version: 66.13
glider: 196
mission: 20
dive: 96
start: 10 20 119 12 50 41
data:
$ID,196
$MISSION,20
$DIVE,96
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,180
$T_MISSION,1740
$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,18
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2825
$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,1
$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
$GPS1,201019,123532,7529.0479,-14415.0264,0,6255.0,0,23.3,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.06
$_SM_ANGLEo,-12.5
$GPS2,201019,123532,7529.0479,-14415.0264,0,6255.0,0,23.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.160,0.233
$TGT_NAME,9_51
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,-20000.000
$MHEAD_RNG_PITCHd_Wd,305.4,3756,-19.6,-9.259,-21.67,1616
$D_GRID,500
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$EXEC,4,151,2048,2.000000,0.000000
$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
$GC,8,-0.78,-97.3,2849,1860,1468,1551,0.0,0.0,0,52,0.00,0.00,-42.58,0.004,16386,0.000,0.000,2848,1860,3136,3228,3045,0,0,0,0,0,0,14.39,28.83,14.42
$GC,54,-0.78,-97.3,2849,1861,3229,3046,15.7,-6.8,4,65,1.27,2.62,-1.92,0.059,20740,0.150,0.129,2465,3261,3225,3320,3131,0,0,0,0,0,0,14.18,13.24,14.26
$GC,234,-0.78,-97.3,2465,3261,3321,3131,59.7,-24.2,40,240,0.00,2.38,0.00,0.000,1030,0.000,0.071,2465,1941,3226,3321,3131,0,0,0,0,0,0,14.35,14.28,14.42
$GC,624,-0.78,-97.3,2465,1941,3321,3132,127.4,-15.4,58,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1940,3226,3321,3131,0,0,0,0,0,0,14.68,14.71,14.70
$GC,984,-0.78,-97.3,2465,1940,3321,3132,177.4,-13.4,70,990,0.00,2.58,0.00,0.000,516,0.000,0.116,2465,524,3225,3320,3131,0,0,0,0,0,0,14.69,14.45,14.72
$GC,1039,-0.78,-97.3,2466,525,3321,3131,185.1,-14.0,81,1046,0.00,2.40,0.00,0.000,1030,0.000,0.090,2465,1853,3225,3320,3131,0,0,0,0,0,0,14.56,14.49,14.59
$GC,1404,-0.78,-97.3,2465,1854,3321,3132,231.6,-12.3,94,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1854,3226,3321,3131,0,0,0,0,0,0,14.78,14.82,14.81
$GC,1764,-0.78,-97.3,2465,1855,3321,3132,271.0,-10.5,106,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1853,3225,3320,3131,0,0,0,0,0,0,14.76,14.80,14.79
$GC,2124,-0.78,-97.3,2465,1854,3321,3132,306.0,-9.4,118,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1854,3225,3320,3131,0,0,0,0,0,0,14.83,14.87,14.86
$GC,2484,-0.78,-97.3,2463,1854,3321,3131,337.5,-8.4,130,2490,0.00,2.53,0.00,0.000,260,0.000,0.107,2465,3264,3225,3320,3131,0,0,0,0,0,0,14.85,14.57,14.88
$GC,2549,-0.78,-97.3,2465,3266,3322,3132,342.9,-8.4,143,2556,0.00,2.33,0.00,0.000,1030,0.000,0.070,2465,1941,3225,3320,3131,0,0,0,0,0,0,14.66,14.58,14.69
$GC,2935,-0.78,-97.3,2465,1942,3321,3131,373.8,-7.9,160,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1941,3225,3320,3131,0,0,0,0,0,0,14.81,14.84,14.83
$GC,3295,-0.78,-97.3,2465,1942,3321,3131,402.0,-7.8,172,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1940,3225,3320,3131,0,0,0,0,0,0,14.81,14.85,14.84
$GC,3655,-0.78,-97.3,2465,1942,3316,3131,429.7,-7.6,184,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1939,3225,3320,3130,0,0,0,0,0,0,14.82,14.85,14.85
$GC,4015,-0.78,-97.3,2465,1941,3321,3131,456.9,-7.5,196,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1941,3225,3320,3131,0,0,0,0,0,0,14.82,14.85,14.85
