version: 66.13
glider: 196
mission: 20
dive: 92
start: 10 19 119 9 9 53
data:
$ID,196
$MISSION,20
$DIVE,92
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$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,1
$ICE_FREEZE_MARGIN,0.1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$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,-120
$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,40
$PITCH_AD_RATE,20
$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,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$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,800
$PITCH_VBD_SHIFT,0.0013
$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,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$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,-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,6
$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
$GPS1,191019,083539,7521.0537,-14443.1455,0,3510.0,0,23.3,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.91
$_SM_ANGLEo,-10.3
$GPS2,191019,083539,7521.0537,-14443.1455,0,3510.0,0,23.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,8.3,21147,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$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
$STATE,6,begin dive
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$MODEM_MSG,CACST,6,1,20191019122020.628907,06,32767,45,0114,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.2,0.53,-100,2.47,-01,-0.05,68,925,0025*23
$MODEM_MSG,CACST,6,1,20191019123537.445664,06,14408,41,0169,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.8,0.41,-100,2.59,-01,0.00,67,925,0025*05
$GC,13056,-0.73,-97.3,2477,1932,3251,3065,978.5,-5.2,754,13058,0.00,0.00,0.00,0.000,38,0.000,0.000,2476,1931,3154,3244,3064,0,0,0,0,0,0,14.74,14.77,14.76
$STATE,13294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13294,begin apogee
$GC,13298,-0.17,0.0,2477,2039,3250,3065,991.1,-5.2,762,13406,0.68,0.00,105.55,2.411,10246,0.236,0.000,2656,2038,2757,2881,2634,0,0,0,0,0,0,14.44,13.81,12.97
$STATE,13407,end apogee,CONTROL_FINISHED_OK
$STATE,13407,begin climb
$GC,13408,0.73,97.3,2657,2038,2879,2635,992.9,0.0,765,13516,1.02,0.00,104.10,2.347,10246,0.149,0.000,2952,2038,2360,2490,2231,0,0,0,0,0,0,13.78,13.40,12.59
$GC,13866,0.73,97.3,2952,2039,2481,2222,947.4,10.6,781,13867,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2038,2350,2480,2221,0,0,0,0,0,0,14.31,14.34,14.33
$GC,14226,0.73,97.3,2952,2039,2480,2221,909.7,10.5,793,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2038,2349,2478,2220,0,0,0,0,0,0,14.54,14.57,14.57
$GC,14585,0.73,97.3,2952,2038,2479,2221,871.9,10.6,805,14587,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2038,2348,2478,2219,0,0,0,0,0,0,14.65,14.69,14.68
$GC,14945,0.73,97.3,2952,2038,2478,2220,834.1,10.5,817,14951,0.00,2.58,0.00,0.000,260,0.000,0.112,2952,3456,2353,2478,2228,0,0,0,0,0,0,14.72,14.50,14.75
$GC,14990,0.73,97.3,2952,3463,2478,2220,829.0,11.9,826,14997,0.00,2.38,0.00,0.000,1030,0.000,0.077,2952,2118,2348,2478,2219,0,0,0,0,0,0,14.59,14.52,14.62
$GC,15366,0.73,97.3,2952,2119,2478,2220,790.0,10.1,841,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2118,2348,2477,2220,0,0,0,0,0,0,14.75,14.78,14.78
$GC,15726,0.73,97.3,2952,2119,2477,2220,753.8,10.0,853,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2119,2348,2477,2219,0,0,0,0,0,0,14.78,14.81,14.81
