version: 66.13
glider: 196
mission: 20
dive: 454
start: 9 12 120 14 47 52
data:
$ID,196
$MISSION,20
$DIVE,454
$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,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,390
$T_MISSION,500
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,1950
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,20
$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
$GPS1,120920,144113,7309.9033,-15024.6553,0,1001.0,0,20.5,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.36
$_SM_ANGLEo,-12.5
$GPS2,120920,144113,7309.9033,-15024.6553,0,1001.0,0,20.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,RECOV
$TGT_LATLONG,7200.000,-15200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,182.4,140490,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,0,999,2,0.000000,0.000000
$EXEC,4,999,2,0.000000,0.000000
$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,14196,-0.73,-97.3,2490,2037,3249,3058,936.6,-4.9,786,14197,0.00,0.00,0.00,0.000,38,0.000,0.000,2490,2036,3154,3250,3059,0,0,0,0,0,0,14.43,14.46,14.45
$GC,14556,-0.73,-97.3,2491,2037,3250,3069,954.0,-4.8,798,14557,0.00,0.00,0.00,0.000,38,0.000,0.000,2490,2037,3154,3250,3059,0,0,0,0,0,0,14.42,14.46,14.45
$GC,14916,-0.73,-97.3,2490,2037,3250,3060,971.6,-4.8,810,14921,0.00,2.58,0.00,0.000,292,0.000,0.106,2490,3366,3154,3250,3059,0,0,0,0,0,0,14.42,13.65,14.45
$GC,14986,-0.73,-97.3,2491,3367,3251,3059,975.9,-5.1,824,14991,0.00,2.45,0.00,0.000,1062,0.000,0.069,2490,2037,3154,3249,3059,0,0,0,0,0,0,13.98,13.83,14.03
$STATE,15004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15004,begin apogee
$GC,15009,-0.17,0.0,2490,2037,3250,3059,976.9,-5.1,828,15118,0.68,0.00,106.07,2.291,10246,0.210,0.000,2661,2037,2757,2878,2637,0,0,0,0,0,0,13.66,13.64,12.59
$STATE,15120,end apogee,CONTROL_FINISHED_OK
$STATE,15120,begin climb
$GC,15122,0.73,97.3,2662,2037,2878,2637,978.0,0.0,831,15235,1.00,0.00,109.45,2.222,11014,0.134,0.000,2949,2036,2360,2483,2237,0,0,0,0,0,0,13.59,13.07,12.02
$GC,15576,0.73,97.3,2949,2037,2471,2230,940.7,8.8,852,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2036,2350,2471,2229,0,0,0,0,0,0,14.58,14.61,14.60
$GC,15936,0.73,97.3,2949,2037,2471,2227,909.4,8.7,864,15941,0.00,2.65,0.00,0.000,260,0.000,0.107,2949,3451,2348,2469,2227,0,0,0,0,0,0,14.61,14.11,14.64
$GC,16021,0.73,97.3,2949,3452,2470,2228,901.7,9.9,881,16028,0.00,2.42,0.00,0.000,1030,0.000,0.077,2951,2109,2348,2469,2227,0,0,0,0,0,0,14.33,14.19,14.40
$GC,16387,0.73,97.3,2951,2110,2468,2227,869.5,8.6,894,16388,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2109,2346,2466,2226,0,0,0,0,0,0,14.64,14.66,14.66
$GC,16747,0.73,97.3,2951,2110,2468,2226,839.1,8.5,906,16748,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2109,2347,2468,2226,0,0,0,0,0,0,14.64,14.67,14.66
$GC,17107,0.73,97.3,2950,2110,2468,2226,808.9,8.5,918,17112,0.00,2.53,0.00,0.000,260,0.000,0.108,2950,3447,2346,2467,2225,0,0,0,0,0,0,14.61,14.04,14.64
$GC,17167,0.73,97.3,2951,3448,2467,2226,802.9,9.6,930,17172,0.00,2.40,0.00,0.000,1030,0.000,0.076,2951,2124,2346,2467,2225,0,0,0,0,0,0,14.30,14.14,14.36
$GC,17557,0.73,97.3,2951,2120,2467,2226,769.8,8.5,948,17559,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,2345,2466,2225,0,0,0,0,0,0,14.60,14.63,14.65