$GC,4375,-0.78,-97.3,2464,1941,3321,3131,483.6,-7.4,208,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1940,3225,3321,3130,0,0,0,0,0,0,14.83,14.86,14.86
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4614,begin apogee
$GC,4617,-0.17,0.0,2465,2049,3321,3131,501.3,-7.4,216,4714,0.73,0.00,94.70,1.871,10246,0.246,0.000,2655,2048,2827,2958,2696,0,0,0,0,0,0,14.52,14.00,13.28
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin loiter
$GC,5065,-0.17,0.0,2655,2049,2949,2691,499.2,1.6,222,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2819,2948,2691,0,0,0,0,0,0,14.54,14.57,14.57
$GC,5665,-0.17,0.0,2655,2049,2947,2690,488.5,1.8,227,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2818,2947,2689,0,0,0,0,0,0,14.73,14.76,14.76
$GC,6265,-0.17,0.0,2656,2050,2948,2690,477.9,1.8,232,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2817,2946,2689,0,0,0,0,0,0,14.82,14.85,14.84
$GC,6865,-0.17,0.0,2655,2049,2947,2689,467.2,1.8,237,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2817,2946,2688,0,0,0,0,0,0,14.87,14.90,14.90
$GC,7465,-0.17,0.0,2656,2050,2947,2689,456.7,1.7,242,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2817,2946,2688,0,0,0,0,0,0,14.91,14.94,14.93
$GC,8065,-0.17,0.0,2656,2050,2947,2689,446.9,1.7,247,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2816,2945,2688,0,0,0,0,0,0,14.92,14.96,14.96
$GC,8665,-0.17,0.0,2655,2050,2946,2689,436.9,1.6,252,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2816,2945,2688,0,0,0,0,0,0,14.95,14.98,14.97
$GC,9265,-0.17,0.0,2655,2050,2946,2688,427.9,1.5,257,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2816,2945,2688,0,0,0,0,0,0,14.96,15.00,14.99
$GC,9865,-0.17,0.0,2655,2049,2946,2688,420.6,1.2,262,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2816,2945,2687,0,0,0,0,0,0,14.97,15.00,14.99
$GC,10465,-0.17,0.0,2656,2049,2946,2688,412.9,1.3,267,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2049,2816,2945,2687,0,0,0,0,0,0,14.98,15.02,15.01
$GC,11065,-0.17,0.0,2656,2049,2946,2688,403.8,1.5,272,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2048,2816,2945,2687,0,0,0,0,0,0,14.99,15.02,15.02
$GC,11674,-0.17,-5.5,2656,2049,2946,2688,395.1,1.4,277,11676,0.00,0.00,-0.22,0.443,16422,0.000,0.000,2655,2049,2857,2967,2747,0,0,0,0,0,0,14.95,13.55,14.90
$GC,12265,-0.14,-5.5,2655,2049,2968,2749,404.4,-1.7,282,12273,0.00,0.00,6.15,1.450,8262,0.000,0.000,2655,2049,2847,2965,2729,0,0,0,0,0,0,14.85,14.67,13.81
$GC,12865,-0.12,-5.5,2655,2050,2967,2728,410.7,-1.0,287,12867,0.00,0.00,0.00,0.000,70,0.000,0.000,2655,2049,2848,2968,2728,0,0,0,0,0,0,14.76,14.80,14.79
$GC,13465,-0.10,-5.5,2655,2050,2967,2728,415.8,-0.9,292,13467,0.00,0.00,0.00,0.000,70,0.000,0.000,2655,2049,2847,2966,2728,0,0,0,0,0,0,14.78,14.81,14.81
$MODEM_MSG,CACST,6,1,20191020160554.687847,06,11219,40,0122,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-7.1,0.38,-100,2.62,-01,0.03,67,925,0025*33
$MODEM_MSG,CACST,6,1,20191020161036.625078,06,24502,43,0118,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.9,0.46,-100,2.54,-01,0.02,67,925,0025*05
$MODEM_MSG,CACST,6,1,20191020161536.402116,06,23974,43,0103,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.0,0.37,-100,2.63,-01,0.03,68,925,0025*09
$MODEM_MSG,CACST,6,1,20191020162031.123937,06,25242,44,0100,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.1,0.34,-100,2.66,-01,0.09,68,925,0025*0B
