version: 66.13
glider: 196
mission: 20
dive: 452
start: 9 11 120 23 42 12
data:
$ID,196
$MISSION,20
$DIVE,452
$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
$GPS1,110920,232133,7315.1567,-15029.1064,34,1.0,35,20.5,0.0,0.0,7,8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.0
$GPS2,110920,234136,7315.2979,-15029.6143,11,0.9,12,20.5,0.0,0.0,8,9.9
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,RECOV
$TGT_LATLONG,7200.000,-15200.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.9,148736,-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,-97.3,252,2039,511,582,0.0,0.0,0,72,0.00,0.00,-61.30,0.004,16386,0.000,0.000,251,2039,1657,1566,1749,0,0,0,0,0,0,14.54,28.83,14.57
$GC,74,-0.73,-97.3,253,2040,1568,1751,6.0,-10.6,6,130,13.20,2.62,-35.33,0.005,18948,0.458,0.120,2472,634,3157,3251,3063,0,0,0,0,0,0,13.63,13.20,13.93
$GC,356,-0.73,-97.3,2471,635,3252,3064,68.9,-17.8,61,360,0.00,2.45,0.00,0.000,1030,0.000,0.087,2471,1957,3157,3252,3063,0,0,0,0,0,0,14.17,13.99,14.23
$GC,741,-0.73,-97.3,2472,1958,3252,3062,123.0,-12.5,78,746,0.00,2.53,0.00,0.000,516,0.000,0.107,2471,631,3156,3252,3061,0,0,0,0,0,0,14.70,13.88,14.73
$GC,971,-0.73,-97.3,2472,632,3253,3060,153.7,-13.1,124,976,0.00,2.47,0.00,0.000,1030,0.000,0.087,2471,1964,3155,3252,3059,0,0,0,0,0,0,14.12,13.93,14.18
$GC,1341,-0.73,-97.3,2471,1965,3253,3059,196.1,-10.6,138,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1964,3155,3252,3058,0,0,0,0,0,0,14.46,14.48,14.49
$GC,1701,-0.73,-97.3,2471,1964,3252,3058,232.4,-10.1,150,1706,0.00,2.55,0.00,0.000,516,0.000,0.108,2471,633,3154,3251,3057,0,0,0,0,0,0,14.44,13.81,14.46
$GC,1771,-0.73,-97.3,2478,634,3253,3057,239.3,-9.8,164,1776,0.00,2.45,0.00,0.000,1030,0.000,0.086,2471,1949,3153,3252,3055,0,0,0,0,0,0,14.04,13.88,14.09
$GC,2151,-0.73,-97.3,2471,1947,3254,3056,271.5,-8.6,180,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1950,3154,3252,3056,0,0,0,0,0,0,14.42,14.45,14.45
$GC,2511,-0.73,-97.3,2472,1950,3252,3056,300.7,-7.9,192,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1950,3153,3251,3055,0,0,0,0,0,0,14.42,14.45,14.45
$GC,2871,-0.73,-97.3,2471,1950,3253,3056,326.2,-7.0,204,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1950,3153,3251,3055,0,0,0,0,0,0,14.42,14.45,14.45
$GC,3231,-0.73,-97.3,2470,1949,3252,3056,352.0,-7.1,216,3236,0.00,2.72,0.00,0.000,260,0.000,0.109,2471,3371,3152,3251,3054,0,0,0,0,0,0,14.42,13.78,14.44
$GC,3296,-0.73,-97.3,2472,3372,3253,3055,356.8,-7.3,229,3301,0.00,2.45,0.00,0.000,1030,0.000,0.068,2471,2029,3153,3252,3054,0,0,0,0,0,0,14.06,13.93,14.11
$GC,3682,-0.73,-97.3,2472,2030,3253,3055,384.3,-7.1,246,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2029,3153,3252,3054,0,0,0,0,0,0,14.64,14.67,14.66
$GC,4042,-0.73,-97.3,2473,2030,3252,3055,408.5,-6.6,258,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2029,3153,3252,3054,0,0,0,0,0,0,14.70,14.73,14.72
$GC,4402,-0.73,-97.3,2472,2030,3253,3055,432.1,-6.4,270,4407,0.00,2.58,0.00,0.000,292,0.000,0.105,2472,3370,3152,3251,3054,0,0,0,0,0,0,14.50,13.71,14.52
$GC,4467,-0.73,-97.3,2471,3370,3253,3055,436.5,-6.6,283,4473,0.00,2.42,0.00,0.000,1030,0.000,0.067,2471,2035,3153,3252,3054,0,0,0,0,0,0,14.07,13.93,14.13
$GC,4853,-0.73,-97.3,2471,2036,3252,3055,461.4,-6.5,300,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2035,3152,3251,3054,0,0,0,0,0,0,14.71,14.74,14.73
