version: 66.12
glider: 199
mission: 5
dive: 60
start: 8 3 114 6 10 46
data:
$ID,199
$MISSION,5
$DIVE,60
$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,-21696.656
$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,32
$R_STBD_OVSHOOT,11
$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
$GPS1,030814,055738,7130.619,-14533.540,19,0.8,39,22.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-72.5
$GPS2,030814,061029,7130.603,-14533.562,5,0.8,25,22.1
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,302.5,13865,-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
$GC,19,-0.72,-175.1,198,2364,496,503,0.0,0.0,0,95,0.00,0.00,-73.12,0.000,16386,0.000,0.000,198,2363,2254,2259,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.72,-175.1,202,2364,2259,2251,3.0,-1.8,7,152,11.20,2.62,-34.72,0.000,18692,0.482,0.145,2183,3773,3948,4002,3894,0,0,0,0,0,0,14.05,14.25,14.48
$GC,376,-0.72,-175.1,2182,3774,4003,3900,78.2,-23.2,60,386,0.00,2.42,0.00,0.000,1030,0.000,0.083,2183,2361,3950,4001,3899,0,0,0,0,0,0,28.83,14.36,28.83
$GC,681,-0.72,-175.1,2183,2362,4004,3901,138.2,-18.6,91,691,0.00,2.55,0.00,0.000,260,0.000,0.126,2173,3776,3951,4002,3900,0,0,0,0,0,0,28.83,14.36,28.83
$GC,915,-0.72,-175.1,2172,3776,4001,3900,183.2,-17.9,137,924,0.00,2.40,0.00,0.000,1030,0.000,0.083,2173,2361,3951,4002,3900,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1228,-0.72,-175.1,2174,2361,4001,3900,232.3,-15.0,169,1235,0.00,2.55,0.00,0.000,260,0.000,0.127,2162,3775,3951,4002,3900,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1269,-0.72,-175.1,2162,3776,4003,3898,238.9,-15.9,177,1278,0.15,2.40,0.00,0.000,3078,0.317,0.081,2191,2361,3950,4001,3900,0,0,0,0,0,0,14.33,14.47,28.83
$GC,1602,-0.72,-175.1,2191,2362,4003,3900,281.7,-12.5,195,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2361,3950,4001,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.72,-175.1,2191,2362,4003,3900,318.9,-12.3,205,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2361,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.72,-175.1,2193,2362,4001,3900,354.9,-11.8,215,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2361,3950,4002,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2502,-0.72,-175.1,2191,2362,4003,3900,389.9,-11.6,225,2510,0.00,2.55,0.00,0.000,260,0.000,0.127,2182,3780,3950,4002,3898,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2554,-0.72,-175.1,2184,3780,4001,3899,396.5,-13.0,235,2564,0.00,2.40,0.00,0.000,1030,0.000,0.080,2178,2354,3950,4002,3898,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2869,-0.72,-175.1,2183,2354,4001,3899,434.7,-11.9,247,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2354,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.72,-175.1,2182,2356,4003,3899,470.1,-11.8,257,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2354,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.72,-175.1,2182,2355,4002,3899,505.7,-11.9,267,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2354,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.72,-175.1,2183,2355,4001,3899,541.4,-12.0,277,3777,0.00,2.53,0.00,0.000,260,0.000,0.126,2172,3773,3949,4001,3898,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3826,-0.72,-175.1,2173,3773,4001,3898,549.0,-13.6,288,3835,0.12,2.40,0.00,0.000,3078,0.313,0.081,2195,2351,3949,4001,3898,0,0,0,0,0,0,14.45,14.59,28.83
