version: 66.13
glider: 198
mission: 13
dive: 167
start: 11 1 118 8 51 48
data:
$ID,198
$MISSION,13
$DIVE,167
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,390
$T_MISSION,470
$T_ABORT,1440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026
$HD_B,0.0129
$HD_C,2.4999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,25200
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2405
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017
$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,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$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,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.04
$_SM_ANGLEo,-9.9
$GPS2,011118,081639,7326.2817,-14709.9990,0,6255.0,0,22.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.221
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,220.3,61758,-15.3,-8.462,-20.95,2646
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.01,-146.0,2531,2233,1467,1701,0.0,0.0,0,64,0.00,0.00,-49.30,0.005,16390,0.000,0.000,2530,2233,3451,3417,3485,0,0,0,0,0,0,14.47,13.19,14.50
$GC,66,-1.01,-146.0,2531,2233,3418,3486,14.5,-8.3,5,72,1.23,2.40,0.00,0.000,4612,0.166,0.073,2157,855,3451,3417,3485,0,0,0,0,0,0,14.19,14.25,14.31
$GC,296,-1.01,-146.0,2158,855,3418,3486,62.5,-18.8,51,303,0.00,2.50,0.00,0.000,1030,0.000,0.083,2152,2258,3451,3417,3485,0,0,0,0,0,0,14.37,14.28,14.40
$GC,487,-1.01,-146.0,2153,2259,3417,3486,94.4,-15.2,71,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2258,3450,3416,3485,0,0,0,0,0,0,14.57,14.59,14.59
$GC,667,-1.01,-146.0,2152,2259,3417,3486,119.4,-13.9,89,673,0.00,2.45,0.00,0.000,516,0.000,0.074,2153,866,3451,3417,3485,0,0,0,0,0,0,14.59,14.35,14.62
$GC,732,-1.01,-146.0,2152,866,3418,3486,128.9,-14.5,102,739,0.00,2.45,0.00,0.000,1030,0.000,0.080,2152,2258,3451,3417,3485,0,0,0,0,0,0,14.42,14.34,14.46
$GC,917,-1.01,-146.0,2153,2258,3418,3485,152.9,-12.7,121,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2257,3451,3417,3485,0,0,0,0,0,0,14.63,14.66,14.65
$GC,1097,-1.01,-146.0,2152,2259,3417,3486,174.0,-11.8,139,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2258,3451,3417,3485,0,0,0,0,0,0,14.65,14.68,14.67
$GC,1277,-1.01,-146.0,2152,2258,3417,3485,194.8,-11.2,157,1283,0.00,2.40,0.00,0.000,516,0.000,0.074,2152,854,3451,3417,3485,0,0,0,0,0,0,14.66,14.42,14.68
$GC,1327,-1.01,-146.0,2153,853,3418,3485,200.6,-11.4,167,1334,0.00,2.45,0.00,0.000,1030,0.000,0.079,2152,2253,3450,3416,3485,0,0,0,0,0,0,14.47,14.40,14.50
$GC,1518,-1.01,-146.0,2152,2253,3418,3486,221.1,-10.4,187,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3450,3416,3485,0,0,0,0,0,0,14.67,14.70,14.68
$GC,1698,-1.01,-146.0,2153,2254,3418,3486,239.6,-9.8,205,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3450,3416,3485,0,0,0,0,0,0,14.68,14.71,14.70
$GC,1878,-1.01,-146.0,2153,2253,3418,3485,255.5,-8.6,219,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3451,3417,3485,0,0,0,0,0,0,14.69,14.72,14.71
$GC,2178,-1.01,-146.0,2152,2254,3418,3486,281.1,-8.1,229,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3451,3417,3485,0,0,0,0,0,0,14.71,14.74,14.73
$GC,2478,-1.01,-146.0,2152,2254,3418,3486,305.9,-8.3,239,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2253,3451,3417,3485,0,0,0,0,0,0,14.73,14.76,14.76
$GC,2778,-1.01,-146.0,2153,2254,3418,3486,329.8,-7.9,249,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2254,3450,3416,3485,0,0,0,0,0,0,14.74,14.77,14.77
