version: 66.13
glider: 196
mission: 20
dive: 97
start: 10 28 119 16 42 18
data:
$ID,196
$MISSION,20
$DIVE,97
$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,4320
$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,22
$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
$GPS1,281019,162732,7537.4487,-14455.7227,28,0.7,28,23.4,0.0,0.0,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-27.3
$GPS2,281019,162732,7537.4487,-14455.7227,181,99.0,181,23.4,0.0,0.0,10,6.5
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9_52
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,102.8,20933,-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
$EXEC,4,152,2048,2.000000,0.000000
$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
$STATE,6,begin dive
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$MODEM_MSG,CACST,6,1,20191028200559.142122,06,2524,34,0106,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.1,0.39,-100,2.61,-01,0.00,72,925,0025*30
$MODEM_MSG,CACST,6,1,20191028201046.212860,06,18991,42,0252,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.0,0.45,-100,2.55,-01,0.10,72,925,0025*08
$MODEM_MSG,CACST,6,1,20191028201520.954439,06,32767,45,0162,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.3,0.65,-100,2.35,-01,0.21,72,925,0025*04
$MODEM_MSG,CACST,6,1,20191028202029.507686,06,32767,45,0151,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.0,0.44,-100,2.56,-01,-0.13,72,925,0025*2C
$MODEM_MSG,CACST,6,1,20191028203546.960540,06,4670,36,0187,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-5.9,0.35,-100,2.65,-01,-0.05,70,925,0025*25
$STATE,14374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14374,begin apogee
$GC,14378,-0.17,0.0,2474,2041,3244,3061,990.8,-5.3,793,14494,0.73,0.00,108.50,2.418,10246,0.245,0.000,2661,2041,2759,2855,2664,0,0,0,0,0,0,14.14,13.75,12.86
$STATE,14495,end apogee,CONTROL_FINISHED_OK
$STATE,14495,begin climb
$GC,14496,0.73,97.3,2661,2041,2855,2664,992.6,0.0,797,14611,1.02,2.80,107.07,2.351,10500,0.155,0.110,2953,3444,2359,2462,2256,0,0,0,0,0,0,13.75,13.20,12.46
$GC,14626,0.73,97.3,2953,3445,2460,2255,981.6,14.3,818,14633,0.00,2.58,0.00,0.000,1030,0.000,0.076,2953,2117,2356,2459,2253,0,0,0,0,0,0,13.51,13.45,13.53
$GC,15007,0.73,97.3,2953,2118,2455,2245,940.7,10.7,834,15009,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,2349,2454,2244,0,0,0,0,0,0,14.31,14.35,14.34
$GC,15367,0.73,97.3,2953,2118,2453,2243,901.8,10.8,846,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,2347,2453,2242,0,0,0,0,0,0,14.53,14.57,14.56
$GC,15727,0.73,97.3,2953,2118,2454,2242,863.2,10.8,858,15734,0.00,2.45,0.00,0.000,260,0.000,0.111,2953,3450,2347,2453,2241,0,0,0,0,0,0,14.63,14.35,14.66
$GC,15748,0.73,97.3,2953,3450,2453,2242,861.4,8.3,862,15755,0.00,2.40,0.00,0.000,1030,0.000,0.078,2952,2117,2347,2453,2241,0,0,0,0,0,0,14.45,14.38,14.49
$GC,16119,0.73,97.3,2953,2118,2452,2242,822.0,10.4,876,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2117,2346,2453,2240,0,0,0,0,0,0,14.69,14.74,14.74
$GC,16479,0.73,97.3,2953,2122,2454,2241,784.8,10.3,888,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2117,2346,2452,2240,0,0,0,0,0,0,14.71,14.75,14.74
$GC,16839,0.73,97.3,2953,2118,2452,2241,748.2,10.0,900,16845,0.00,2.42,0.00,0.000,260,0.000,0.111,2953,3444,2346,2452,2240,0,0,0,0,0,0,14.74,14.44,14.77
