version: 66.13
glider: 197
mission: 3
dive: 28
start: 10 1 119 0 42 12
data:
$ID,197
$MISSION,3
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,420
$T_MISSION,450
$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,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,36
$R_STBD_OVSHOOT,17
$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,0
$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,1.4
$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
$GPS1,011019,003355,7401.5068,-14626.1904,17,0.6,34,17.7,0.2,326.4,12,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-63.2
$GPS2,011019,004135,7401.5405,-14626.2510,4,0.6,4,17.7,0.3,52.5,12,5.4
$SPEED_LIMITS,0.136,0.186
$TGT_NAME,1
$TGT_LATLONG,7434.900,-14533.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,7.9,67020,-18.7,-7.857,-22.95,1897
$D_GRID,990
$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
$STATE,5,begin dive
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$MODEM_MSG,CACST,6,1,20191001001034.275282,18,32767,45,0121,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.5,0.36,-100,2.64,-01,0.08,73,925,0025*09
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$GC,11823,-0.77,-97.3,2126,3290,3255,3059,488.9,-1.6,985,11830,0.10,2.38,0.00,0.000,3110,0.273,0.076,2152,1880,3156,3254,3058,0,0,0,0,0,0,14.57,14.66,14.69
$GC,12141,-0.77,-97.3,2152,1880,3255,3059,492.8,-1.3,997,12143,0.00,0.00,0.00,0.000,38,0.000,0.000,2152,1880,3156,3254,3058,0,0,0,0,0,0,14.85,14.88,14.88
$GC,12435,-0.77,-97.3,2152,1880,3255,3059,496.5,-1.2,1007,12440,0.00,2.47,0.00,0.000,292,0.000,0.122,2145,3290,3156,3254,3059,0,0,0,0,0,0,14.80,14.59,14.83
$GC,12623,-0.77,-97.3,2145,3290,3255,3059,498.6,-1.1,1045,12631,0.00,2.40,0.00,0.000,1062,0.000,0.076,2145,1876,3156,3254,3058,0,0,0,0,0,0,14.63,14.58,14.66
$STATE,12824,end dive,NO_VERTICAL_VELOCITY
$STATE,12824,begin apogee
$GC,12826,-0.18,0.0,2144,2155,3255,3058,500.4,0.0,1055,12921,0.73,0.00,90.18,1.809,10246,0.233,0.000,2344,2155,2757,2899,2615,0,0,0,0,0,0,14.50,13.78,13.23
$STATE,12922,end apogee,CONTROL_FINISHED_OK
$STATE,12922,begin climb
$GC,12923,0.77,97.3,2345,2156,2899,2616,498.2,0.0,1058,13020,1.00,0.00,93.10,1.735,10246,0.125,0.000,2655,2156,2360,2516,2204,0,0,0,0,0,0,13.90,13.57,13.03
$GC,13304,0.77,97.3,2655,2156,2511,2197,461.4,10.2,1071,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2156,2353,2510,2196,0,0,0,0,0,0,14.34,14.37,14.37
$GC,13604,0.77,97.3,2656,2156,2511,2194,430.7,10.2,1081,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2156,2352,2510,2194,0,0,0,0,0,0,14.47,14.50,14.50
$GC,13905,0.77,97.3,2656,2156,2510,2194,400.9,9.9,1091,13911,0.00,2.55,0.00,0.000,260,0.000,0.125,2655,3549,2351,2510,2193,0,0,0,0,0,0,14.54,14.31,14.57
$GC,13959,0.77,97.3,2655,3550,2511,2194,394.8,11.3,1102,13970,0.00,2.42,0.00,0.000,1030,0.000,0.075,2664,2143,2351,2510,2193,0,0,0,0,0,0,14.41,14.36,14.44
