version: 66.13
glider: 228
mission: 15
dive: 28
start: 10 15 118 1 12 43
data:
$ID,228
$MISSION,15
$DIVE,28
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,11400
$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,72009
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019871001
$HD_B,0.0216852
$HD_C,3.8918901e-07
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,567.43622
$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,200
$PITCH_MAX,3810
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2948
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,575
$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,-154.09409
$PRESSURE_SLOPE,0.00010809835
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.8
$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,64
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044279573
$SEABIRD_T_H,0.000658612
$SEABIRD_T_I,2.7901522e-05
$SEABIRD_T_J,3.4987197e-06
$SEABIRD_C_G,-9.9235325
$SEABIRD_C_H,1.1433685
$SEABIRD_C_I,-0.0023654797
$SEABIRD_C_J,0.00025343007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,54.46
$_SM_ANGLEo,-27.5
$GPS2,151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.181
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,135.7,183544,-19.8,-10.000,-28.97,2248
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.87,-146.0,2403,2310,3055,2870,0.0,0.0,0,21,0.00,0.00,-5.70,0.018,16390,0.000,0.000,2402,2309,3558,3671,3445,0,0,0,0,0,0,14.59,13.46,14.60
$GC,23,-0.87,-146.0,2402,2310,3672,3447,60.6,0.0,1,30,0.85,4.97,0.00,0.000,4356,0.117,0.086,2105,3942,3560,3673,3448,0,0,0,0,0,0,14.38,14.40,14.45
$GC,255,-0.87,-146.0,2104,3944,3667,3466,113.3,-18.2,47,266,0.00,4.78,0.00,0.000,1030,0.000,0.045,2110,2293,3565,3666,3465,0,0,0,0,0,0,14.52,14.45,14.53
$GC,445,-0.87,-146.0,2110,2293,3666,3467,138.4,-12.2,67,456,0.00,5.00,0.00,0.000,260,0.000,0.082,2092,3949,3566,3665,3467,0,0,0,0,0,0,14.69,14.47,14.71
$GC,481,-0.87,-146.0,2091,3949,3665,3469,143.3,-13.9,74,488,0.00,4.75,0.00,0.000,1030,0.000,0.043,2097,2293,3566,3664,3468,0,0,0,0,0,0,14.55,14.50,14.57
$GC,666,-0.87,-146.0,2096,2293,3665,3469,166.9,-12.6,93,673,0.00,4.90,0.00,0.000,516,0.000,0.067,2096,605,3566,3665,3468,0,0,0,0,0,0,14.71,14.52,14.73
$GC,698,-0.87,-146.0,2096,605,3665,3469,171.1,-14.1,99,709,0.17,4.88,0.00,0.000,3078,0.368,0.052,2110,2300,3567,3665,3469,0,0,0,0,0,0,14.31,14.52,14.55
$GC,888,-0.87,-146.0,2109,2300,3665,3470,194.1,-11.9,119,899,0.00,4.95,0.00,0.000,260,0.000,0.083,2091,3952,3566,3664,3469,0,0,0,0,0,0,14.72,14.50,14.74
$GC,914,-0.87,-146.0,2090,3953,3663,3470,197.6,-13.7,124,921,0.00,4.72,0.00,0.000,1030,0.000,0.043,2096,2297,3566,3662,3470,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1099,-0.87,-146.0,2097,2297,3664,3471,218.8,-10.6,143,1110,0.00,4.95,0.00,0.000,260,0.000,0.080,2078,3949,3566,3662,3470,0,0,0,0,0,0,14.73,14.54,14.78
$GC,1200,-0.87,-146.0,2079,3949,3662,3473,231.4,-11.6,163,1211,0.15,4.72,0.00,0.000,3078,0.351,0.043,2112,2290,3567,3661,3473,0,0,0,0,0,0,14.33,14.53,14.55
$GC,1392,-0.87,-146.0,2112,2290,3662,3473,245.3,-6.5,183,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2290,3566,3661,3472,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1570,-0.87,-146.0,2112,2290,3659,3473,255.9,-5.7,196,1571,0.00,0.00,0.00,0.000,38,0.000,0.000,2112,2290,3566,3661,3471,0,0,0,0,0,0,14.78,14.80,14.80
