version: 66.12
glider: 199
mission: 5
dive: 67
start: 8 4 114 6 17 38
data:
$ID,199
$MISSION,5
$DIVE,67
$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,-21705.473
$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,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
$GPS1,040814,060656,7135.888,-14549.361,17,0.7,37,22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-74.2
$GPS2,040814,061720,7135.946,-14549.457,5,0.8,25,22.0
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,254.1,333,-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,18,-1.11,-49.9,198,2360,512,485,0.0,0.0,0,85,0.00,0.00,-63.78,0.000,16386,0.000,0.000,197,2359,2134,2141,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.17,-103.9,197,2360,2142,2128,3.5,-3.2,6,143,10.20,2.45,-34.60,0.000,18948,0.472,0.106,2055,944,3655,3695,3616,0,0,0,0,0,0,14.05,14.28,14.49
$GC,366,-1.17,-103.9,2054,945,3697,3622,72.6,-22.8,59,376,0.00,2.47,0.00,0.000,1030,0.000,0.096,2046,2355,3658,3695,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,672,-1.17,-103.9,2048,2355,3695,3622,145.9,-24.0,90,680,0.00,2.40,0.00,0.000,516,0.000,0.088,2046,949,3658,3696,3621,0,0,0,0,0,0,28.83,14.40,28.83
$GC,905,-1.17,-103.9,2048,950,3695,3622,194.8,-19.6,136,912,0.00,2.47,0.00,0.000,1030,0.000,0.100,2035,2361,3659,3696,3622,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1216,-1.17,-103.9,2036,2361,3698,3622,250.9,-16.9,168,1225,0.00,2.42,0.00,0.000,516,0.000,0.091,2036,950,3658,3696,3620,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1329,-1.17,-103.9,2036,951,3698,3622,269.8,-16.8,190,1337,0.15,2.47,0.00,0.000,3078,0.369,0.101,2053,2370,3658,3696,3621,0,0,0,0,0,0,14.31,14.46,28.83
$GC,1642,-1.17,-103.9,2054,2365,3696,3620,319.0,-15.6,202,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3661,3695,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-1.17,-103.9,2054,2365,3695,3618,364.9,-15.0,212,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2367,3656,3695,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,-1.17,-103.9,2050,2365,3695,3618,409.3,-14.8,222,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3656,3695,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-1.17,-103.9,2053,2365,3697,3617,453.0,-14.5,232,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3655,3695,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-1.17,-103.9,2054,2365,3695,3615,496.1,-14.2,242,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3655,3695,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,-1.17,-103.9,2054,2365,3695,3615,537.9,-14.0,252,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3654,3695,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-1.17,-103.9,2053,2365,3697,3615,579.4,-13.8,262,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2364,3654,3695,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-1.17,-103.9,2058,2365,3697,3615,620.6,-13.7,272,3750,0.00,2.42,0.00,0.000,516,0.000,0.093,2053,942,3654,3695,3614,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3784,-1.17,-103.9,2052,943,3697,3615,626.6,-13.4,280,3792,0.00,2.47,0.00,0.000,1030,0.000,0.103,2048,2359,3654,3695,3614,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4107,-1.17,-103.9,2049,2359,3695,3614,670.6,-13.6,294,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2359,3653,3694,