version: 66.13
glider: 228
mission: 14
dive: 57
start: 9 29 118 4 35 44
data:
$ID,228
$MISSION,14
$DIVE,57
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,290918,042809,7355.8149,-14658.9209,30,1.1,31,18.2,0.3,348.4,7,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.07
$_SM_ANGLEo,-72.9
$GPS2,290918,043505,7355.8389,-14659.0137,3,1.0,5,18.2,0.4,312.5,8,8.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,23.3,39391,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.92,-146.0,198,2408,452,539,0.0,0.0,0,83,0.00,0.00,-72.03,0.003,16386,0.000,0.000,197,2408,1864,1966,1763,0,0,0,0,0,0,14.38,28.83,14.40
$GC,86,-0.92,-146.0,198,2408,1969,1765,2.3,-7.2,7,136,9.45,5.03,-31.95,0.005,18948,0.464,0.075,1987,706,3453,3573,3333,0,0,0,0,0,0,14.03,13.52,14.27
$GC,286,-0.92,-146.0,1986,707,3573,3338,79.0,-27.3,46,293,0.00,5.00,0.00,0.000,1030,0.000,0.061,1968,2399,3455,3573,3338,0,0,0,0,0,0,14.37,14.29,14.38
$GC,471,-0.92,-146.0,1968,2399,3572,3338,122.3,-23.2,65,478,0.00,4.70,0.00,0.000,260,0.000,0.090,1948,3951,3455,3572,3338,0,0,0,0,0,0,14.55,14.35,14.57
$GC,523,-0.92,-146.0,1949,3951,3568,3341,135.5,-26.3,75,528,0.00,4.45,0.00,0.000,1030,0.000,0.045,1964,2401,3454,3567,3341,0,0,0,0,0,0,14.47,14.40,14.48
$GC,713,-0.92,-146.0,1965,2401,3568,3342,180.0,-22.9,95,714,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2401,3454,3568,3341,0,0,0,0,0,0,14.61,14.63,14.63
$GC,893,-0.92,-146.0,1964,2401,3563,3341,217.2,-19.6,113,894,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2400,3454,3567,3341,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1073,-0.92,-146.0,1964,2401,3568,3341,248.8,-15.8,131,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2400,3452,3567,3338,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1263,-0.92,-146.0,1965,2402,3568,3342,277.0,-14.6,141,1270,0.00,4.90,0.00,0.000,516,0.000,0.069,1974,706,3454,3567,3341,0,0,0,0,0,0,14.71,14.52,14.73
$GC,1299,-0.92,-146.0,1974,706,3566,3342,282.7,-16.0,148,1306,0.00,4.93,0.00,0.000,1030,0.000,0.058,1955,2405,3453,3566,3341,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1605,-0.92,-146.0,1956,2406,3568,3342,327.1,-14.6,164,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2405,3453,3566,3341,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1905,-0.92,-146.0,1956,2405,3567,3342,370.4,-14.4,179,1915,0.00,4.90,0.00,0.000,516,0.000,0.067,1960,706,3453,3566,3341,0,0,0,0,0,0,14.78,14.59,14.79
$GC,1940,-0.92,-146.0,1960,707,3565,3342,375.6,-16.2,186,1947,0.15,4.90,0.00,0.000,3078,0.350,0.059,1968,2408,3451,3565,3337,0,0,0,0,0,0,14.46,14.59,14.65
$GC,2245,-0.92,-146.0,1968,2409,3565,3342,417.6,-13.6,202,2254,0.00,4.90,0.00,0.000,516,0.000,0.067,1987,707,3453,3565,3341,0,0,0,0,0,0,14.80,14.62,14.82
$GC,2269,-0.92,-146.0,1987,708,3566,3343,421.2,-14.8,207,2279,0.00,4.88,0.00,0.000,1030,0.000,0.056,1968,2405,3453,3565,3341,0,0,0,0,0,0,14.69,14.61,14.70
$GC,2585,-0.92,-146.0,1969,2407,3566,3342,464.0,-13.4,225,2591,0.00,4.90,0.00,0.000,516,0.000,0.067,1974,705,3453,3565,3342,0,0,0,0,0,0,14.82,14.63,14.83
$GC,2626,-0.92,-146.0,1975,706,3565,3343,470.1,-14.8,233,2632,0.00,4.88,0.00,0.000,1030,0.000,0.057,1955,2405,3453,3564,3342,0,0,0,0,0,0,14.71,14.64,14.73