$GC,5214,-0.73,-97.3,2472,2036,3254,3055,484.6,-6.3,312,5215,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2033,3153,3252,3054,0,0,0,0,0,0,14.49,14.52,14.52
$GC,5574,-0.73,-97.3,2472,2036,3253,3055,507.5,-6.4,324,5575,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2035,3153,3252,3054,0,0,0,0,0,0,14.46,14.49,14.49
$GC,5934,-0.73,-97.3,2472,2036,3252,3055,530.6,-6.4,336,5939,0.00,2.58,0.00,0.000,292,0.000,0.103,2470,3371,3152,3251,3054,0,0,0,0,0,0,14.46,13.66,14.49
$GC,5989,-0.73,-97.3,2472,3372,3252,3055,534.3,-6.6,347,5996,0.00,2.42,0.00,0.000,1030,0.000,0.067,2471,2036,3153,3252,3054,0,0,0,0,0,0,14.04,13.89,14.09
$GC,6354,-0.73,-97.3,2472,2037,3253,3056,557.1,-6.2,360,6356,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2036,3153,3252,3054,0,0,0,0,0,0,14.47,14.50,14.49
$GC,6714,-0.73,-97.3,2472,2037,3252,3055,579.3,-6.1,372,6716,0.00,0.00,0.00,0.000,38,0.000,0.000,2472,2036,3153,3252,3054,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7074,-0.73,-97.3,2472,2037,3253,3055,601.3,-6.1,384,7079,0.00,2.55,0.00,0.000,292,0.000,0.102,2471,3364,3153,3252,3055,0,0,0,0,0,0,14.45,13.66,14.47
$GC,7144,-0.73,-97.3,2472,3365,3248,3055,605.8,-6.3,398,7149,0.00,2.42,0.00,0.000,1062,0.000,0.067,2471,2034,3152,3251,3054,0,0,0,0,0,0,14.02,13.87,14.07
$GC,7525,-0.73,-97.3,2470,2035,3252,3056,628.6,-6.0,414,7526,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2034,3153,3252,3054,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7885,-0.73,-97.3,2471,2035,3252,3055,650.1,-5.9,426,7890,0.00,2.58,0.00,0.000,292,0.000,0.103,2471,3365,3153,3253,3054,0,0,0,0,0,0,14.72,13.64,14.74
$GC,7950,-0.73,-97.3,2472,3366,3253,3054,654.0,-6.1,439,7956,0.00,2.45,0.00,0.000,1062,0.000,0.068,2471,2029,3153,3252,3054,0,0,0,0,0,0,14.02,13.86,14.07
$GC,8336,-0.73,-97.3,2472,2030,3253,3055,676.4,-5.8,456,8338,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2029,3153,3252,3054,0,0,0,0,0,0,14.66,14.69,14.68
$GC,8696,-0.73,-97.3,2471,2030,3252,3055,697.7,-5.9,468,8701,0.00,2.58,0.00,0.000,292,0.000,0.102,2471,3371,3151,3249,3054,0,0,0,0,0,0,14.66,13.65,14.68
$GC,8761,-0.73,-97.3,2471,3371,3252,3055,701.8,-6.1,481,8766,0.00,2.45,0.00,0.000,1062,0.000,0.068,2471,2036,3153,3251,3055,0,0,0,0,0,0,14.00,13.85,14.09
$GC,9147,-0.73,-97.3,2472,2036,3254,3055,724.3,-5.8,498,9149,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2037,3153,3252,3054,0,0,0,0,0,0,14.65,14.69,14.68
$GC,9507,-0.73,-97.3,2472,2037,3253,3055,745.1,-5.7,510,9512,0.00,2.58,0.00,0.000,292,0.000,0.103,2471,3364,3153,3252,3054,0,0,0,0,0,0,14.66,13.64,14.68
$GC,9572,-0.73,-97.3,2472,3367,3253,3055,749.1,-6.0,523,9578,0.00,2.45,0.00,0.000,1062,0.000,0.069,2471,2038,3153,3252,3054,0,0,0,0,0,0,14.00,13.85,14.05
$GC,9958,-0.73,-97.3,2472,2039,3252,3055,771.5,-5.9,540,9960,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2038,3153,3252,3054,0,0,0,0,0,0,14.65,14.67,14.67
$GC,10318,-0.73,-97.3,2472,2039,3251,3053,792.6,-5.8,552,10323,0.00,2.58,0.00,0.000,292,0.000,0.103,2471,3372,3152,3251,3054,0,0,0,0,0,0,14.64,13.65,14.67
$GC,10409,-0.73,-97.3,2472,3373,3253,3055,797.8,-6.1,570,10414,0.00,2.45,0.00,0.000,1062,0.000,0.068,2472,2041,3153,3252,3054,0,0,0,0,0,0,13.99,13.83,14.04