$GC,14264,0.77,97.3,2664,2143,2511,2193,364.1,9.9,1113,14266,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2143,2351,2510,2193,0,0,0,0,0,0,14.58,14.62,14.61
$MODEM_MSG,CACST,6,1,20191001041033.466696,18,14961,41,0099,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.5,0.54,-100,2.46,-01,0.08,73,925,0025*00
$GC,14564,0.77,97.3,2664,2143,2510,2192,334.0,10.0,1123,14571,0.00,2.58,0.00,0.000,260,0.000,0.125,2664,3557,2350,2509,2192,0,0,0,0,0,0,14.67,14.42,14.71
$GC,14599,0.77,97.3,2664,3558,2510,2193,330.2,11.0,1130,14606,0.00,2.40,0.00,0.000,1030,0.000,0.076,2673,2154,2351,2510,2193,0,0,0,0,0,0,14.52,14.47,14.55
$GC,14924,0.77,97.3,2673,2153,2510,2192,297.8,9.8,1145,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2153,2350,2509,2192,0,0,0,0,0,0,14.73,14.76,14.76
$GC,15224,0.77,97.3,2673,2153,2510,2192,269.5,9.1,1155,15231,0.00,2.55,0.00,0.000,260,0.000,0.125,2673,3559,2350,2509,2192,0,0,0,0,0,0,14.77,14.52,14.81
$GC,15255,0.77,97.3,2673,3560,2510,2192,266.6,10.1,1161,15261,0.00,2.40,0.00,0.000,1030,0.000,0.075,2684,2141,2350,2509,2192,0,0,0,0,0,0,14.58,14.53,14.61
$GC,15565,0.77,97.3,2684,2141,2510,2192,240.3,7.9,1183,15571,0.00,2.53,0.00,0.000,260,0.000,0.125,2684,3561,2350,2509,2192,0,0,0,0,0,0,14.79,14.54,14.82
$GC,15610,0.77,97.3,2684,3561,2510,2192,236.2,9.2,1192,15621,0.12,2.38,0.00,0.000,5126,0.236,0.076,2660,2155,2350,2509,2192,0,0,0,0,0,0,14.50,14.59,14.61
$GC,15796,0.79,97.3,2660,2156,2510,2191,223.3,6.6,1211,15797,0.00,0.00,0.00,0.000,70,0.000,0.000,2660,2156,2350,2509,2191,0,0,0,0,0,0,14.78,14.82,14.82
$GC,15975,0.82,97.3,2660,2156,2510,2190,211.9,6.3,1229,15977,0.00,0.00,0.00,0.000,70,0.000,0.000,2660,2155,2350,2509,2191,0,0,0,0,0,0,14.79,14.83,14.83
$GC,16155,0.85,97.3,2660,2156,2510,2190,200.7,6.3,1247,16157,0.00,0.00,0.00,0.000,70,0.000,0.000,2660,2156,2349,2509,2190,0,0,0,0,0,0,14.80,14.83,14.83
$GC,16335,0.89,135.4,2660,2156,2510,2190,189.9,5.8,1265,16371,0.12,0.00,32.85,1.503,10278,0.140,0.000,2709,2155,2205,2370,2040,0,0,0,0,0,0,14.62,14.23,13.75
$GC,16545,0.89,135.4,2710,2156,2368,2038,173.4,8.1,1286,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2155,2202,2367,2038,0,0,0,0,0,0,14.60,14.64,14.64
$GC,16725,0.89,135.4,2709,2156,2367,2038,159.3,7.5,1304,16727,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2155,2202,2367,2037,0,0,0,0,0,0,14.65,14.69,14.68
$GC,16905,0.90,135.4,2710,2155,2367,2036,145.9,7.2,1322,16907,0.00,0.00,0.00,0.000,70,0.000,0.000,2710,2155,2201,2366,2036,0,0,0,0,0,0,14.68,14.71,14.71
$GC,17085,0.92,135.4,2710,2156,2367,2036,133.6,6.9,1340,17087,0.00,0.00,0.00,0.000,70,0.000,0.000,2710,2155,2200,2366,2035,0,0,0,0,0,0,14.70,14.73,14.73
$GC,17265,0.95,135.4,2710,2155,2367,2035,121.5,6.5,1358,17267,0.00,0.00,0.00,0.000,70,0.000,0.000,2709,2155,2200,2366,2034,0,0,0,0,0,0,14.71,14.75,14.74
$GC,17445,0.98,135.4,2710,2156,2367,2034,110.1,6.2,1376,17451,0.00,2.50,0.00,0.000,580,0.000,0.114,2719,754,2200,2366,2034,0,0,0,0,0,0,14.71,14.48,14.74
