version: 66.13
glider: 197
mission: 3
dive: 27
start: 9 30 119 18 54 25
data:
$ID,197
$MISSION,3
$DIVE,27
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,53840
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,347
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.6981
$PRESSURE_SLOPE,0.00010952644
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.40000001
$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,64
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043204976
$SEABIRD_T_H,0.00062365097
$SEABIRD_T_I,2.30554e-05
$SEABIRD_T_J,2.4080823e-06
$SEABIRD_C_G,-10.102139
$SEABIRD_C_H,1.1491261
$SEABIRD_C_I,-0.0020350928
$SEABIRD_C_J,0.00023971152
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,300919,184540,7400.0029,-14627.9980,39,0.9,40,17.7,0.4,340.3,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-61.9
$GPS2,300919,185347,7400.0264,-14628.1553,4,0.9,7,17.7,0.7,250.3,8,7.4
$SPEED_LIMITS,0.136,0.186
$TGT_NAME,1
$TGT_LATLONG,7434.900,-14533.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.9,69968,-18.7,-7.857,-22.95,1897
$D_GRID,990
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,10891,-0.77,-97.3,2155,1873,3256,3060,471.8,-1.3,796,10897,0.00,2.50,0.00,0.000,292,0.000,0.125,2148,3281,3157,3256,3059,0,0,0,0,0,0,14.91,14.66,14.94
$GC,11036,-0.77,-97.3,2148,3281,3256,3059,473.8,-1.4,825,11048,0.00,2.38,0.00,0.000,1062,0.000,0.075,2148,1869,3157,3256,3059,0,0,0,0,0,0,14.74,14.69,14.77
$GC,11341,-0.77,-97.3,2148,1870,3256,3059,478.3,-1.5,836,11343,0.00,0.00,0.00,0.000,38,0.000,0.000,2148,1870,3157,3256,3059,0,0,0,0,0,0,14.90,14.94,14.94
$GC,11641,-0.77,-97.3,2148,1870,3257,3060,482.8,-1.5,846,11647,0.00,2.53,0.00,0.000,292,0.000,0.125,2138,3289,3157,3256,3059,0,0,0,0,0,0,14.90,14.66,14.93
$GC,11841,-0.77,-97.3,2138,3289,3257,3059,485.9,-1.5,886,11847,0.00,2.38,0.00,0.000,1062,0.000,0.075,2138,1878,3157,3256,3059,0,0,0,0,0,0,14.74,14.69,14.77
$GC,12151,-0.77,-97.3,2138,1878,3257,3060,490.5,-1.4,898,12153,0.00,0.00,0.00,0.000,38,0.000,0.000,2138,1878,3157,3256,3059,0,0,0,0,0,0,14.90,14.93,14.93
$GC,12451,-0.77,-97.3,2138,1879,3256,3060,494.9,-1.5,908,12453,0.00,0.00,0.00,0.000,38,0.000,0.000,2138,1878,3157,3256,3059,0,0,0,0,0,0,14.90,14.94,14.93
$GC,12751,-0.77,-97.3,2138,1878,3256,3060,499.3,-1.5,918,12753,0.00,0.00,0.00,0.000,38,0.000,0.000,2138,1878,3157,3256,3059,0,0,0,0,0,0,14.91,14.95,14.94
$GC,13051,-0.77,-97.3,2138,1878,3256,3059,503.5,-1.4,928,13053,0.00,0.00,0.00,0.000,38,0.000,0.000,2138,1879,3157,3256,3059,0,0,0,0,0,0,14.92,14.96,14.95