$GC,10800,-0.73,-97.3,2472,2041,3253,3055,821.4,-6.1,588,10801,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2041,3153,3252,3054,0,0,0,0,0,0,14.45,14.48,14.47
$GC,11160,-0.73,-97.3,2472,2041,3253,3055,843.1,-5.7,600,11165,0.00,2.58,0.00,0.000,292,0.000,0.103,2471,3367,3153,3252,3054,0,0,0,0,0,0,14.45,13.64,14.47
$GC,11235,-0.73,-97.3,2471,3367,3252,3055,848.4,-6.3,615,11241,0.00,2.45,0.00,0.000,1062,0.000,0.067,2471,2033,3153,3252,3054,0,0,0,0,0,0,13.99,13.83,14.04
$GC,11611,-0.73,-97.3,2472,2034,3253,3055,870.2,-6.0,630,11613,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3153,3252,3054,0,0,0,0,0,0,14.44,14.47,14.47
$GC,11972,-0.73,-97.3,2472,2033,3252,3055,891.0,-5.6,642,11973,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2033,3153,3251,3055,0,0,0,0,0,0,14.71,14.73,14.73
$GC,12331,-0.73,-97.3,2471,2033,3252,3055,910.9,-5.5,654,12336,0.00,2.58,0.00,0.000,292,0.000,0.103,2471,3364,3153,3252,3054,0,0,0,0,0,0,14.43,13.63,14.47
$GC,12402,-0.73,-97.3,2472,3365,3253,3055,915.6,-5.7,668,12407,0.00,2.40,0.00,0.000,1062,0.000,0.068,2472,2036,3153,3252,3054,0,0,0,0,0,0,13.95,13.79,14.01
$GC,12782,-0.73,-97.3,2472,2038,3253,3055,935.8,-5.5,684,12784,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2036,3153,3252,3054,0,0,0,0,0,0,14.43,14.47,14.45
$GC,13142,-0.73,-97.3,2472,2037,3252,3055,955.6,-5.5,696,13144,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2036,3153,3252,3054,0,0,0,0,0,0,14.42,14.46,14.45
$GC,13502,-0.73,-97.3,2472,2037,3253,3055,975.4,-5.5,708,13507,0.00,2.60,0.00,0.000,292,0.000,0.103,2471,3370,3152,3251,3054,0,0,0,0,0,0,14.42,13.65,14.45
$GC,13573,-0.73,-97.3,2471,3370,3248,3055,980.2,-5.7,722,13578,0.00,2.47,0.00,0.000,1062,0.000,0.070,2471,2029,3153,3252,3054,0,0,0,0,0,0,13.96,13.81,14.02
$STATE,13771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13771,begin apogee
$GC,13776,-0.17,0.0,2472,2030,3253,3056,990.2,-5.4,732,13885,0.75,0.00,106.40,2.301,10246,0.225,0.000,2657,2029,2757,2872,2643,0,0,0,0,0,0,13.71,13.62,12.57
$STATE,13886,end apogee,CONTROL_FINISHED_OK
$STATE,13887,begin climb
$GC,13889,0.73,97.3,2657,2030,2871,2644,992.4,0.0,735,14004,1.00,0.00,108.97,2.227,10758,0.140,0.000,2944,2029,2359,2474,2245,0,0,0,0,0,0,13.56,13.04,12.00
$GC,14382,0.73,97.3,2944,2029,2466,2237,952.1,8.7,772,14388,0.00,2.65,0.00,0.000,260,0.000,0.105,2944,3443,2349,2463,2236,0,0,0,0,0,0,14.61,14.07,14.64
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$STATE,27012,end climb,NO_VERTICAL_VELOCITY
$STATE,27014,begin subsurface finish
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$STATE,27027,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,27027,begin surface
$RAFOS_CLK,322
$RAFOS_FIX,7312.567383,-15027.279297,120920,070701,0,1,0.19
$IRIDIUM_FIX,7316.14,-15035.69,110920,233236
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$HUMID,52.95
$INTERNAL_PRESSURE,8.76082
$TCM_TEMP,13.30
$XPDR_PINGS,124
$SC_FREEKB,3614432
$24V_AH,12.00,240.891
$10V_AH,11.87,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.468,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,49952,1432
$CAP_FILE_SIZE,174343,0
$CFSIZE,1047117824,984465408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1454.0
$GPS,120920,071201,7312.567,-15027.279,0,1001.0,0,20.5,0.0,0.0,0,0.0