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-1.17,-103.9,2049,2360,3695,3614,712.1,-13.8,304,4414,0.00,2.40,0.00,0.000,516,0.000,0.092,2048,950,3654,3695,3613,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4488,-1.17,-103.9,2047,951,3697,3614,723.3,-13.6,320,4496,0.00,2.45,0.00,0.000,1030,0.000,0.101,2037,2361,3654,3695,3613,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4712,-0.14,0.0,2037,2614,3695,3613,754.0,-13.8,329,4845,1.48,0.00,127.55,1.679,10246,0.349,0.000,2379,2610,3232,3280,3185,0,0,0,0,0,0,14.42,28.83,13.24
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4848,1.17,103.9,2379,2610,3277,3180,757.2,0.0,333,4955,1.50,2.22,90.90,1.974,10500,0.173,0.122,2805,3763,2797,2833,2761,0,0,0,0,0,0,13.84,13.59,12.88
$GC,4979,1.17,103.9,2806,3767,2827,2759,742.0,20.0,350,4987,0.00,2.08,0.00,0.000,1030,0.000,0.082,2814,2596,2792,2827,2758,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5297,1.17,103.9,2815,2596,2827,2761,681.7,19.0,363,5304,0.00,2.15,0.00,0.000,260,0.000,0.124,2814,3770,2791,2828,2755,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5393,1.17,103.9,2814,3770,2829,2755,660.9,21.9,382,5401,0.00,2.05,0.00,0.000,1030,0.000,0.084,2823,2604,2791,2827,2755,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5721,1.17,103.9,2824,2604,2827,2754,597.2,19.4,397,5730,0.00,2.10,0.00,0.000,260,0.000,0.125,2822,3766,2790,2827,2754,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5830,1.17,103.9,2824,3766,2827,2754,573.9,22.2,418,5837,0.00,2.00,0.00,0.000,1030,0.000,0.086,2832,2592,2790,2827,2754,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6146,1.17,103.9,2833,2593,2827,2753,511.8,19.4,431,6155,0.00,2.12,0.00,0.000,260,0.000,0.125,2831,3777,2790,2827,2753,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6264,1.17,103.9,2833,3773,2827,2753,486.7,21.2,454,6273,0.00,2.00,0.00,0.000,1030,0.000,0.085,2840,2597,2790,2827,2753,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6569,1.17,103.9,2842,2594,2827,2753,427.0,19.4,465,6578,0.12,2.10,0.00,0.000,4356,0.359,0.125,2817,3767,2789,2827,2752,0,0,0,0,0,0,14.30,14.37,28.83
$GC,6647,1.17,103.9,2818,3767,2827,2749,410.9,20.9,480,6656,0.00,2.00,0.00,0.000,1030,0.000,0.086,2821,2593,2789,2827,2752,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6966,1.17,103.9,2824,2593,2827,2749,351.6,18.5,493,6975,0.00,2.10,0.00,0.000,260,0.000,0.125,2824,3764,2787,2822,2752,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7024,1.17,103.9,2825,3765,2827,2752,340.0,20.1,504,7034,0.00,1.98,0.00,0.000,1030,0.000,0.085,2833,2600,2789,2827,2752,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7329,1.17,103.9,2834,2601,2827,2753,283.5,18.3,515,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2600,2789,2827,2752,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140804080421.683055,3,897,29,0276,0150,100,00,00,00,02,1,000,000,2,5,1,0,150,14.1,4.1,-100,-1.1,-01,0.4,28,900,0025*28
$MODEM_MSG,CACST,6,1,20140804081635.971405,3,277,24,0109,0150,100,00,00,00,03,-1,-01,-01,1,3,1,0,150,21.0,2.3,-100,0.7,-01,0.4,22,900,0025*2B
$GC,7629,1.17,103.9,2834,2600,2827,2752,231.7,15.9,531,7638,0.00,2.10,0.00,0.000,260,0.000,0.126,2833,3767,2789,2827,2752,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7722,1.17,103.9,2833,3767,2829,2752,215.0,18.6,549,7732,0.15,1.98,0.00,0.000,5126,0.339,0.085,2813,2600,2788,2827,2750,0,0,0,0,0,0,14.32,14.47,28.83