$GC,13351,-0.77,-97.3,2138,1878,3256,3059,507.6,-1.4,938,13353,0.00,0.00,0.00,0.000,38,0.000,0.000,2138,1878,3157,3256,3059,0,0,0,0,0,0,14.93,14.97,14.96
$STATE,13530,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13530,begin apogee
$GC,13533,-0.18,0.0,2136,2160,3256,3060,510.0,-1.3,944,13627,0.75,0.00,90.57,1.828,10246,0.236,0.000,2347,2161,2757,2900,2615,0,0,0,0,0,0,14.65,13.88,13.31
$STATE,13628,end apogee,CONTROL_FINISHED_OK
$STATE,13628,begin climb
$GC,13629,0.77,97.3,2347,2161,2900,2614,508.1,0.0,947,13734,0.95,2.67,93.12,1.761,10756,0.128,0.106,2659,747,2358,2516,2201,0,0,0,0,0,0,13.99,13.61,13.06
$GC,13809,0.77,97.3,2659,747,2513,2197,492.4,10.1,967,13815,0.00,2.55,0.00,0.000,1030,0.000,0.093,2660,2137,2354,2513,2196,0,0,0,0,0,0,14.04,13.97,14.07
$GC,14129,0.77,97.3,2659,2137,2512,2193,459.8,10.2,981,14136,0.00,2.62,0.00,0.000,260,0.000,0.128,2660,3582,2352,2512,2193,0,0,0,0,0,0,14.49,14.24,14.52
$GC,14169,0.77,97.3,2660,3582,2512,2193,455.1,11.6,989,14177,0.00,2.47,0.00,0.000,1030,0.000,0.073,2670,2148,2352,2512,2193,0,0,0,0,0,0,14.36,14.31,14.39
$GC,14490,0.77,97.3,2670,2147,2511,2192,420.6,10.6,1003,14492,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2147,2351,2511,2191,0,0,0,0,0,0,14.62,14.66,14.65
$GC,14790,0.77,97.3,2670,2147,2511,2191,389.5,10.2,1013,14797,0.00,2.58,0.00,0.000,260,0.000,0.129,2670,3557,2350,2511,2190,0,0,0,0,0,0,14.69,14.44,14.72
$GC,14846,0.77,97.3,2670,3557,2511,2190,383.0,11.7,1024,14856,0.00,2.40,0.00,0.000,1030,0.000,0.073,2680,2145,2350,2511,2190,0,0,0,0,0,0,14.54,14.50,14.57
$GC,15151,0.77,97.3,2681,2144,2511,2190,350.4,10.6,1035,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2144,2350,2511,2190,0,0,0,0,0,0,14.74,14.78,14.78
$GC,15451,0.77,97.3,2679,2144,2511,2189,318.9,10.5,1045,15458,0.00,2.58,0.00,0.000,260,0.000,0.129,2680,3564,2349,2510,2189,0,0,0,0,0,0,14.78,14.53,14.81
$GC,15502,0.77,97.3,2680,3564,2511,2190,313.0,11.7,1055,15508,0.10,2.40,0.00,0.000,5126,0.259,0.075,2663,2145,2349,2510,2189,0,0,0,0,0,0,14.48,14.58,14.59
$GC,15812,0.77,97.3,2663,2144,2511,2189,284.8,8.9,1067,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2145,2349,2510,2189,0,0,0,0,0,0,14.81,14.83,14.83
$GC,16112,0.77,97.3,2664,2144,2511,2189,258.8,8.4,1077,16119,0.00,2.58,0.00,0.000,260,0.000,0.129,2664,3566,2349,2510,2188,0,0,0,0,0,0,14.83,14.58,14.85
$GC,16157,0.77,97.3,2664,3566,2511,2189,254.7,8.9,1086,16164,0.00,2.40,0.00,0.000,1030,0.000,0.074,2671,2139,2349,2510,2188,0,0,0,0,0,0,14.67,14.63,14.70
$GC,16463,0.77,97.3,2672,2138,2511,2189,230.3,7.7,1114,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2138,2349,2510,2188,0,0,0,0,0,0,14.82,14.85,14.85
