version: 66.13
glider: 196
mission: 20
dive: 88
start: 10 18 119 5 5 42
data:
$ID,196
$MISSION,20
$DIVE,88
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,181019,043544,7510.3901,-14452.4883,0,3510.0,0,23.3,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.68
$_SM_ANGLEo,-11.9
$GPS2,181019,043544,7510.3901,-14452.4883,0,3510.0,0,23.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,358.9,40785,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
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$GC,12836,-0.73,-97.3,2480,1936,3249,3065,947.7,-5.2,708,12838,0.00,0.00,0.00,0.000,38,0.000,0.000,2479,1935,3155,3247,3064,0,0,0,0,0,0,14.69,14.71,14.71
$MODEM_MSG,CACST,6,1,20191018080529.128620,06,32767,45,0121,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.5,0.45,-100,2.55,-01,0.00,67,925,0025*07
$MODEM_MSG,CACST,6,1,20191018081017.388506,06,32767,45,0139,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.7,0.64,-100,2.36,-01,0.22,69,925,0025*0A
$MODEM_MSG,CACST,6,1,20191018081541.878523,06,11598,40,0093,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.5,0.48,-100,2.52,-01,0.03,67,925,0025*05
$MODEM_MSG,CACST,6,1,20191018082014.565463,06,32767,45,0139,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.3,0.50,-100,2.50,-01,-0.03,70,925,0025*23
$MODEM_MSG,CACST,6,1,20191018083542.892338,06,7078,38,0193,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.2,0.40,-100,2.60,-01,-0.01,66,925,0025*17
$GC,13197,-0.73,-97.3,2480,1936,3249,3065,966.8,-5.4,720,13202,0.00,2.40,0.00,0.000,292,0.000,0.103,2480,3272,3156,3248,3064,0,0,0,0,0,0,14.73,14.49,14.76
$GC,13322,-0.73,-97.3,2479,3273,3248,3065,974.7,-5.7,745,13327,0.00,2.33,0.00,0.000,1062,0.000,0.070,2479,1930,3156,3248,3064,0,0,0,0,0,0,14.64,14.53,14.66
$STATE,13645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13645,begin apogee
$GC,13649,-0.17,0.0,2481,2034,3248,3065,991.4,-5.3,760,13757,0.68,0.00,105.75,2.443,10246,0.231,0.000,2659,2033,2758,2881,2635,0,0,0,0,0,0,14.45,13.81,12.96
$STATE,13758,end apogee,CONTROL_FINISHED_OK
$STATE,13758,begin climb
$GC,13759,0.73,97.3,2661,2035,2880,2636,993.3,0.0,763,13867,1.00,0.00,104.72,2.385,10246,0.149,0.000,2948,2030,2360,2490,2231,0,0,0,0,0,0,13.78,13.40,12.58
$GC,14217,0.73,97.3,2948,2035,2479,2222,949.2,10.2,779,14222,0.00,2.62,0.00,0.000,260,0.000,0.108,2948,3443,2350,2479,2221,0,0,0,0,0,0,14.31,14.11,14.33
$GC,14251,0.73,97.3,2948,3444,2479,2221,946.0,11.7,786,14257,0.00,2.42,0.00,0.000,1030,0.000,0.075,2948,2114,2349,2478,2221,0,0,0,0,0,0,14.21,14.15,14.23
$GC,14636,0.73,97.3,2948,2114,2478,2220,905.0,10.4,803,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2112,2347,2476,2219,0,0,0,0,0,0,14.55,14.59,14.58
$GC,14997,0.73,97.3,2948,2114,2476,2220,867.8,10.4,815,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2114,2347,2476,2219,0,0,0,0,0,0,14.70,14.71,14.71
$GC,15356,0.73,97.3,2948,2114,2476,2219,830.9,10.3,827,15362,0.00,2.42,0.00,0.000,260,0.000,0.106,2948,3457,2347,2476,2219,0,0,0,0,0,0,14.73,14.52,14.76
$GC,15411,0.73,97.3,2948,3458,2476,2220,824.4,11.6,838,15418,0.00,2.38,0.00,0.000,1030,0.000,0.074,2947,2117,2347,2476,2218,0,0,0,0,0,0,14.60,14.53,14.63
$GC,15776,0.73,97.3,2948,2118,2476,2219,787.5,10.2,851,15778,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,2346,2474,2218,0,0,0,0,0,0,14.76,14.79,14.78