$GC,16086,0.73,97.3,2952,2119,2479,2220,717.1,10.3,865,16092,0.00,2.42,0.00,0.000,260,0.000,0.109,2952,3437,2348,2477,2219,0,0,0,0,0,0,14.80,14.57,14.83
$GC,16121,0.73,97.3,2953,3438,2478,2220,713.2,11.7,872,16127,0.00,2.33,0.00,0.000,1030,0.000,0.076,2952,2119,2348,2477,2219,0,0,0,0,0,0,14.66,14.59,14.69
$GC,16506,0.73,97.3,2952,2120,2477,2220,672.8,10.5,889,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2119,2348,2477,2219,0,0,0,0,0,0,14.81,14.84,14.83
$GC,16866,0.73,97.3,2953,2120,2478,2220,635.5,10.2,901,16868,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2119,2348,2477,2219,0,0,0,0,0,0,14.86,14.90,14.90
$GC,17226,0.73,97.3,2952,2120,2477,2220,599.5,10.0,913,17232,0.00,2.42,0.00,0.000,260,0.000,0.109,2958,3444,2348,2477,2219,0,0,0,0,0,0,14.88,14.59,14.90
$GC,17261,0.73,97.3,2952,3445,2477,2220,595.6,11.2,920,17267,0.00,2.33,0.00,0.000,1030,0.000,0.076,2953,2123,2348,2477,2219,0,0,0,0,0,0,14.69,14.62,14.71
$GC,17646,0.73,97.3,2952,2125,2477,2220,556.6,10.1,937,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2122,2348,2477,2219,0,0,0,0,0,0,14.83,14.86,14.86
$GC,18006,0.73,97.3,2953,2124,2478,2220,520.3,10.0,949,18008,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2123,2348,2477,2219,0,0,0,0,0,0,14.83,14.87,14.86
$GC,18366,0.73,97.3,2953,2123,2477,2220,484.5,10.0,961,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2123,2348,2477,2219,0,0,0,0,0,0,14.84,14.88,14.87
$GC,18726,0.73,97.3,2952,2123,2477,2220,449.3,9.7,973,18728,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2123,2348,2477,2219,0,0,0,0,0,0,14.89,14.92,14.92
$GC,19086,0.73,97.3,2953,2124,2476,2220,413.8,9.8,985,19092,0.00,2.38,0.00,0.000,260,0.000,0.106,2952,3452,2348,2478,2219,0,0,0,0,0,0,14.89,14.63,14.92
$GC,19121,0.73,97.3,2953,3452,2478,2220,410.0,10.9,992,19127,0.00,2.35,0.00,0.000,1030,0.000,0.074,2954,2120,2348,2477,2219,0,0,0,0,0,0,14.70,14.64,14.73
$GC,19506,0.73,97.3,2954,2121,2477,2220,373.2,9.3,1009,19508,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2120,2347,2476,2219,0,0,0,0,0,0,14.85,14.89,14.89
$GC,19866,0.73,97.3,2954,2121,2476,2220,341.4,9.0,1021,19872,0.00,2.42,0.00,0.000,260,0.000,0.107,2953,3449,2348,2477,2219,0,0,0,0,0,0,14.89,14.62,14.92
$GC,19921,0.73,97.3,2954,3450,2477,2220,336.2,9.7,1032,19929,0.00,2.35,0.00,0.000,1030,0.000,0.076,2954,2116,2347,2476,2219,0,0,0,0,0,0,14.69,14.63,14.73
$GC,20286,0.75,97.3,2954,2112,2477,2220,307.2,7.6,1045,20292,0.00,2.55,0.00,0.000,580,0.000,0.117,2954,711,2348,2477,2219,0,0,0,0,0,0,14.89,14.60,14.92
$GC,20417,0.80,133.9,2954,712,2478,2220,298.5,6.3,1071,20453,0.00,2.33,32.62,1.646,9254,0.000,0.090,2954,2035,2213,2347,2080,0,0,0,0,0,0,14.71,14.58,13.75
$GC,20828,0.85,172.5,2954,2036,2337,2078,271.6,6.2,1093,20870,0.12,2.47,35.33,1.593,10788,0.150,0.115,3005,714,2052,2171,1933,0,0,0,0,0,0,14.53,14.23,13.61
$GC,20995,0.85,172.5,3005,716,2164,1932,257.1,9.1,1126,21001,0.00,2.42,0.00,0.000,1030,0.000,0.090,3005,2035,2047,2163,1931,0,0,0,0,0,0,14.36,14.33,14.42
$GC,21370,0.85,172.5,3003,2036,2160,1931,223.8,8.6,1141,21376,0.00,2.42,0.00,0.000,516,0.000,0.113,3005,708,2045,2160,1930,0,0,0,0,0,0,14.69,14.42,14.72
$GC,21420,0.85,172.5,3005,709,2160,1930,219.6,8.5,1151,21426,0.00,2.40,0.00,0.000,1030,0.000,0.092,3005,2031,2044,2160,1929,0,0,0,0,0,0,14.51,14.43,14.54