$MODEM_MSG,CACST,6,1,20191020163532.686791,06,28803,44,0124,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.1,0.34,-100,2.66,-01,-0.07,68,925,0025*2C
$GC,14065,-0.08,-5.5,2655,2050,2967,2728,421.2,-0.9,297,14067,0.12,0.00,0.00,0.000,2118,0.216,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,14.54,14.71,14.67
$GC,14665,-0.07,-5.5,2690,2049,2967,2729,425.3,-0.7,302,14667,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,14.86,14.89,14.88
$GC,15265,-0.06,-5.5,2690,2049,2967,2728,429.7,-0.8,307,15267,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,14.92,14.93,14.92
$GC,15865,-0.04,-5.5,2690,2050,2967,2728,435.4,-1.0,312,15867,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,14.93,14.96,14.95
$GC,16465,-0.02,-5.5,2690,2049,2967,2728,441.2,-1.0,317,16467,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,14.95,14.99,14.97
$GC,17065,-0.00,-5.5,2690,2050,2967,2729,445.4,-0.7,322,17067,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,14.96,15.00,14.99
$GC,17665,-0.00,-5.5,2690,2050,2967,2729,448.3,-0.5,327,17667,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,15.05,15.09,15.08
$GC,18265,0.01,-5.5,2690,2050,2967,2729,451.3,-0.5,332,18267,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,14.98,15.02,15.01
$GC,18865,0.02,-5.5,2690,2050,2967,2729,454.7,-0.5,337,18867,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,14.99,15.02,15.02
$GC,19465,0.02,-5.5,2690,2049,2967,2728,456.7,-0.3,342,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,15.08,15.11,15.10
$GC,20065,0.02,-5.5,2690,2049,2967,2728,457.4,-0.1,347,20067,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,15.00,15.03,15.03
$GC,20665,0.02,-5.5,2690,2050,2967,2729,457.7,-0.0,352,20666,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2847,2966,2728,0,0,0,0,0,0,15.00,15.04,15.03
$GC,21265,0.02,-5.5,2690,2049,2967,2728,457.8,-0.0,357,21267,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2846,2966,2727,0,0,0,0,0,0,15.01,15.04,15.03
$GC,21865,0.02,-5.5,2690,2050,2967,2728,458.0,-0.0,362,21866,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2049,2847,2967,2728,0,0,0,0,0,0,15.01,15.04,15.04
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$STATE,86424,end loiter,ABORT_TIME_EXCEEDED
$SM_CCo,86425,524.70,1.724,0,0,552,558.06
$SM_CCo,90415,0.00,0.000,0,0,547,559.04
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$RAFOS_CLK,201
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$MODEM,0,1571601953,74.83892,-145.28152,53.887,78350.3
$MODEM,6,1571589332,75.33060,-142.67570,32.687,47525.8
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$IRIDIUM_FIX,7505.52,-14459.79,171019,151312
$TT8_MAMPS,0.03745,0.176015
$HUMID,54.13
$INTERNAL_PRESSURE,8.71199
$TCM_TEMP,13.80
$XPDR_PINGS,169
$SC_FREEKB,3819424
$24V_AH,12.69,51.466
$10V_AH,12.97,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,246.330,128.520,1871.190,1723.545,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4739.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.335,0.000,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,30044,900
$CAP_FILE_SIZE,192090,0
$CFSIZE,1047117824,1029734400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EOP_CODE,ABORT_TIME_EXCEEDED
$RECOV_CODE,UKNOWN_RECOVERY_REASON
$GPS,201019,123532,7529.048,-14415.026,181,99.0,181,23.3,0.0,0.0,0,0.0