version: 66.13
glider: 196
mission: 20
dive: 414
start: 8 30 120 20 41 36
data:
$ID,196
$MISSION,20
$DIVE,414
$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
$GPS1,300820,203709,7328.9424,-14643.0859,0,1001.0,0,22.5,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,12.4
$GPS2,300820,203709,7328.9424,-14643.0859,0,1001.0,0,22.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,202.0,75089,-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,-97.3,3235,2041,643,691,0.0,0.0,0,92,0.00,0.00,-81.95,0.003,16386,0.000,0.000,3234,2041,2380,2422,2338,0,0,0,0,0,0,14.42,28.83,14.45
$GC,95,-0.73,-97.3,3235,2041,2423,2338,6.2,-6.8,8,133,2.55,2.55,-27.42,0.005,20740,0.147,0.129,2473,3358,3158,3247,3070,0,0,0,0,0,0,14.04,12.33,14.23
$GC,218,-0.73,-97.3,2474,3359,3248,3072,32.7,-23.5,32,223,0.00,2.40,0.00,0.000,1030,0.000,0.073,2473,2031,3159,3247,3071,0,0,0,0,0,0,14.31,14.16,14.35
$GC,608,-0.73,-97.3,2474,2031,3248,3072,96.4,-13.5,50,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2030,3159,3248,3071,0,0,0,0,0,0,14.73,14.76,14.75
$GC,968,-0.73,-97.3,2473,2030,3248,3072,141.0,-12.0,62,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2030,3159,3248,3071,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1328,-0.73,-97.3,2474,2030,3248,3072,182.2,-11.2,74,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2030,3158,3247,3070,0,0,0,0,0,0,14.62,14.64,14.64
$GC,1688,-0.73,-97.3,2474,2030,3248,3070,220.1,-10.4,86,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2029,3158,3247,3070,0,0,0,0,0,0,14.61,14.64,14.63
$GC,2048,-0.73,-97.3,2474,2030,3248,3069,255.3,-9.7,98,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2029,3158,3248,3069,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2408,-0.73,-97.3,2474,2027,3248,3069,288.5,-8.9,110,2413,0.00,2.70,0.00,0.000,516,0.000,0.114,2473,625,3157,3248,3066,0,0,0,0,0,0,14.78,13.87,14.81
$GC,2638,-0.73,-97.3,2473,626,3249,3067,309.3,-8.7,156,2644,0.00,2.47,0.00,0.000,1030,0.000,0.088,2474,1950,3156,3247,3066,0,0,0,0,0,0,14.15,13.96,14.21
$GC,3009,-0.73,-97.3,2473,1955,3248,3066,337.6,-7.4,170,3014,0.00,2.53,0.00,0.000,516,0.000,0.110,2473,633,3156,3247,3065,0,0,0,0,0,0,14.78,13.86,14.80
$GC,3135,-0.73,-97.3,2474,634,3248,3066,347.9,-8.4,195,3140,0.00,2.47,0.00,0.000,1030,0.000,0.088,2473,1964,3161,3258,3065,0,0,0,0,0,0,14.12,13.93,14.19
$GC,3521,-0.73,-97.3,2473,1965,3248,3066,376.0,-7.1,212,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1964,3156,3247,3065,0,0,0,0,0,0,14.77,14.80,14.80
$GC,3881,-0.73,-97.3,2474,1964,3248,3066,400.9,-6.9,224,3886,0.00,2.67,0.00,0.000,260,0.000,0.112,2473,3368,3156,3247,3065,0,0,0,0,0,0,14.77,13.81,14.80
$GC,3951,-0.73,-97.3,2472,3368,3248,3065,405.9,-7.1,238,3956,0.00,2.42,0.00,0.000,1030,0.000,0.070,2473,2028,3156,3247,3065,0,0,0,0,0,0,14.17,14.02,14.23
$GC,4331,-0.73,-97.3,2473,2028,3249,3065,431.7,-6.7,254,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2028,3156,3247,3065,0,0,0,0,0,0,14.59,14.62,14.61
$GC,4691,-0.73,-97.3,2473,2028,3248,3065,455.2,-6.5,266,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2028,3156,3248,3064,0,0,0,0,0,0,14.59,14.62,14.61
$GC,5051,-0.73,-97.3,2473,2029,3248,3065,478.5,-6.5,278,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2028,3156,3247,3065,0,0,0,0,0,0,14.59,14.62,14.61
