version: 66.13
glider: 196
mission: 20
dive: 410
start: 8 29 120 14 20 15
data:
$ID,196
$MISSION,20
$DIVE,410
$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,8
$SURFACE_URGENCY_TRY,8
$SURFACE_URGENCY_FORCE,16
$T_DIVE,390
$T_MISSION,500
$T_ABORT,4320
$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,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,1950
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,19
$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
$GPS1,290820,140236,7340.1348,-14602.1152,0,1001.0,0,22.5,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.1
$GPS2,290820,140236,7340.1348,-14602.1152,181,99.0,181,22.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,202.7,105430,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,0,999,2,0.000000,0.000000
$EXEC,4,999,2,0.000000,0.000000
$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,9,-0.73,-97.3,263,2035,629,683,0.0,0.0,0,72,0.00,0.00,-62.05,0.003,16386,0.000,0.000,264,2035,1785,1698,1872,0,0,0,0,0,0,14.67,28.83,14.70
$GC,75,-0.73,-97.3,264,2035,1699,1875,6.5,-12.1,6,130,13.07,2.50,-35.40,0.005,18692,0.457,0.124,2472,3369,3156,3251,3062,0,0,0,0,0,0,13.64,13.08,14.19
$GC,355,-0.73,-97.3,2473,3369,3252,3064,67.7,-17.4,61,360,0.00,2.38,0.00,0.000,1030,0.000,0.068,2472,2039,3156,3251,3062,0,0,0,0,0,0,14.21,14.06,14.25
$GC,740,-0.73,-97.3,2469,2039,3252,3063,122.3,-13.1,78,745,0.00,2.50,0.00,0.000,260,0.000,0.104,2472,3363,3156,3251,3062,0,0,0,0,0,0,14.62,13.96,14.65
$GC,865,-0.73,-97.3,2472,3364,3252,3062,138.5,-12.6,103,870,0.00,2.38,0.00,0.000,1030,0.000,0.067,2472,2041,3156,3251,3062,0,0,0,0,0,0,14.26,14.10,14.31
$GC,1250,-0.73,-97.3,2473,2042,3249,3060,184.5,-11.5,120,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2041,3155,3251,3060,0,0,0,0,0,0,14.62,14.65,14.64
$GC,1611,-0.73,-97.3,2472,2041,3251,3060,223.2,-10.2,132,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2041,3155,3251,3059,0,0,0,0,0,0,14.78,14.81,14.80
$GC,1971,-0.73,-97.3,2473,2041,3252,3059,255.9,-8.6,144,1976,0.00,2.70,0.00,0.000,516,0.000,0.112,2472,624,3154,3251,3058,0,0,0,0,0,0,14.78,13.88,14.81
$GC,2057,-0.73,-97.3,2473,625,3252,3058,263.9,-9.2,161,2063,0.00,2.47,0.00,0.000,1030,0.000,0.089,2472,1961,3154,3251,3057,0,0,0,0,0,0,14.16,13.96,14.24
$GC,2422,-0.73,-97.3,2472,1960,3251,3058,293.0,-7.7,174,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1961,3154,3251,3058,0,0,0,0,0,0,14.61,14.64,14.64
$GC,2782,-0.73,-97.3,2473,1961,3252,3057,319.5,-7.2,186,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1961,3157,3258,3057,0,0,0,0,0,0,14.78,14.82,14.81
$GC,3142,-0.73,-97.3,2472,1961,3252,3058,345.2,-7.1,198,3147,0.00,2.67,0.00,0.000,260,0.000,0.109,2472,3372,3153,3251,3056,0,0,0,0,0,0,14.79,13.85,14.81
$GC,3202,-0.73,-97.3,2473,3373,3252,3057,349.6,-7.4,210,3207,0.00,2.40,0.00,0.000,1030,0.000,0.067,2473,2040,3154,3251,3057,0,0,0,0,0,0,14.19,14.04,14.24
$GC,3592,-0.73,-97.3,2473,2040,3250,3057,376.8,-6.8,228,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2039,3154,3251,3057,0,0,0,0,0,0,14.60,14.63,14.62
$GC,3952,-0.73,-97.3,2473,2041,3252,3057,401.2,-6.8,240,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2040,3153,3251,3056,0,0,0,0,0,0,14.78,14.81,14.81
$GC,4312,-0.73,-97.3,2473,2041,3253,3058,425.5,-6.8,252,4318,0.00,2.53,0.00,0.000,260,0.000,0.105,2472,3367,3154,3251,3057,0,0,0,0,0,0,14.59,13.82,14.62
