version: 66.13
glider: 196
mission: 20
dive: 98
start: 10 28 119 23 57 46
data:
$ID,196
$MISSION,20
$DIVE,98
$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,18
$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
$GPS1,281019,203546,7536.3770,-14454.4434,0,6255.0,0,23.4,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.96
$_SM_ANGLEo,-12.2
$GPS2,281019,203546,7536.3770,-14454.4434,0,6255.0,0,23.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9_52
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,99.0,19325,-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,6,1,20191029001522.904870,06,32767,45,0102,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.2,0.40,-100,2.60,-01,0.03,70,925,0025*06
$MODEM_MSG,CACST,6,1,20191029002030.263294,06,32767,45,0118,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.5,0.55,-100,2.45,-01,-0.05,69,925,0025*20
$MODEM_MSG,CACST,6,1,20191029002654.680655,06,28156,44,0336,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-2.8,0.46,-100,2.54,-01,0.00,66,925,0025*3E
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$GC,12874,-0.73,-97.3,2477,1935,3250,3069,952.5,-5.1,646,12875,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,1935,3155,3243,3068,0,0,0,0,0,0,14.79,14.83,14.82
$GC,13234,-0.73,-97.3,2478,1935,3250,3069,971.1,-5.2,658,13240,0.00,2.40,0.00,0.000,292,0.000,0.106,2477,3265,3158,3249,3068,0,0,0,0,0,0,14.80,14.44,14.83
$GC,13319,-0.73,-97.3,2478,3266,3250,3069,976.5,-5.3,675,13327,0.00,2.35,0.00,0.000,1062,0.000,0.071,2477,1938,3158,3249,3068,0,0,0,0,0,0,14.59,14.52,14.63
$STATE,13623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13623,begin apogee
$GC,13627,-0.17,0.0,2478,2040,3250,3069,991.1,-5.0,686,13738,0.68,0.00,108.00,2.425,10246,0.234,0.000,2662,2039,2757,2880,2635,0,0,0,0,0,0,14.38,13.84,12.97
$STATE,13739,end apogee,CONTROL_FINISHED_OK
$STATE,13739,begin climb
$GC,13740,0.73,97.3,2657,2040,2880,2636,992.7,0.0,689,13855,0.98,2.85,103.90,2.352,10500,0.153,0.115,2942,3465,2358,2492,2225,0,0,0,0,0,0,13.79,13.38,12.58
$GC,13864,0.73,97.3,2942,3465,2491,2226,982.0,14.2,713,13870,0.00,2.60,0.00,0.000,1030,0.000,0.072,2942,2117,2357,2489,2225,0,0,0,0,0,0,13.54,13.49,13.60
$GC,14254,0.73,97.3,2942,2118,2483,2219,940.8,10.5,731,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2117,2350,2482,2218,0,0,0,0,0,0,14.35,14.38,14.38
$GC,14614,0.73,97.3,2943,2118,2482,2218,903.0,10.5,743,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2117,2350,2482,2218,0,0,0,0,0,0,14.56,14.59,14.59
$GC,14974,0.73,97.3,2942,2120,2482,2217,866.0,10.3,755,14980,0.00,2.45,0.00,0.000,260,0.000,0.111,2942,3450,2349,2482,2217,0,0,0,0,0,0,14.63,14.35,14.66
$GC,15014,0.73,97.3,2942,3450,2482,2218,862.0,11.5,763,15020,0.00,2.40,0.00,0.000,1030,0.000,0.079,2942,2120,2349,2482,2217,0,0,0,0,0,0,14.43,14.37,14.47
$GC,15394,0.73,97.3,2942,2121,2481,2218,823.3,10.0,779,15396,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2120,2349,2481,2217,0,0,0,0,0,0,14.64,14.68,14.67
$GC,15754,0.73,97.3,2942,2121,2481,2224,787.1,10.1,791,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2120,2349,2482,2217,0,0,0,0,0,0,14.64,14.68,14.67
$GC,16114,0.73,97.3,2942,2120,2482,2218,750.9,10.0,803,16116,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2120,2349,2482,2217,0,0,0,0,0,0,14.64,14.68,14.67
