version: 66.13
glider: 196
mission: 20
dive: 41
start: 10 3 119 21 10 41
data:
$ID,196
$MISSION,20
$DIVE,41
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$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,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,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,53734
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.0139236
$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,450
$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,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,19
$PITCH_AD_RATE,165
$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,15
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$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,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$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,-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,0
$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
$GPS1,031019,210157,7434.9268,-14532.0811,71,0.8,72,22.9,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.3
$GPS2,031019,211004,7434.9736,-14532.1855,7,0.8,12,22.9,0.0,336.9,10,8.1
$SPEED_LIMITS,0.136,0.170
$TGT_NAME,1
$TGT_LATLONG,7434.900,-14533.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,201.6,662,-24.1,-7.857,-30.00,1199
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.88,-61.7,265,1937,994,1030,0.0,0.0,0,82,0.00,0.00,-72.72,0.003,16386,0.000,0.000,265,1937,2105,2022,2189,0,0,0,0,0,0,14.39,28.83,14.42
$GC,84,-0.88,-61.7,265,1937,2031,2191,4.7,-6.9,7,129,11.38,2.60,-25.48,0.007,18948,0.441,0.135,2418,540,3107,3190,3024,0,0,0,0,0,0,14.00,13.31,14.20
$GC,353,-0.88,-61.7,2415,541,3191,3026,83.1,-22.5,60,360,0.00,2.38,0.00,0.000,1030,0.000,0.094,2418,1848,3107,3190,3025,0,0,0,0,0,0,14.36,14.31,14.40
$GC,538,-0.88,-61.7,2418,1849,3191,3026,117.4,-16.7,79,544,0.00,2.40,0.00,0.000,516,0.000,0.112,2418,541,3108,3191,3025,0,0,0,0,0,0,14.54,14.34,14.57
$GC,768,-0.88,-61.7,2418,542,3191,3026,157.6,-17.0,125,775,0.00,2.35,0.00,0.000,1030,0.000,0.093,2417,1848,3107,3190,3025,0,0,0,0,0,0,14.49,14.42,14.52
$GC,959,-0.88,-61.7,2418,1849,3191,3026,187.3,-15.5,145,965,0.00,2.40,0.00,0.000,516,0.000,0.113,2419,537,3107,3190,3025,0,0,0,0,0,0,14.64,14.42,14.66
$GC,1034,-0.88,-61.7,2417,538,3191,3026,199.5,-15.8,160,1042,0.00,2.35,0.00,0.000,1030,0.000,0.096,2418,1846,3108,3191,3025,0,0,0,0,0,0,14.52,14.46,14.55
$GC,1219,-0.88,-61.7,2417,1847,3191,3026,226.9,-14.6,179,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1846,3107,3190,3025,0,0,0,0,0,0,14.66,14.70,14.69
$GC,1419,-0.88,-61.7,2418,1847,3192,3026,254.1,-13.3,197,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1847,3107,3190,3025,0,0,0,0,0,0,14.73,14.76,14.76
$GC,1719,-0.88,-61.7,2418,1848,3191,3026,290.3,-11.4,207,1725,0.00,2.38,0.00,0.000,516,0.000,0.115,2418,540,3107,3190,3025,0,0,0,0,0,0,14.76,14.50,14.78
$GC,1769,-0.88,-61.7,2418,541,3191,3026,295.9,-11.2,217,1776,0.00,2.35,0.00,0.000,1030,0.000,0.094,2418,1854,3107,3190,3025,0,0,0,0,0,0,14.64,14.53,14.64
$GC,2080,-0.88,-61.7,2419,1854,3191,3025,327.7,-10.0,229,2087,0.00,2.40,0.00,0.000,516,0.000,0.116,2417,534,3107,3190,3025,0,0,0,0,0,0,14.78,14.52,14.81
$GC,2246,-0.88,-61.7,2418,535,3191,3026,345.1,-10.4,262,2252,0.00,2.35,0.00,0.000,1030,0.000,0.095,2418,1852,3108,3191,3025,0,0,0,0,0,0,14.62,14.55,14.64
$GC,2561,-0.88,-61.7,2418,1853,3191,3025,374.1,-8.9,275,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1852,3107,3190,3024,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2861,-0.88,-61.7,2418,1853,3191,3025,400.3,-8.8,285,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1852,3107,3190,3024,0,0,0,0,0,0,14.81,14.84,14.83
