version: 66.13
glider: 196
mission: 20
dive: 419
start: 9 1 120 11 17 5
data:
$ID,196
$MISSION,20
$DIVE,419
$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
$GPS1,010920,110118,7315.1079,-14737.5293,111,0.9,127,21.7,0.3,281.7,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.0
$GPS2,010920,111624,7315.1338,-14738.0352,7,1.1,14,21.7,0.0,0.0,6,9.3
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,197.5,36150,-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,-97.3,255,2048,515,581,0.0,0.0,0,73,0.00,0.00,-61.83,0.004,16386,0.000,0.000,254,2047,1671,1580,1762,0,0,0,0,0,0,14.50,28.83,14.52
$GC,75,-0.73,-97.3,255,2049,1582,1763,6.3,-11.5,6,131,13.27,2.72,-36.22,0.005,18948,0.458,0.124,2469,633,3157,3252,3063,0,0,0,0,0,0,13.59,12.48,13.90
$GC,356,-0.73,-97.3,2470,633,3253,3065,67.3,-18.4,61,361,0.00,2.42,0.00,0.000,1030,0.000,0.088,2469,1951,3158,3252,3064,0,0,0,0,0,0,14.21,14.03,14.26
$GC,742,-0.73,-97.3,2470,1953,3254,3063,121.3,-13.0,78,747,0.00,2.50,0.00,0.000,516,0.000,0.109,2469,628,3157,3253,3062,0,0,0,0,0,0,14.74,13.94,14.76
$GC,972,-0.73,-97.3,2477,629,3254,3061,152.5,-13.1,124,977,0.00,2.45,0.00,0.000,1030,0.000,0.088,2470,1960,3156,3253,3060,0,0,0,0,0,0,14.19,14.00,14.24
$GC,1342,-0.73,-97.3,2470,1961,3253,3060,195.5,-11.5,138,1347,0.00,2.53,0.00,0.000,516,0.000,0.112,2470,634,3156,3253,3059,0,0,0,0,0,0,14.61,13.90,14.63
$GC,1474,-0.73,-97.3,2470,634,3253,3060,210.7,-11.6,164,1479,0.00,2.45,0.00,0.000,1030,0.000,0.088,2469,1960,3154,3250,3058,0,0,0,0,0,0,14.16,13.97,14.22
$GC,1854,-0.73,-97.3,2470,1962,3253,3059,248.5,-9.0,180,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1961,3155,3253,3058,0,0,0,0,0,0,14.60,14.63,14.62
$GC,2214,-0.73,-97.3,2470,1962,3253,3058,278.8,-8.2,192,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1962,3155,3253,3057,0,0,0,0,0,0,14.60,14.63,14.62
$GC,2574,-0.73,-97.3,2470,1962,3253,3057,307.8,-7.9,204,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1961,3155,3253,3057,0,0,0,0,0,0,14.59,14.62,14.62
$GC,2934,-0.73,-97.3,2469,1961,3253,3057,334.7,-7.4,216,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1961,3154,3252,3056,0,0,0,0,0,0,14.47,14.52,14.51
$GC,3294,-0.73,-97.3,2469,1962,3253,3057,360.9,-7.3,228,3299,0.00,2.70,0.00,0.000,260,0.000,0.109,2469,3366,3154,3253,3055,0,0,0,0,0,0,14.47,13.71,14.48
$GC,3364,-0.73,-97.3,2470,3367,3253,3056,366.1,-7.6,242,3369,0.00,2.45,0.00,0.000,1030,0.000,0.070,2470,2033,3154,3253,3055,0,0,0,0,0,0,14.00,13.86,14.05
$GC,3744,-0.73,-97.3,2470,2032,3253,3056,393.3,-7.1,258,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2033,3154,3253,3055,0,0,0,0,0,0,14.29,14.33,14.32
$GC,4104,-0.73,-97.3,2470,2032,3254,3056,418.3,-6.9,270,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2032,3153,3252,3055,0,0,0,0,0,0,14.44,14.47,14.46
$GC,4464,-0.73,-97.3,2469,2033,3253,3056,442.6,-6.7,282,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2032,3153,3252,3055,0,0,0,0,0,0,14.44,14.47,14.47
$GC,4825,-0.73,-97.3,2469,2033,3253,3056,466.6,-6.7,294,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2032,3153,3252,3055,0,0,0,0,0,0,14.27,14.30,14.32
$GC,5184,-0.73,-97.3,2470,2033,3253,3056,490.6,-6.6,306,5189,0.00,2.55,0.00,0.000,260,0.000,0.106,2469,3371,3154,3253,3055,0,0,0,0,0,0,14.72,13.78,14.74