$GC,4131,-0.72,-175.1,2196,2352,4001,3898,583.2,-11.0,299,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2351,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.72,-175.1,2195,2352,4003,3898,615.8,-10.7,309,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2351,3950,4002,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.72,-175.1,2196,2352,4001,3898,647.8,-10.6,319,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2351,3949,4001,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,-0.72,-175.1,2194,2352,4003,3898,679.5,-10.5,329,5039,0.00,2.55,0.00,0.000,260,0.000,0.127,2186,3778,3949,4001,3898,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5077,-0.72,-175.1,2187,3778,4001,3898,685.0,-11.7,338,5085,0.00,2.38,0.00,0.000,1030,0.000,0.081,2186,2360,3949,4001,3898,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5395,-0.72,-175.1,2186,2360,4003,3898,719.8,-10.9,351,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2359,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5693,begin apogee
$GC,5697,-0.14,0.0,2184,2615,4001,3898,752.0,-10.7,361,5926,0.77,0.00,223.93,1.730,10246,0.285,0.000,2381,2614,3228,3278,3178,0,0,0,0,0,0,14.49,28.83,13.08
$STATE,5927,end apogee,CONTROL_FINISHED_OK
$STATE,5928,begin climb
$GC,5929,0.72,175.1,2383,2615,3275,3174,757.9,0.0,368,6102,0.98,2.33,155.52,2.014,10500,0.177,0.124,2657,3760,2504,2566,2442,0,0,0,0,0,0,13.66,13.15,12.43
$GC,6216,0.72,175.1,2658,3761,2564,2435,725.9,15.4,417,6224,0.00,2.12,0.00,0.000,1030,0.000,0.078,2666,2581,2498,2562,2434,0,0,0,0,0,0,28.83,13.63,28.83
$GC,6543,0.72,175.1,2667,2581,2564,2432,681.2,13.6,432,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2579,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6843,0.72,175.1,2667,2581,2561,2432,640.4,13.6,442,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2581,2496,2562,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7143,0.72,175.1,2666,2581,2564,2431,599.8,13.5,452,7151,0.00,2.42,0.00,0.000,516,0.000,0.089,2677,1182,2496,2562,2430,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7180,0.72,175.1,2676,1182,2563,2431,595.0,13.2,459,7189,0.00,2.53,0.00,0.000,1030,0.000,0.101,2676,2599,2495,2561,2430,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7509,0.72,175.1,2675,2598,2564,2431,548.7,14.1,474,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7809,0.72,175.1,2682,2599,2562,2437,507.0,13.9,484,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2598,2500,2570,2430,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140803080425.123040,3,1108,30,0236,0150,100,00,00,00,03,-1,-01,-01,1,3,0,0,150,14.6,1.1,-100,1.9,-01,-0.2,25,900,0025*32
$MODEM_MSG,CACST,6,1,20140803081640.309034,3,3760,29,0181,0150,100,00,00,01,02,1,000,000,2,5,1,0,150,18.4,3.7,-100,-0.7,-01,0.1,23,900,0025*18
$GC,8108,0.72,175.1,2675,2599,2564,2431,465.4,13.8,494,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2599,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,0.72,175.1,2678,2599,2559,2432,424.2,13.7,504,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2599,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8709,0.72,175.1,2677,2599,2562,2431,383.1,13.5,514,8716,0.00,2.42,0.00,0.000,516,0.000,0.087,2687,1187,2496,2562,2430,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8755,0.72,175.1,2687,1188,2564,2431,376.8,13.3,523,8766,0.00,2.47,0.00,0.000,1030,0.000,0.099,2687,2599,2496,2562,2430,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9076,0.72,175.1,2688,2600,2562,2430,332.3,14.0,536,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2605,2495,2561,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,0.72,175.1,2686,2600,2563,2430,290.6,13.8,546,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