$GC,3161,-0.88,-61.7,2418,1853,3191,3025,426.4,-8.6,295,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1852,3107,3190,3024,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3461,-0.88,-61.7,2418,1853,3191,3025,451.4,-8.3,305,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1852,3107,3190,3024,0,0,0,0,0,0,14.83,14.86,14.85
$GC,3761,-0.88,-61.7,2418,1853,3191,3025,476.2,-8.2,315,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1852,3107,3191,3024,0,0,0,0,0,0,14.84,14.88,14.87
$GC,4061,-0.88,-61.7,2418,1853,3191,3025,500.6,-8.1,325,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1852,3107,3190,3025,0,0,0,0,0,0,14.88,14.88,14.87
$GC,4361,-0.88,-61.7,2418,1853,3191,3025,525.4,-8.3,335,4367,0.00,2.53,0.00,0.000,260,0.000,0.113,2418,3260,3107,3190,3024,0,0,0,0,0,0,14.81,14.61,14.84
$GC,4376,-0.88,-61.7,2418,3261,3193,3025,526.6,-8.2,338,4382,0.00,2.25,0.00,0.000,1030,0.000,0.073,2418,1947,3107,3190,3024,0,0,0,0,0,0,14.69,14.64,14.73
$GC,4691,-0.88,-61.7,2418,1947,3191,3025,551.9,-8.0,351,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1946,3107,3190,3025,0,0,0,0,0,0,14.81,14.85,14.84
$GC,4991,-0.88,-61.7,2418,1947,3191,3025,575.4,-7.7,361,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1946,3107,3190,3024,0,0,0,0,0,0,14.82,14.85,14.85
$GC,5292,-0.88,-61.7,2418,1947,3191,3025,598.3,-7.6,371,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1952,3107,3190,3025,0,0,0,0,0,0,14.83,14.86,14.85
$GC,5591,-0.88,-61.7,2418,1948,3191,3025,620.9,-7.5,381,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1946,3107,3190,3025,0,0,0,0,0,0,14.83,14.86,14.85
$GC,5891,-0.88,-61.7,2418,1947,3191,3025,643.2,-7.4,391,5897,0.00,2.55,0.00,0.000,516,0.000,0.119,2418,534,3107,3190,3024,0,0,0,0,0,0,14.83,14.62,14.86
$GC,5946,-0.88,-61.7,2418,535,3191,3025,647.6,-8.1,402,5954,0.00,2.33,0.00,0.000,1030,0.000,0.090,2418,1855,3107,3190,3024,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6251,-0.88,-61.7,2418,1856,3191,3026,670.3,-7.4,413,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1855,3108,3191,3025,0,0,0,0,0,0,14.83,14.87,14.86
$GC,6551,-0.88,-61.7,2418,1856,3191,3025,692.3,-7.2,423,6557,0.00,2.53,0.00,0.000,260,0.000,0.112,2418,3266,3107,3190,3024,0,0,0,0,0,0,14.83,14.63,14.86
$GC,6611,-0.88,-61.7,2418,3267,3191,3025,696.8,-7.5,435,6617,0.00,2.28,0.00,0.000,1030,0.000,0.075,2418,1946,3107,3191,3024,0,0,0,0,0,0,14.71,14.65,14.75
$GC,6941,-0.88,-61.7,2418,1946,3192,3025,720.8,-7.3,451,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1945,3111,3198,3024,0,0,0,0,0,0,14.83,14.87,14.86
$GC,7241,-0.88,-61.7,2418,1946,3191,3025,742.6,-7.3,461,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1945,3107,3190,3024,0,0,0,0,0,0,14.83,14.87,14.87
$GC,7541,-0.88,-61.7,2418,1945,3191,3026,764.6,-7.3,471,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1946,3107,3191,3024,0,0,0,0,0,0,14.84,14.88,14.87
$GC,7841,-0.88,-61.7,2418,1946,3191,3026,786.2,-7.3,481,7848,0.00,2.35,0.00,0.000,260,0.000,0.110,2418,3257,3107,3190,3025,0,0,0,0,0,0,14.88,14.64,14.88
$GC,7912,-0.88,-61.7,2418,3256,3191,3025,791.5,-7.5,495,7918,0.00,2.28,0.00,0.000,1030,0.000,0.078,2418,1942,3108,3191,3026,0,0,0,0,0,0,14.72,14.66,14.75
$GC,8232,-0.88,-61.7,2418,1942,3191,3025,814.9,-7.3,509,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1942,3107,3190,3025,0,0,0,0,0,0,14.83,14.87,14.86
$GC,8532,-0.88,-61.7,2418,1942,3191,3026,836.6,-7.2,519,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1941,3107,3190,3025,0,0,0,0,0,0,14.84,14.87,14.86
$GC,8832,-0.88,-61.7,2418,1942,3188,3026,858.0,-7.2,529,8839,0.00,2.35,0.00,0.000,260,0.000,0.109,2418,3257,3107,3190,3025,0,0,0,0,0,0,14.89,14.64,14.92
