version: 66.13
glider: 228
mission: 14
dive: 56
start: 9 29 118 1 40 44
data:
$ID,228
$MISSION,14
$DIVE,56
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,240
$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,0.0025631799
$HD_B,0.0154106
$HD_C,6.0999999e-05
$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,2270
$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,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,2854
$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,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,3
$PITCH_W_DBAND,0.5
$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,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,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
$GPS1,290918,013301,7354.6216,-14700.2861,66,0.6,67,18.2,0.6,196.0,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.95
$_SM_ANGLEo,-75.5
$GPS2,290918,014008,7354.6489,-14700.3379,4,0.5,4,18.2,0.5,331.7,12,6.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.7,41667,-22.0,-10.000,-29.22,1661
$D_GRID,600
$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,-0.92,-146.0,199,2404,455,534,0.0,0.0,0,82,0.00,0.00,-71.38,0.003,16386,0.000,0.000,199,2405,1889,1994,1785,0,0,0,0,0,0,14.46,28.83,14.48
$GC,85,-0.92,-146.0,198,2404,1995,1789,2.8,-9.1,7,135,9.43,5.05,-30.40,0.005,18948,0.467,0.080,1987,714,3454,3570,3339,0,0,0,0,0,0,14.12,13.55,14.36
$GC,345,-0.92,-146.0,1987,714,3570,3341,94.4,-23.2,58,352,0.00,4.97,0.00,0.000,1030,0.000,0.062,1969,2403,3455,3570,3340,0,0,0,0,0,0,14.44,14.36,14.45
$GC,530,-0.92,-146.0,1970,2404,3571,3342,138.3,-23.0,77,536,0.00,4.97,0.00,0.000,516,0.000,0.070,1987,706,3454,3569,3340,0,0,0,0,0,0,14.60,14.40,14.62
$GC,552,-0.92,-146.0,1986,706,3569,3341,143.2,-23.3,81,558,0.00,4.95,0.00,0.000,1030,0.000,0.060,1968,2400,3455,3569,3341,0,0,0,0,0,0,14.50,14.42,14.52
$GC,743,-0.92,-146.0,1967,2401,3569,3341,185.7,-21.6,101,744,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2401,3454,3568,3341,0,0,0,0,0,0,14.64,14.66,14.65
$GC,923,-0.92,-146.0,1969,2401,3570,3342,222.3,-19.0,119,934,0.00,4.65,0.00,0.000,260,0.000,0.092,1948,3948,3454,3566,3342,0,0,0,0,0,0,14.66,14.47,14.69
$GC,948,-0.92,-146.0,1948,3949,3563,3345,227.4,-20.3,124,955,0.00,4.43,0.00,0.000,1030,0.000,0.046,1963,2398,3456,3563,3350,0,0,0,0,0,0,14.57,14.51,14.59
$GC,1144,-0.92,-146.0,1968,2397,3563,3345,259.9,-15.2,141,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2397,3453,3563,3344,0,0,0,0,0,0,14.70,14.72,14.72
$GC,1444,-0.92,-146.0,1965,2398,3564,3346,303.6,-14.2,156,1454,0.00,4.88,0.00,0.000,516,0.000,0.068,1965,708,3453,3563,3344,0,0,0,0,0,0,14.75,14.56,14.76
$GC,1469,-0.92,-146.0,1965,709,3562,3345,307.4,-15.6,161,1476,0.00,4.90,0.00,0.000,1030,0.000,0.057,1946,2405,3453,3562,3344,0,0,0,0,0,0,14.63,14.56,14.64
$GC,1786,-0.92,-146.0,1947,2406,3564,3345,355.1,-14.9,179,1796,0.00,4.82,0.00,0.000,516,0.000,0.065,1958,707,3453,3562,3344,0,0,0,0,0,0,14.77,14.59,14.79
$GC,1811,-0.92,-146.0,1959,708,3563,3346,358.9,-15.9,184,1822,0.15,4.90,0.00,0.000,3078,0.356,0.057,1966,2406,3453,3562,3344,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2127,-0.92,-146.0,1966,2407,3562,3346,403.1,-13.7,202,2137,0.00,4.93,0.00,0.000,516,0.000,0.071,1985,708,3452,3561,3344,0,0,0,0,0,0,14.80,14.61,14.81
