version: 66.13
glider: 196
mission: 20
dive: 428
start: 9 4 120 6 53 58
data:
$ID,196
$MISSION,20
$DIVE,428
$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,18
$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
$GPS1,040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.11
$_SM_ANGLEo,-13.4
$GPS2,040920,065053,7300.2529,-14847.4365,0,1001.0,0,21.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,70.1,14755,-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,-97.3,2922,2037,749,782,0.0,0.0,0,91,0.00,0.00,-75.78,0.003,16390,0.000,0.000,2921,2037,3158,3250,3066,0,0,0,0,0,0,14.55,12.35,14.57
$GC,94,-0.73,-97.3,2922,2037,3248,3066,12.9,-7.5,8,99,1.40,2.50,0.00,0.000,4356,0.096,0.107,2475,3371,3158,3250,3066,0,0,0,0,0,0,14.14,14.03,14.21
$GC,324,-0.73,-97.3,2475,3373,3251,3067,63.3,-17.4,54,330,0.00,2.40,0.00,0.000,1030,0.000,0.067,2475,2031,3158,3250,3066,0,0,0,0,0,0,14.30,14.16,14.34
$GC,695,-0.73,-97.3,2475,2032,3251,3065,116.0,-13.4,68,700,0.00,2.50,0.00,0.000,260,0.000,0.103,2474,3369,3157,3250,3064,0,0,0,0,0,0,14.73,13.97,14.77
$GC,841,-0.73,-97.3,2475,3371,3250,3064,134.4,-12.4,97,848,0.00,2.40,0.00,0.000,1030,0.000,0.067,2475,2027,3157,3250,3064,0,0,0,0,0,0,14.27,14.13,14.32
$GC,1205,-0.73,-97.3,2474,2028,3260,3064,178.4,-11.4,110,1210,0.00,2.62,0.00,0.000,516,0.000,0.108,2474,633,3156,3250,3063,0,0,0,0,0,0,14.61,13.93,14.63
$GC,1300,-0.73,-97.3,2475,634,3251,3063,189.7,-11.8,129,1306,0.00,2.42,0.00,0.000,1030,0.000,0.088,2474,1951,3160,3258,3062,0,0,0,0,0,0,14.14,13.95,14.21
$GC,1686,-0.73,-97.3,2475,1951,3251,3062,230.2,-10.1,146,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1951,3155,3250,3061,0,0,0,0,0,0,14.76,14.78,14.79
$GC,2046,-0.73,-97.3,2475,1951,3251,3062,263.5,-8.9,158,2052,0.00,2.70,0.00,0.000,260,0.000,0.109,2475,3372,3155,3250,3061,0,0,0,0,0,0,14.76,13.87,14.78
$GC,2217,-0.73,-97.3,2475,3371,3251,3062,277.7,-8.3,192,2222,0.00,2.40,0.00,0.000,1030,0.000,0.069,2475,2039,3155,3250,3061,0,0,0,0,0,0,14.20,14.05,14.26
$GC,2587,-0.73,-97.3,2475,2039,3250,3060,305.6,-7.3,206,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2038,3155,3250,3060,0,0,0,0,0,0,14.59,14.62,14.61
$GC,2947,-0.73,-97.3,2475,2039,3251,3060,331.7,-7.2,218,2952,0.00,2.53,0.00,0.000,260,0.000,0.106,2475,3366,3154,3250,3059,0,0,0,0,0,0,14.59,13.82,14.61
$GC,2967,-0.73,-97.3,2470,3367,3251,3060,333.2,-7.1,222,2972,0.00,2.40,0.00,0.000,1030,0.000,0.068,2475,2040,3154,3250,3059,0,0,0,0,0,0,14.17,14.02,14.23
$GC,3337,-0.73,-97.3,2474,2041,3249,3059,358.5,-6.8,236,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,3154,3250,3059,0,0,0,0,0,0,14.76,14.79,14.78
$GC,3697,-0.73,-97.3,2475,2041,3251,3059,383.2,-6.9,248,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2040,3154,3249,3059,0,0,0,0,0,0,14.76,14.79,14.78
$GC,4057,-0.73,-97.3,2475,2041,3251,3060,406.8,-6.4,260,4059,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2040,3155,3251,3059,0,0,0,0,0,0,14.73,14.78,14.78
$GC,4417,-0.73,-97.3,2475,2040,3253,3059,429.6,-6.4,272,4419,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2039,3154,3250,3059,0,0,0,0,0,0,14.47,14.50,14.49
$GC,4777,-0.73,-97.3,2475,2040,3250,3059,452.5,-6.3,284,4779,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2039,3154,3250,3059,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5138,-0.73,-97.3,2475,2040,3250,3058,474.8,-6.2,296,5139,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2039,3154,3250,3059,0,0,0,0,0,0,14.43,14.46,14.46