$GC,21790,0.85,172.5,3005,2032,2160,1929,189.6,8.1,1165,21792,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2031,2044,2159,1929,0,0,0,0,0,0,14.76,14.78,14.78
$GC,22150,0.87,172.5,3005,2032,2159,1930,161.7,7.7,1177,22156,0.00,2.45,0.00,0.000,580,0.000,0.115,3005,688,2042,2156,1929,0,0,0,0,0,0,14.71,14.51,14.74
$GC,22195,0.88,172.5,3005,688,2159,1929,158.2,7.8,1186,22202,0.00,2.42,0.00,0.000,1094,0.000,0.093,3005,2030,2043,2158,1929,0,0,0,0,0,0,14.59,14.51,14.63
$GC,22571,0.90,172.5,3005,2030,2158,1929,130.2,7.3,1201,22577,0.00,2.55,0.00,0.000,324,0.000,0.112,3005,3444,2044,2158,1931,0,0,0,0,0,0,14.74,14.53,14.77
$GC,22610,0.90,172.5,3005,3444,2158,1929,127.1,8.1,1209,22617,0.00,2.35,0.00,0.000,1030,0.000,0.077,3005,2121,2043,2158,1929,0,0,0,0,0,0,14.62,14.55,14.64
$GC,22991,0.94,172.5,3005,2121,2158,1929,101.3,6.6,1225,22997,0.00,2.40,0.00,0.000,324,0.000,0.109,3005,3453,2042,2157,1928,0,0,0,0,0,0,14.75,14.53,14.78
$GC,23096,0.97,172.5,3005,3453,2158,1929,93.8,7.0,1246,23102,0.00,2.38,0.00,0.000,1094,0.000,0.076,3005,2114,2042,2157,1928,0,0,0,0,0,0,14.62,14.55,14.65
$GC,23472,1.05,235.6,3005,2113,2157,1929,74.4,4.8,1261,23554,0.15,2.50,76.18,1.366,10532,0.137,0.107,3066,3456,1796,1894,1698,0,0,0,0,0,0,14.59,14.11,13.57
$GC,23778,1.10,275.9,3066,3456,1885,1698,53.7,6.1,1322,23841,0.00,2.42,55.03,1.301,9254,0.000,0.075,3075,2113,1633,1715,1551,0,0,0,0,0,0,14.35,14.29,13.51
$GC,24225,1.23,375.9,3067,2113,1706,1551,36.7,2.6,1351,24379,0.12,2.62,141.85,1.244,10532,0.147,0.108,3115,3452,1223,1254,1193,0,0,0,0,0,0,14.35,13.85,13.38
$GC,24588,1.30,430.0,3115,3453,1251,1192,18.7,5.3,1423,24669,0.00,2.42,74.12,1.221,9254,0.000,0.074,3115,2123,1004,1003,1005,0,0,0,0,0,0,14.23,14.17,13.41
$FREEZE,9.52,-1.453,-1.460,2,7,0
$STATE,24753,end climb,FINISH_DEPTH_REACHED
$STATE,24753,begin subsurface finish
$FINISH1,9.5,1.021441,310
$GC,24756,0.40,310.2,3115,2124,1002,1004,9.5,5.5,1447,24776,0.98,0.00,-16.83,0.008,20486,0.177,0.000,2842,2123,1495,1450,1540,0,0,0,0,0,0,14.02,13.24,14.16
$FINISH2,9.2
$STATE,24776,end subsurface finish,CONTROL_FINISHED_OK
$STATE,24776,begin surface
$RAFOS_CLK,403
$MODEM,6,1571488537,75.33060,-142.67570,37.446,54446.3
$MODEM,3,1571487620,75.26195,-145.59448,20.629,29994.6
$MODEM,2,1571487334,75.67648,-146.03058,34.233,49774.6
$MODEM,1,1571487028,75.02295,-144.31340,28.239,41060.0
$MODEM,0,1571486743,74.83892,-145.28152,43.354,63037.2
$RAFOS_FIX,7522.481934,-14440.085938,191019,121237,5,255,0.21
$IRIDIUM_FIX,7505.52,-14459.79,171019,151312
$TT8_MAMPS,0.038199,0.295106
$HUMID,50.90
$INTERNAL_PRESSURE,8.80965
$TCM_TEMP,13.10
$XPDR_PINGS,129
$SC_FREEKB,3821472
$24V_AH,12.59,49.625
$10V_AH,12.98,0.000
$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,4.275,148.100,624.775,0.000,0.000,0.000,0.000,0.000,32.250,0.000,0.000,0.000,21037.285,820.795,2902.229,110.355,0.000,1938.948,0.000,2193.107,2192.000,0.531,0.000
$DEVICE_MAMPS,235.620,133.110,2410.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24789.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.064,0.000,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,49990,1449
$CAP_FILE_SIZE,163130,0
$CFSIZE,1047117824,1030209536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7860.51,0x2147b0,0,24
$SOUNDSPEED,1453.3
$GPS,191019,123537,7522.482,-14440.086,0,6255.0,0,23.3,0.0,0.0,0,0.0