version: 66.13
glider: 197
mission: 3
dive: 22
start: 9 28 119 11 46 2
data:
$ID,197
$MISSION,3
$DIVE,22
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,70
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,14400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,53840
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,1
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,347
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.6981
$PRESSURE_SLOPE,0.00010952644
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.40000001
$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,64
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043204976
$SEABIRD_T_H,0.00062365097
$SEABIRD_T_I,2.30554e-05
$SEABIRD_T_J,2.4080823e-06
$SEABIRD_C_G,-10.102139
$SEABIRD_C_H,1.1491261
$SEABIRD_C_I,-0.0020350928
$SEABIRD_C_J,0.00023971152
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,280919,113913,7352.3491,-14631.1074,24,1.6,24,17.7,0.2,0.0,5,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.5
$GPS2,280919,114525,7352.3965,-14631.0791,4,0.6,4,17.7,0.6,102.7,12,5.6
$SPEED_LIMITS,0.165,0.196
$TGT_NAME,1
$TGT_LATLONG,7334.900,-14533.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,131.0,44255,-22.4,-9.524,-25.89,1568
$D_GRID,200
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.90,-97.3,191,1880,824,605,0.0,0.0,0,116,0.00,0.00,-106.85,0.002,16386,0.000,0.000,190,1879,2665,2744,2587,0,0,0,0,0,0,14.31,28.83,14.35
$GC,117,-0.90,-97.3,190,1880,2745,2589,4.7,-8.2,10,142,9.98,2.62,-10.77,0.009,18692,0.451,0.151,2104,3288,3157,3255,3059,0,0,0,0,0,0,13.97,13.57,14.23
$GC,235,-0.90,-97.3,2104,3289,3256,3061,44.3,-26.4,33,247,0.00,2.47,0.00,0.000,1030,0.000,0.080,2104,1885,3158,3256,3060,0,0,0,0,0,0,14.24,14.19,14.27
$GC,421,-0.90,-97.3,2104,1885,3256,3060,80.2,-15.3,52,427,0.00,2.58,0.00,0.000,516,0.000,0.112,2104,468,3158,3256,3060,0,0,0,0,0,0,14.47,14.26,14.50
$GC,621,-0.90,-97.3,2104,469,3256,3060,111.0,-14.0,92,627,0.00,2.50,0.00,0.000,1030,0.000,0.093,2093,1874,3157,3255,3060,0,0,0,0,0,0,14.37,14.31,14.40
$GC,811,-0.90,-97.3,2094,1874,3256,3060,133.8,-11.5,112,817,0.00,2.60,0.00,0.000,260,0.000,0.132,2084,3286,3157,3255,3059,0,0,0,0,0,0,14.54,14.33,14.57
$GC,836,-0.90,-97.3,2084,3286,3256,3060,137.0,-13.4,117,847,0.12,2.45,0.00,0.000,3078,0.298,0.079,2114,1875,3157,3255,3059,0,0,0,0,0,0,14.24,14.35,14.37
$GC,1021,-0.90,-97.3,2114,1876,3256,3060,158.1,-11.5,136,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1875,3157,3255,3059,0,0,0,0,0,0,14.55,14.59,14.58
$GC,1201,-0.90,-97.3,2114,1875,3256,3060,177.6,-10.7,154,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1875,3157,3255,3059,0,0,0,0,0,0,14.57,14.60,14.59
$GC,1381,-0.90,-97.3,2114,1875,3255,3060,196.0,-10.0,172,1387,0.00,2.53,0.00,0.000,516,0.000,0.115,2114,472,3157,3255,3059,0,0,0,0,0,0,14.57,14.36,14.60
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1420,begin apogee
$GC,1426,-0.18,0.0,2105,2150,3255,3060,200.3,-10.7,180,1517,0.90,0.00,86.07,1.506,10246,0.263,0.000,2343,2150,2757,2904,2610,0,0,0,0,0,0,14.31,13.75,13.28
$STATE,1518,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin loiter
$GC,1691,-0.18,0.0,2343,2150,2899,2608,201.5,2.1,192,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2752,2898,2607,0,0,0,0,0,0,14.31,14.34,14.33
$GC,2291,-0.18,0.0,2343,2150,2897,2607,188.9,1.6,202,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2751,2896,2606,0,0,0,0,0,0,14.54,14.57,14.57
$GC,2891,-0.18,0.0,2343,2150,2896,2606,181.2,1.0,212,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2149,2751,2897,2606,0,0,0,0,0,0,14.62,14.66,14.65
