version: 66.13
glider: 196
mission: 20
dive: 44
start: 10 4 119 16 44 35
data:
$ID,196
$MISSION,20
$DIVE,44
$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,17
$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
$GPS1,041019,163603,7434.5361,-14533.3213,56,1.0,56,22.9,0.0,0.0,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.0
$GPS2,041019,164356,7434.5635,-14533.3730,7,0.9,10,22.9,0.0,0.0,9,9.0
$SPEED_LIMITS,0.136,0.170
$TGT_NAME,1
$TGT_LATLONG,7434.900,-14533.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,329.6,626,-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
$MODEM_MSG,CACST,6,1,20191004160520.192887,06,32767,45,0119,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*33
$MODEM_MSG,CACST,6,1,20191004161039.578241,06,24617,43,0226,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$MODEM_MSG,CACST,6,1,20191004161624.962914,06,3573,35,0106,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*07
$GC,8,-0.88,-61.7,255,1943,986,1044,0.0,0.0,0,92,0.00,0.00,-82.75,0.003,16386,0.000,0.000,254,1942,2295,2237,2354,0,0,0,0,0,0,14.30,28.83,14.33
$GC,94,-0.88,-61.7,250,1943,2240,2356,6.1,-10.5,8,128,11.57,2.65,-18.35,0.008,19204,0.443,0.132,2421,538,3105,3188,3022,0,0,0,0,0,0,13.97,13.26,14.15
$GC,352,-0.88,-61.7,2421,539,3189,3025,83.4,-21.4,59,359,0.00,2.38,0.00,0.000,1030,0.000,0.091,2419,1845,3107,3189,3025,0,0,0,0,0,0,14.35,14.28,14.38
$GC,537,-0.88,-61.7,2419,1846,3189,3025,116.7,-17.0,78,544,0.00,2.40,0.00,0.000,516,0.000,0.112,2421,543,3106,3188,3024,0,0,0,0,0,0,14.51,14.33,14.54
$GC,768,-0.88,-61.7,2419,544,3189,3025,156.7,-17.3,124,774,0.00,2.35,0.00,0.000,1030,0.000,0.091,2419,1850,3106,3188,3024,0,0,0,0,0,0,14.47,14.40,14.50
$GC,958,-0.88,-61.7,2419,1850,3189,3025,186.2,-14.8,144,964,0.00,2.40,0.00,0.000,516,0.000,0.113,2420,541,3106,3188,3024,0,0,0,0,0,0,14.62,14.41,14.64
$GC,1188,-0.88,-61.7,2419,542,3189,3025,221.9,-15.1,190,1194,0.00,2.35,0.00,0.000,1030,0.000,0.091,2419,1852,3107,3190,3024,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1378,-0.88,-61.7,2419,1853,3189,3024,248.5,-13.8,210,1385,0.00,2.40,0.00,0.000,516,0.000,0.114,2419,542,3106,3189,3024,0,0,0,0,0,0,14.68,14.47,14.70
$GC,1469,-0.88,-61.7,2419,542,3189,3024,261.3,-13.8,228,1475,0.00,2.35,0.00,0.000,1030,0.000,0.093,2419,1849,3106,3188,3024,0,0,0,0,0,0,14.57,14.50,14.59
$GC,1799,-0.88,-61.7,2419,1850,3189,3025,301.4,-11.4,244,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1850,3106,3189,3024,0,0,0,0,0,0,14.71,14.75,14.75
$GC,2099,-0.88,-61.7,2419,1850,3189,3025,332.3,-10.0,254,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1849,3106,3189,3024,0,0,0,0,0,0,14.77,14.78,14.77
$GC,2399,-0.88,-61.7,2419,1850,3189,3025,360.0,-9.0,264,2405,0.00,2.40,0.00,0.000,516,0.000,0.116,2419,536,3106,3189,3024,0,0,0,0,0,0,14.76,14.54,14.79
$GC,2509,-0.88,-61.7,2419,535,3189,3024,370.6,-9.7,286,2516,0.00,2.35,0.00,0.000,1030,0.000,0.092,2419,1853,3105,3188,3023,0,0,0,0,0,0,14.64,14.57,14.67
$GC,2820,-0.88,-61.7,2419,1853,3189,3023,399.3,-9.3,298,2827,0.00,2.53,0.00,0.000,260,0.000,0.111,2419,3255,3105,3188,3023,0,0,0,0,0,0,14.79,14.57,14.80
$GC,2880,-0.88,-61.7,2419,3255,3189,3024,405.0,-9.3,310,2887,0.00,2.28,0.00,0.000,1030,0.000,0.075,2419,1945,3105,3188,3023,0,0,0,0,0,0,14.65,14.59,14.69
