version: 66.13
glider: 196
mission: 20
dive: 426
start: 9 3 120 15 56 40
data:
$ID,196
$MISSION,20
$DIVE,426
$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,17
$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
$GPS1,030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.94
$_SM_ANGLEo,-24.4
$GPS2,030920,082529,7300.0430,-14754.3955,0,1001.0,0,21.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,248.0,13973,-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,7,begin dive
$GC,9,-0.73,-97.3,2718,2040,960,980,0.0,0.0,0,73,0.00,0.00,-62.38,0.003,16386,0.000,0.000,2718,2039,3015,3083,2948,0,0,0,0,0,0,14.59,28.83,14.62
$GC,76,-0.73,-97.3,2718,2040,3085,2949,13.3,-8.0,6,88,0.75,2.65,-3.53,0.031,20996,0.084,0.127,2464,632,3159,3248,3070,0,0,0,0,0,0,14.18,12.36,14.24
$GC,312,-0.73,-97.3,2465,634,3249,3072,67.0,-17.8,53,320,0.00,2.45,0.00,0.000,1030,0.000,0.090,2465,1960,3159,3248,3071,0,0,0,0,0,0,14.25,14.07,14.31
$GC,678,-0.73,-97.3,2465,1961,3247,3072,120.4,-13.5,66,683,0.00,2.50,0.00,0.000,516,0.000,0.105,2465,633,3159,3248,3071,0,0,0,0,0,0,14.52,13.91,14.54
$GC,908,-0.73,-97.3,2465,633,3247,3071,151.9,-13.3,112,913,0.00,2.47,0.00,0.000,1030,0.000,0.089,2465,1962,3159,3248,3071,0,0,0,0,0,0,14.12,13.94,14.17
$GC,1278,-0.73,-97.3,2465,1963,3249,3071,196.0,-11.5,126,1283,0.00,2.53,0.00,0.000,516,0.000,0.106,2465,630,3158,3248,3069,0,0,0,0,0,0,14.49,13.87,14.52
$GC,1508,-0.73,-97.3,2465,631,3248,3070,222.8,-11.0,172,1513,0.00,2.47,0.00,0.000,1030,0.000,0.089,2465,1960,3159,3248,3070,0,0,0,0,0,0,14.09,13.90,14.14
$GC,1878,-0.73,-97.3,2465,1960,3248,3070,259.5,-9.8,186,1883,0.00,2.55,0.00,0.000,516,0.000,0.109,2465,627,3158,3248,3069,0,0,0,0,0,0,14.49,13.84,14.51
$GC,2109,-0.73,-97.3,2465,626,3249,3069,281.1,-9.3,232,2114,0.00,2.50,0.00,0.000,1030,0.000,0.089,2465,1965,3158,3248,3068,0,0,0,0,0,0,14.07,13.89,14.12
$GC,2479,-0.73,-97.3,2466,1966,3249,3068,310.6,-7.8,246,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1965,3157,3248,3067,0,0,0,0,0,0,14.47,14.50,14.50
$MODEM_MSG,CACST,6,1,20200903160735.357782,06,5567,37,0291,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.2,0.39,-100,2.61,-01,0.11,72,925,0025*34
$MODEM_MSG,CACST,6,1,20200903161258.146659,06,3712,35,0241,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-4.6,0.50,-100,2.50,-01,-0.16,71,925,0025*29
$MODEM_MSG,CACST,6,1,20200903161829.973578,06,8164,39,0326,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-3.5,0.55,-100,2.45,-01,-0.01,71,925,0025*28
$GC,2839,-0.73,-97.3,2465,1966,3249,3067,338.1,-7.7,258,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1965,3157,3248,3067,0,0,0,0,0,0,14.55,14.58,14.57
$GC,3199,-0.73,-97.3,2465,1966,3249,3068,365.0,-7.5,270,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1965,3157,3248,3067,0,0,0,0,0,0,14.57,14.59,14.59
$GC,3559,-0.73,-97.3,2464,1966,3253,3068,391.4,-7.2,282,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1965,3157,3248,3067,0,0,0,0,0,0,14.76,14.78,14.78
$GC,3919,-0.73,-97.3,2465,1967,3248,3068,416.5,-7.0,294,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1966,3157,3248,3067,0,0,0,0,0,0,14.76,14.79,14.78
$GC,4279,-0.73,-97.3,2465,1967,3248,3068,441.6,-7.0,306,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1966,3157,3248,3067,0,0,0,0,0,0,14.58,14.61,14.61