$MODEM_MSG,CACST,6,1,20190928120546.712616,18,22922,43,0116,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.0,0.37,-100,2.63,-01,-0.02,64,925,0025*2D
$GC,3491,-0.18,0.0,2343,2150,2895,2605,176.4,0.8,222,3493,0.00,0.00,-0.15,0.655,16390,0.000,0.000,2343,2150,2767,2908,2627,0,0,0,0,0,0,14.74,13.69,14.60
$GC,4091,-0.16,0.0,2343,2150,2908,2628,181.9,-0.7,232,4097,0.00,0.00,4.12,1.055,8262,0.000,0.000,2343,2150,2758,2901,2616,0,0,0,0,0,0,14.84,14.59,13.88
$GC,4691,-0.16,0.0,2343,2150,2901,2615,181.1,-0.0,242,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2758,2901,2615,0,0,0,0,0,0,14.88,14.92,14.91
$GC,5291,-0.16,0.0,2343,2150,2901,2615,182.1,-0.1,252,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2758,2901,2615,0,0,0,0,0,0,14.93,14.96,14.96
$GC,5891,-0.16,0.0,2343,2150,2901,2615,182.8,-0.1,262,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2757,2900,2614,0,0,0,0,0,0,14.96,15.00,14.99
$GC,6491,-0.16,0.0,2343,2150,2901,2614,182.7,0.4,272,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2757,2901,2614,0,0,0,0,0,0,14.98,15.02,15.01
$GC,7091,-0.16,0.0,2343,2151,2901,2614,182.5,0.2,282,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2757,2900,2614,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7691,-0.16,0.0,2343,2150,2901,2614,183.2,0.0,292,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2757,2900,2614,0,0,0,0,0,0,15.02,15.06,15.05
$GC,8291,-0.16,0.0,2343,2150,2901,2614,185.1,0.1,302,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2900,2613,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8891,-0.16,0.0,2343,2150,2900,2614,185.4,-0.1,312,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2757,2900,2614,0,0,0,0,0,0,15.04,15.08,15.07
$GC,9491,-0.16,0.0,2343,2150,2900,2614,185.0,0.1,322,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.05,15.09,15.08
$GC,10091,-0.16,0.0,2343,2150,2900,2614,184.6,-0.2,332,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.06,15.09,15.09
$GC,10691,-0.16,0.0,2343,2150,2899,2614,185.3,-0.2,342,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.07,15.10,15.09
$GC,11291,-0.16,0.0,2343,2150,2899,2613,184.5,0.0,352,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.07,15.10,15.10
$GC,11891,-0.16,0.0,2343,2150,2899,2614,184.2,0.1,362,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.07,15.11,15.10
$GC,12491,-0.16,0.0,2343,2150,2900,2613,184.6,0.1,372,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.07,15.11,15.11
$GC,13091,-0.16,0.0,2343,2150,2899,2613,184.9,-0.0,382,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.08,15.11,15.11
$GC,13691,-0.16,0.0,2343,2150,2899,2613,184.0,0.3,392,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2755,2898,2613,0,0,0,0,0,0,15.09,15.12,15.11
$GC,14291,-0.16,0.0,2343,2150,2899,2613,184.7,-0.2,402,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2755,2898,2613,0,0,0,0,0,0,15.09,15.12,15.11
$GC,14891,-0.16,0.0,2343,2150,2899,2613,185.0,-0.2,412,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,15.09,15.13,15.11
$GC,15491,-0.16,0.0,2343,2150,2899,2613,184.5,-0.1,422,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2150,2756,2899,2613,0,0,0,0,0,0,14.97,15.01,15.01
$STATE,15910,end loiter,LOITER_COMPLETE
$STATE,15910,begin climb
$GC,15911,0.90,97.3,2343,2150,2899,2613,184.5,0.0,429,16016,1.15,2.60,88.60,1.535,10756,0.183,0.111,2706,746,2358,2528,2188,0,0,0,0,0,0,14.68,13.98,13.49
$GC,16241,0.94,140.6,2706,746,2523,2186,165.2,6.7,479,16291,0.00,2.55,39.25,1.460,9254,0.000,0.101,2706,2153,2182,2360,2004,0,0,0,0,0,0,14.25,14.18,13.40
