version: 66.13
glider: 228
mission: 14
dive: 12
start: 9 22 118 2 48 26
data:
$ID,228
$MISSION,14
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$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,320
$T_MISSION,360
$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,0
$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,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3810
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,20
$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,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,575
$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,-148.83669
$PRESSURE_SLOPE,0.0001081732
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,220918,023831,7418.7681,-14641.4971,33,0.7,34,18.3,0.3,181.0,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.9
$GPS2,220918,024748,7418.7378,-14641.6357,4,0.5,6,18.3,0.3,151.2,12,4.6
$SPEED_LIMITS,0.171,0.195
$TGT_NAME,NAV-SW
$TGT_LATLONG,7425.620,-14756.580
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,262.0,39382,-19.4,-9.896,-26.97,2264
$D_GRID,950
$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
$STATE,6,begin dive
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$PING,22.1,7.2,9000.0,0.00,0.00
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$PING,34.2,7.8,9000.0,0.09,0.94
$PING,45.7,7.7,9000.0,0.02,0.64
$PING,57.0,7.7,9000.0,-0.00,0.14
$PING,67.6,7.7,9000.0,0.00,0.68
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$PING,77.9,7.7,9000.0,0.00,0.00
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$PING,124.4,7.8,9000.0,0.00,0.00
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$PING,135.7,5.9,9000.0,-0.08,0.75
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$PING,145.8,7.8,9000.0,-0.00,0.00
$PING,155.8,7.7,9000.0,0.09,0.75
$PING,165.8,7.7,9000.0,0.00,0.00
$PING,175.9,7.8,9000.0,0.00,0.15
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$PING,187.8,7.7,9000.0,0.00,0.16
$PING,199.8,7.8,9000.0,0.00,0.00
$PING,211.4,6.0,9000.0,-0.07,0.73
$PING,222.9,6.0,9000.0,-0.08,0.75
$GC,837,-0.86,-146.0,1966,2507,3811,3723,227.5,-23.0,100,848,0.00,4.97,0.00,0.000,516,0.000,0.076,1974,802,3766,3811,3722,0,0,0,0,0,0,14.70,14.50,14.71
$PING,233.1,6.0,9000.0,0.00,0.00
$GC,858,-0.86,-146.0,1975,803,3812,3723,232.2,-22.4,104,865,0.00,4.90,0.00,0.000,1030,0.000,0.066,1955,2503,3764,3807,3722,0,0,0,0,0,0,14.59,14.50,14.61
$PING,243.6,6.1,9000.0,0.01,0.74
$PING,254.2,6.2,9000.0,0.01,0.97
$PING,266.1,6.2,9000.0,0.00,0.88
$GC,1060,-0.86,-146.0,1955,2504,3812,3722,273.7,-19.3,119,1070,0.00,4.97,0.00,0.000,516,0.000,0.076,1956,802,3766,3810,3722,0,0,0,0,0,0,14.73,14.50,14.75
$PING,276.5,6.1,9000.0,-0.01,0.60
$GC,1110,-0.86,-146.0,1963,802,3812,3723,283.4,-19.0,129,1122,0.15,4.93,0.00,0.000,3078,0.338,0.067,1964,2499,3766,3810,3722,0,0,0,0,0,0,14.42,14.54,14.59
$PING,288.7,6.2,9000.0,0.00,0.05
$PING,298.9,6.3,9000.0,0.01,0.91
$PING,312.0,6.3,9000.0,0.00,0.93
$PING,324.7,6.3,9000.0,0.00,0.00
$PING,335.0,6.3,9000.0,0.00,0.00