$GC,5229,-0.73,-97.3,2470,3372,3254,3056,493.7,-6.9,315,5235,0.00,2.42,0.00,0.000,1030,0.000,0.070,2469,2041,3153,3252,3055,0,0,0,0,0,0,14.12,13.97,14.17
$GC,5606,-0.73,-97.3,2469,2041,3253,3056,518.1,-6.4,330,5607,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2041,3151,3253,3050,0,0,0,0,0,0,14.75,14.78,14.77
$GC,5966,-0.73,-97.3,2470,2041,3253,3056,541.2,-6.3,342,5967,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2041,3153,3252,3055,0,0,0,0,0,0,14.57,14.59,14.59
$GC,6326,-0.73,-97.3,2469,2041,3253,3056,563.5,-6.2,354,6327,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2041,3153,3253,3054,0,0,0,0,0,0,14.77,14.80,14.79
$GC,6686,-0.73,-97.3,2470,2041,3252,3057,586.1,-6.3,366,6687,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2041,3154,3253,3055,0,0,0,0,0,0,14.57,14.60,14.59
$GC,7046,-0.73,-97.3,2469,2041,3253,3063,609.2,-6.5,378,7051,0.00,2.53,0.00,0.000,260,0.000,0.105,2470,3366,3154,3253,3055,0,0,0,0,0,0,14.78,13.75,14.80
$GC,7091,-0.73,-97.3,2469,3367,3253,3056,612.2,-6.7,387,7097,0.00,2.42,0.00,0.000,1030,0.000,0.068,2469,2033,3154,3253,3055,0,0,0,0,0,0,14.10,13.95,14.16
$GC,7467,-0.73,-97.3,2470,2034,3254,3056,636.3,-6.3,402,7469,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2033,3154,3253,3055,0,0,0,0,0,0,14.58,14.61,14.61
$GC,7827,-0.73,-97.3,2470,2033,3253,3056,658.9,-6.4,414,7829,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2033,3154,3253,3055,0,0,0,0,0,0,14.57,14.59,14.59
$GC,8187,-0.73,-97.3,2470,2033,3254,3056,681.6,-6.3,426,8192,0.00,2.55,0.00,0.000,292,0.000,0.103,2469,3368,3154,3253,3055,0,0,0,0,0,0,14.57,13.72,14.59
$GC,8257,-0.73,-97.3,2469,3369,3252,3056,686.1,-6.5,440,8262,0.00,2.42,0.00,0.000,1030,0.000,0.069,2470,2038,3154,3253,3055,0,0,0,0,0,0,14.08,13.92,14.14
$GC,8637,-0.73,-97.3,2470,2039,3253,3057,709.8,-6.2,456,8639,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2038,3154,3253,3055,0,0,0,0,0,0,14.56,14.59,14.58
$GC,8997,-0.73,-97.3,2470,2039,3253,3056,732.0,-6.1,468,9002,0.00,2.53,0.00,0.000,292,0.000,0.104,2469,3364,3154,3253,3055,0,0,0,0,0,0,14.55,13.71,14.58
$GC,9067,-0.73,-97.3,2470,3365,3254,3054,736.5,-6.4,482,9073,0.00,2.42,0.00,0.000,1062,0.000,0.070,2468,2034,3154,3253,3055,0,0,0,0,0,0,14.07,13.92,14.12
$GC,9448,-0.73,-97.3,2469,2034,3254,3054,759.3,-6.0,498,9449,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2034,3154,3253,3055,0,0,0,0,0,0,14.55,14.58,14.57
$GC,9808,-0.73,-97.3,2470,2035,3253,3056,780.6,-5.9,510,9813,0.00,2.58,0.00,0.000,292,0.000,0.106,2469,3373,3154,3253,3055,0,0,0,0,0,0,14.55,13.69,14.57
$GC,9863,-0.73,-97.3,2470,3374,3253,3056,783.7,-6.0,521,9869,0.00,2.42,0.00,0.000,1062,0.000,0.069,2469,2040,3154,3253,3055,0,0,0,0,0,0,14.04,13.89,14.10
$GC,10228,-0.73,-97.3,2470,2041,3254,3056,804.8,-5.7,534,10230,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2040,3154,3253,3055,0,0,0,0,0,0,14.54,14.57,14.57
$GC,10588,-0.73,-97.3,2469,2040,3253,3056,824.9,-5.5,546,10590,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2040,3153,3251,3055,0,0,0,0,0,0,14.54,14.58,14.57
$GC,10948,-0.73,-97.3,2469,2040,3250,3056,844.4,-5.5,558,10950,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2046,3154,3253,3055,0,0,0,0,0,0,14.54,14.57,14.57