$GC,16137,0.73,97.3,2948,2118,2476,2219,750.4,10.3,863,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2117,2346,2475,2218,0,0,0,0,0,0,14.78,14.81,14.81
$GC,16496,0.73,97.3,2948,2118,2474,2218,713.2,10.3,875,16502,0.00,2.42,0.00,0.000,260,0.000,0.107,2948,3446,2346,2475,2218,0,0,0,0,0,0,14.80,14.58,14.83
$GC,16536,0.73,97.3,2948,3447,2475,2219,708.7,11.6,883,16542,0.00,2.35,0.00,0.000,1030,0.000,0.073,2949,2110,2346,2475,2218,0,0,0,0,0,0,14.67,14.65,14.70
$GC,16916,0.73,97.3,2948,2110,2475,2219,669.6,10.2,899,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2110,2346,2475,2218,0,0,0,0,0,0,14.81,14.84,14.84
$GC,17276,0.73,97.3,2948,2111,2476,2219,633.5,10.0,911,17282,0.00,2.42,0.00,0.000,260,0.000,0.105,2948,3439,2346,2475,2218,0,0,0,0,0,0,14.82,14.59,14.85
$GC,17316,0.73,97.3,2948,3440,2473,2218,629.1,11.1,919,17322,0.00,2.33,0.00,0.000,1030,0.000,0.076,2948,2122,2346,2475,2218,0,0,0,0,0,0,14.69,14.62,14.72
$GC,17696,0.73,97.3,2948,2123,2475,2219,591.6,9.9,935,17698,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2122,2346,2474,2218,0,0,0,0,0,0,14.83,14.85,14.85
$GC,18056,0.73,97.3,2948,2122,2475,2219,556.4,9.7,947,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2122,2346,2474,2218,0,0,0,0,0,0,14.83,14.87,14.87
$GC,18416,0.73,97.3,2948,2122,2476,2218,521.3,9.7,959,18418,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2122,2346,2475,2218,0,0,0,0,0,0,14.84,14.87,14.88
$GC,18777,0.73,97.3,2948,2122,2475,2219,486.9,9.5,971,18778,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2122,2346,2474,2218,0,0,0,0,0,0,14.84,14.88,14.88
$GC,19136,0.73,97.3,2948,2122,2474,2218,452.1,9.6,983,19138,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2122,2346,2474,2218,0,0,0,0,0,0,14.85,14.88,14.88
$GC,19496,0.73,97.3,2951,2122,2475,2219,417.8,9.4,995,19502,0.00,2.40,0.00,0.000,260,0.000,0.104,2948,3446,2344,2470,2218,0,0,0,0,0,0,14.85,14.62,14.88
$GC,19581,0.73,97.3,2948,3446,2476,2219,408.9,10.7,1012,19589,0.00,2.33,0.00,0.000,1030,0.000,0.074,2948,2120,2346,2474,2218,0,0,0,0,0,0,14.71,14.63,14.74
$GC,19946,0.73,97.3,2948,2121,2475,2219,375.7,8.9,1025,19948,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2120,2346,2474,2218,0,0,0,0,0,0,14.83,14.88,14.88
$GC,20307,0.73,97.3,2956,2121,2475,2219,343.1,9.0,1037,20308,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2120,2346,2474,2218,0,0,0,0,0,0,14.87,14.90,14.89
$GC,20666,0.73,97.3,2948,2121,2476,2219,312.9,8.2,1049,20672,0.00,2.40,0.00,0.000,260,0.000,0.104,2948,3440,2343,2474,2213,0,0,0,0,0,0,14.85,14.63,14.88
$GC,20736,0.73,97.3,2948,3440,2476,2218,306.3,9.5,1063,20742,0.00,2.33,0.00,0.000,1030,0.000,0.073,2948,2119,2346,2474,2218,0,0,0,0,0,0,14.71,14.64,14.74
$GC,21116,0.77,97.3,2948,2119,2472,2218,278.1,6.7,1079,21122,0.00,2.40,0.00,0.000,324,0.000,0.105,2948,3466,2346,2474,2218,0,0,0,0,0,0,14.85,14.63,14.88
$GC,21166,0.80,97.3,2948,3467,2475,2218,274.6,7.0,1089,21172,0.00,2.38,0.00,0.000,1094,0.000,0.073,2948,2116,2346,2475,2218,0,0,0,0,0,0,14.71,14.64,14.74
$GC,21537,0.87,152.2,2948,2117,2475,2219,253.7,5.3,1103,21594,0.15,2.47,48.67,1.626,10532,0.131,0.105,3006,3441,2134,2259,2010,0,0,0,0,0,0,14.70,14.29,13.69
$GC,21673,0.87,152.2,3006,3442,2254,2012,242.2,9.6,1125,21679,0.00,2.40,0.00,0.000,1030,0.000,0.076,3006,2111,2131,2253,2010,0,0,0,0,0,0,14.40,14.35,14.43