$GC,16864,0.73,97.3,2953,3445,2453,2241,745.5,10.5,905,16871,0.00,2.38,0.00,0.000,1030,0.000,0.078,2952,2117,2346,2452,2240,0,0,0,0,0,0,14.54,14.46,14.59
$GC,17229,0.73,97.3,2953,2117,2453,2238,709.2,9.9,918,17236,0.00,2.47,0.00,0.000,260,0.000,0.112,2952,3447,2346,2452,2240,0,0,0,0,0,0,14.75,14.42,14.78
$GC,17265,0.73,97.3,2952,3448,2452,2241,705.2,11.1,925,17271,0.00,2.38,0.00,0.000,1030,0.000,0.079,2952,2119,2346,2452,2240,0,0,0,0,0,0,14.54,14.47,14.59
$GC,17650,0.73,97.3,2953,2119,2452,2241,667.1,9.8,942,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2119,2346,2452,2240,0,0,0,0,0,0,14.76,14.79,14.79
$GC,18010,0.73,97.3,2953,2119,2453,2241,631.6,9.8,954,18012,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2119,2346,2452,2240,0,0,0,0,0,0,14.77,14.80,14.80
$GC,18370,0.73,97.3,2953,2119,2452,2240,596.0,10.0,966,18377,0.00,2.42,0.00,0.000,260,0.000,0.110,2952,3453,2345,2451,2240,0,0,0,0,0,0,14.79,14.47,14.83
$GC,18406,0.73,97.3,2953,3452,2452,2240,592.0,11.2,973,18412,0.00,2.38,0.00,0.000,1030,0.000,0.077,2953,2118,2345,2450,2240,0,0,0,0,0,0,14.57,14.49,14.62
$GC,18791,0.73,97.3,2952,2119,2452,2241,553.1,10.1,990,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2119,2346,2452,2240,0,0,0,0,0,0,14.78,14.81,14.81
$GC,19151,0.73,97.3,2953,2120,2453,2241,517.2,10.0,1002,19157,0.00,2.45,0.00,0.000,260,0.000,0.109,2953,3470,2345,2451,2240,0,0,0,0,0,0,14.79,14.47,14.81
$GC,19176,0.73,97.3,2953,3471,2453,2240,514.4,11.2,1007,19184,0.00,2.40,0.00,0.000,1030,0.000,0.077,2953,2123,2346,2452,2240,0,0,0,0,0,0,14.57,14.49,14.62
$GC,19542,0.73,97.3,2953,2124,2453,2240,478.2,9.8,1020,19543,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2123,2346,2452,2240,0,0,0,0,0,0,14.78,14.82,14.81
$GC,19902,0.73,97.3,2953,2124,2452,2240,443.1,9.7,1032,19903,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2123,2345,2451,2240,0,0,0,0,0,0,14.79,14.83,14.82
$GC,20262,0.73,97.3,2953,2124,2451,2239,408.8,9.3,1044,20267,0.00,2.42,0.00,0.000,260,0.000,0.107,2953,3461,2346,2452,2240,0,0,0,0,0,0,14.79,14.47,14.83
$GC,20296,0.73,97.3,2953,3461,2452,2240,405.2,10.5,1051,20302,0.00,2.40,0.00,0.000,1030,0.000,0.076,2953,2112,2345,2451,2240,0,0,0,0,0,0,14.57,14.47,14.62
$GC,20682,0.73,97.3,2953,2112,2452,2240,368.9,9.4,1068,20687,0.00,2.45,0.00,0.000,260,0.000,0.108,2953,3465,2345,2451,2240,0,0,0,0,0,0,14.79,14.47,14.82
$GC,20721,0.73,97.3,2953,3465,2452,2240,364.7,10.6,1076,20727,0.00,2.40,0.00,0.000,1030,0.000,0.077,2953,2121,2344,2451,2237,0,0,0,0,0,0,14.56,14.49,14.62
$GC,21102,0.73,97.3,2953,2122,2452,2240,329.7,8.6,1092,21103,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2122,2345,2451,2240,0,0,0,0,0,0,14.79,14.83,14.82
$GC,21462,0.73,97.3,2953,2122,2452,2240,299.0,8.2,1104,21464,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2122,2345,2452,2239,0,0,0,0,0,0,14.79,14.83,14.82
$GC,21822,0.76,97.3,2953,2121,2451,2240,272.9,7.3,1116,21827,0.00,2.60,0.00,0.000,580,0.000,0.119,2953,702,2345,2451,2240,0,0,0,0,0,0,14.79,14.45,14.83
$GC,21887,0.79,97.3,2954,703,2452,2239,268.4,6.8,1129,21892,0.00,2.40,0.00,0.000,1094,0.000,0.095,2953,2024,2347,2456,2239,0,0,0,0,0,0,14.54,14.44,14.59
$GC,22272,0.84,138.3,2954,2025,2452,2240,247.3,6.1,1146,22314,0.00,2.62,35.78,1.616,8484,0.000,0.114,2954,3456,2192,2296,2089,0,0,0,0,0,0,14.79,14.36,13.71