$GC,4639,-0.73,-97.3,2465,1967,3248,3068,466.3,-6.8,318,4644,0.00,2.67,0.00,0.000,260,0.000,0.110,2465,3369,3157,3248,3067,0,0,0,0,0,0,14.57,13.79,14.59
$GC,4694,-0.73,-97.3,2465,3370,3248,3068,470.1,-6.9,329,4701,0.00,2.40,0.00,0.000,1030,0.000,0.067,2465,2037,3157,3248,3067,0,0,0,0,0,0,14.15,14.00,14.20
$GC,5059,-0.73,-97.3,2465,2038,3247,3067,494.7,-6.8,342,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2037,3157,3248,3067,0,0,0,0,0,0,14.76,14.79,14.78
$GC,5419,-0.73,-97.3,2465,2038,3249,3068,518.8,-6.7,354,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2037,3157,3248,3067,0,0,0,0,0,0,14.58,14.62,14.61
$GC,5779,-0.73,-97.3,2465,2037,3248,3069,542.3,-6.5,366,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2036,3157,3248,3067,0,0,0,0,0,0,14.57,14.60,14.59
$GC,6139,-0.73,-97.3,2465,2037,3249,3067,566.0,-6.6,378,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2036,3157,3248,3067,0,0,0,0,0,0,14.57,14.59,14.59
$GC,6499,-0.73,-97.3,2465,2037,3249,3068,589.6,-6.6,390,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2036,3157,3248,3067,0,0,0,0,0,0,14.76,14.79,14.78
$GC,6859,-0.73,-97.3,2465,2037,3249,3067,613.0,-6.5,402,6864,0.00,2.55,0.00,0.000,260,0.000,0.105,2465,3367,3157,3248,3067,0,0,0,0,0,0,14.56,13.74,14.58
$GC,6929,-0.73,-97.3,2465,3368,3248,3068,617.8,-6.7,416,6934,0.00,2.42,0.00,0.000,1030,0.000,0.067,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.11,13.96,14.16
$GC,7310,-0.73,-97.3,2465,2033,3249,3067,642.5,-6.5,432,7311,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.56,14.59,14.58
$GC,7669,-0.73,-97.3,2465,2034,3249,3067,665.9,-6.5,444,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.56,14.59,14.58
$GC,8030,-0.73,-97.3,2465,2033,3248,3067,688.8,-6.3,456,8035,0.00,2.55,0.00,0.000,292,0.000,0.104,2465,3370,3157,3248,3067,0,0,0,0,0,0,14.55,13.72,14.58
$GC,8095,-0.73,-97.3,2465,3370,3248,3067,693.1,-6.5,469,8101,0.00,2.42,0.00,0.000,1030,0.000,0.068,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.09,13.95,14.15
$GC,8481,-0.73,-97.3,2465,2034,3249,3068,717.0,-6.1,486,8483,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2033,3156,3248,3065,0,0,0,0,0,0,14.54,14.57,14.57
$GC,8841,-0.73,-97.3,2465,2033,3248,3067,739.0,-6.1,498,8843,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.76,14.78,14.78
$GC,9201,-0.73,-97.3,2465,2034,3249,3068,761.3,-6.2,510,9206,0.00,2.55,0.00,0.000,292,0.000,0.103,2465,3366,3157,3248,3067,0,0,0,0,0,0,14.54,13.70,14.57
$GC,9256,-0.73,-97.3,2465,3367,3249,3068,765.0,-6.5,521,9263,0.00,2.42,0.00,0.000,1030,0.000,0.067,2464,2030,3157,3248,3067,0,0,0,0,0,0,14.08,13.93,14.14
$GC,9622,-0.73,-97.3,2465,2031,3248,3068,787.6,-6.2,534,9623,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2031,3157,3248,3067,0,0,0,0,0,0,14.54,14.57,14.57
$GC,9982,-0.73,-97.3,2465,2032,3250,3068,809.4,-6.0,546,9987,0.00,2.58,0.00,0.000,292,0.000,0.103,2465,3372,3157,3248,3067,0,0,0,0,0,0,14.56,13.69,14.58
$GC,10042,-0.73,-97.3,2465,3372,3249,3068,812.8,-6.2,558,10047,0.00,2.45,0.00,0.000,1062,0.000,0.068,2465,2034,3157,3248,3067,0,0,0,0,0,0,14.06,13.88,14.12
$GC,10433,-0.73,-97.3,2465,2034,3249,3068,836.1,-5.9,576,10438,0.00,2.55,0.00,0.000,292,0.000,0.103,2465,3366,3157,3248,3067,0,0,0,0,0,0,14.54,13.68,14.56