$GC,22048,0.88,152.2,3005,2112,2252,2008,211.3,7.8,1140,22055,0.00,2.42,0.00,0.000,324,0.000,0.104,3006,3456,2129,2251,2007,0,0,0,0,0,0,14.65,14.45,14.68
$GC,22149,0.88,152.2,3006,3457,2252,2008,202.7,8.5,1160,22156,0.00,2.40,0.00,0.000,1030,0.000,0.076,3005,2115,2129,2251,2007,0,0,0,0,0,0,14.54,14.47,14.57
$GC,22530,0.91,152.2,3006,2116,2251,2007,175.1,7.2,1176,22532,0.00,0.00,0.00,0.000,70,0.000,0.000,3006,2115,2127,2249,2006,0,0,0,0,0,0,14.71,14.74,14.73
$GC,22890,0.94,152.2,3006,2116,2250,2007,150.3,6.8,1188,22892,0.00,0.00,0.00,0.000,70,0.000,0.000,3006,2115,2127,2249,2006,0,0,0,0,0,0,14.72,14.76,14.75
$GC,23250,1.00,194.7,3006,2115,2250,2007,127.7,6.0,1200,23293,0.00,2.60,38.17,1.493,8740,0.000,0.112,3006,712,1962,2077,1847,0,0,0,0,0,0,14.73,14.23,13.71
$GC,23427,1.03,194.7,3006,713,2069,1845,115.7,6.9,1235,23434,0.10,2.40,0.00,0.000,3142,0.098,0.090,3059,2027,1956,2067,1845,0,0,0,0,0,0,14.38,14.32,14.42
$GC,23792,1.04,194.7,3060,2027,2065,1845,86.2,7.7,1248,23799,0.00,2.42,0.00,0.000,580,0.000,0.114,3060,707,1954,2064,1844,0,0,0,0,0,0,14.67,14.40,14.70
$GC,23843,1.07,194.7,3060,708,2063,1845,82.6,7.3,1258,23848,0.00,2.42,0.00,0.000,1094,0.000,0.093,3059,2040,1953,2064,1843,0,0,0,0,0,0,14.47,14.39,14.50
$GC,24213,1.16,265.5,3060,2040,2064,1844,62.6,4.3,1272,24310,0.00,2.55,90.12,1.346,8740,0.000,0.114,3060,710,1673,1762,1584,0,0,0,0,0,0,14.68,13.97,13.49
$GC,24535,1.26,346.4,3060,711,1751,1586,48.6,3.8,1336,24652,0.20,2.40,110.15,1.279,11302,0.118,0.090,3134,2039,1346,1390,1302,0,0,0,0,0,0,14.29,14.26,13.38
$GC,25017,1.38,439.0,3134,2040,1385,1297,20.8,3.1,1387,25151,0.00,2.60,127.38,1.252,8740,0.000,0.112,3134,710,969,963,975,0,0,0,0,0,0,14.48,13.77,13.35
$FREEZE,9.77,-1.447,-1.455,2,3,0
$STATE,25215,end climb,FINISH_DEPTH_REACHED
$STATE,25215,begin subsurface finish
$FINISH1,9.8,1.021365,314
$GC,25221,0.41,314.1,3135,2030,961,974,9.8,7.5,1427,25244,1.02,2.55,-17.08,0.008,20996,0.189,0.135,2851,714,1477,1428,1526,0,0,0,0,0,0,13.92,13.19,14.02
$FINISH2,9.1
$STATE,25245,end subsurface finish,CONTROL_FINISHED_OK
$STATE,25245,begin surface
$RAFOS_CLK,10
$MODEM,6,1571387742,75.33060,-142.67570,42.892,62388.4
$MODEM,3,1571386814,75.26195,-145.59448,14.565,21186.0
$MODEM,2,1571386541,75.67648,-146.03058,41.879,60913.8
$MODEM,1,1571386217,75.02295,-144.31340,17.389,25292.2
$MODEM,0,1571385929,74.83892,-145.28152,29.129,42368.6
$RAFOS_FIX,7511.941895,-14451.983398,181019,080842,5,255,0.20
$IRIDIUM_FIX,7505.52,-14459.79,171019,151312
$TT8_MAMPS,0.077896,0.286867
$HUMID,50.82
$INTERNAL_PRESSURE,8.79012
$TCM_TEMP,13.10
$XPDR_PINGS,108
$SC_FREEKB,3823776
$24V_AH,12.58,47.838
$10V_AH,12.99,0.000
$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,4.375,158.575,624.975,0.000,0.000,0.000,0.000,0.000,27.000,0.000,0.000,0.000,21499.996,817.930,2903.117,115.949,0.000,1959.492,0.000,2162.523,4428.000,0.532,0.000
$DEVICE_MAMPS,231.030,135.405,2442.645,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25258.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.941,0.000,0.000,0.000
$MEM,334800
$DATA_FILE_SIZE,49864,1431
$CAP_FILE_SIZE,165647,0
$CFSIZE,1047117824,1030651904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,181019,083542,7511.942,-14451.983,0,6255.0,0,23.3,0.0,0.0,0,0.0