version: 66.13
glider: 198
mission: 13
dive: 99
start: 10 14 118 13 12 41
data:
$ID,198
$MISSION,13
$DIVE,99
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,390
$T_MISSION,470
$T_ABORT,1440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026
$HD_B,0.0129
$HD_C,2.4999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,25200
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2405
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017
$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,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$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,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,141018,125653,7447.4531,-14632.6816,40,0.7,40,22.6,0.0,0.0,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.2
$GPS2,141018,131205,7447.4678,-14633.0850,5,0.6,5,22.6,0.0,0.0,11,9.9
$SPEED_LIMITS,0.147,0.221
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,128.6,207309,-15.3,-8.462,-20.95,2646
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,10,-1.01,-146.0,238,2265,591,823,0.0,0.0,0,116,0.00,0.00,-103.62,0.004,16386,0.000,0.000,237,2265,2215,2219,2212,0,0,0,0,0,0,14.24,28.83,14.27
$GC,118,-1.01,-146.0,237,2265,2222,2212,4.2,-7.0,10,167,10.38,2.53,-31.05,0.006,18948,0.470,0.108,2158,869,3452,3427,3477,0,0,0,0,0,0,13.88,13.19,14.15
$GC,356,-1.01,-146.0,2159,868,3428,3477,65.4,-21.0,57,364,0.00,2.47,0.00,0.000,1030,0.000,0.083,2155,2246,3452,3427,3477,0,0,0,0,0,0,14.22,14.14,14.25
$GC,541,-1.01,-146.0,2155,2247,3428,3477,98.2,-15.6,76,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2246,3452,3427,3477,0,0,0,0,0,0,14.44,14.47,14.47
$GC,721,-1.01,-146.0,2156,2246,3428,3477,124.8,-14.1,94,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2246,3451,3426,3477,0,0,0,0,0,0,14.48,14.51,14.50
$GC,901,-1.01,-146.0,2155,2246,3428,3477,149.7,-13.6,112,907,0.00,2.42,0.00,0.000,516,0.000,0.080,2153,869,3452,3427,3477,0,0,0,0,0,0,14.52,14.31,14.54
$GC,936,-1.01,-146.0,2153,869,3427,3477,154.6,-13.9,119,943,0.00,2.45,0.00,0.000,1030,0.000,0.081,2152,2259,3451,3426,3477,0,0,0,0,0,0,14.38,14.31,14.40
$GC,1121,-1.01,-146.0,2152,2264,3428,3477,178.9,-12.7,138,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3427,3477,0,0,0,0,0,0,14.55,14.58,14.57
$GC,1302,-1.01,-146.0,2152,2260,3427,3477,201.5,-12.4,156,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3427,3477,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1481,-1.01,-146.0,2152,2259,3428,3477,223.0,-11.7,174,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3451,3426,3477,0,0,0,0,0,0,14.59,14.61,14.61
$GC,1662,-1.01,-146.0,2152,2260,3427,3477,243.6,-11.3,192,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3452,3427,3477,0,0,0,0,0,0,14.59,14.63,14.63
$GC,1841,-1.01,-146.0,2152,2260,3427,3477,263.5,-10.9,202,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2259,3451,3426,3477,0,0,0,0,0,0,14.63,14.66,14.65
$GC,2141,-1.01,-146.0,2153,2259,3428,3477,294.5,-10.1,212,2147,0.00,2.45,0.00,0.000,516,0.000,0.077,2152,862,3451,3426,3477,0,0,0,0,0,0,14.67,14.44,14.69
$GC,2181,-1.01,-146.0,2151,862,3432,3477,298.5,-9.8,220,2187,0.00,2.45,0.00,0.000,1030,0.000,0.082,2152,2260,3451,3426,3477,0,0,0,0,0,0,14.50,14.44,14.54
$GC,2502,-1.01,-146.0,2152,2261,3427,3477,327.5,-8.9,234,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2261,3451,3426,3477,0,0,0,0,0,0,14.69,14.71,14.71
$GC,2801,-1.01,-146.0,2152,2261,3428,3477,352.9,-8.3,244,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2261,3451,3426,3477,0,0,0,0,0,0,14.71,14.74,14.73