$GC,17510,1.01,135.4,2719,754,2366,2033,105.9,6.4,1389,17522,0.00,2.45,0.00,0.000,1094,0.000,0.093,2719,2153,2199,2366,2033,0,0,0,0,0,0,14.57,14.50,14.59
$GC,17696,1.05,175.5,2719,2154,2366,2033,94.9,5.7,1408,17741,0.00,0.00,37.12,1.405,8230,0.000,0.000,2719,2153,2040,2213,1868,0,0,0,0,0,0,14.70,14.16,13.70
$GC,17916,1.09,218.7,2719,2153,2211,1863,81.7,5.5,1430,17963,0.12,0.00,41.22,1.358,10278,0.141,0.000,2776,2153,1865,2036,1695,0,0,0,0,0,0,14.36,13.97,13.53
$GC,18136,1.12,218.7,2776,2154,2029,1690,66.2,6.6,1452,18138,0.00,0.00,0.00,0.000,70,0.000,0.000,2776,2153,1859,2029,1690,0,0,0,0,0,0,14.42,14.46,14.45
$GC,18316,1.18,278.7,2776,2155,2028,1689,55.6,4.6,1470,18386,0.00,2.65,59.30,1.305,8484,0.000,0.125,2776,3555,1618,1775,1462,0,0,0,0,0,0,14.50,13.90,13.46
$GC,18440,1.21,278.7,2776,3555,1770,1463,48.8,6.2,1489,18452,0.00,2.47,0.00,0.000,1094,0.000,0.076,2785,2149,1615,1770,1461,0,0,0,0,0,0,14.13,14.08,14.16
$GC,18626,1.27,335.5,2785,2149,1765,1459,39.3,4.8,1508,18694,0.00,2.62,59.40,1.260,8740,0.000,0.112,2795,748,1388,1519,1258,0,0,0,0,0,0,14.40,13.85,13.43
$GC,18738,1.30,335.5,2795,749,1515,1258,33.1,6.2,1526,18748,0.00,2.55,0.00,0.000,1094,0.000,0.092,2795,2145,1385,1513,1258,0,0,0,0,0,0,14.06,14.00,14.09
$GC,18923,1.37,404.8,2795,2146,1510,1258,23.4,4.1,1545,19010,0.17,2.67,81.18,1.226,10532,0.113,0.123,2869,3560,1106,1220,993,0,0,0,0,0,0,14.22,13.76,13.34
$GC,19093,1.37,404.8,2869,3560,1216,994,11.7,7.8,1576,19104,0.00,2.50,0.00,0.000,1030,0.000,0.076,2879,2140,1104,1215,993,0,0,0,0,0,0,14.07,14.02,14.09
$STATE,19228,end climb,SURFACE_DEPTH_REACHED
$STATE,19228,begin surface coast
$FINISH,0.1,1.021239
$STATE,19248,end surface coast,CONTROL_FINISHED_OK
$STATE,19248,begin surface
$SM_CCo,19262,157.18,0.906,1,0,719,500.17
$SM_GC,0.44,8.02,0.45,157.18,0.085,0.106,0.906,191,1882,719,-6.85,1.05,500.17,0,0,0,0,1,0,14.21,14.18,13.30
$RAFOS_CLK,339
$MODEM,1,1569903033,74.08310,-144.87103,31.967,46831.2
$MODEM,1,1569888634,74.08310,-144.87103,32.775,48015.8
$MODEM,0,1569888368,74.83892,-145.28152,67.145,98366.9
$RAFOS_FIX,7400.037109,-14625.639648,011019,000034,2,510,0.00
$IRIDIUM_FIX,7401.35,-14629.43,300919,184754
$TT8_MAMPS,0.041944,0.645638
$HUMID,51.89
$INTERNAL_PRESSURE,8.12491
$TCM_TEMP,11.60
$XPDR_PINGS,8
$SC_FREEKB,3861408
$24V_AH,13.03,20.309
$10V_AH,13.06,0.000
$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,21.050,119.850,494.350,157.175,0.000,0.000,0.000,334.350,2.000,0.000,15.997,0.000,15253.903,646.062,3889.557,90.574,0.000,2496.205,0.000,2732.268,2195.000,0.531,0.000
$DEVICE_MAMPS,444.465,143.820,1809.225,905.760,0.000,0.000,0.000,200.430,420.000,0.000,20.970,0.000,2.310,11.820,29.040,41.030,0.000,12.900,0.000,5.000,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.956,0.000,0.000,0.000
$MEM,325948
$DATA_FILE_SIZE,53290,1592
$CAP_FILE_SIZE,183617,0
$CFSIZE,1024409600,1017987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.019,341.58,1
$GPS,011019,060640,7402.879,-14624.547,15,1.6,17,17.7,0.4,0.0,4,7.7