$GC,1420,-0.86,-146.0,1964,2499,3810,3722,334.3,-15.9,146,1428,0.00,4.90,0.00,0.000,516,0.000,0.076,1974,798,3766,3810,3722,0,0,0,0,0,0,14.78,14.54,14.80
$GC,1473,-0.86,-146.0,1974,799,3811,3723,342.9,-16.0,156,1484,0.00,4.93,0.00,0.000,1030,0.000,0.067,1954,2501,3765,3809,3722,0,0,0,0,0,0,14.66,14.58,14.69
$PING,347.8,6.3,9000.0,0.00,0.00
$PING,360.8,6.3,9000.0,0.00,0.00
$PING,373.9,6.3,9000.0,0.00,0.00
$PING,386.9,6.3,9000.0,0.00,0.00
$GC,1783,-0.86,-146.0,1955,2502,3811,3722,393.4,-16.3,173,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2501,3765,3810,3721,0,0,0,0,0,0,14.81,14.83,14.83
$PING,399.9,6.8,9000.0,0.02,0.76
$PING,413.0,6.8,9000.0,0.02,0.72
$PING,425.9,6.3,9000.0,-0.02,0.78
$PING,438.7,6.3,9000.0,-0.02,0.79
$GC,2085,-0.86,-146.0,1954,2501,3809,3722,441.9,-16.0,188,2094,0.00,4.93,0.00,0.000,516,0.000,0.077,1955,807,3766,3810,3722,0,0,0,0,0,0,14.83,14.62,14.85
$PING,448.8,6.8,9000.0,0.02,0.65
$GC,2154,-0.86,-146.0,1954,807,3810,3723,453.6,-16.2,202,2161,0.15,4.88,0.00,0.000,3078,0.329,0.067,1963,2500,3765,3809,3722,0,0,0,0,0,0,14.52,14.63,14.69
$PING,461.4,6.3,9000.0,-0.00,0.02
$PING,473.3,6.3,9000.0,-0.02,0.76
$PING,485.1,6.2,9000.0,0.00,0.00
$PING,496.9,6.3,9000.0,0.00,0.00
$GC,2466,-0.86,-146.0,1963,2500,3810,3722,499.8,-14.7,219,2472,0.00,4.95,0.00,0.000,516,0.000,0.076,1970,800,3765,3808,3722,0,0,0,0,0,0,14.83,14.65,14.86
$PING,507.3,6.8,9000.0,0.02,0.75
$GC,2511,-0.86,-146.0,1970,801,3809,3722,506.7,-14.8,228,2519,0.00,4.85,0.00,0.000,1030,0.000,0.069,1952,2499,3765,3809,3722,0,0,0,0,0,0,14.73,14.65,14.75
$PING,518.5,6.2,9000.0,-0.00,0.00
$PING,530.9,6.2,9000.0,-0.02,0.75
$PING,543.4,6.2,9000.0,0.00,0.00
$PING,555.6,6.2,9000.0,0.00,0.00
$GC,2829,-0.86,-146.0,1952,2500,3809,3722,555.6,-15.2,246,2836,0.00,4.93,0.00,0.000,516,0.000,0.078,1953,804,3765,3809,3722,0,0,0,0,0,0,14.87,14.66,14.87
$GC,2871,-0.86,-146.0,1955,805,3813,3722,562.3,-16.1,254,2878,0.17,4.90,0.00,0.000,3078,0.332,0.067,1969,2508,3765,3809,3722,0,0,0,0,0,0,14.54,14.67,14.73
$PING,565.7,6.2,9000.0,0.00,0.00
$PING,577.3,6.2,9000.0,0.00,0.00
$PING,588.7,6.3,9000.0,0.00,0.75
$PING,600.0,6.3,9000.0,0.00,0.75
$GC,3193,-0.86,-146.0,1969,2509,3809,3722,608.5,-14.2,273,3204,0.00,4.95,0.00,0.000,516,0.000,0.077,1970,800,3765,3809,3722,0,0,0,0,0,0,14.88,14.68,14.89
$PING,610.8,6.4,9000.0,0.01,0.74
$GC,3238,-0.86,-146.0,1971,802,3811,3723,615.3,-14.8,282,3245,0.00,4.88,0.00,0.000,1030,0.000,0.066,1951,2501,3765,3809,3722,0,0,0,0,0,0,14.77,14.69,14.78
$PING,620.8,6.3,9000.0,0.00,0.00
$PING,632.9,6.3,9000.0,-0.01,0.69
$PING,645.2,6.3,9000.0,0.00,0.77
$PING,657.3,6.3,9000.0,0.00,0.00
$GC,3555,-0.86,-146.0,1951,2502,3809,3722,663.4,-15.2,300,3565,0.00,4.93,0.00,0.000,516,0.000,0.078,1951,798,3765,3809,3722,0,0,0,0,0,0,14.89,14.69,14.90
$PING,667.4,6.4,9000.0,0.00,0.38
$GC,3595,-0.86,-146.0,1951,798,3809,3722,669.8,-16.1,308,3606,0.17,4.90,0.00,0.000,3078,0.334,0.066,1965,2508,3765,3810,3721,0,0,0,0,0,0,14.57,14.69,14.75
$PING,678.7,6.2,9000.0,-0.00,0.07
$PING,690.0,6.2,9000.0,-0.01,0.84
$PING,701.4,6.2,9000.0,-0.00,0.96