$GC,3102,-1.01,-146.0,2152,2261,3427,3477,377.1,-7.9,254,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2260,3451,3426,3477,0,0,0,0,0,0,14.72,14.75,14.74
$GC,3401,-1.01,-146.0,2152,2261,3427,3477,400.4,-7.7,264,3407,0.00,2.55,0.00,0.000,260,0.000,0.131,2151,3669,3451,3426,3477,0,0,0,0,0,0,14.73,14.48,14.76
$GC,3446,-1.01,-146.0,2151,3669,3427,3477,404.0,-8.1,273,3453,0.00,2.38,0.00,0.000,1030,0.000,0.055,2151,2250,3451,3425,3477,0,0,0,0,0,0,14.59,14.55,14.61
$GC,3762,-1.01,-146.0,2152,2251,3427,3477,428.3,-7.6,286,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2250,3451,3426,3477,0,0,0,0,0,0,14.73,14.76,14.75
$GC,4062,-1.01,-146.0,2152,2250,3427,3477,451.3,-7.6,296,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2250,3451,3426,3477,0,0,0,0,0,0,14.73,14.76,14.76
$GC,4362,-1.01,-146.0,2151,2249,3427,3477,474.0,-7.5,306,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2250,3451,3426,3477,0,0,0,0,0,0,14.74,14.77,14.76
$GC,4662,-1.01,-146.0,2151,2250,3428,3477,496.4,-7.5,316,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2249,3451,3426,3477,0,0,0,0,0,0,14.75,14.78,14.77
$GC,4962,-1.01,-146.0,2151,2249,3428,3477,519.2,-7.6,326,4968,0.00,2.38,0.00,0.000,516,0.000,0.079,2151,847,3452,3427,3477,0,0,0,0,0,0,14.76,14.54,14.78
$GC,5007,-1.01,-146.0,2151,848,3428,3477,522.8,-8.0,335,5013,0.00,2.42,0.00,0.000,1030,0.000,0.081,2151,2246,3452,3427,3477,0,0,0,0,0,0,14.59,14.53,14.62
$GC,5322,-1.01,-146.0,2152,2247,3428,3477,547.0,-7.8,348,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3427,3477,0,0,0,0,0,0,14.76,14.79,14.79
$GC,5622,-1.01,-146.0,2151,2247,3429,3478,570.2,-7.6,358,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3428,3477,0,0,0,0,0,0,14.77,14.81,14.80
$GC,5922,-1.01,-146.0,2147,2247,3429,3477,593.1,-7.6,368,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3428,3477,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6222,-1.01,-146.0,2151,2247,3429,3481,615.6,-7.5,378,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3428,3477,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6522,-1.01,-146.0,2152,2246,3430,3477,638.1,-7.5,388,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3428,3477,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6823,-1.01,-146.0,2151,2247,3430,3477,660.1,-7.3,398,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3429,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,7122,-1.01,-146.0,2151,2246,3430,3477,681.8,-7.2,408,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3453,3429,3477,0,0,0,0,0,0,14.79,14.82,14.81
$GC,7422,-1.01,-146.0,2151,2247,3430,3477,703.7,-7.3,418,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3452,3429,3476,0,0,0,0,0,0,14.80,14.83,14.82
$GC,7722,-1.01,-146.0,2151,2247,3431,3477,725.6,-7.3,428,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3453,3430,3476,0,0,0,0,0,0,14.79,14.82,14.81
$GC,8022,-1.01,-146.0,2151,2246,3430,3477,747.3,-7.2,438,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2248,3453,3430,3477,0,0,0,0,0,0,14.80,14.83,14.83
$GC,8322,-1.01,-146.0,2151,2247,3431,3477,768.8,-7.1,448,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3453,3430,3477,0,0,0,0,0,0,14.79,14.82,14.82
$GC,8623,-1.01,-146.0,2152,2246,3430,3477,790.4,-7.2,458,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2246,3453,3430,3477,0,0,0,0,0,0,14.80,14.83,14.83
$GC,8922,-1.01,-146.0,2151,2251,3431,3477,812.0,-7.2,468,8928,0.00,2.60,0.00,0.000,260,0.000,0.130,2145,3665,3453,3430,3476,0,0,0,0,0,0,14.80,14.53,14.82