$GC,3211,-0.88,-61.7,2419,1945,3189,3024,433.0,-8.3,326,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1945,3105,3188,3023,0,0,0,0,0,0,14.78,14.82,14.81
$GC,3511,-0.88,-61.7,2419,1945,3189,3024,457.9,-8.2,336,3517,0.00,2.55,0.00,0.000,516,0.000,0.116,2419,538,3106,3189,3023,0,0,0,0,0,0,14.83,14.58,14.86
$GC,3551,-0.88,-61.7,2419,538,3189,3023,461.4,-8.9,344,3557,0.00,2.33,0.00,0.000,1030,0.000,0.090,2419,1852,3106,3189,3023,0,0,0,0,0,0,14.66,14.59,14.70
$GC,3871,-0.88,-61.7,2419,1853,3190,3024,487.7,-8.2,358,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3189,3022,0,0,0,0,0,0,14.83,14.87,14.86
$GC,4171,-0.88,-61.7,2419,1853,3189,3023,512.2,-8.1,368,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3188,3023,0,0,0,0,0,0,14.80,14.83,14.83
$GC,4471,-0.88,-61.7,2419,1853,3196,3023,536.2,-7.9,378,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3189,3022,0,0,0,0,0,0,14.81,14.85,14.84
$GC,4771,-0.88,-61.7,2419,1853,3189,3023,559.7,-7.8,388,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3188,3022,0,0,0,0,0,0,14.81,14.85,14.84
$GC,5071,-0.88,-61.7,2419,1853,3189,3024,582.9,-7.7,398,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3188,3022,0,0,0,0,0,0,14.83,14.85,14.85
$GC,5371,-0.88,-61.7,2419,1852,3190,3023,605.6,-7.5,408,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3188,3023,0,0,0,0,0,0,14.83,14.86,14.85
$GC,5671,-0.88,-61.7,2419,1853,3189,3023,628.2,-7.6,418,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3106,3189,3023,0,0,0,0,0,0,14.83,14.87,14.86
$GC,5971,-0.88,-61.7,2419,1853,3189,3023,650.8,-7.5,428,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1851,3105,3188,3023,0,0,0,0,0,0,14.84,14.88,14.87
$GC,6271,-0.88,-61.7,2419,1853,3189,3021,673.1,-7.4,438,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1852,3105,3188,3022,0,0,0,0,0,0,14.84,14.88,14.88
$GC,6571,-0.88,-61.7,2419,1853,3189,3024,695.2,-7.4,448,6577,0.00,2.53,0.00,0.000,260,0.000,0.109,2419,3260,3105,3189,3022,0,0,0,0,0,0,14.84,14.64,14.87
$GC,6671,-0.88,-61.7,2419,3260,3189,3023,702.6,-7.4,468,6677,0.00,2.28,0.00,0.000,1030,0.000,0.073,2419,1940,3106,3189,3023,0,0,0,0,0,0,14.72,14.66,14.75
$GC,6992,-0.88,-61.7,2419,1941,3189,3023,725.6,-7.1,482,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1941,3106,3189,3023,0,0,0,0,0,0,14.83,14.87,14.87
$GC,7291,-0.88,-61.7,2419,1941,3189,3023,747.4,-7.3,492,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1940,3105,3189,3022,0,0,0,0,0,0,14.83,14.88,14.87
$GC,7591,-0.88,-61.7,2419,1941,3189,3024,769.4,-7.1,502,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1940,3105,3188,3023,0,0,0,0,0,0,14.84,14.88,14.87
$GC,7891,-0.88,-61.7,2419,1941,3189,3023,791.5,-7.3,512,7897,0.00,2.38,0.00,0.000,260,0.000,0.109,2419,3264,3106,3189,3023,0,0,0,0,0,0,14.85,14.64,14.88
$GC,7951,-0.88,-61.7,2419,3265,3189,3023,796.0,-7.6,524,7957,0.00,2.28,0.00,0.000,1030,0.000,0.070,2419,1941,3106,3189,3023,0,0,0,0,0,0,14.73,14.67,14.75
$GC,8281,-0.88,-61.7,2419,1942,3189,3023,819.8,-7.1,540,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1941,3106,3189,3023,0,0,0,0,0,0,14.84,14.88,14.87
$GC,8581,-0.88,-61.7,2419,1942,3189,3023,840.9,-7.0,550,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1941,3103,3184,3023,0,0,0,0,0,0,14.84,14.88,14.87
$GC,8882,-0.88,-61.7,2419,1942,3190,3024,862.2,-7.1,560,8887,0.00,2.38,0.00,0.000,260,0.000,0.109,2419,3269,3105,3188,3022,0,0,0,0,0,0,14.85,14.64,14.87