$GC,4358,-0.73,-97.3,2472,3367,3252,3057,428.7,-7.0,261,4363,0.00,2.40,0.00,0.000,1030,0.000,0.065,2472,2031,3153,3251,3056,0,0,0,0,0,0,14.16,14.01,14.22
$GC,4734,-0.73,-97.3,2473,2031,3252,3056,453.6,-6.6,276,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2030,3153,3250,3056,0,0,0,0,0,0,14.59,14.62,14.62
$GC,5094,-0.73,-97.3,2473,2031,3252,3057,477.6,-6.7,288,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2030,3153,3251,3056,0,0,0,0,0,0,14.78,14.81,14.81
$GC,5454,-0.73,-97.3,2473,2031,3252,3057,501.1,-6.5,300,5459,0.00,2.55,0.00,0.000,260,0.000,0.105,2472,3371,3153,3251,3056,0,0,0,0,0,0,14.59,13.78,14.62
$GC,5509,-0.73,-97.3,2473,3372,3252,3057,504.8,-6.8,311,5516,0.00,2.42,0.00,0.000,1030,0.000,0.067,2474,2031,3153,3251,3056,0,0,0,0,0,0,14.14,13.98,14.19
$GC,5875,-0.73,-97.3,2472,2032,3252,3057,528.3,-6.4,324,5876,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2031,3153,3251,3056,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6244,-0.73,-97.3,2473,2032,3252,3057,551.5,-6.5,336,6246,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2031,3150,3245,3056,0,0,0,0,0,0,14.32,14.35,14.34
$GC,6595,-0.73,-97.3,2480,2031,3253,3057,574.3,-6.3,348,6596,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2030,3154,3251,3057,0,0,0,0,0,0,14.46,14.49,14.48
$GC,6955,-0.73,-97.3,2472,2031,3252,3057,596.4,-6.1,360,6961,0.00,2.58,0.00,0.000,292,0.000,0.104,2472,3371,3153,3251,3056,0,0,0,0,0,0,14.44,13.71,14.47
$GC,7031,-0.73,-97.3,2471,3372,3252,3057,601.1,-6.3,375,7036,0.00,2.45,0.00,0.000,1062,0.000,0.065,2472,2034,3153,3251,3056,0,0,0,0,0,0,14.00,13.85,14.04
$GC,7406,-0.73,-97.3,2473,2033,3252,3057,623.7,-6.1,390,7408,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2031,3153,3251,3056,0,0,0,0,0,0,14.43,14.46,14.45
$GC,7766,-0.73,-97.3,2473,2034,3252,3056,645.4,-6.0,402,7768,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2032,3153,3251,3056,0,0,0,0,0,0,14.43,14.46,14.45
$GC,8126,-0.73,-97.3,2473,2034,3252,3057,666.9,-6.0,414,8131,0.00,2.58,0.00,0.000,292,0.000,0.104,2472,3363,3153,3251,3056,0,0,0,0,0,0,14.43,13.71,14.45
$GC,8206,-0.73,-97.3,2472,3363,3252,3057,672.0,-6.3,430,8211,0.00,2.42,0.00,0.000,1062,0.000,0.065,2472,2038,3153,3251,3056,0,0,0,0,0,0,14.00,13.85,14.05
$GC,8577,-0.73,-97.3,2472,2039,3252,3057,694.1,-6.0,444,8578,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2039,3153,3251,3056,0,0,0,0,0,0,14.53,14.56,14.55
$GC,8937,-0.73,-97.3,2472,2039,3251,3057,715.8,-6.1,456,8938,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2038,3153,3251,3056,0,0,0,0,0,0,14.55,14.59,14.58
$GC,9297,-0.73,-97.3,2472,2039,3252,3058,737.3,-6.0,468,9302,0.00,2.53,0.00,0.000,292,0.000,0.106,2473,3363,3153,3250,3056,0,0,0,0,0,0,14.57,13.74,14.59
$GC,9397,-0.73,-97.3,2473,3364,3252,3057,743.6,-6.2,488,9403,0.00,2.40,0.00,0.000,1062,0.000,0.067,2472,2034,3153,3251,3056,0,0,0,0,0,0,14.10,13.94,14.15
$GC,9779,-0.73,-97.3,2473,2035,3253,3057,766.0,-5.9,504,9780,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2034,3156,3251,3062,0,0,0,0,0,0,14.57,14.59,14.59
$GC,10139,-0.73,-97.3,2474,2035,3252,3058,787.4,-6.0,516,10145,0.00,2.55,0.00,0.000,292,0.000,0.105,2472,3367,3153,3251,3056,0,0,0,0,0,0,14.57,13.73,14.60
$GC,10230,-0.73,-97.3,2472,3368,3251,3057,792.8,-6.3,534,10235,0.00,2.42,0.00,0.000,1062,0.000,0.066,2472,2032,3153,3251,3056,0,0,0,0,0,0,14.08,13.91,14.14