$GC,11309,-0.73,-97.3,2470,2041,3252,3056,864.4,-5.6,570,11314,0.00,2.55,0.00,0.000,292,0.000,0.106,2470,3366,3154,3253,3055,0,0,0,0,0,0,14.56,13.66,14.58
$GC,11369,-0.73,-97.3,2470,3366,3260,3056,868.5,-5.9,582,11374,0.00,2.42,0.00,0.000,1062,0.000,0.069,2469,2036,3154,3253,3056,0,0,0,0,0,0,14.04,13.88,14.10
$GC,11759,-0.73,-97.3,2470,2043,3253,3056,890.3,-5.7,600,11761,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2036,3154,3253,3055,0,0,0,0,0,0,14.53,14.57,14.56
$GC,12119,-0.73,-97.3,2469,2037,3254,3056,910.7,-5.6,612,12121,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2036,3154,3253,3055,0,0,0,0,0,0,14.53,14.56,14.56
$GC,12479,-0.73,-97.3,2470,2037,3253,3056,931.1,-5.6,624,12481,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2036,3154,3253,3055,0,0,0,0,0,0,14.54,14.57,14.56
$GC,12839,-0.73,-97.3,2469,2036,3253,3056,951.3,-5.6,636,12841,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2036,3154,3253,3055,0,0,0,0,0,0,14.53,14.56,14.55
$GC,13200,-0.73,-97.3,2470,2037,3254,3056,971.4,-5.6,648,13201,0.00,0.00,0.00,0.000,38,0.000,0.000,2469,2036,3154,3253,3055,0,0,0,0,0,0,14.54,14.58,14.57
$STATE,13527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13527,begin apogee
$GC,13532,-0.17,0.0,2470,2037,3254,3056,990.2,-5.7,659,13642,0.77,0.00,107.10,2.302,10246,0.230,0.000,2660,2035,2757,2872,2643,0,0,0,0,0,0,13.65,13.63,12.49
$STATE,13644,end apogee,CONTROL_FINISHED_OK
$STATE,13644,begin climb
$GC,13646,0.73,97.3,2660,2036,2872,2643,992.5,0.0,662,13763,1.00,2.78,108.65,2.231,10756,0.141,0.118,2951,717,2360,2474,2246,0,0,0,0,0,0,13.64,13.17,11.97
$GC,13783,0.73,97.3,2951,718,2469,2244,983.3,10.9,688,13788,0.00,2.58,0.00,0.000,1030,0.000,0.086,2951,2041,2355,2467,2243,0,0,0,0,0,0,13.48,13.33,13.51
$GC,14164,0.73,97.3,2951,2041,2463,2237,948.8,9.1,704,14169,0.00,2.65,0.00,0.000,260,0.000,0.109,2951,3447,2349,2462,2236,0,0,0,0,0,0,14.64,14.08,14.66
$GC,14219,0.73,97.3,2951,3448,2463,2237,943.9,10.5,715,14226,0.00,2.40,0.00,0.000,1030,0.000,0.076,2950,2116,2349,2462,2236,0,0,0,0,0,0,14.31,14.16,14.37
$GC,14584,0.73,97.3,2951,2116,2462,2236,909.3,9.2,728,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2116,2348,2461,2235,0,0,0,0,0,0,14.65,14.68,14.67
$GC,14944,0.73,97.3,2951,2116,2460,2235,876.8,9.0,740,14949,0.00,2.53,0.00,0.000,260,0.000,0.109,2950,3456,2347,2460,2234,0,0,0,0,0,0,14.67,14.06,14.69
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$STATE,26993,end climb,FINISH_DEPTH_REACHED
$STATE,26993,begin subsurface finish
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$STATE,27016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,27016,begin surface
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$IRIDIUM_FIX,7318.60,-14727.13,010920,031827
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$TCM_TEMP,13.20
$XPDR_PINGS,167
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$24V_AH,11.97,222.827
$10V_AH,12.24,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334620
$DATA_FILE_SIZE,53304,1525
$CAP_FILE_SIZE,179841,0
$CFSIZE,1047117824,988332032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.1
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