$GC,5498,-0.73,-97.3,2475,2040,3251,3060,497.3,-6.2,308,5502,0.00,2.55,0.00,0.000,292,0.000,0.103,2475,3366,3154,3251,3057,0,0,0,0,0,0,14.43,13.77,14.45
$GC,5547,-0.73,-97.3,2474,3366,3251,3059,500.5,-6.5,318,5552,0.00,2.42,0.00,0.000,1030,0.000,0.067,2473,2038,3154,3250,3059,0,0,0,0,0,0,14.05,13.90,14.09
$GC,5918,-0.73,-97.3,2475,2038,3251,3059,523.7,-6.2,332,5919,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2038,3153,3249,3058,0,0,0,0,0,0,14.44,14.47,14.46
$GC,6278,-0.73,-97.3,2475,2038,3251,3059,546.0,-6.3,344,6279,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2038,3154,3250,3059,0,0,0,0,0,0,14.44,14.47,14.46
$GC,6638,-0.73,-97.3,2475,2038,3252,3059,568.6,-6.3,356,6643,0.00,2.55,0.00,0.000,292,0.000,0.105,2475,3372,3154,3250,3059,0,0,0,0,0,0,14.53,13.78,14.56
$GC,6693,-0.73,-97.3,2475,3372,3251,3059,572.2,-6.6,367,6699,0.00,2.42,0.00,0.000,1030,0.000,0.067,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.12,13.97,14.17
$GC,7058,-0.73,-97.3,2475,2034,3251,3060,594.4,-6.0,380,7060,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2033,3154,3250,3059,0,0,0,0,0,0,14.54,14.57,14.57
$GC,7418,-0.73,-97.3,2475,2033,3251,3060,616.3,-6.1,392,7420,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2033,3154,3250,3058,0,0,0,0,0,0,14.54,14.58,14.57
$GC,7778,-0.73,-97.3,2474,2031,3251,3059,638.1,-6.0,404,7783,0.00,2.55,0.00,0.000,292,0.000,0.104,2475,3373,3154,3250,3058,0,0,0,0,0,0,14.55,13.74,14.57
$GC,7838,-0.73,-97.3,2475,3374,3251,3060,641.9,-6.4,416,7843,0.00,2.42,0.00,0.000,1062,0.000,0.068,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.10,13.95,14.16
$GC,8229,-0.73,-97.3,2475,2033,3251,3058,665.1,-5.8,434,8231,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.55,14.59,14.58
$GC,8589,-0.73,-97.3,2479,2033,3251,3059,686.6,-6.0,446,8590,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.55,14.58,14.57
$GC,8949,-0.73,-97.3,2473,2034,3251,3059,708.6,-6.1,458,8954,0.00,2.55,0.00,0.000,292,0.000,0.104,2475,3372,3155,3250,3061,0,0,0,0,0,0,14.54,13.71,14.57
$GC,9004,-0.73,-97.3,2475,3372,3251,3060,712.1,-6.2,469,9011,0.00,2.42,0.00,0.000,1062,0.000,0.067,2475,2030,3154,3250,3059,0,0,0,0,0,0,14.09,13.94,14.14
$GC,9369,-0.73,-97.3,2475,2031,3251,3060,734.3,-6.2,482,9371,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2029,3154,3250,3059,0,0,0,0,0,0,14.54,14.57,14.57
$GC,9729,-0.73,-97.3,2475,2030,3252,3060,756.1,-6.0,494,9734,0.00,2.55,0.00,0.000,292,0.000,0.105,2475,3365,3155,3251,3059,0,0,0,0,0,0,14.75,13.60,14.78
$GC,9815,-0.73,-97.3,2475,3365,3250,3060,761.5,-6.3,511,9821,0.00,2.42,0.00,0.000,1062,0.000,0.067,2475,2027,3154,3250,3059,0,0,0,0,0,0,14.07,13.93,14.13
$GC,10180,-0.73,-97.3,2475,2030,3251,3060,782.8,-5.8,524,10181,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2028,3154,3250,3059,0,0,0,0,0,0,14.54,14.57,14.56
$GC,10540,-0.73,-97.3,2475,2028,3251,3059,803.0,-5.6,536,10545,0.00,2.58,0.00,0.000,292,0.000,0.103,2475,3366,3154,3250,3059,0,0,0,0,0,0,14.53,13.60,14.56
$GC,10600,-0.73,-97.3,2474,3367,3251,3059,806.1,-5.6,548,10605,0.00,2.42,0.00,0.000,1062,0.000,0.065,2475,2036,3154,3250,3058,0,0,0,0,0,0,13.97,13.82,14.02
$GC,10990,-0.73,-97.3,2475,2036,3251,3060,828.3,-5.6,566,10992,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2036,3154,3250,3059,0,0,0,0,0,0,14.75,14.78,14.77