$GC,3078,-1.01,-146.0,2152,2253,3418,3486,353.5,-8.0,259,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3451,3417,3485,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3378,-1.01,-146.0,2152,2253,3417,3486,376.3,-7.3,269,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3451,3417,3485,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3678,-1.01,-146.0,2152,2254,3417,3486,398.2,-7.3,279,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2253,3450,3416,3485,0,0,0,0,0,0,14.77,14.79,14.79
$GC,3978,-1.01,-146.0,2153,2254,3418,3485,420.8,-7.6,289,3984,0.00,2.40,0.00,0.000,516,0.000,0.073,2152,864,3451,3417,3485,0,0,0,0,0,0,14.77,14.50,14.79
$GC,4033,-1.01,-146.0,2153,865,3417,3485,425.1,-7.8,300,4040,0.00,2.42,0.00,0.000,1030,0.000,0.078,2152,2259,3451,3417,3485,0,0,0,0,0,0,14.54,14.40,14.55
$GC,4338,-1.01,-146.0,2152,2260,3418,3486,448.2,-7.5,311,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2259,3451,3417,3485,0,0,0,0,0,0,14.77,14.80,14.79
$GC,4638,-1.01,-146.0,2152,2260,3418,3486,471.0,-7.6,321,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3451,3418,3485,0,0,0,0,0,0,14.77,14.80,14.79
$GC,4938,-1.01,-146.0,2152,2259,3419,3486,494.1,-7.6,331,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3419,3485,0,0,0,0,0,0,14.77,14.81,14.80
$GC,5238,-1.01,-146.0,2152,2260,3420,3486,516.9,-7.6,341,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3419,3485,0,0,0,0,0,0,14.78,14.81,14.81
$GC,5538,-1.01,-146.0,2152,2260,3420,3486,539.2,-7.3,351,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3419,3485,0,0,0,0,0,0,14.79,14.82,14.81
$GC,5838,-1.01,-146.0,2152,2260,3421,3486,561.0,-7.3,361,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3420,3485,0,0,0,0,0,0,14.80,14.83,14.82
$GC,6138,-1.01,-146.0,2152,2260,3422,3486,583.1,-7.3,371,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3420,3485,0,0,0,0,0,0,14.80,14.83,14.83
$GC,6438,-1.01,-146.0,2153,2260,3423,3486,604.3,-7.0,381,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3453,3421,3485,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6738,-1.01,-146.0,2152,2260,3423,3486,625.9,-7.2,391,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3451,3417,3485,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7038,-1.01,-146.0,2158,2260,3424,3486,647.4,-7.1,401,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3454,3423,3485,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7338,-1.01,-146.0,2152,2260,3424,3485,668.6,-7.1,411,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2260,3454,3424,3485,0,0,0,0,0,0,14.79,14.83,14.83
$GC,7638,-1.01,-146.0,2153,2260,3425,3485,689.8,-7.1,421,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2260,3455,3425,3485,0,0,0,0,0,0,14.81,14.85,14.83
$GC,7939,-1.01,-146.0,2152,2260,3426,3485,710.8,-7.0,431,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3455,3425,3485,0,0,0,0,0,0,14.81,14.84,14.83
$GC,8238,-1.01,-146.0,2152,2260,3426,3486,731.8,-7.1,441,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3456,3426,3486,0,0,0,0,0,0,14.80,14.85,14.84
$GC,8538,-1.01,-146.0,2152,2260,3428,3486,752.6,-6.9,451,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3456,3427,3485,0,0,0,0,0,0,14.81,14.84,14.83