$GC,22402,0.86,138.3,2954,3457,2293,2088,237.6,7.9,1172,22409,0.08,2.40,0.00,0.000,3142,0.106,0.076,2996,2124,2189,2292,2087,0,0,0,0,0,0,14.38,14.35,14.43
$GC,22783,0.87,138.3,2996,2123,2290,2086,210.4,7.7,1188,22785,0.00,0.00,0.00,0.000,70,0.000,0.000,2991,2123,2187,2289,2085,0,0,0,0,0,0,14.66,14.69,14.69
$GC,23143,0.91,138.3,2996,2124,2289,2085,186.2,6.5,1200,23145,0.00,0.00,0.00,0.000,70,0.000,0.000,2996,2123,2186,2288,2084,0,0,0,0,0,0,14.66,14.69,14.69
$GC,23503,0.95,173.0,2996,2124,2288,2085,162.1,6.4,1212,23536,0.00,0.00,31.92,1.532,8230,0.000,0.000,2996,2123,2052,2149,1955,0,0,0,0,0,0,14.68,14.38,13.70
$GC,23893,0.98,173.0,2996,2124,2138,1951,134.1,7.2,1225,23895,0.12,0.00,0.00,0.000,2118,0.159,0.000,3055,2123,2043,2137,1950,0,0,0,0,0,0,14.38,14.52,14.49
$GC,24253,0.98,173.0,3048,2124,2136,1950,105.1,8.4,1237,24259,0.00,2.62,0.00,0.000,516,0.000,0.117,3049,704,2043,2137,1949,0,0,0,0,0,0,14.64,14.36,14.68
$GC,24359,1.02,173.0,3049,705,2136,1949,97.7,6.7,1258,24365,0.00,2.40,0.00,0.000,1094,0.000,0.097,3049,2036,2041,2135,1947,0,0,0,0,0,0,14.52,14.38,14.57
$GC,24734,1.09,229.3,3050,2038,2135,1948,76.4,5.2,1273,24802,0.00,0.00,66.12,1.401,8486,0.000,0.000,3049,2037,1823,1903,1743,0,0,0,0,0,0,14.68,14.16,13.55
$GC,25154,1.21,318.9,3050,2038,1894,1738,55.1,3.3,1292,25277,0.17,0.00,118.38,1.317,10790,0.124,0.000,3113,2037,1455,1506,1405,0,0,0,0,0,0,14.36,13.93,13.38
$GC,25634,1.36,437.2,3113,2037,1499,1401,28.0,1.6,1322,25803,0.12,2.70,161.90,1.254,10532,0.145,0.111,3167,3441,980,971,989,0,0,0,0,0,0,14.31,13.76,13.31
$GC,25867,1.36,437.2,3167,3442,971,982,13.3,9.8,1352,25873,0.00,2.47,0.00,0.000,1030,0.000,0.080,3167,2117,975,970,981,0,0,0,0,0,0,14.02,13.96,14.05
$FREEZE,9.51,-1.467,-1.471,2,1,0
$STATE,25906,end climb,FINISH_DEPTH_REACHED
$STATE,25906,begin subsurface finish
$FINISH1,9.5,1.021598,302
$GC,25910,0.39,302.1,3168,2119,971,981,9.5,9.4,1357,25932,1.20,0.00,-19.75,0.006,20486,0.207,0.000,2845,2117,1527,1479,1575,0,0,0,0,0,0,13.94,13.14,14.11
$FINISH2,8.5
$STATE,25933,end subsurface finish,CONTROL_FINISHED_OK
$STATE,25933,begin surface
$RAFOS_CLK,389
$MODEM,6,1572294946,75.33060,-142.67570,46.961,68420.3
$MODEM,3,1572294029,75.26195,-145.59448,29.508,42991.9
$MODEM,2,1572293720,75.67648,-146.03058,20.954,30530.1
$MODEM,1,1572293446,75.02295,-144.31340,46.213,67330.9
$MODEM,0,1572293159,74.83892,-145.28152,59.142,86168.5
$RAFOS_FIX,7536.376953,-14454.443359,281019,202046,5,255,0.00
$IRIDIUM_FIX,7507.22,-14454.99,171019,151741
$TT8_MAMPS,0.038948,0.265895
$HUMID,50.66
$INTERNAL_PRESSURE,8.79988
$TCM_TEMP,13.20
$XPDR_PINGS,825
$SC_FREEKB,3818880
$24V_AH,12.46,53.013
$10V_AH,12.85,0.000
$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,12.925,127.725,629.675,0.000,0.000,0.000,0.000,0.000,206.250,0.000,182.540,0.000,22107.496,1021.923,2965.991,123.807,0.000,2080.322,0.000,2070.834,2202.000,0.531,0.000
$DEVICE_MAMPS,325.890,138.465,2418.165,0.000,0.000,0.000,0.000,0.000,420.000,0.000,21.720,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.995,0.000,0.000,0.000
$MEM,334652
$DATA_FILE_SIZE,46629,1359
$CAP_FILE_SIZE,810770,0
$CFSIZE,1047117824,1029013504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.8
$GPS,281019,203546,7536.377,-14454.443,0,6255.0,0,23.4,0.0,0.0,0,0.0