$GC,10478,-0.73,-97.3,2465,3367,3249,3068,838.5,-6.1,585,10484,0.00,2.42,0.00,0.000,1062,0.000,0.067,2465,2034,3157,3248,3067,0,0,0,0,0,0,14.06,13.90,14.13
$GC,10854,-0.73,-97.3,2465,2035,3249,3068,860.6,-5.9,600,10856,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2033,3157,3248,3067,0,0,0,0,0,0,14.53,14.56,14.55
$GC,11214,-0.73,-97.3,2465,2034,3248,3067,881.8,-5.8,612,11216,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2034,3157,3248,3067,0,0,0,0,0,0,14.75,14.78,14.78
$GC,11574,-0.73,-97.3,2464,2034,3249,3067,902.9,-5.8,624,11575,0.00,0.00,0.00,0.000,38,0.000,0.000,2464,2040,3157,3248,3067,0,0,0,0,0,0,14.53,14.56,14.55
$GC,11934,-0.73,-97.3,2465,2033,3248,3067,923.4,-5.7,636,11939,0.00,2.58,0.00,0.000,292,0.000,0.105,2465,3371,3157,3248,3067,0,0,0,0,0,0,14.52,13.66,14.55
$GC,12014,-0.73,-97.3,2465,3372,3249,3068,928.9,-6.0,652,12019,0.00,2.42,0.00,0.000,1062,0.000,0.069,2465,2038,3157,3248,3067,0,0,0,0,0,0,14.06,13.90,14.11
$GC,12384,-0.73,-97.3,2464,2039,3249,3068,949.3,-5.7,666,12386,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2038,3157,3248,3066,0,0,0,0,0,0,14.52,14.55,14.54
$GC,12744,-0.73,-97.3,2465,2038,3249,3068,970.0,-5.7,678,12746,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2038,3157,3248,3067,0,0,0,0,0,0,14.52,14.55,14.54
$STATE,13102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13102,begin apogee
$GC,13107,-0.17,0.0,2465,2038,3249,3067,990.5,-5.7,690,13217,0.77,0.00,107.47,2.294,10246,0.221,0.000,2655,2038,2758,2880,2636,0,0,0,0,0,0,13.64,13.63,12.51
$STATE,13219,end apogee,CONTROL_FINISHED_OK
$STATE,13219,begin climb
$GC,13221,0.73,97.3,2656,2039,2879,2637,992.7,0.0,693,13342,1.00,2.75,109.10,2.231,10756,0.138,0.114,2946,714,2358,2482,2235,0,0,0,0,0,0,13.64,13.16,11.99
$GC,13367,0.73,97.3,2946,715,2479,2234,982.6,8.4,721,13372,0.00,2.58,0.00,0.000,1030,0.000,0.088,2946,2036,2355,2478,2233,0,0,0,0,0,0,13.51,13.36,13.54
$GC,13738,0.73,97.3,2946,2036,2473,2228,949.6,8.8,735,13743,0.00,2.67,0.00,0.000,260,0.000,0.111,2946,3453,2347,2472,2222,0,0,0,0,0,0,14.64,14.08,14.67
$GC,13803,0.73,97.3,2946,3454,2472,2227,944.0,10.1,748,13808,0.00,2.42,0.00,0.000,1030,0.000,0.076,2946,2111,2346,2471,2221,0,0,0,0,0,0,14.33,14.18,14.38
$GC,14188,0.73,97.3,2946,2113,2470,2226,909.1,8.8,765,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2111,2347,2470,2225,0,0,0,0,0,0,14.65,14.68,14.67
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$GC,22842,0.98,182.7,2997,707,2283,2048,208.4,6.2,1115,22884,0.12,2.42,36.15,1.419,11302,0.148,0.086,3047,2033,2011,2119,1904,0,0,0,0,0,0,14.16,14.09,13.20
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$STATE,26310,end climb,NO_VERTICAL_VELOCITY
$STATE,26310,begin subsurface finish
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$STATE,26324,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,26324,begin surface
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$TCM_TEMP,13.20
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$10V_AH,11.97,0.000
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$FG_AHR_10Vo,0.000
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$MEM,334836
$DATA_FILE_SIZE,46658,1380
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