$GC,8838,-1.01,-146.0,2153,2260,3429,3486,773.3,-6.8,461,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3456,3428,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,9138,-1.01,-146.0,2152,2261,3429,3486,793.4,-6.7,471,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3456,3428,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,9438,-1.01,-146.0,2153,2259,3429,3486,813.6,-6.7,481,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2256,3456,3428,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,9738,-1.01,-146.0,2152,2260,3431,3486,834.1,-6.8,491,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2260,3457,3429,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,10039,-1.01,-146.0,2153,2260,3431,3486,854.2,-6.7,501,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3457,3430,3485,0,0,0,0,0,0,14.82,14.84,14.84
$GC,10338,-1.01,-146.0,2152,2260,3431,3486,874.4,-6.7,511,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3457,3430,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,10638,-1.01,-146.0,2153,2260,3432,3486,894.3,-6.7,521,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3458,3431,3485,0,0,0,0,0,0,14.82,14.85,14.85
$GC,10938,-1.01,-146.0,2153,2260,3432,3486,914.2,-6.6,531,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3458,3431,3485,0,0,0,0,0,0,14.82,14.85,14.84
$GC,11248,-1.01,-146.0,2152,2259,3433,3486,933.8,-6.5,541,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3458,3431,3485,0,0,0,0,0,0,14.77,14.80,14.79
$GC,11538,-1.01,-146.0,2152,2260,3433,3486,953.4,-6.6,551,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3461,3431,3491,0,0,0,0,0,0,14.71,14.74,14.73
$GC,11839,-1.01,-146.0,2149,2260,3434,3486,973.1,-6.7,561,11844,0.00,2.58,0.00,0.000,260,0.000,0.125,2149,3669,3459,3432,3486,0,0,0,0,0,0,14.68,14.38,14.70
$GC,11923,-1.01,-146.0,2152,3668,3433,3486,979.2,-6.9,578,11930,0.00,2.38,0.00,0.000,1030,0.000,0.051,2152,2231,3458,3432,3485,0,0,0,0,0,0,14.55,14.49,14.57
$STATE,12107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12107,begin apogee
$GC,12111,-0.25,0.0,2153,2604,3432,3486,991.2,-6.5,585,12253,0.70,0.00,139.55,2.383,10246,0.225,0.000,2346,2600,2854,2694,3014,0,0,0,0,0,0,14.28,13.56,12.76
$STATE,12254,end apogee,CONTROL_FINISHED_OK
$STATE,12254,begin climb
$GC,12256,1.01,146.0,2347,2604,2693,3015,993.2,0.0,589,12409,1.02,0.00,145.60,2.315,10246,0.145,0.000,2649,2604,2259,2064,2455,0,0,0,0,0,0,13.52,12.94,12.17
$GC,12709,1.01,146.0,2649,2604,2052,2455,948.5,11.1,605,12714,0.00,2.33,0.00,0.000,260,0.000,0.134,2649,3802,2252,2051,2454,0,0,0,0,0,0,13.98,13.74,14.00
$GC,12754,1.01,146.0,2650,3806,2053,2454,942.8,12.6,614,12759,0.00,2.12,0.00,0.000,1030,0.000,0.058,2657,2599,2253,2051,2455,0,0,0,0,0,0,13.94,13.87,13.96
$GC,13069,1.01,146.0,2657,2599,2050,2454,906.4,11.6,627,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2598,2251,2049,2454,0,0,0,0,0,0,14.32,14.35,14.34
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$STATE,22416,end climb,FINISH_DEPTH_REACHED
$STATE,22416,begin subsurface finish
$FINISH1,9.7,1.021906,286
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$FINISH2,8.5
$STATE,22436,end subsurface finish,CONTROL_FINISHED_OK
$STATE,22436,begin surface
$RAFOS_CLK,604
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$IRIDIUM_FIX,7446.20,-14627.68,151018,080851
$TT8_MAMPS,0.038948,0.980441
$HUMID,52.20
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$SC_FREEKB,3896800
$24V_AH,12.17,75.314
$10V_AH,12.66,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.273,0.000,0.000,0.000
$MEM,326504
$DATA_FILE_SIZE,46633,1316
$CAP_FILE_SIZE,157310,0
$CFSIZE,260157440,235118592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
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