$PING,712.6,6.2,9000.0,0.00,0.00
$GC,3916,-0.86,-146.0,1966,2509,3810,3723,715.5,-14.1,327,3925,0.00,4.93,0.00,0.000,516,0.000,0.077,1970,802,3765,3809,3722,0,0,0,0,0,0,14.90,14.70,14.92
$PING,722.7,6.3,9000.0,0.00,0.72
$GC,3966,-0.86,-146.0,1971,804,3810,3723,722.7,-14.2,337,3978,0.00,4.85,0.00,0.000,1030,0.000,0.066,1951,2506,3765,3809,3722,0,0,0,0,0,0,14.75,14.71,14.78
$PING,733.0,6.2,9000.0,0.00,0.04
$PING,744.9,6.2,9000.0,-0.00,0.36
$PING,756.8,6.2,9000.0,0.00,0.00
$PING,768.7,6.2,9000.0,0.00,0.00
$GC,4276,-0.86,-146.0,1951,2506,3810,3722,768.7,-14.8,354,4283,0.00,4.93,0.00,0.000,516,0.000,0.076,1953,798,3765,3809,3722,0,0,0,0,0,0,14.87,14.69,14.88
$GC,4313,-0.86,-146.0,1954,801,3810,3723,774.5,-15.6,361,4320,0.17,4.90,0.00,0.000,3078,0.324,0.067,1969,2507,3765,3809,3722,0,0,0,0,0,0,14.57,14.69,14.74
$PING,781.0,6.3,9000.0,0.00,0.76
$PING,792.1,6.3,9000.0,0.00,0.26
$PING,803.0,6.3,9000.0,0.00,0.00
$PING,814.0,6.3,9000.0,0.00,0.00
$GC,4618,-0.86,-146.0,1970,2508,3810,3723,816.7,-13.7,377,4629,0.00,4.95,0.00,0.000,516,0.000,0.077,1971,798,3765,3809,3721,0,0,0,0,0,0,14.86,14.66,14.87
$PING,824.1,6.3,9000.0,0.00,0.74
$GC,4673,-0.86,-146.0,1972,799,3811,3723,824.8,-14.3,388,4680,0.00,4.90,0.00,0.000,1030,0.000,0.066,1951,2505,3765,3809,3722,0,0,0,0,0,0,14.73,14.66,14.76
$PING,834.1,6.2,9000.0,-0.00,0.36
$PING,845.9,6.2,9000.0,-0.01,0.83
$PING,857.6,6.2,9000.0,0.00,0.00
$PING,869.3,6.2,9000.0,0.00,0.00
$GC,4981,-0.86,-146.0,1952,2505,3809,3722,869.3,-14.6,404,4991,0.00,4.93,0.00,0.000,516,0.000,0.076,1953,802,3765,3809,3722,0,0,0,0,0,0,14.82,14.64,14.84
$GC,5035,-0.86,-146.0,1954,803,3811,3723,878.0,-15.0,415,5043,0.15,4.90,0.00,0.000,3078,0.330,0.066,1964,2506,3765,3809,3722,0,0,0,0,0,0,14.52,14.64,14.70
$PING,881.6,6.2,9000.0,0.00,0.00
$PING,892.6,6.2,9000.0,0.00,0.00
$PING,903.6,6.3,9000.0,0.01,0.75
$PING,914.5,6.3,9000.0,0.01,0.75
$GC,5341,-0.86,-146.0,1963,2507,3809,3722,920.0,-13.6,431,5350,0.00,4.95,0.00,0.000,516,0.000,0.077,1967,800,3765,3809,3722,0,0,0,0,0,0,14.82,14.63,14.83
$PING,925.0,6.2,9000.0,-0.00,0.74
$GC,5381,-0.86,-146.0,1968,801,3810,3723,925.7,-14.3,439,5390,0.00,4.90,0.00,0.000,1030,0.000,0.065,1944,2503,3765,3809,3721,0,0,0,0,0,0,14.68,14.60,14.71
$PING,937.1,6.4,9000.0,0.01,0.43
$PING,948.8,6.4,9000.0,0.01,0.67
$STATE,5558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5558,begin apogee
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$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,24.000,394.075,727.150,0.000,0.000,0.000,0.000,370.650,48.250,0.000,15.178,0.000,10870.747,1120.521,3231.850,378.862,0.000,2687.085,0.000,2035.519,2199.000,273.918,0.000
$DEVICE_MAMPS,460.530,180.540,2497.725,0.000,0.000,0.000,0.000,202.725,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.140,0.000,0.000,0.000
$MEM,334560
$DATA_FILE_SIZE,49986,1424
$CAP_FILE_SIZE,200815,0
$CFSIZE,2097872896,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$CURRENT,0.050,287.65,1
$GPS,220918,070039,7419.301,-14648.818,44,0.8,46,18.3,0.2,248.2,11,7.5