$GC,10621,-0.73,-97.3,2473,2032,3251,3056,816.6,-6.0,552,10622,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2032,3150,3245,3056,0,0,0,0,0,0,14.57,14.60,14.59
$GC,10981,-0.73,-97.3,2473,2032,3251,3056,837.8,-5.6,564,10987,0.00,2.58,0.00,0.000,292,0.000,0.106,2472,3373,3153,3251,3056,0,0,0,0,0,0,14.57,13.71,14.59
$GC,11052,-0.73,-97.3,2472,3374,3252,3057,842.6,-6.1,578,11057,0.00,2.42,0.00,0.000,1062,0.000,0.067,2472,2034,3153,3251,3056,0,0,0,0,0,0,14.09,13.93,14.14
$GC,11432,-0.73,-97.3,2473,2039,3252,3057,864.1,-5.8,594,11437,0.00,2.55,0.00,0.000,292,0.000,0.104,2472,3366,3153,3250,3056,0,0,0,0,0,0,14.56,13.70,14.58
$GC,11497,-0.73,-97.3,2473,3366,3252,3057,868.6,-6.0,607,11502,0.00,2.40,0.00,0.000,1062,0.000,0.067,2472,2038,3153,3251,3056,0,0,0,0,0,0,14.09,13.93,14.14
$GC,11882,-0.73,-97.3,2473,2040,3252,3057,889.9,-5.6,624,11884,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2038,3154,3252,3056,0,0,0,0,0,0,14.54,14.58,14.57
$GC,12242,-0.73,-97.3,2473,2039,3252,3057,910.3,-5.7,636,12248,0.00,2.55,0.00,0.000,292,0.000,0.105,2472,3372,3153,3251,3056,0,0,0,0,0,0,14.55,13.70,14.57
$GC,12329,-0.73,-97.3,2473,3373,3249,3057,916.1,-5.9,653,12335,0.00,2.45,0.00,0.000,1062,0.000,0.069,2472,2035,3153,3251,3056,0,0,0,0,0,0,14.07,13.90,14.12
$GC,12694,-0.73,-97.3,2473,2036,3252,3057,935.9,-5.6,666,12696,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2035,3153,3251,3056,0,0,0,0,0,0,14.55,14.58,14.57
$GC,13054,-0.73,-97.3,2473,2036,3252,3057,956.1,-5.6,678,13055,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2035,3153,3251,3056,0,0,0,0,0,0,14.51,14.54,14.54
$GC,13414,-0.73,-97.3,2474,2036,3253,3056,976.3,-5.6,690,13419,0.00,2.58,0.00,0.000,292,0.000,0.105,2472,3373,3153,3251,3056,0,0,0,0,0,0,14.52,13.70,14.54
$GC,13504,-0.73,-97.3,2473,3374,3251,3056,982.4,-5.9,708,13510,0.00,2.45,0.00,0.000,1062,0.000,0.069,2472,2033,3153,3251,3056,0,0,0,0,0,0,14.05,13.89,14.11
$STATE,13653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13653,begin apogee
$GC,13658,-0.17,0.0,2473,2034,3252,3057,990.1,-5.0,718,13768,0.75,0.00,106.88,2.291,10246,0.226,0.000,2656,2032,2758,2874,2642,0,0,0,0,0,0,13.59,13.61,12.46
$STATE,13769,end apogee,CONTROL_FINISHED_OK
$STATE,13769,begin climb
$GC,13771,0.73,97.3,2657,2032,2873,2642,992.3,0.0,721,13891,1.00,2.70,108.93,2.227,10756,0.142,0.113,2947,715,2359,2474,2244,0,0,0,0,0,0,13.66,13.17,11.96
$GC,14116,0.73,97.3,2947,716,2462,2237,964.5,9.0,789,14121,0.00,2.45,0.00,0.000,1030,0.000,0.090,2947,2038,2350,2464,2237,0,0,0,0,0,0,14.14,13.97,14.20
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$STATE,26842,end climb,NO_VERTICAL_VELOCITY
$STATE,26842,begin subsurface finish
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$FINISH2,3.3
$STATE,26860,end subsurface finish,CONTROL_FINISHED_OK
$STATE,26860,begin surface
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$HUMID,52.55
$INTERNAL_PRESSURE,8.77058
$TCM_TEMP,13.20
$XPDR_PINGS,100
$SC_FREEKB,3638624
$24V_AH,11.96,217.834
$10V_AH,12.00,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.321,0.000,0.000,0.000
$MEM,334696
$DATA_FILE_SIZE,49935,1441
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$CFSIZE,1047117824,989380608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1455.5
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