$GC,2947,-0.92,-146.0,1954,2406,3564,3340,514.9,-13.9,252,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2405,3453,3564,3342,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3247,-0.92,-146.0,1955,2405,3564,3343,556.0,-13.7,267,3257,0.00,4.88,0.00,0.000,516,0.000,0.067,1960,706,3453,3564,3342,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3277,-0.92,-146.0,1961,707,3565,3344,560.4,-15.4,273,3285,0.15,4.78,0.00,0.000,3078,0.349,0.054,1968,2403,3453,3563,3343,0,0,0,0,0,0,14.53,14.67,14.71
$STATE,3588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3588,begin apogee
$GC,3593,-0.11,0.0,1971,2177,3564,3344,601.4,-13.0,290,3733,1.02,0.08,136.10,2.134,10246,0.307,0.161,2227,2211,2853,2922,2785,0,0,0,0,0,0,14.55,13.95,13.26
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3736,0.92,146.0,2228,2212,2920,2783,606.7,0.0,297,3879,1.23,0.00,140.00,2.042,10246,0.209,0.000,2558,2211,2256,2285,2228,0,0,0,0,0,0,13.90,13.75,13.07
$GC,4170,0.92,146.0,2559,2212,2281,2211,560.3,12.1,319,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2211,2244,2279,2210,0,0,0,0,0,0,14.38,14.40,14.40
$GC,4470,0.92,146.0,2559,2211,2279,2206,524.0,12.1,334,4476,0.00,5.03,0.00,0.000,516,0.000,0.077,2579,524,2242,2279,2205,0,0,0,0,0,0,14.54,14.35,14.56
$GC,4506,0.92,146.0,2579,524,2276,2205,519.4,12.8,341,4513,0.00,4.85,0.00,0.000,1030,0.000,0.054,2579,2194,2240,2275,2205,0,0,0,0,0,0,14.45,14.36,14.47
$GC,4811,0.92,146.0,2579,2195,2276,2204,478.6,13.5,357,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2195,2239,2276,2203,0,0,0,0,0,0,14.64,14.66,14.65
$GC,5111,0.92,146.0,2579,2195,2276,2203,438.4,13.4,372,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2195,2239,2276,2203,0,0,0,0,0,0,14.69,14.72,14.71
$GC,5411,0.92,146.0,2579,2195,2277,2202,398.7,13.2,387,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2194,2239,2276,2202,0,0,0,0,0,0,14.72,14.76,14.76
$GC,5711,0.92,146.0,2579,2195,2276,2202,359.2,13.1,402,5717,0.00,4.95,0.00,0.000,516,0.000,0.080,2600,520,2238,2276,2201,0,0,0,0,0,0,14.77,14.58,14.79
$GC,5727,0.92,146.0,2600,521,2276,2202,357.0,13.1,405,5734,0.15,4.82,0.00,0.000,5126,0.304,0.057,2570,2203,2238,2275,2201,0,0,0,0,0,0,14.46,14.57,14.62
$GC,6032,0.92,146.0,2571,2205,2277,2202,319.2,12.1,421,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2204,2238,2276,2201,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6332,0.92,146.0,2571,2205,2277,2200,284.3,11.4,436,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2204,2238,2276,2200,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6632,0.92,146.0,2570,2203,2276,2201,252.2,10.3,451,6642,0.00,4.93,0.00,0.000,516,0.000,0.080,2589,524,2238,2276,2200,0,0,0,0,0,0,14.83,14.64,14.85
$GC,6652,0.92,146.0,2590,525,2276,2201,250.2,10.5,455,6662,0.00,4.78,0.00,0.000,1030,0.000,0.056,2589,2202,2237,2275,2200,0,0,0,0,0,0,14.73,14.66,14.74
$GC,6962,0.98,146.0,2589,2203,2277,2200,222.4,7.8,488,6963,0.00,0.00,0.00,0.000,70,0.000,0.000,2589,2202,2238,2276,2200,0,0,0,0,0,0,14.82,14.83,14.83
$GC,7142,1.09,146.0,2587,2203,2273,2200,210.1,6.4,506,7153,0.00,5.03,0.00,0.000,324,0.000,0.092,2589,3893,2238,2275,2201,0,0,0,0,0,0,14.80,14.62,14.83
$GC,7189,1.13,146.0,2589,3894,2274,2202,206.3,8.6,515,7195,0.00,4.75,0.00,0.000,1094,0.000,0.047,2610,2213,2237,2274,2201,0,0,0,0,0,0,14.73,14.66,14.74