$GC,8957,-1.01,-146.0,2146,3665,3431,3477,814.7,-7.9,475,8963,0.00,2.38,0.00,0.000,1030,0.000,0.053,2145,2237,3453,3430,3477,0,0,0,0,0,0,14.66,14.62,14.68
$GC,9283,-1.01,-146.0,2146,2238,3430,3478,838.7,-7.3,490,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2238,3453,3430,3477,0,0,0,0,0,0,14.79,14.82,14.82
$GC,9582,-1.01,-146.0,2146,2238,3431,3477,860.4,-7.2,500,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2238,3453,3430,3477,0,0,0,0,0,0,14.80,14.83,14.83
$GC,9883,-1.01,-146.0,2146,2238,3431,3477,882.2,-7.3,510,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2237,3453,3430,3477,0,0,0,0,0,0,14.80,14.83,14.82
$GC,10183,-1.01,-146.0,2145,2238,3430,3477,903.7,-7.1,520,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2238,3453,3430,3477,0,0,0,0,0,0,14.73,14.76,14.76
$GC,10483,-1.01,-146.0,2146,2242,3431,3477,925.2,-7.2,530,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2237,3453,3430,3477,0,0,0,0,0,0,14.69,14.71,14.71
$GC,10782,-1.01,-146.0,2146,2243,3431,3477,946.6,-7.1,540,10788,0.00,2.60,0.00,0.000,260,0.000,0.130,2139,3663,3453,3430,3477,0,0,0,0,0,0,14.66,14.41,14.69
$GC,10827,-1.01,-146.0,2139,3664,3431,3477,950.0,-7.5,549,10834,0.08,2.40,0.00,0.000,3078,0.262,0.054,2166,2237,3452,3430,3474,0,0,0,0,0,0,14.34,14.48,14.51
$GC,11143,-1.01,-146.0,2167,2238,3432,3477,969.7,-6.2,562,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2237,3453,3430,3477,0,0,0,0,0,0,14.64,14.66,14.66
$GC,11443,-1.01,-146.0,2167,2238,3431,3478,988.2,-6.1,572,11449,0.00,2.62,0.00,0.000,260,0.000,0.129,2164,3668,3453,3430,3477,0,0,0,0,0,0,14.62,14.37,14.64
$STATE,11472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11472,begin apogee
$GC,11477,-0.25,0.0,2165,2575,3431,3477,990.3,-6.5,578,11626,0.65,0.08,140.02,2.381,10246,0.222,0.223,2347,2599,2851,2714,2988,0,0,0,0,0,0,14.32,13.49,12.76
$STATE,11627,end apogee,CONTROL_FINISHED_OK
$STATE,11627,begin climb
$GC,11628,1.01,146.0,2349,2599,2715,2988,991.9,0.0,583,11776,1.05,0.00,143.12,2.318,10246,0.151,0.000,2653,2599,2257,2084,2431,0,0,0,0,0,0,13.54,12.92,12.16
$GC,12074,1.01,146.0,2653,2600,2070,2431,946.5,11.5,598,12079,0.00,2.35,0.00,0.000,260,0.000,0.133,2653,3806,2250,2069,2431,0,0,0,0,0,0,13.87,13.65,13.90
$GC,12113,1.01,146.0,2653,3812,2069,2430,941.4,13.1,606,12119,0.00,2.15,0.00,0.000,1030,0.000,0.058,2661,2615,2249,2069,2430,0,0,0,0,0,0,13.80,13.76,13.82
$MODEM_MSG,CACST,6,1,20181014160540.751180,18,803,23,0193,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
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$STATE,21768,end climb,FINISH_DEPTH_REACHED
$STATE,21768,begin subsurface finish
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$FINISH2,9.1
$STATE,21793,end subsurface finish,CONTROL_FINISHED_OK
$STATE,21793,begin surface
$RAFOS_CLK,639
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$MODEM,3,1539533756,75.50000,-144.13333,56.113,81456.2
$MODEM,2,1539533463,74.08334,-144.88333,63.122,91630.6
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$RAFOS_FIX,7451.236816,-14609.331055,141018,161654,5,255,1.18
$IRIDIUM_FIX,7450.79,-14636.85,141018,002536
$TT8_MAMPS,0.039697,0.743008
$HUMID,52.32
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.7
$SC_FREEKB,3947680
$24V_AH,12.16,46.838
$10V_AH,12.58,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,12.136,0.000,0.000,0.000
$MEM,326380
$DATA_FILE_SIZE,46630,1354
$CAP_FILE_SIZE,175515,0
$CFSIZE,260157440,244625408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,1.239,39.89,1
$GPS,141018,162254,7451.237,-14609.331,0,6255.0,0,22.6,0.0,0.0,0,0.0