12032.000,12084.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.181,12.688,0.000,0.000
$MEM,288536
$DATA_FILE_SIZE,26674,814
$CAP_FILE_SIZE,140936,0
$CFSIZE,2097872896,2080112640
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12970.20,0x2378b6,7,5
$INTR,1,12028.76,0x2378b6,7,5
$INTR,2,12032.67,0x2378b6,7,5
$SOUNDSPEED,1450.9
$EKF,12185,4284.491699,-8716.423828,0.974101,0.079576,-0.142759,-0.007364,0.000271,0.002663,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.075,205.57,1
$GPS,020814,115648,7124.053,-14517.138,92,0.8,112,22.2