$GC,1870,-0.87,-146.0,2112,2290,3661,3472,267.8,-3.4,211,1880,0.00,4.82,0.00,0.000,548,0.000,0.063,2124,613,3566,3661,3472,0,0,0,0,0,0,14.81,14.62,14.82
$GC,2105,-0.87,-146.0,2124,613,3661,3473,275.9,-2.8,258,2112,0.00,4.82,0.00,0.000,1062,0.000,0.048,2105,2309,3566,3661,3472,0,0,0,0,0,0,14.70,14.64,14.71
$GC,2410,-0.87,-146.0,2106,2310,3662,3473,281.9,-2.0,274,2420,0.00,4.90,0.00,0.000,548,0.000,0.066,2105,612,3566,3661,3472,0,0,0,0,0,0,14.83,14.63,14.85
$GC,2645,-0.87,-146.0,2106,613,3662,3473,288.3,-2.5,321,2653,0.15,4.80,0.00,0.000,3110,0.340,0.049,2112,2301,3566,3660,3472,0,0,0,0,0,0,14.45,14.66,14.67
$GC,2950,-0.87,-146.0,2112,2301,3660,3473,294.8,-2.4,337,2957,0.00,4.88,0.00,0.000,548,0.000,0.067,2120,613,3566,3660,3472,0,0,0,0,0,0,14.85,14.65,14.86
$GC,3182,-0.87,-146.0,2119,614,3660,3473,300.1,-2.1,383,3192,0.00,4.80,0.00,0.000,1062,0.000,0.049,2100,2309,3566,3660,3472,0,0,0,0,0,0,14.73,14.67,14.75
$GC,3492,-0.87,-146.0,2100,2307,3660,3472,304.7,-1.5,400,3493,0.00,0.00,0.00,0.000,38,0.000,0.000,2100,2309,3566,3660,3472,0,0,0,0,0,0,14.86,14.88,14.88
$GC,3792,-0.87,-146.0,2100,2312,3660,3473,308.4,-1.2,415,3801,0.00,4.90,0.00,0.000,548,0.000,0.067,2100,609,3566,3660,3472,0,0,0,0,0,0,14.86,14.67,14.88
$GC,4027,-0.87,-146.0,2101,609,3661,3473,311.4,-1.1,462,4034,0.15,4.78,0.00,0.000,3110,0.335,0.049,2110,2301,3565,3659,3472,0,0,0,0,0,0,14.49,14.69,14.71
$STATE,4149,end dive,NO_VERTICAL_VELOCITY
$STATE,4149,begin apogee
$GC,4155,-0.11,0.0,2112,2094,3661,3473,312.3,0.0,469,4294,0.98,0.00,133.65,1.783,10246,0.297,0.000,2357,2092,2943,2999,2888,0,0,0,0,0,0,14.50,14.10,13.45
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4297,0.87,146.0,2358,2093,2998,2888,307.4,0.0,476,4438,1.05,5.40,129.35,1.697,10500,0.161,0.086,2671,3783,2345,2358,2332,0,0,0,0,0,0,14.02,13.85,13.27
$GC,4458,0.87,146.0,2672,3784,2352,2333,289.4,13.2,506,4466,0.00,5.05,0.00,0.000,1030,0.000,0.049,2691,2111,2340,2350,2330,0,0,0,0,0,0,14.02,13.94,14.03
$GC,4771,0.87,146.0,2691,2110,2351,2321,249.4,11.7,523,4777,0.00,5.12,0.00,0.000,516,0.000,0.077,2713,406,2335,2350,2320,0,0,0,0,0,0,14.45,14.24,14.47
$GC,4822,0.87,146.0,2713,406,2348,2319,243.7,10.5,533,4835,0.15,4.95,0.00,0.000,5126,0.243,0.050,2680,2102,2333,2350,2317,0,0,0,0,0,0,14.19,14.29,14.35
$GC,5014,0.90,146.0,2680,2103,2353,2318,225.2,9.1,553,5025,0.00,5.10,0.00,0.000,324,0.000,0.084,2680,3783,2334,2350,2318,0,0,0,0,0,0,14.54,14.33,14.56
$GC,5040,0.90,146.0,2679,3784,2350,2318,222.5,9.7,558,5049,0.00,4.93,0.00,0.000,1030,0.000,0.047,2696,2091,2334,2351,2317,0,0,0,0,0,0,14.45,14.38,14.46
$GC,5226,0.92,146.0,2697,2097,2353,2318,205.3,9.2,577,5237,0.00,4.97,0.00,0.000,580,0.000,0.076,2718,407,2334,2352,2316,0,0,0,0,0,0,14.61,14.39,14.62
$GC,5268,0.94,146.0,2718,411,2352,2317,201.3,9.2,585,5280,0.00,4.88,0.00,0.000,1094,0.000,0.049,2718,2101,2333,2353,2314,0,0,0,0,0,0,14.47,14.40,14.48
$GC,5458,0.96,146.0,2719,2102,2354,2315,183.3,9.4,605,5469,0.00,5.07,0.00,0.000,324,0.000,0.083,2718,3788,2333,2352,2315,0,0,0,0,0,0,14.65,14.37,14.66