$GC,2162,-0.92,-146.0,1986,708,3562,3345,408.2,-14.9,209,2170,0.00,4.88,0.00,0.000,1030,0.000,0.059,1967,2402,3453,3561,3345,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2467,-0.92,-146.0,1967,2403,3562,3346,450.7,-14.0,225,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2402,3453,3561,3345,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2767,-0.92,-146.0,1967,2403,3561,3346,492.2,-13.7,240,2778,0.00,4.90,0.00,0.000,516,0.000,0.072,1974,713,3453,3561,3345,0,0,0,0,0,0,14.84,14.63,14.85
$GC,2823,-0.92,-146.0,1973,714,3561,3346,500.2,-14.6,251,2829,0.00,4.85,0.00,0.000,1030,0.000,0.058,1954,2403,3452,3560,3345,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3128,-0.92,-146.0,1956,2404,3569,3346,543.0,-13.9,267,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2403,3452,3560,3345,0,0,0,0,0,0,14.87,14.87,14.87
$GC,3428,-0.92,-146.0,1955,2404,3562,3346,584.1,-13.7,282,3438,0.00,4.90,0.00,0.000,516,0.000,0.070,1957,709,3453,3560,3346,0,0,0,0,0,0,14.86,14.67,14.88
$GC,3478,-0.92,-146.0,1958,709,3561,3347,591.5,-15.1,292,3490,0.15,4.85,0.00,0.000,3078,0.353,0.059,1965,2401,3451,3559,3343,0,0,0,0,0,0,14.54,14.68,14.73
$STATE,3545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3545,begin apogee
$GC,3551,-0.11,0.0,1967,2192,3560,3346,601.0,-13.6,297,3690,1.05,0.00,136.07,2.132,10246,0.311,0.000,2229,2190,2854,2921,2787,0,0,0,0,0,0,14.55,13.97,13.26
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3694,0.92,146.0,2230,2191,2920,2786,606.1,0.0,304,3837,1.20,0.00,140.25,2.043,10246,0.207,0.000,2555,2190,2256,2284,2228,0,0,0,0,0,0,13.89,13.74,13.07
$GC,4128,0.92,146.0,2556,2191,2279,2211,558.9,12.3,326,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2190,2244,2278,2211,0,0,0,0,0,0,14.38,14.40,14.40
$GC,4428,0.92,146.0,2555,2191,2278,2207,522.3,12.3,341,4434,0.00,5.00,0.00,0.000,516,0.000,0.080,2576,516,2242,2278,2206,0,0,0,0,0,0,14.55,14.35,14.56
$GC,4444,0.92,146.0,2577,517,2277,2207,520.2,12.5,344,4451,0.00,4.93,0.00,0.000,1030,0.000,0.056,2576,2205,2241,2276,2206,0,0,0,0,0,0,14.45,14.38,14.46
$GC,4749,0.92,146.0,2577,2206,2278,2205,478.9,13.6,360,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2205,2240,2277,2204,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5049,0.92,146.0,2576,2206,2277,2203,438.8,13.3,375,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2205,2240,2277,2203,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5349,0.92,146.0,2577,2206,2278,2203,399.5,13.1,390,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2205,2239,2277,2202,0,0,0,0,0,0,14.74,14.76,14.76
$GC,5649,0.92,146.0,2580,2206,2272,2202,360.5,12.8,405,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2206,2239,2277,2202,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5949,0.92,146.0,2576,2206,2277,2202,322.9,12.3,420,5959,0.00,4.97,0.00,0.000,516,0.000,0.080,2597,516,2238,2276,2201,0,0,0,0,0,0,14.80,14.60,14.82
$GC,5964,0.92,146.0,2597,517,2277,2202,321.2,12.0,423,5971,0.17,4.82,0.00,0.000,5126,0.294,0.056,2561,2204,2238,2275,2201,0,0,0,0,0,0,14.50,14.62,14.66
$GC,6269,0.92,146.0,2561,2205,2278,2202,287.3,10.6,439,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2204,2238,2276,2200,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6570,0.94,146.0,2561,2205,2276,2201,257.9,9.1,454,6570,0.00,0.00,0.00,0.000,70,0.000,0.000,2561,2204,2238,2276,2201,0,0,0,0,0,0,14.83,14.85,14.85
$GC,6871,1.00,146.0,2561,2205,2276,2200,232.2,8.0,479,6872,0.00,0.00,0.00,0.000,70,0.000,0.000,2561,2204,2237,2276,2199,0,0,0,0,0,0,14.82,14.83,14.83
$GC,7049,1.11,146.0,2562,2205,2278,2202,219.6,6.5,497,7051,0.22,0.00,0.00,0.000,2118,0.140,0.000,2630,2204,2238,2276,2200,0,0,0,0,0,0,14.62,14.71,14.70