$GC,8893,-0.88,-61.7,2418,3258,3192,3026,862.4,-7.5,541,8900,0.00,2.28,0.00,0.000,1030,0.000,0.077,2417,1940,3108,3191,3025,0,0,0,0,0,0,14.72,14.66,14.75
$GC,9224,-0.88,-61.7,2417,1940,3191,3026,886.1,-7.0,557,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1940,3107,3190,3025,0,0,0,0,0,0,14.83,14.87,14.86
$GC,9524,-0.88,-61.7,2418,1941,3191,3026,907.3,-7.1,567,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1940,3108,3191,3025,0,0,0,0,0,0,14.83,14.87,14.86
$GC,9824,-0.88,-61.7,2418,1940,3191,3026,928.7,-7.1,577,9830,0.00,2.35,0.00,0.000,260,0.000,0.112,2418,3253,3108,3191,3026,0,0,0,0,0,0,14.84,14.64,14.87
$GC,9869,-0.88,-61.7,2418,3254,3191,3026,932.9,-7.5,586,9875,0.00,2.28,0.00,0.000,1030,0.000,0.079,2418,1937,3108,3191,3026,0,0,0,0,0,0,14.71,14.66,14.76
$GC,10184,-0.88,-61.7,2417,1938,3190,3027,954.1,-6.9,599,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1937,3108,3191,3026,0,0,0,0,0,0,14.83,14.87,14.86
$GC,10484,-0.88,-61.7,2421,1937,3191,3027,974.8,-6.9,609,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1937,3108,3190,3026,0,0,0,0,0,0,14.80,14.83,14.83
$STATE,10723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10723,begin apogee
$GC,10726,-0.17,0.0,2418,2034,3192,3028,991.5,-6.9,617,10800,0.93,0.00,71.10,2.546,10246,0.273,0.000,2654,2033,2850,2965,2736,0,0,0,0,0,0,14.47,13.90,13.02
$STATE,10801,end apogee,CONTROL_FINISHED_OK
$STATE,10801,begin climb
$GC,10802,0.88,61.7,2654,2033,2964,2736,993.3,0.0,619,10881,1.15,2.53,69.20,2.472,10756,0.157,0.114,2988,718,2598,2706,2490,0,0,0,0,0,0,13.85,13.63,12.79
$GC,10910,0.88,61.7,2989,719,2702,2489,985.7,9.3,640,10916,0.00,2.45,0.00,0.000,1030,0.000,0.090,2989,2022,2595,2702,2488,0,0,0,0,0,0,13.86,13.79,13.88
$GC,11225,0.88,61.7,2989,2022,2701,2483,954.3,10.0,653,11232,0.00,2.65,0.00,0.000,260,0.000,0.111,2988,3446,2589,2699,2480,0,0,0,0,0,0,14.31,14.16,14.35
$GC,11281,0.88,61.7,2989,3447,2700,2483,948.1,11.3,664,11288,0.00,2.38,0.00,0.000,1030,0.000,0.080,2988,2123,2591,2700,2482,0,0,0,0,0,0,14.26,14.20,14.28
$GC,11586,0.88,61.7,2989,2120,2699,2482,917.4,10.0,675,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2123,2590,2699,2481,0,0,0,0,0,0,14.46,14.50,14.50
$GC,11886,0.88,61.7,2989,2124,2699,2481,887.4,10.0,685,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2123,2589,2698,2480,0,0,0,0,0,0,14.57,14.59,14.59
$GC,12186,0.88,61.7,2990,2124,2706,2480,857.7,9.9,695,12192,0.00,2.42,0.00,0.000,260,0.000,0.107,2988,3449,2588,2697,2480,0,0,0,0,0,0,14.55,14.38,14.59
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$STATE,23149,end climb,SURFACE_DEPTH_REACHED
$STATE,23149,begin surface coast
$FINISH,1.3,1.021240
$STATE,23164,end surface coast,CONTROL_FINISHED_OK
$STATE,23164,begin surface
$SM_CCo,23181,113.70,0.916,1,0,1015,450.13
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$RAFOS_CLK,358
$MODEM,0,1570147520,74.83892,-145.28152,20.225,29371.3
$RAFOS_FIX,7434.969727,-14530.691406,041019,000020,1,2,0.07
$IRIDIUM_FIX,7431.76,-14536.13,031019,141142
$TT8_MAMPS,0.039697,1.09354
$HUMID,50.78
$INTERNAL_PRESSURE,8.77058
$TCM_TEMP,13.50
$XPDR_PINGS,125
$SC_FREEKB,3852032
$24V_AH,12.79,26.218
$10V_AH,12.91,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.875,154.175,518.100,113.700,0.000,0.000,0.000,351.125,31.250,0.000,22.800,0.000,19095.693,954.376,3615.848,118.749,0.000,2530.531,0.000,2442.490,2195.000,0.532,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23192.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.790,0.000,0.000,0.000
$MEM,334520
$DATA_FILE_SIZE,56685,1603
$CAP_FILE_SIZE,188548,0
$CFSIZE,1047117824,1037385728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.036,334.14,1
$GPS,041019,034105,7433.994,-14537.375,95,0.8,95,22.9,1.0,329.1,9,4.9