$GC,7374,1.24,146.0,2611,2212,2277,2200,194.1,6.2,534,7380,0.15,4.90,0.00,0.000,2628,0.165,0.070,2683,508,2237,2276,2199,0,0,0,0,0,0,14.62,14.63,14.69
$GC,7440,1.28,146.0,2684,508,2276,2200,188.4,8.9,547,7447,0.00,4.82,0.00,0.000,1094,0.000,0.053,2683,2204,2236,2274,2199,0,0,0,0,0,0,14.72,14.66,14.74
$GC,7625,1.38,146.0,2684,2205,2275,2199,175.2,6.7,566,7631,0.00,4.93,0.00,0.000,580,0.000,0.073,2705,503,2237,2275,2199,0,0,0,0,0,0,14.82,14.64,14.84
$GC,7646,1.46,146.0,2705,503,2275,2201,173.6,7.2,570,7653,0.12,4.85,0.00,0.000,3142,0.194,0.052,2740,2207,2237,2275,2199,0,0,0,0,0,0,14.57,14.62,14.68
$GC,7840,1.52,146.0,2739,2208,2275,2200,158.5,7.9,590,7841,0.00,0.00,0.00,0.000,70,0.000,0.000,2740,2207,2237,2275,2199,0,0,0,0,0,0,14.81,14.83,14.83
$GC,8018,1.60,146.0,2740,2208,2274,2200,144.8,7.3,608,8030,0.15,4.90,0.00,0.000,2628,0.182,0.069,2809,507,2236,2274,2199,0,0,0,0,0,0,14.60,14.64,14.67
$GC,8255,1.68,146.0,2810,508,2274,2199,127.7,7.3,655,8262,0.00,4.82,0.00,0.000,1094,0.000,0.055,2805,2208,2236,2273,2199,0,0,0,0,0,0,14.71,14.65,14.73
$GC,8440,1.88,212.7,2804,2208,2274,2200,115.4,5.9,674,8507,0.20,5.00,55.97,1.613,10532,0.180,0.084,2865,3890,1980,2012,1949,0,0,0,0,0,0,14.59,14.26,13.80
$GC,8734,1.93,212.7,2865,3891,2003,1949,80.1,8.6,731,8740,0.00,4.88,0.00,0.000,1094,0.000,0.048,2884,2191,1975,2003,1948,0,0,0,0,0,0,14.51,14.45,14.52
$GC,8917,2.37,361.6,2886,2191,2004,1945,74.9,0.8,750,9052,0.45,5.10,125.30,1.513,11044,0.158,0.073,3046,508,1373,1391,1356,0,0,0,0,0,0,14.41,14.01,13.48
$GC,9279,2.72,477.3,3047,510,1370,1357,37.4,2.8,819,9385,0.35,4.93,92.72,1.434,11302,0.163,0.050,3141,2207,902,886,919,0,0,0,0,0,0,14.20,14.25,13.45
$GC,9560,3.28,664.2,3141,2208,883,908,23.1,-1.6,856,9651,0.57,5.25,80.70,1.405,10532,0.144,0.080,3295,3881,494,455,534,0,0,0,0,0,0,14.15,13.93,13.45
$GC,9696,3.28,664.2,3295,3881,453,534,10.4,22.1,878,9703,0.00,5.00,0.00,0.000,1030,0.000,0.051,3314,2208,496,453,539,0,0,0,0,0,0,14.09,14.04,14.12
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,-1.4,1.021161
$STATE,9746,end surface coast,CONTROL_FINISHED_OK
$STATE,9746,begin surface
$SM_CCo,9766,-0.50,0.177,0,0,499,577.68
$SM_CCo,9769,0.00,0.000,0,0,499,577.68
$SM_CCo,9772,0.00,0.000,0,0,498,577.68
$SM_GC,-0.65,10.18,0.57,0.00,0.130,0.073,0.000,192,2393,498,-6.44,-1.18,577.68,0,0,0,0,0,0,14.12,14.12,14.31
$RAFOS_CLK,606
$RAFOS_FIX,7356.688965,-14659.796875,290918,070757,0,1,0.17
$IRIDIUM_FIX,7354.38,-14703.77,290918,013546
$TT8_MAMPS,0.042693,0.850864
$HUMID,46.61
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.2,5.8
$24V_AH,13.07,30.170
$10V_AH,13.29,0.000
$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,24.325,167.750,630.800,0.000,0.000,0.000,0.000,258.650,5.250,0.000,17.246,0.000,7185.852,808.135,1984.500,225.469,0.000,1793.097,0.000,1268.837,0.000,2.513,0.000
$DEVICE_MAMPS,463.590,160.650,2134.350,0.000,0.000,0.000,0.000,185.895,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9754.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.254,0.000,0.000,0.000
$MEM,334568
$DATA_FILE_SIZE,30056,884
$CAP_FILE_SIZE,102661,0
$CFSIZE,2097872896,2084470784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.039,311.32,1
$GPS,290918,072010,7356.827,-14657.000,50,1.0,51,18.2,0.3,311.7,8,5.3