$GC,16474,0.73,97.3,2941,2121,2482,2218,715.4,9.8,815,16476,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2121,2349,2481,2217,0,0,0,0,0,0,14.65,14.68,14.69
$GC,16834,0.73,97.3,2941,2120,2477,2218,680.3,9.7,827,16840,0.00,2.42,0.00,0.000,260,0.000,0.111,2942,3442,2349,2481,2217,0,0,0,0,0,0,14.65,14.36,14.68
$GC,16879,0.73,97.3,2942,3443,2483,2217,675.4,11.0,836,16885,0.00,2.38,0.00,0.000,1030,0.000,0.075,2941,2122,2349,2482,2217,0,0,0,0,0,0,14.44,14.37,14.47
$MODEM_MSG,CACST,6,1,20191029040558.422567,06,726,28,0093,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-10.3,0.35,-100,2.65,-01,0.07,64,925,0025*0F
$GC,17254,0.73,97.3,2943,2122,2482,2218,638.9,9.6,851,17256,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2122,2349,2481,2217,0,0,0,0,0,0,14.69,14.72,14.71
$GC,17614,0.73,97.3,2942,2122,2482,2218,604.1,9.7,863,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2122,2349,2482,2217,0,0,0,0,0,0,14.73,14.76,14.76
$GC,17974,0.73,97.3,2942,2122,2481,2218,569.5,9.6,875,17976,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2122,2349,2481,2217,0,0,0,0,0,0,14.75,14.79,14.78
$GC,18334,0.73,97.3,2942,2122,2481,2218,534.8,9.6,887,18340,0.00,2.45,0.00,0.000,260,0.000,0.111,2942,3445,2349,2480,2218,0,0,0,0,0,0,14.77,14.47,14.80
$GC,18379,0.73,97.3,2942,3444,2482,2217,530.0,10.8,896,18385,0.00,2.35,0.00,0.000,1030,0.000,0.076,2941,2117,2351,2486,2217,0,0,0,0,0,0,14.59,14.50,14.62
$GC,18754,0.73,97.3,2943,2118,2482,2218,494.8,9.3,911,18756,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2118,2349,2481,2217,0,0,0,0,0,0,14.78,14.81,14.82
$GC,19114,0.73,97.3,2942,2118,2482,2218,461.5,9.2,923,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2117,2349,2481,2217,0,0,0,0,0,0,14.79,14.83,14.82
$GC,19475,0.73,97.3,2942,2118,2482,2218,428.6,9.1,935,19480,0.00,2.40,0.00,0.000,260,0.000,0.110,2942,3442,2349,2481,2217,0,0,0,0,0,0,14.85,14.52,14.88
$GC,19514,0.73,97.3,2942,3443,2482,2218,424.5,10.3,943,19520,0.00,2.35,0.00,0.000,1030,0.000,0.077,2942,2121,2349,2481,2217,0,0,0,0,0,0,14.61,14.53,14.65
$GC,19895,0.73,97.3,2942,2121,2482,2218,389.2,9.4,959,19896,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2120,2349,2481,2217,0,0,0,0,0,0,14.86,14.89,14.89
$GC,20255,0.73,97.3,2942,2121,2482,2218,356.6,8.7,971,20260,0.00,2.58,0.00,0.000,516,0.000,0.117,2942,708,2349,2481,2217,0,0,0,0,0,0,14.80,14.51,14.83
$GC,20294,0.73,97.3,2942,709,2482,2218,353.2,8.5,979,20300,0.00,2.38,0.00,0.000,1030,0.000,0.093,2942,2022,2349,2481,2217,0,0,0,0,0,0,14.59,14.48,14.64
$GC,20675,0.75,97.3,2942,2022,2482,2218,322.5,7.7,995,20680,0.00,2.58,0.00,0.000,324,0.000,0.112,2942,3451,2349,2481,2217,0,0,0,0,0,0,14.86,14.52,14.90
$GC,20729,0.75,97.3,2942,3453,2482,2218,317.7,9.1,1006,20737,0.00,2.35,0.00,0.000,1030,0.000,0.072,2942,2117,2349,2481,2217,0,0,0,0,0,0,14.61,14.54,14.66
$GC,21095,0.78,97.3,2942,2118,2482,2218,289.9,7.0,1019,21096,0.00,0.00,0.00,0.000,70,0.000,0.000,2942,2117,2349,2481,2218,0,0,0,0,0,0,14.81,14.84,14.83
$GC,21455,0.84,144.3,2942,2118,2482,2219,268.2,5.7,1031,21502,0.15,0.00,42.58,1.633,10534,0.130,0.000,3001,2117,2168,2300,2036,0,0,0,0,0,0,14.62,14.38,13.71
$GC,21877,0.84,144.3,3001,2117,2292,2033,233.3,8.0,1050,21883,0.00,2.45,0.00,0.000,260,0.000,0.110,3001,3457,2161,2291,2032,0,0,0,0,0,0,14.64,14.39,14.67
$GC,21952,0.84,144.3,3002,3458,2292,2032,227.0,8.5,1065,21958,0.00,2.40,0.00,0.000,1030,0.000,0.073,3002,2112,2161,2291,2032,0,0,0,0,0,0,14.48,14.42,14.52