2599,2496,2562,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9676,0.72,175.1,2688,2600,2562,2431,249.8,13.6,556,9683,0.00,2.05,0.00,0.000,260,0.000,0.129,2687,3766,2496,2562,2430,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9707,0.72,175.1,2687,3767,2562,2431,245.0,14.7,562,9715,0.00,1.98,0.00,0.000,1030,0.000,0.083,2695,2589,2496,2562,2430,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10019,0.72,175.1,2697,2589,2562,2431,204.6,12.4,594,10027,0.00,2.35,0.00,0.000,516,0.000,0.087,2706,1199,2496,2562,2430,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10112,0.72,175.1,2707,1199,2562,2431,193.7,11.3,612,10120,0.15,2.45,0.00,0.000,5126,0.282,0.101,2674,2601,2496,2562,2430,0,0,0,0,0,0,14.43,14.52,28.83
$GC,10424,0.78,233.3,2676,2601,2562,2431,162.7,9.0,644,10486,0.00,2.53,49.55,1.263,8708,0.000,0.087,2683,1194,2264,2334,2195,0,0,0,0,0,0,28.83,14.19,13.74
$GC,10506,0.84,294.5,2684,1195,2331,2191,155.0,8.9,656,10567,0.00,2.53,53.72,1.196,9222,0.000,0.100,2683,2606,2024,2106,1943,0,0,0,0,0,0,28.83,14.20,13.53
$GC,10871,0.90,294.5,2681,2606,2091,1917,115.6,10.3,696,10874,0.12,0.00,0.00,0.000,2054,0.161,0.000,2724,2606,2008,2092,1925,0,0,0,0,0,0,14.31,28.83,28.83
$GC,11171,0.90,294.5,2724,2607,2100,1916,78.8,11.6,726,11179,0.00,2.45,0.00,0.000,516,0.000,0.089,2735,1193,2003,2091,1915,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11218,0.90,294.5,2739,1199,2091,1916,73.5,11.4,735,11229,0.00,2.50,0.00,0.000,1030,0.000,0.101,2734,2604,2003,2091,1915,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11523,0.98,379.4,2736,2604,2089,1915,43.0,7.9,766,11568,0.00,0.00,39.00,0.297,8454,0.000,0.000,2734,2603,1682,1772,1592,0,0,0,0,0,0,28.83,28.83,14.23
$GC,11864,1.05,450.5,2736,2604,1785,1598,13.5,8.5,801,11908,0.12,2.08,36.05,0.210,11012,0.161,0.128,2782,3767,1390,1486,1294,0,0,0,0,0,0,14.44,14.33,14.30
$GC,12132,1.27,671.1,2782,3767,1486,1304,8.4,1.8,852,12248,0.17,1.98,108.28,0.192,11266,0.135,0.087,2851,2601,499,533,465,0,0,0,0,0,0,14.42,14.44,28.83
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12248,begin surface coast
$FINISH,1.1,1.010936
$STATE,12266,end surface coast,CONTROL_FINISHED_OK
$STATE,12266,begin surface
$SM_CCo,12287,-0.22,0.000,0,0,501,669.67
$SM_CCo,12289,0.30,0.434,0,0,498,669.67
$SM_CCo,12292,-0.15,0.000,0,0,500,669.67
$SM_GC,2.59,8.18,0.40,-0.15,0.103,0.103,0.000,196,2365,500,-6.95,1.16,669.67,0,0,0,0,0,0,14.34,14.35,14.41
$RAFOS_CLK,250
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7058.96,-14531.58,030814,022349
$TT8_MAMPS,0.045689,0.045689
$HUMID,50.11
$INTERNAL_PRESSURE,8.45573
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,4010216
$TM_FREEKB,7076128
$24V_AH,12.43,72.142
$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,21.975,67.800,666.050,0.300,0.000,0.000,0.000,457.050,0.000,0.000,26.991,0.000,9604.189,799.713,2540.727,115.998,0.000,2060.176,0.000,1303.499,1483.000,0.537,0.000
$DEVICE_MAMPS,481.950,144.585,2014.245,433.755,0.000,0.000,0.000,166.770,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12292.000,12344.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.050,12.698,0.000,0.000
$MEM,285880
$DATA_FILE_SIZE,30079,873
$CAP_FILE_SIZE,146277,0
$CFSIZE,2097872896,2078408704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13169.88,0x2378b6,7,5
$SOUNDSPEED,1451.1
$EKF,12391,4292.046387,-8735.941406,1.114512,-0.052579,-0.050231,0.009347,0.000282,0.002804,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.047,268.84,1
$GPS,030814,093714,7132.037,-14536.942,40,0.8,60,22.1