$GC,17917,0.73,97.3,2950,2120,2467,2226,739.0,8.5,960,17919,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,2345,2466,2225,0,0,0,0,0,0,14.59,14.62,14.62
$GC,18277,0.73,97.3,2951,2120,2466,2224,708.2,8.6,972,18282,0.00,2.53,0.00,0.000,260,0.000,0.107,2951,3448,2344,2464,2225,0,0,0,0,0,0,14.58,13.98,14.61
$GC,18328,0.73,97.3,2951,3449,2465,2226,703.4,9.8,982,18333,0.00,2.42,0.00,0.000,1030,0.000,0.076,2950,2125,2345,2466,2225,0,0,0,0,0,0,14.26,14.09,14.33
$GC,18698,0.73,97.3,2951,2120,2466,2225,671.4,8.6,996,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,2345,2466,2224,0,0,0,0,0,0,14.75,14.78,14.77
$GC,19058,0.73,97.3,2951,2120,2466,2226,640.7,8.4,1008,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,2344,2465,2224,0,0,0,0,0,0,14.52,14.54,14.54
$GC,19418,0.73,97.3,2957,2119,2465,2225,610.6,8.3,1020,19420,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2120,2344,2464,2225,0,0,0,0,0,0,14.52,14.56,14.55
$GC,19778,0.73,97.3,2950,2120,2466,2225,580.9,8.2,1032,19780,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2119,2344,2465,2223,0,0,0,0,0,0,14.51,14.54,14.54
$GC,20138,0.73,97.3,2951,2120,2465,2225,551.6,8.1,1044,20143,0.00,2.53,0.00,0.000,260,0.000,0.106,2950,3452,2345,2466,2224,0,0,0,0,0,0,14.50,13.94,14.53
$GC,20193,0.73,97.3,2951,3453,2466,2225,546.5,9.3,1055,20199,0.00,2.45,0.00,0.000,1030,0.000,0.074,2950,2109,2343,2464,2223,0,0,0,0,0,0,14.21,14.07,14.26
$GC,20559,0.73,97.3,2951,2110,2466,2225,516.4,8.2,1068,20560,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2109,2344,2465,2224,0,0,0,0,0,0,14.50,14.52,14.52
$GC,20918,0.73,97.3,2951,2110,2463,2224,487.1,8.1,1080,20920,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2110,2344,2465,2224,0,0,0,0,0,0,14.50,14.53,14.52
$GC,21278,0.73,97.3,2950,2110,2465,2225,458.2,8.0,1092,21280,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2109,2344,2465,2224,0,0,0,0,0,0,14.69,14.72,14.72
$GC,21639,0.74,97.3,2951,2109,2466,2225,429.4,8.0,1104,21644,0.00,2.58,0.00,0.000,324,0.000,0.106,2951,3450,2344,2465,2224,0,0,0,0,0,0,14.54,13.89,14.57
$GC,21694,0.74,97.3,2951,3451,2466,2225,424.4,9.0,1115,21700,0.00,2.45,0.00,0.000,1030,0.000,0.076,2951,2115,2344,2465,2224,0,0,0,0,0,0,14.17,14.01,14.24
$GC,22060,0.76,97.3,2951,2116,2466,2225,395.9,7.7,1128,22061,0.00,0.00,0.00,0.000,70,0.000,0.000,2951,2115,2344,2465,2224,0,0,0,0,0,0,14.73,14.76,14.76
$GC,22419,0.77,97.3,2950,2116,2465,2225,367.8,7.8,1140,22421,0.00,0.00,0.00,0.000,70,0.000,0.000,2950,2115,2344,2465,2224,0,0,0,0,0,0,14.53,14.56,14.55
$GC,22780,0.79,97.3,2951,2116,2466,2225,340.0,7.7,1152,22781,0.00,0.00,0.00,0.000,70,0.000,0.000,2951,2115,2344,2465,2224,0,0,0,0,0,0,14.53,14.56,14.55
$GC,23139,0.80,97.3,2951,2116,2465,2225,311.8,7.8,1164,23141,0.00,0.00,0.00,0.000,70,0.000,0.000,2950,2114,2344,2465,2224,0,0,0,0,0,0,14.74,14.77,14.76
$GC,23499,0.83,97.3,2951,2116,2467,2225,286.1,7.0,1176,23501,0.00,0.00,0.00,0.000,70,0.000,0.000,2950,2115,2344,2464,2224,0,0,0,0,0,0,14.52,14.54,14.54
$GC,23859,0.86,97.3,2951,2116,2466,2225,260.8,7.1,1188,23861,0.15,0.00,0.00,0.000,2118,0.135,0.000,3005,2115,2343,2464,2223,0,0,0,0,0,0,14.12,14.25,14.21
$GC,24219,0.89,97.3,3005,2116,2466,2225,233.5,6.9,1200,24224,0.00,2.75,0.00,0.000,580,0.000,0.115,3005,704,2344,2465,2224,0,0,0,0,0,0,14.51,13.78,14.54