$GC,7229,1.19,146.0,2631,2205,2277,2201,205.9,7.4,515,7241,0.00,5.03,0.00,0.000,324,0.000,0.093,2630,3894,2238,2275,2201,0,0,0,0,0,0,14.83,14.62,14.84
$GC,7286,1.21,146.0,2630,3893,2274,2203,200.9,9.2,526,7292,0.00,4.78,0.00,0.000,1094,0.000,0.047,2651,2205,2238,2274,2202,0,0,0,0,0,0,14.71,14.66,14.73
$GC,7471,1.30,146.0,2652,2205,2277,2201,186.7,7.1,545,7477,0.12,4.82,0.00,0.000,2628,0.181,0.070,2709,510,2238,2276,2200,0,0,0,0,0,0,14.61,14.64,14.69
$GC,7517,1.33,146.0,2709,510,2275,2200,182.7,9.0,554,7524,0.00,4.82,0.00,0.000,1094,0.000,0.054,2707,2206,2237,2275,2200,0,0,0,0,0,0,14.73,14.66,14.74
$GC,7702,1.43,146.0,2706,2207,2275,2200,168.8,6.7,573,7709,0.00,4.93,0.00,0.000,580,0.000,0.073,2727,510,2238,2276,2200,0,0,0,0,0,0,14.82,14.64,14.84
$GC,7724,1.52,146.0,2727,510,2274,2200,167.2,6.9,577,7730,0.00,4.80,0.00,0.000,1094,0.000,0.053,2727,2203,2237,2275,2200,0,0,0,0,0,0,14.73,14.66,14.73
$GC,7915,1.61,146.0,2728,2204,2276,2201,153.7,7.0,597,7916,0.20,0.00,0.00,0.000,2118,0.169,0.000,2786,2204,2237,2275,2200,0,0,0,0,0,0,14.62,14.73,14.72
$GC,8095,1.68,146.0,2787,2205,2279,2200,140.3,7.4,615,8096,0.00,0.00,0.00,0.000,70,0.000,0.000,2786,2204,2237,2275,2200,0,0,0,0,0,0,14.83,14.85,14.85
$GC,8275,1.77,146.0,2786,2204,2276,2200,127.2,7.1,633,8282,0.15,4.97,0.00,0.000,2372,0.198,0.084,2827,3891,2237,2275,2199,0,0,0,0,0,0,14.62,14.63,14.68
$GC,8441,1.87,146.0,2826,3892,2269,2205,114.0,6.8,663,8452,0.00,4.80,0.00,0.000,1094,0.000,0.042,2847,2187,2236,2269,2203,0,0,0,0,0,0,14.68,14.63,14.69
$GC,8631,2.17,247.6,2848,2187,2271,2202,106.5,3.7,683,8726,0.38,5.22,86.10,1.590,10532,0.170,0.083,2961,3889,1839,1866,1813,0,0,0,0,0,0,14.54,14.17,13.66
$GC,8952,2.39,321.4,2962,3890,1856,1810,63.7,5.4,745,9025,0.20,4.88,62.55,1.501,11302,0.193,0.041,3037,2189,1539,1566,1513,0,0,0,0,0,0,14.25,14.33,13.55
$GC,9210,2.60,388.3,3037,2190,1561,1503,48.5,5.9,777,9276,0.20,5.22,55.65,1.462,10532,0.178,0.080,3083,3896,1264,1280,1249,0,0,0,0,0,0,14.17,13.96,13.52
$GC,9502,3.00,523.1,3083,3896,1272,1246,27.0,1.7,834,9619,0.43,4.90,107.80,1.422,11302,0.167,0.042,3224,2195,718,700,737,0,0,0,0,0,0,14.18,14.26,13.40
$GC,9795,3.00,523.1,3225,2196,695,728,7.5,10.2,873,9802,0.00,5.22,0.00,0.000,260,0.000,0.082,3222,3890,710,693,727,0,0,0,0,0,0,14.29,14.11,14.31
$STATE,9839,end climb,SURFACE_DEPTH_REACHED
$STATE,9840,begin surface coast
$FINISH,-0.2,1.021088
$STATE,9850,end surface coast,CONTROL_FINISHED_OK
$STATE,9850,begin surface
$SM_CCo,9874,86.93,0.832,1,0,499,577.44
$SM_CCo,9969,-0.17,0.500,0,0,500,577.68
$SM_CCo,9972,0.00,0.000,0,0,500,577.44
$SM_GC,-1.39,11.20,4.38,0.00,0.230,0.044,0.000,197,2409,500,-6.44,1.65,577.44,0,0,0,0,0,0,14.16,14.20,14.21
$RAFOS_CLK,107
$RAFOS_FIX,7355.601562,-14700.983398,290918,040441,0,1,0.18
$IRIDIUM_FIX,7406.70,-15044.52,280918,224053
$TT8_MAMPS,0.077896,0.834386
$HUMID,45.98
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.7,6.5
$24V_AH,13.07,29.757
$10V_AH,13.27,0.000
$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,25.250,166.900,588.425,86.925,0.000,0.000,0.000,271.150,4.750,0.000,15.555,0.000,7303.503,874.059,2008.911,224.560,0.000,1867.704,0.000,1269.509,2217.000,2.512,0.000
$DEVICE_MAMPS,466.650,92.565,2132.055,831.555,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.558,0.000,0.000,0.000
$MEM,334488
$DATA_FILE_SIZE,30062,884
$CAP_FILE_SIZE,104930,0
$CFSIZE,2097872896,2084634624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.2
$CURRENT,0.053,318.25,1
$GPS,290918,042809,7355.815,-14658.921,30,1.1,31,18.2,0.3,348.4,7,8.5