$GC,8037,1.23,103.9,2813,2601,2829,2752,176.0,10.1,581,8047,0.00,2.40,0.00,0.000,516,0.000,0.086,2823,1192,2789,2827,2752,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8086,1.24,117.9,2822,1193,2829,2752,171.2,9.4,590,8108,0.00,2.47,11.43,1.332,9222,0.000,0.100,2822,2602,2741,2780,2703,0,0,0,0,0,0,28.83,14.45,13.80
$GC,8403,1.26,139.1,2824,2603,2778,2696,141.8,8.3,623,8427,0.00,0.00,18.65,1.330,8198,0.000,0.000,2823,2602,2655,2699,2612,0,0,0,0,0,0,28.83,28.83,13.74
$GC,8723,1.29,160.4,2823,2603,2694,2601,112.4,8.3,655,8747,0.00,0.00,17.62,1.300,8198,0.000,0.000,2823,2602,2569,2618,2521,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9043,1.30,179.7,2822,2603,2615,2509,81.2,8.6,687,9058,0.00,2.53,7.85,0.381,8708,0.000,0.089,2833,1192,2499,2553,2446,0,0,0,0,0,0,28.83,14.38,14.15
$GC,9072,1.32,198.6,2835,1192,2558,2452,78.5,8.7,692,9090,0.00,2.50,10.82,0.399,9222,0.000,0.101,2833,2604,2419,2471,2367,0,0,0,0,0,0,28.83,14.36,14.16
$GC,9394,1.36,239.5,2834,2604,2490,2381,49.1,5.3,725,9424,0.12,2.15,21.67,0.315,10500,0.171,0.126,2876,3770,2253,2310,2197,0,0,0,0,0,0,14.40,14.35,14.22
$GC,9648,1.38,258.1,2881,3771,2322,2210,28.8,8.7,774,9670,0.00,2.00,10.52,0.261,9222,0.000,0.088,2883,2601,2176,2238,2115,0,0,0,0,0,0,28.83,14.43,14.25
$GC,9965,1.46,339.7,2885,2601,2253,2125,14.1,-1.1,807,10013,0.00,2.12,38.90,0.215,8452,0.000,0.127,2885,3771,1843,1918,1768,0,0,0,0,0,0,28.83,14.34,14.31
$GC,10237,1.54,416.5,2885,3771,1920,1772,11.8,-0.3,859,10286,0.12,2.00,36.80,0.212,11270,0.165,0.089,2933,2603,1528,1612,1445,0,0,0,0,0,0,14.42,14.45,14.29
$GC,10591,1.61,482.3,2932,2604,1619,1445,9.2,1.4,897,10634,0.00,2.50,32.38,0.207,8708,0.000,0.090,2940,1186,1261,1349,1174,0,0,0,0,0,0,28.83,14.36,14.32
$STATE,10717,end climb,SURFACE_DEPTH_REACHED
$STATE,10717,begin surface coast
$FINISH,1.3,1.020261
$STATE,10722,end surface coast,CONTROL_FINISHED_OK
$STATE,10722,begin surface
$SM_CCo,10745,92.60,0.183,0,0,499,669.67
$SM_CCo,10839,-0.15,0.000,0,0,500,669.67
$SM_CCo,10841,0.00,0.000,0,0,500,669.67
$SM_GC,2.12,8.50,2.17,0.00,0.112,0.119,0.000,201,2360,500,-6.94,-0.51,669.67,0,0,0,0,0,0,14.41,14.38,28.83
$RAFOS_CLK,206
$RAFOS_FIX,7052.601562,-14431.230469,290714,000043,2,255,0.50
$IRIDIUM_FIX,7105.60,-14529.49,040814,025140
$TT8_MAMPS,0.04494,0.04494
$HUMID,49.21
$INTERNAL_PRESSURE,8.4655
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,4009416
$TM_FREEKB,6949568
$24V_AH,12.88,74.548
$10V_AH,12.76,0.000
$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,22.350,76.725,425.100,92.600,0.000,0.000,0.000,371.175,0.000,0.000,27.012,0.000,8104.372,712.960,2531.338,121.220,0.000,1883.222,0.000,1363.859,1497.000,0.538,0.000
$DEVICE_MAMPS,472.005,129.285,1973.700,182.835,0.000,0.000,0.000,199.665,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10752.000,10783.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.731,12.665,0.000,0.000
$MEM,281816
$DATA_FILE_SIZE,30028,921
$CAP_FILE_SIZE,145781,0
$CFSIZE,2097872896,2076475392
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11925.68,0x2378b6,7,5
$INTR,1,10842.63,0x2378b6,7,5
$SOUNDSPEED,1449.7
$EKF,10923,4295.888184,-8752.817383,1.333078,0.035278,-0.104790,-0.053951,0.000194,0.001946,0.000095,0.001525,0.001525,0.000034
$CURRENT,0.066,307.17,1
$GPS,040814,091938,7136.128,-14553.842,15,0.8,35,22.0