$GC,8956,-0.88,-61.7,2419,3270,3189,3023,867.7,-7.4,575,8962,0.00,2.28,0.00,0.000,1030,0.000,0.070,2419,1943,3105,3188,3023,0,0,0,0,0,0,14.73,14.66,14.76
$GC,9271,-0.88,-61.7,2419,1944,3189,3021,889.8,-6.9,588,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1943,3105,3189,3022,0,0,0,0,0,0,14.84,14.88,14.87
$GC,9571,-0.88,-61.7,2419,1944,3189,3024,910.6,-7.0,598,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1943,3106,3189,3023,0,0,0,0,0,0,14.84,14.88,14.87
$GC,9871,-0.88,-61.7,2419,1944,3190,3024,931.4,-6.9,608,9878,0.00,2.35,0.00,0.000,260,0.000,0.108,2419,3258,3105,3188,3023,0,0,0,0,0,0,14.85,14.64,14.88
$GC,9932,-0.88,-61.7,2419,3259,3189,3023,935.6,-7.0,620,9938,0.00,2.28,0.00,0.000,1030,0.000,0.073,2419,1940,3106,3189,3023,0,0,0,0,0,0,14.73,14.66,14.76
$GC,10262,-0.88,-61.7,2419,1940,3190,3023,957.9,-6.7,636,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1940,3105,3189,3022,0,0,0,0,0,0,14.84,14.88,14.87
$GC,10562,-0.88,-61.7,2419,1940,3189,3023,977.7,-6.6,646,10568,0.00,2.38,0.00,0.000,260,0.000,0.109,2419,3261,3105,3188,3023,0,0,0,0,0,0,14.84,14.62,14.87
$GC,10647,-0.88,-61.7,2419,3262,3189,3023,983.5,-6.9,663,10655,0.00,2.28,0.00,0.000,1030,0.000,0.076,2419,1940,3106,3189,3023,0,0,0,0,0,0,14.72,14.66,14.76
$STATE,10771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10771,begin apogee
$GC,10774,-0.17,0.0,2419,2035,3188,3023,991.7,-6.6,668,10847,0.90,0.00,69.75,2.534,10246,0.269,0.000,2651,2034,2850,2962,2738,0,0,0,0,0,0,14.53,13.97,13.07
$STATE,10848,end apogee,CONTROL_FINISHED_OK
$STATE,10848,begin climb
$GC,10849,0.88,61.7,2652,2035,2961,2738,993.4,0.0,670,10925,1.17,0.00,69.80,2.469,10246,0.155,0.000,2991,2035,2598,2703,2493,0,0,0,0,0,0,13.93,13.67,12.83
$GC,11222,0.88,61.7,2991,2036,2697,2484,958.9,10.1,683,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2035,2592,2697,2487,0,0,0,0,0,0,14.37,14.40,14.40
$GC,11522,0.88,61.7,2991,2036,2697,2483,929.2,9.9,693,11528,0.00,2.58,0.00,0.000,260,0.000,0.112,2991,3437,2589,2696,2482,0,0,0,0,0,0,14.52,14.34,14.55
$GC,11643,0.88,61.7,2991,3438,2695,2481,915.8,11.3,717,11648,0.00,2.33,0.00,0.000,1030,0.000,0.076,2991,2117,2589,2696,2482,0,0,0,0,0,0,14.45,14.40,14.48
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$STATE,23306,end climb,SURFACE_DEPTH_REACHED
$STATE,23306,begin surface coast
$FINISH,0.4,1.021278
$STATE,23326,end surface coast,CONTROL_FINISHED_OK
$STATE,23326,begin surface
$SM_CCo,23340,78.60,0.685,1,0,1015,450.13
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$RAFOS_CLK,318
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$MODEM,2,1570205784,75.67648,-146.03058,84.963,123354.7
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$IRIDIUM_FIX,7436.35,-14533.66,041019,101654
$TT8_MAMPS,0.038948,0.300349
$HUMID,50.63
$INTERNAL_PRESSURE,8.76082
$TCM_TEMP,12.10
$XPDR_PINGS,137
$SC_FREEKB,3850112
$24V_AH,12.83,27.665
$10V_AH,13.01,0.000
$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
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.979,0.000,0.000,0.000
$MEM,334600
$DATA_FILE_SIZE,56604,1637
$CAP_FILE_SIZE,184268,0
$CFSIZE,1047117824,1036959744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1452.0
$CURRENT,0.072,344.59,1
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