$GC,5411,-0.73,-97.3,2473,2028,3247,3065,501.8,-6.5,290,5413,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2028,3156,3248,3065,0,0,0,0,0,0,14.77,14.81,14.80
$GC,5772,-0.73,-97.3,2474,2029,3248,3065,524.6,-6.3,302,5774,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2028,3156,3248,3065,0,0,0,0,0,0,14.60,14.63,14.62
$GC,6131,-0.73,-97.3,2473,2028,3248,3065,547.6,-6.4,314,6136,0.00,2.58,0.00,0.000,292,0.000,0.105,2473,3372,3156,3248,3065,0,0,0,0,0,0,14.77,13.78,14.79
$GC,6216,-0.73,-97.3,2474,3372,3249,3065,553.3,-6.7,331,6223,0.00,2.42,0.00,0.000,1030,0.000,0.069,2473,2036,3156,3248,3064,0,0,0,0,0,0,14.12,13.98,14.19
$GC,6582,-0.73,-97.3,2474,2035,3248,3065,576.9,-6.4,344,6583,0.00,0.00,0.00,0.000,38,0.000,0.000,2470,2036,3156,3247,3065,0,0,0,0,0,0,14.58,14.61,14.61
$GC,6942,-0.73,-97.3,2473,2037,3249,3066,599.8,-6.3,356,6943,0.00,0.00,0.00,0.000,38,0.000,0.000,2471,2036,3156,3248,3065,0,0,0,0,0,0,14.58,14.61,14.60
$GC,7302,-0.73,-97.3,2474,2036,3248,3065,622.5,-6.3,368,7304,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2036,3156,3248,3065,0,0,0,0,0,0,14.58,14.60,14.60
$GC,7662,-0.73,-97.3,2473,2034,3248,3065,644.9,-6.2,380,7667,0.00,2.50,0.00,0.000,292,0.000,0.104,2473,3375,3156,3247,3065,0,0,0,0,0,0,14.57,13.74,14.60
$GC,7762,-0.73,-97.3,2474,3376,3249,3066,651.4,-6.3,400,7767,0.00,2.42,0.00,0.000,1062,0.000,0.070,2473,2038,3159,3254,3064,0,0,0,0,0,0,14.11,13.95,14.16
$GC,8142,-0.73,-97.3,2474,2039,3249,3065,674.3,-6.0,416,8144,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2039,3156,3247,3065,0,0,0,0,0,0,14.57,14.59,14.59
$GC,8502,-0.73,-97.3,2473,2039,3249,3065,695.8,-6.0,428,8508,0.00,2.58,0.00,0.000,292,0.000,0.105,2473,3373,3155,3247,3064,0,0,0,0,0,0,14.57,13.74,14.59
$GC,8553,-0.73,-97.3,2474,3374,3248,3065,699.0,-6.2,438,8558,0.00,2.45,0.00,0.000,1062,0.000,0.069,2473,2031,3156,3247,3065,0,0,0,0,0,0,14.11,13.95,14.16
$GC,8923,-0.73,-97.3,2474,2036,3248,3066,720.7,-5.8,452,8925,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2036,3156,3248,3064,0,0,0,0,0,0,14.78,14.79,14.79
$GC,9283,-0.73,-97.3,2474,2036,3249,3066,741.8,-5.9,464,9288,0.00,2.55,0.00,0.000,292,0.000,0.106,2474,3372,3156,3248,3065,0,0,0,0,0,0,14.56,13.72,14.59
$GC,9349,-0.73,-97.3,2474,3373,3248,3066,745.8,-6.1,477,9354,0.00,2.42,0.00,0.000,1062,0.000,0.070,2473,2039,3156,3248,3064,0,0,0,0,0,0,14.09,13.94,14.14
$GC,9735,-0.73,-97.3,2474,2039,3248,3065,768.4,-5.8,494,9736,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2038,3156,3247,3065,0,0,0,0,0,0,14.56,14.59,14.59
$GC,10095,-0.73,-97.3,2474,2039,3249,3066,789.5,-5.9,506,10100,0.00,2.55,0.00,0.000,292,0.000,0.106,2473,3370,3156,3247,3065,0,0,0,0,0,0,14.77,13.71,14.80
$GC,10175,-0.73,-97.3,2474,3371,3248,3065,794.1,-6.1,522,10180,0.00,2.45,0.00,0.000,1062,0.000,0.070,2473,2038,3156,3248,3065,0,0,0,0,0,0,14.07,13.90,14.12
$GC,10546,-0.73,-97.3,2474,2040,3248,3065,815.7,-5.7,536,10547,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2039,3157,3248,3066,0,0,0,0,0,0,14.56,14.59,14.58
$GC,10906,-0.73,-97.3,2473,2040,3248,3065,836.2,-5.7,548,10911,0.00,2.58,0.00,0.000,292,0.000,0.106,2473,3373,3156,3248,3065,0,0,0,0,0,0,14.55,13.69,14.58
$GC,10986,-0.73,-97.3,2473,3374,3248,3065,840.6,-5.9,564,10991,0.00,2.47,0.00,0.000,1062,0.000,0.070,2473,2035,3156,3248,3065,0,0,0,0,0,0,14.05,13.89,14.11