$GC,16465,0.97,174.1,2706,2153,2356,1999,149.0,7.3,505,16502,0.00,0.00,29.95,1.427,8742,0.000,0.000,2706,2152,2047,2231,1863,0,0,0,0,0,0,14.34,13.88,13.42
$GC,16676,1.01,174.1,2706,2153,2226,1859,132.7,7.7,527,16682,0.00,2.60,0.00,0.000,580,0.000,0.115,2715,743,2042,2226,1858,0,0,0,0,0,0,14.31,14.12,14.34
$GC,16741,1.04,174.1,2715,742,2225,1858,127.5,8.0,540,16751,0.00,2.55,0.00,0.000,1094,0.000,0.100,2716,2143,2040,2224,1857,0,0,0,0,0,0,14.17,14.10,14.21
$GC,16926,1.08,211.9,2715,2144,2224,1858,113.6,7.0,559,16972,0.12,0.00,34.42,1.405,10278,0.145,0.000,2768,2143,1892,2074,1710,0,0,0,0,0,0,14.25,14.03,13.45
$GC,17146,1.08,211.9,2767,2144,2069,1708,93.6,9.4,581,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2143,1887,2068,1707,0,0,0,0,0,0,14.31,14.33,14.33
$GC,17326,1.10,211.9,2768,2144,2067,1707,77.7,8.5,599,17328,0.00,0.00,0.00,0.000,70,0.000,0.000,2768,2143,1886,2066,1707,0,0,0,0,0,0,14.36,14.40,14.39
$GC,17506,1.15,262.7,2768,2144,2066,1706,65.3,6.2,617,17568,0.00,2.65,50.17,1.343,8484,0.000,0.134,2768,3560,1685,1856,1514,0,0,0,0,0,0,14.40,13.85,13.40
$GC,17597,1.18,294.0,2768,3561,1852,1515,59.0,7.5,633,17637,0.00,2.53,32.08,1.291,9254,0.000,0.080,2777,2140,1558,1714,1402,0,0,0,0,0,0,14.03,13.98,13.32
$MODEM_MSG,CACST,6,1,20190928160545.856608,18,32767,45,0115,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.3,0.47,-100,2.53,-01,-0.07,68,925,0025*2D
$MODEM_MSG,CACST,6,1,20190928161038.836774,18,32767,45,0102,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.7,0.21,-100,2.79,-01,0.01,69,925,0025*0A
$GC,17810,1.24,356.0,2777,2141,1702,1402,45.9,5.5,657,17881,0.00,2.60,65.25,1.287,8740,0.000,0.115,2787,748,1306,1435,1177,0,0,0,0,0,0,14.27,13.75,13.27
$GC,17920,1.29,400.2,2787,749,1430,1177,39.4,6.6,675,17978,0.08,2.60,49.33,1.245,11302,0.096,0.098,2827,2149,1125,1245,1006,0,0,0,0,0,0,13.87,13.84,13.21
$GC,18152,1.32,439.7,2828,2150,1242,1004,20.9,6.9,702,18207,0.00,2.60,47.38,1.226,8740,0.000,0.112,2837,753,964,1091,838,0,0,0,0,0,0,14.21,13.74,13.32
$GC,18275,1.38,498.0,2837,753,1088,838,13.5,5.7,725,18355,0.00,2.58,71.43,1.202,9254,0.000,0.095,2837,2150,726,857,595,0,0,0,0,0,0,13.97,13.91,13.21
$STATE,18438,end climb,SURFACE_DEPTH_REACHED
$STATE,18438,begin surface coast
$FINISH,0.4,1.021214
$STATE,18459,end surface coast,CONTROL_FINISHED_OK
$STATE,18459,begin surface
$SM_CCo,18472,47.08,0.185,1,0,719,500.17
$SM_GC,0.72,8.40,0.50,47.08,0.118,0.106,0.185,192,1881,719,-6.87,0.82,500.17,0,0,0,0,1,0,13.95,13.91,13.39
$RAFOS_CLK,162
$MODEM,2,1569687038,74.08310,-144.87103,37.337,54698.4
$MODEM,1,1569686745,74.42723,-147.94939,44.357,64982.4
$MODEM,1,1569672346,74.42723,-147.94939,45.213,66236.5
$RAFOS_FIX,7357.793457,-14636.786133,280919,161638,2,510,0.65
$IRIDIUM_FIX,7351.58,-14633.61,280919,114048
$TT8_MAMPS,0.041944,1.00066
$HUMID,54.01
$INTERNAL_PRESSURE,8.12491
$TCM_TEMP,11.60
$XPDR_PINGS,0
$SC_FREEKB,3865056
$24V_AH,13.21,17.777
$10V_AH,12.81,0.000
$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,20.750,47.100,598.050,47.075,0.000,0.000,0.000,228.175,0.000,0.000,16.700,0.000,16325.797,338.678,109562.742,43.443,0.000,1658.101,0.000,1506.877,5026.000,0.530,0.000
$DEVICE_MAMPS,451.350,151.470,1534.590,185.130,0.000,0.000,0.000,142.290,420.000,0.000,20.970,0.000,2.310,11.820,29.040,41.030,0.000,12.900,0.000,5.000,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3972.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.074,0.000,0.000,0.000
$MEM,326024
$DATA_FILE_SIZE,23393,749
$CAP_FILE_SIZE,106196,0
$CFSIZE,1024409600,1018888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.110,358.30,1
$GPS,280919,165531,7353.102,-14630.489,17,1.0,18,17.7,0.3,114.2,8,5.4