$GC,22327,0.86,144.3,3001,2112,2290,2032,198.6,7.4,1080,22333,0.00,2.62,0.00,0.000,580,0.000,0.119,3001,710,2160,2289,2031,0,0,0,0,0,0,14.70,14.40,14.73
$GC,22362,0.89,144.3,3002,710,2290,2032,196.3,6.7,1087,22368,0.00,2.42,0.00,0.000,1094,0.000,0.096,3001,2040,2160,2289,2031,0,0,0,0,0,0,14.52,14.42,14.56
$GC,22747,0.93,144.3,3001,2040,2288,2031,170.5,6.9,1104,22753,0.00,2.58,0.00,0.000,324,0.000,0.113,3001,3452,2160,2289,2031,0,0,0,0,0,0,14.70,14.46,14.73
$GC,22812,0.94,144.3,3002,3453,2288,2032,165.7,7.6,1117,22818,0.00,2.38,0.00,0.000,1094,0.000,0.073,3001,2117,2160,2289,2031,0,0,0,0,0,0,14.55,14.48,14.59
$GC,23197,1.00,185.7,3002,2118,2290,2029,141.9,6.1,1134,23236,0.00,0.00,37.15,1.522,8230,0.000,0.000,3002,2117,1999,2122,1877,0,0,0,0,0,0,14.71,14.37,13.74
$GC,23587,1.02,185.7,3002,2118,2110,1872,114.5,7.1,1147,23593,0.15,2.60,0.00,0.000,2628,0.136,0.117,3066,704,1991,2110,1872,0,0,0,0,0,0,14.45,14.33,14.54
$GC,23632,1.02,185.7,3067,705,2111,1871,110.8,8.4,1156,23638,0.00,2.45,0.00,0.000,1030,0.000,0.097,3067,2035,1990,2109,1872,0,0,0,0,0,0,14.44,14.35,14.48
$GC,24008,1.05,185.7,3066,2036,2108,1872,82.1,7.1,1171,24009,0.00,0.00,0.00,0.000,70,0.000,0.000,3066,2035,1989,2108,1871,0,0,0,0,0,0,14.66,14.69,14.69
$GC,24368,1.14,255.1,3067,2036,2108,1871,63.1,4.4,1183,24460,0.00,0.00,86.53,1.364,8486,0.000,0.000,3066,2036,1717,1816,1618,0,0,0,0,0,0,14.68,14.07,13.52
$GC,24818,1.26,348.5,3066,2036,1810,1612,41.6,3.0,1213,24951,0.17,0.00,130.50,1.287,10790,0.124,0.000,3134,2035,1334,1381,1287,0,0,0,0,0,0,14.35,13.92,13.35
$GC,25298,1.36,425.6,3135,2036,1381,1283,15.5,4.0,1257,25409,0.00,2.58,104.32,1.252,8740,0.000,0.119,3134,709,1022,1032,1013,0,0,0,0,0,0,14.48,13.87,13.40
$FREEZE,9.44,-1.469,-1.472,2,2,0
$STATE,25412,end climb,FINISH_DEPTH_REACHED
$STATE,25412,begin subsurface finish
$FINISH1,9.4,1.021614,301
$GC,25418,0.39,301.3,3135,2042,1032,1013,9.4,6.7,1278,25444,1.02,0.00,-17.83,0.008,20486,0.177,0.000,2847,2042,1532,1494,1571,0,0,0,0,0,0,13.88,13.17,13.98
$FINISH2,8.8
$STATE,25444,end subsurface finish,CONTROL_FINISHED_OK
$STATE,25444,begin surface
$RAFOS_CLK,304
$MODEM,0,1572321958,74.83892,-145.28152,58.423,84877.3
$MODEM,4,1572308814,76.55490,-139.99944,114.681,166610.0
$MODEM,3,1572308430,75.26195,-145.59448,30.263,43967.0
$MODEM,2,1572308122,75.67648,-146.03058,22.905,33276.6
$MODEM,1,1572307845,75.02295,-144.31340,45.806,66548.1
$MODEM,0,1572307559,74.83892,-145.28152,59.541,86502.7
$RAFOS_FIX,7536.594238,-14452.227539,291019,000054,5,255,0.08
$IRIDIUM_FIX,7507.22,-14454.99,171019,151741
$TT8_MAMPS,0.038948,0.285369
$HUMID,50.55
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,13.20
$XPDR_PINGS,108
$SC_FREEKB,3818304
$24V_AH,12.58,53.468
$10V_AH,12.96,0.000
$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,4.375,127.375,612.975,0.000,0.000,0.000,0.000,0.000,27.000,0.000,0.000,0.000,21974.100,821.933,2634.711,108.956,0.000,1826.334,0.000,1952.940,4410.000,0.531,0.000
$DEVICE_MAMPS,234.090,141.525,2425.050,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25461.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.919,0.000,0.000,0.000
$MEM,334892
$DATA_FILE_SIZE,43290,1281
$CAP_FILE_SIZE,155603,0
$CFSIZE,1047117824,1029390336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,291019,002654,7536.594,-14452.228,0,6255.0,0,23.4,0.0,0.0,0,0.0