$GC,11357,-0.73,-97.3,2473,2036,3246,3064,862.0,-5.8,578,11358,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2035,3156,3248,3065,0,0,0,0,0,0,14.55,14.58,14.57
$GC,11716,-0.73,-97.3,2474,2035,3248,3066,883.2,-5.9,590,11721,0.00,2.58,0.00,0.000,292,0.000,0.106,2473,3375,3156,3248,3065,0,0,0,0,0,0,14.76,13.68,14.79
$GC,11811,-0.73,-97.3,2474,3376,3248,3066,889.6,-6.2,609,11817,0.00,2.45,0.00,0.000,1062,0.000,0.070,2473,2035,3156,3248,3065,0,0,0,0,0,0,14.06,13.90,14.11
$GC,12199,-0.73,-97.3,2473,2036,3248,3065,911.4,-5.8,626,12201,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2035,3156,3248,3065,0,0,0,0,0,0,14.49,14.52,14.51
$GC,12558,-0.73,-97.3,2473,2036,3248,3065,931.9,-5.6,638,12562,0.00,2.60,0.00,0.000,292,0.000,0.107,2473,3373,3156,3248,3065,0,0,0,0,0,0,14.42,13.68,14.44
$GC,12643,-0.73,-97.3,2473,3374,3247,3065,937.5,-5.8,655,12649,0.00,2.47,0.00,0.000,1062,0.000,0.069,2473,2030,3156,3248,3065,0,0,0,0,0,0,13.95,13.81,14.00
$GC,13008,-0.73,-97.3,2474,2031,3242,3066,957.2,-5.6,668,13010,0.00,0.00,0.00,0.000,38,0.000,0.000,2474,2031,3156,3247,3065,0,0,0,0,0,0,14.40,14.43,14.42
$GC,13368,-0.73,-97.3,2473,2032,3248,3065,977.4,-5.7,680,13369,0.00,0.00,0.00,0.000,38,0.000,0.000,2473,2031,3156,3247,3065,0,0,0,0,0,0,14.40,14.43,14.42
$STATE,13605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13605,begin apogee
$GC,13611,-0.17,0.0,2473,2031,3248,3065,990.9,-5.6,688,13721,0.75,0.00,107.93,2.287,10246,0.225,0.000,2656,2031,2760,2879,2641,0,0,0,0,0,0,13.59,13.55,12.44
$STATE,13722,end apogee,CONTROL_FINISHED_OK
$STATE,13722,begin climb
$GC,13725,0.73,97.3,2657,2031,2877,2642,993.2,0.0,691,13844,1.02,2.78,110.75,2.219,10756,0.141,0.116,2947,715,2360,2481,2239,0,0,0,0,0,0,13.57,13.06,11.89
$GC,13889,0.73,97.3,2948,716,2474,2237,981.8,8.8,723,13894,0.00,2.58,0.00,0.000,1030,0.000,0.087,2944,2035,2351,2467,2236,0,0,0,0,0,0,13.47,13.33,13.51
$GC,14269,0.73,97.3,2947,2036,2468,2231,948.0,8.9,739,14274,0.00,2.67,0.00,0.000,260,0.000,0.112,2947,3446,2349,2467,2231,0,0,0,0,0,0,14.47,14.02,14.50
$GC,14334,0.73,97.3,2947,3447,2467,2231,942.4,10.0,752,14339,0.00,2.40,0.00,0.000,1030,0.000,0.075,2947,2120,2348,2466,2230,0,0,0,0,0,0,14.21,14.07,14.26
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$GC,17301,0.73,97.3,2948,2111,2465,2228,686.5,8.4,865,17306,0.00,2.55,0.00,0.000,260,0.000,0.111,2947,3450,2345,2464,2227,0,0,0,0,0,0,14.64,13.88,14.66
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$STATE,26895,end climb,NO_VERTICAL_VELOCITY
$STATE,26895,begin subsurface finish
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$FINISH2,3.7
$STATE,26907,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,26908,begin surface
$RAFOS_CLK,15
$RAFOS_FIX,7326.799316,-14639.734375,310820,040421,0,1,0.16
$IRIDIUM_FIX,7355.01,-14557.07,270820,155628
$TT8_MAMPS,0.077896,0.302596
$HUMID,52.63
$INTERNAL_PRESSURE,8.78035
$TCM_TEMP,13.20
$XPDR_PINGS,167
$SC_FREEKB,3636320
$24V_AH,11.89,219.979
$10V_AH,11.97,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,10.077,0.000,0.000,0.000
$MEM,334816
$DATA_FILE_SIZE,46618,1380
$CAP_FILE_SIZE,160164,0
$CFSIZE,1047117824,988938240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.7
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