$GC,16643,0.78,97.3,2672,2139,2511,2188,217.1,7.1,1132,16644,0.00,0.00,0.00,0.000,70,0.000,0.000,2672,2138,2349,2510,2188,0,0,0,0,0,0,14.82,14.85,14.85
$GC,16823,0.80,97.3,2672,2139,2511,2188,204.8,6.9,1150,16824,0.00,0.00,0.00,0.000,70,0.000,0.000,2671,2138,2349,2510,2188,0,0,0,0,0,0,14.82,14.85,14.85
$GC,17003,0.83,97.3,2672,2138,2511,2188,192.9,6.6,1168,17004,0.00,0.00,0.00,0.000,70,0.000,0.000,2671,2138,2348,2510,2187,0,0,0,0,0,0,14.81,14.85,14.85
$GC,17183,0.86,97.3,2671,2138,2511,2188,181.9,6.0,1186,17184,0.00,0.00,0.00,0.000,70,0.000,0.000,2671,2138,2348,2510,2187,0,0,0,0,0,0,14.81,14.85,14.84
$GC,17363,0.90,97.3,2672,2139,2511,2187,170.9,6.0,1204,17364,0.00,0.00,0.00,0.000,70,0.000,0.000,2671,2138,2348,2510,2187,0,0,0,0,0,0,14.81,14.84,14.84
$GC,17543,0.94,97.3,2671,2138,2510,2187,160.2,6.0,1222,17545,0.12,0.00,0.00,0.000,2118,0.144,0.000,2722,2138,2348,2510,2187,0,0,0,0,0,0,14.62,14.71,14.69
$GC,17723,0.96,97.3,2722,2138,2510,2187,147.9,6.8,1240,17724,0.00,0.00,0.00,0.000,70,0.000,0.000,2722,2137,2348,2510,2187,0,0,0,0,0,0,14.81,14.83,14.83
$GC,17903,0.98,97.3,2722,2137,2510,2187,136.0,6.6,1258,17909,0.00,2.58,0.00,0.000,324,0.000,0.129,2722,3562,2348,2509,2187,0,0,0,0,0,0,14.80,14.56,14.83
$GC,17933,1.00,97.3,2722,3562,2510,2187,133.9,6.9,1264,17939,0.00,2.38,0.00,0.000,1094,0.000,0.075,2731,2152,2348,2509,2187,0,0,0,0,0,0,14.66,14.61,14.68
$GC,18123,1.04,135.5,2732,2152,2510,2187,122.6,5.8,1284,18162,0.00,2.60,33.15,1.459,8484,0.000,0.128,2732,3563,2204,2370,2038,0,0,0,0,0,0,14.79,14.26,13.77
$GC,18186,1.04,135.5,2732,3563,2369,2038,118.3,7.7,1295,18197,0.00,2.42,0.00,0.000,1030,0.000,0.074,2742,2150,2203,2368,2038,0,0,0,0,0,0,14.40,14.36,14.43
$GC,18372,1.06,135.5,2742,2149,2368,2035,105.2,6.8,1314,18377,0.00,2.55,0.00,0.000,324,0.000,0.129,2742,3564,2201,2367,2035,0,0,0,0,0,0,14.59,14.37,14.62
$GC,18406,1.06,135.5,2742,3564,2367,2036,102.5,7.9,1321,18417,0.00,2.42,0.00,0.000,1030,0.000,0.073,2753,2147,2201,2367,2035,0,0,0,0,0,0,14.47,14.42,14.49
$GC,18592,1.09,135.5,2753,2147,2367,2034,89.7,6.3,1340,18598,0.00,2.47,0.00,0.000,580,0.000,0.107,2763,758,2200,2366,2034,0,0,0,0,0,0,14.59,14.39,14.62
$GC,18792,1.15,196.0,2763,758,2366,2032,78.9,4.6,1380,18854,0.00,2.47,58.03,1.379,9254,0.000,0.094,2763,2154,1958,2132,1785,0,0,0,0,0,0,14.43,14.37,13.48
$GC,19029,1.19,235.1,2763,2154,2124,1779,65.8,5.7,1408,19071,0.00,2.62,38.05,1.321,8484,0.000,0.128,2763,3559,1798,1967,1630,0,0,0,0,0,0,14.35,13.94,13.45