$GC,11351,-0.73,-97.3,2475,2036,3251,3060,847.9,-5.6,578,11356,0.00,2.58,0.00,0.000,292,0.000,0.104,2475,3373,3154,3250,3059,0,0,0,0,0,0,14.52,13.67,14.54
$GC,11406,-0.73,-97.3,2475,3374,3251,3059,851.2,-6.1,589,11413,0.00,2.42,0.00,0.000,1062,0.000,0.065,2475,2036,3154,3250,3059,0,0,0,0,0,0,14.05,13.90,14.10
$GC,11771,-0.73,-97.3,2475,2036,3251,3060,872.0,-5.6,602,11773,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2036,3154,3250,3059,0,0,0,0,0,0,14.52,14.55,14.54
$GC,12131,-0.73,-97.3,2475,2036,3251,3060,891.6,-5.3,614,12133,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2035,3154,3250,3059,0,0,0,0,0,0,14.52,14.55,14.54
$GC,12491,-0.73,-97.3,2475,2036,3251,3059,911.5,-5.5,626,12496,0.00,2.58,0.00,0.000,292,0.000,0.106,2475,3368,3154,3250,3058,0,0,0,0,0,0,14.76,13.65,14.78
$GC,12546,-0.73,-97.3,2475,3369,3251,3058,915.4,-5.7,637,12553,0.00,2.42,0.00,0.000,1062,0.000,0.064,2475,2034,3154,3250,3059,0,0,0,0,0,0,14.04,13.90,14.10
$GC,12911,-0.73,-97.3,2475,2034,3251,3060,935.1,-5.7,650,12913,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2034,3154,3250,3059,0,0,0,0,0,0,14.52,14.54,14.54
$GC,13272,-0.73,-97.3,2475,2034,3251,3059,955.3,-5.6,662,13273,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.51,14.54,14.54
$GC,13631,-0.73,-97.3,2475,2034,3252,3059,975.3,-5.6,674,13633,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,2033,3154,3250,3059,0,0,0,0,0,0,14.51,14.54,14.54
$STATE,13899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13899,begin apogee
$GC,13904,-0.17,0.0,2475,2033,3251,3060,990.4,-5.6,683,14013,0.75,0.00,106.50,2.300,10246,0.226,0.000,2658,2033,2757,2878,2637,0,0,0,0,0,0,13.66,13.64,12.52
$STATE,14015,end apogee,CONTROL_FINISHED_OK
$STATE,14015,begin climb
$GC,14017,0.73,97.3,2659,2034,2878,2638,992.7,0.0,686,14136,1.00,2.88,108.97,2.235,10500,0.138,0.107,2947,3450,2359,2481,2237,0,0,0,0,0,0,13.64,12.89,12.00
$GC,14146,0.73,97.3,2947,3451,2478,2237,984.2,12.0,711,14151,0.00,2.58,0.00,0.000,1030,0.000,0.075,2947,2123,2356,2477,2236,0,0,0,0,0,0,13.43,13.31,13.46
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$GC,25578,1.16,257.2,3053,710,1947,1762,69.1,6.3,1310,25655,0.12,2.45,69.22,1.204,11302,0.140,0.089,3097,2037,1708,1790,1626,0,0,0,0,0,0,14.12,14.00,13.11
$GC,26035,1.24,322.8,3098,2038,1782,1627,40.9,4.6,1341,26177,0.00,2.58,133.15,1.168,8740,0.000,0.113,3098,711,1442,1499,1386,0,0,0,0,0,0,14.57,13.90,13.09
$GC,26382,1.33,390.6,3099,712,1494,1385,24.5,4.5,1410,26519,0.15,2.45,125.45,1.136,11302,0.130,0.089,3158,2034,1166,1188,1144,0,0,0,0,0,0,14.12,14.02,13.09
$FREEZE,9.99,-0.855,-1.399,2,10,0
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$STATE,26986,end climb,NO_VERTICAL_VELOCITY
$STATE,26986,begin subsurface finish
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$FINISH2,9.5
$STATE,26999,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,26999,begin surface
$RAFOS_CLK,235
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$IRIDIUM_FIX,7318.60,-14727.13,010920,031827
$TT8_MAMPS,0.038199,0.301098
$HUMID,51.77
$INTERNAL_PRESSURE,8.77058
$TCM_TEMP,13.10
$XPDR_PINGS,135
$SC_FREEKB,3628256
$24V_AH,12.00,227.624
$10V_AH,11.92,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,334836
$DATA_FILE_SIZE,53261,1490
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$CFSIZE,1047117824,987283456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$GPS,040920,142253,7259.986,-14903.419,0,1001.0,0,21.7,0.0,0.0,0,0.0