$GC,5479,0.96,146.0,2718,3789,2353,2317,181.1,10.4,609,5492,0.00,4.90,0.00,0.000,1030,0.000,0.046,2739,2095,2333,2351,2315,0,0,0,0,0,0,14.52,14.45,14.54
$GC,5670,0.96,146.0,2739,2095,2353,2315,162.0,9.9,629,5681,0.00,4.97,0.00,0.000,516,0.000,0.076,2760,409,2333,2353,2313,0,0,0,0,0,0,14.68,14.47,14.70
$GC,5696,0.96,146.0,2761,410,2355,2314,159.1,10.8,634,5705,0.20,4.88,0.00,0.000,5126,0.256,0.050,2713,2103,2336,2354,2318,0,0,0,0,0,0,14.37,14.50,14.56
$GC,5883,1.02,146.0,2714,2106,2355,2312,143.3,8.2,653,5895,0.00,5.07,0.00,0.000,324,0.000,0.084,2713,3791,2332,2352,2312,0,0,0,0,0,0,14.71,14.48,14.72
$GC,5900,1.05,146.0,2713,3792,2353,2314,141.6,8.7,656,5907,0.00,4.88,0.00,0.000,1094,0.000,0.046,2734,2098,2332,2352,2313,0,0,0,0,0,0,14.60,14.53,14.62
$GC,6085,1.10,146.0,2734,2099,2362,2312,126.0,8.4,675,6096,0.00,4.95,0.00,0.000,580,0.000,0.076,2755,409,2332,2354,2311,0,0,0,0,0,0,14.73,14.50,14.74
$GC,6126,1.12,146.0,2755,410,2355,2312,122.2,9.4,683,6137,0.00,4.85,0.00,0.000,1094,0.000,0.048,2755,2104,2332,2354,2310,0,0,0,0,0,0,14.62,14.55,14.64
$GC,6316,1.20,146.0,2754,2105,2356,2311,106.7,7.5,703,6317,0.00,0.00,0.00,0.000,70,0.000,0.000,2755,2104,2332,2355,2310,0,0,0,0,0,0,14.73,14.76,14.75
$GC,6496,1.46,235.3,2756,2105,2357,2311,95.2,5.9,721,6580,0.35,0.00,81.32,1.523,10534,0.118,0.000,2870,2106,1987,2006,1968,0,0,0,0,0,0,14.54,14.23,13.63
$GC,6756,1.53,235.3,2869,2105,1991,1950,71.6,7.9,750,6757,0.00,0.00,0.00,0.000,70,0.000,0.000,2870,2105,1970,1991,1949,0,0,0,0,0,0,14.50,14.52,14.52
$GC,6936,1.91,364.0,2870,2106,1991,1948,62.0,4.1,768,7059,0.45,0.00,117.07,1.428,10534,0.114,0.000,3016,2105,1457,1464,1451,0,0,0,0,0,0,14.37,14.02,13.50
$GC,7236,2.00,364.0,3016,2106,1454,1440,36.8,7.2,801,7237,0.00,0.00,0.00,0.000,70,0.000,0.000,3015,2105,1446,1454,1439,0,0,0,0,0,0,14.40,14.42,14.42
$FREEZE,9.89,-1.199,-1.426,2,6,0
$FREEZE,9.11,-1.387,-1.424,2,6,0
$GC,7416,2.48,523.5,3015,2106,1453,1438,30.5,2.7,819,7639,0.52,0.00,218.18,1.257,10530,0.107,0.000,3191,2105,873,849,897,0,0,0,0,0,0,14.29,28.83,14.35
$STATE,7640,end climb,FINISH_DEPTH_REACHED
$STATE,7640,begin subsurface finish
$FINISH1,9.1,1.020919,452
$GC,7645,1.36,451.8,3191,2105,852,901,9.1,10.5,858,7659,1.38,0.00,-7.18,0.017,20486,0.257,0.000,2845,2105,1109,1106,1113,0,0,0,0,0,0,13.79,13.43,13.91
$FINISH2,6.6
$STATE,7659,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7659,begin surface
$RAFOS_CLK,494
$RAFOS_FIX,7433.331055,-14630.600586,151018,030344,0,1,0.07
$IRIDIUM_FIX,7423.18,-14645.18,131018,195921
$TT8_MAMPS,0.042693,0.653128
$HUMID,43.38
$INTERNAL_PRESSURE,9.31005
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,5.9
$24V_AH,13.27,82.818
$10V_AH,13.15,0.000
$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,6.550,168.500,679.575,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,5160.905,788.485,1673.150,154.503,0.000,1510.695,0.000,1234.464,0.000,2.520,0.000
$DEVICE_MAMPS,367.965,86.445,1783.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.621,0.000,0.000,0.000
$MEM,326568
$DATA_FILE_SIZE,30035,860
$CAP_FILE_SIZE,90515,0
$CFSIZE,2097872896,2090401792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.3
$CURRENT,0.071,269.97,1
$GPS,151018,031944,7433.331,-14630.601,0,1001.0,0,18.2,0.0,0.0,0,0.0