$GC,19120,1.21,235.1,2763,3560,1962,1630,60.0,6.9,1425,19131,0.00,2.47,0.00,0.000,1094,0.000,0.073,2772,2154,1795,1961,1630,0,0,0,0,0,0,14.07,14.02,14.09
$GC,19306,1.27,290.2,2772,2154,1959,1626,50.1,4.9,1444,19369,0.15,2.67,55.28,1.289,10532,0.129,0.126,2829,3554,1572,1725,1420,0,0,0,0,0,0,14.19,13.79,13.37
$GC,19478,1.28,290.2,2830,3554,1717,1420,38.5,7.0,1476,19484,0.00,2.47,0.00,0.000,1094,0.000,0.073,2840,2142,1567,1716,1419,0,0,0,0,0,0,14.11,14.07,14.13
$GC,19668,1.32,328.8,2840,2143,1712,1419,27.0,5.8,1496,19718,0.00,2.55,42.70,1.251,8740,0.000,0.104,2850,751,1415,1548,1283,0,0,0,0,0,0,14.34,13.88,13.45
$GC,19806,1.39,393.5,2850,751,1542,1283,21.5,4.4,1520,19889,0.00,2.55,75.72,1.224,9254,0.000,0.090,2850,2155,1152,1267,1038,0,0,0,0,0,0,14.10,14.04,13.28
$GC,20073,1.42,393.5,2850,2156,1264,1035,6.5,6.3,1553,20080,0.00,2.65,0.00,0.000,324,0.000,0.130,2850,3561,1149,1263,1035,0,0,0,0,0,0,14.21,14.01,14.24
$GC,20089,1.46,439.6,2850,3561,1264,1035,5.7,5.4,1556,20149,0.00,2.47,54.03,1.196,9254,0.000,0.073,2859,2154,965,1078,852,0,0,0,0,0,0,14.09,14.05,13.35
$STATE,20152,end climb,SURFACE_DEPTH_REACHED
$STATE,20152,begin surface coast
$FINISH,-0.5,1.021206
$STATE,20172,end surface coast,CONTROL_FINISHED_OK
$STATE,20172,begin surface
$SM_CCo,20185,116.65,0.792,1,0,719,500.17
$SM_GC,0.49,7.90,0.47,116.65,0.060,0.089,0.792,192,1869,719,-6.85,1.02,500.17,0,0,0,0,1,0,13.93,13.91,13.25
$RAFOS_CLK,81
$MODEM,2,1569874630,75.67648,-146.03058,129.044,189048.8
$MODEM,1,1569874234,74.08310,-144.87103,33.412,48948.7
$MODEM,0,1569873969,74.83892,-145.28152,68.499,100351.6
$RAFOS_FIX,7358.878418,-14626.341797,300919,202010,3,255,0.46
$IRIDIUM_FIX,7358.45,-14644.52,300919,130144
$TT8_MAMPS,0.079394,0.751247
$HUMID,52.28
$INTERNAL_PRESSURE,8.12491
$TCM_TEMP,11.70
$XPDR_PINGS,0
$SC_FREEKB,3862048
$24V_AH,13.06,19.894
$10V_AH,12.93,0.000
$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
$DEVICE_SECS,20.950,150.800,540.650,116.650,0.000,0.000,0.000,361.925,0.000,0.000,19.058,0.000,16135.778,601.842,3964.115,92.850,0.000,2562.496,0.000,2712.603,4411.000,0.531,0.000
$DEVICE_MAMPS,453.645,150.705,1828.350,791.775,0.000,0.000,0.000,189.720,420.000,0.000,20.970,0.000,2.310,11.820,29.040,41.030,0.000,12.900,0.000,5.000,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20096.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.831,0.000,0.000,0.000
$MEM,326004
$DATA_FILE_SIZE,53294,1569
$CAP_FILE_SIZE,193743,0
$CFSIZE,1024409600,1018150912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.032,7.02,1
$GPS,011019,003355,7401.507,-14626.190,17,0.6,34,17.7,0.2,326.4,12,7.4