$GC,24275,0.93,132.8,3004,705,2466,2225,229.8,6.4,1211,24312,0.00,2.47,31.83,1.460,9254,0.000,0.084,3005,2038,2215,2339,2092,0,0,0,0,0,0,14.08,13.90,13.33
$GC,24672,0.96,132.8,3005,2039,2328,2090,202.0,7.0,1230,24677,0.00,2.53,0.00,0.000,580,0.000,0.111,3005,708,2209,2329,2089,0,0,0,0,0,0,14.59,14.04,14.63
$GC,24742,1.00,132.8,3005,709,2329,2090,197.3,6.6,1244,24747,0.00,2.42,0.00,0.000,1094,0.000,0.083,3002,2037,2207,2328,2087,0,0,0,0,0,0,14.28,14.10,14.34
$GC,25123,1.06,178.8,3005,2038,2327,2089,175.5,5.8,1260,25179,0.15,2.67,47.85,1.365,10532,0.130,0.108,3068,3439,2028,2134,1922,0,0,0,0,0,0,14.21,14.07,13.31
$GC,25229,1.06,178.8,3069,3439,2129,1922,166.2,10.0,1281,25235,0.00,2.42,0.00,0.000,1030,0.000,0.076,3070,2114,2025,2128,1922,0,0,0,0,0,0,14.20,14.05,14.26
$GC,25605,1.06,178.8,3070,2114,2121,1918,133.6,8.6,1296,25607,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2114,2020,2122,1919,0,0,0,0,0,0,14.59,14.62,14.62
$GC,25965,1.08,178.8,3070,2113,2120,1919,104.5,7.5,1308,25970,0.00,2.67,0.00,0.000,580,0.000,0.114,3070,708,2018,2119,1918,0,0,0,0,0,0,14.58,14.02,14.61
$GC,26082,1.11,178.8,3070,709,2119,1918,96.3,6.9,1331,26089,0.00,2.42,0.00,0.000,1094,0.000,0.086,3070,2028,2018,2118,1918,0,0,0,0,0,0,14.20,14.02,14.27
$GC,26446,1.18,230.5,3071,2032,2119,1919,73.3,5.5,1344,26526,0.00,0.00,78.12,1.246,8486,0.000,0.000,3070,2031,1818,1909,1728,0,0,0,0,0,0,14.69,14.01,13.24
$GC,26866,1.26,294.5,3071,2031,1899,1724,51.1,4.7,1363,26991,0.17,0.00,121.75,1.178,10790,0.128,0.000,3137,2031,1556,1622,1491,0,0,0,0,0,0,14.10,13.90,13.16
$GC,27357,1.38,383.4,3137,2030,1614,1490,26.0,3.3,1391,27524,0.00,2.62,158.73,1.138,8740,0.000,0.109,3136,702,1194,1218,1170,0,0,0,0,0,0,14.50,13.85,13.12
$GC,27619,1.47,458.1,3137,702,1214,1167,14.0,4.1,1440,27753,0.17,2.47,125.95,1.108,11302,0.114,0.086,3201,2040,890,877,904,0,0,0,0,0,0,14.09,13.93,13.07
$STATE,27806,end climb,NO_VERTICAL_VELOCITY
$STATE,27806,begin subsurface finish
$SM_CCo,27807,139.12,1.091,0,0,552,541.87
$FINISH1,10.0,1.018613,456
$GC,28111,0.59,456.3,3202,2041,521,579,10.0,1.5,1470,28128,1.02,2.53,-9.75,0.013,20996,0.155,0.126,2908,710,899,879,919,0,0,0,0,0,0,13.93,12.40,14.04
$FINISH2,9.9
$STATE,28128,end subsurface finish,CONTROL_FINISHED_OK
$STATE,28128,begin surface
$RAFOS_CLK,259
$RAFOS_FIX,7307.146484,-15021.101562,120920,222215,0,1,0.19
$IRIDIUM_FIX,7316.14,-15035.69,110920,233236
$TT8_MAMPS,0.038199,0.301098
$HUMID,53.58
$INTERNAL_PRESSURE,8.79988
$TCM_TEMP,13.30
$XPDR_PINGS,150
$SC_FREEKB,3613280
$24V_AH,12.02,241.961
$10V_AH,12.43,0.000
$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,4.750,140.775,779.750,139.125,0.000,0.000,0.000,0.000,37.500,0.000,0.000,0.000,23893.256,1079.175,2990.702,278.987,0.000,2223.927,0.000,2234.154,4401.000,0.532,0.000
$DEVICE_MAMPS,210.375,126.225,2291.175,1090.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,28170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.068,0.000,0.000,0.000
$MEM,334816
$DATA_FILE_SIZE,50004,1473
$CAP_FILE_SIZE,174492,0
$CFSIZE,1047117824,984236032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,120920,223115,7307.146,-15021.102,0,1001.0,0,20.5,0.0,0.0,0,0.0