version: 66.13
glider: 228
mission: 14
dive: 60
start: 9 29 118 13 10 38
data:
$ID,228
$MISSION,14
$DIVE,60
$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,30
$R_STBD_OVSHOOT,14
$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
$GPS1,290918,130035,7358.9155,-14654.2627,10,5.0,64,18.3,0.4,0.0,4,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-75.3
$GPS2,290918,131001,7358.9492,-14654.3057,4,0.7,20,18.3,0.3,333.1,12,4.9
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,26.6,33176,-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,-146.0,200,2400,465,531,0.0,0.0,0,82,0.00,0.00,-71.12,0.003,16386,0.000,0.000,199,2400,1869,1977,1762,0,0,0,0,0,0,14.48,28.83,14.50
$GC,85,-0.92,-146.0,199,2400,1977,1766,2.8,-8.0,7,135,9.32,5.00,-31.52,0.005,18948,0.464,0.079,1984,717,3453,3577,3330,0,0,0,0,0,0,14.14,13.57,14.38
$GC,270,-0.92,-146.0,1984,718,3576,3332,76.2,-27.0,43,281,0.00,4.95,0.00,0.000,1030,0.000,0.062,1966,2399,3453,3575,3332,0,0,0,0,0,0,14.40,14.32,14.42
$GC,460,-0.92,-146.0,1965,2399,3575,3332,124.8,-23.7,63,471,0.00,4.95,0.00,0.000,516,0.000,0.070,1983,713,3454,3575,3333,0,0,0,0,0,0,14.59,14.40,14.64
$GC,476,-0.92,-146.0,1983,714,3574,3333,128.7,-24.0,66,483,0.00,4.93,0.00,0.000,1030,0.000,0.057,1965,2404,3453,3574,3333,0,0,0,0,0,0,14.47,14.40,14.48
$GC,661,-0.92,-146.0,1965,2405,3575,3333,170.4,-21.6,85,662,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2405,3453,3574,3333,0,0,0,0,0,0,14.63,14.64,14.64
$GC,841,-0.92,-146.0,1965,2406,3575,3334,210.3,-20.8,103,852,0.00,4.65,0.00,0.000,260,0.000,0.091,1945,3951,3453,3572,3335,0,0,0,0,0,0,14.66,14.45,14.68
$GC,862,-0.92,-146.0,1946,3952,3571,3339,215.0,-22.2,107,867,0.00,4.40,0.00,0.000,1030,0.000,0.045,1960,2409,3454,3570,3338,0,0,0,0,0,0,14.57,14.50,14.57
$GC,1052,-0.92,-146.0,1960,2409,3570,3338,249.9,-16.4,127,1063,0.00,4.65,0.00,0.000,260,0.000,0.090,1943,3953,3453,3569,3338,0,0,0,0,0,0,14.68,14.49,14.70
$GC,1288,-0.92,-146.0,1944,3954,3564,3343,294.3,-18.4,174,1295,0.00,4.43,0.00,0.000,1030,0.000,0.046,1958,2398,3452,3563,3342,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1593,-0.92,-146.0,1957,2398,3563,3342,338.6,-14.3,190,1603,0.00,4.88,0.00,0.000,516,0.000,0.067,1957,703,3452,3563,3342,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1748,-0.92,-146.0,1961,704,3563,3343,362.9,-15.7,221,1756,0.15,4.90,0.00,0.000,3078,0.354,0.057,1968,2404,3452,3562,3342,0,0,0,0,0,0,14.44,14.59,14.64
$GC,2053,-0.92,-146.0,1968,2405,3563,3344,405.6,-13.8,237,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2404,3451,3561,3342,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2353,-0.92,-146.0,1968,2405,3562,3343,446.7,-13.5,252,2364,0.00,4.90,0.00,0.000,516,0.000,0.071,1987,707,3451,3561,3342,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2404,-0.92,-146.0,1987,708,3561,3343,453.7,-13.6,262,2415,0.00,4.88,0.00,0.000,1030,0.000,0.059,1968,2408,3449,3557,3342,0,0,0,0,0,0,14.69,14.63,14.70
$GC,2714,-0.92,-146.0,1969,2409,3562,3343,495.9,-13.6,279,2724,0.00,4.93,0.00,0.000,516,0.000,0.070,1973,703,3451,3561,3342,0,0,0,0,0,0,14.82,14.63,14.84
$GC,2749,-0.92,-146.0,1974,703,3561,3343,500.9,-14.6,286,2756,0.00,4.85,0.00,0.000,1030,0.000,0.056,1955,2401,3451,3561,3341,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3054,-0.92,-146.0,1956,2401,3562,3343,543.2,-13.7,302,3064,0.00,4.88,0.00,0.000,516,0.000,0.070,1958,706,3451,3561,3342,0,0,0,0,0,0,14.85,14.64,14.86
$GC,3079,-0.92,-146.0,1959,707,3562,3343,546.8,-14.6,307,3089,0.15,4.85,0.00,0.000,3078,0.353,0.057,1966,2402,3452,3561,3343,0,0,0,0,0,0,14.52,14.66,14.73
$GC,3394,-0.92,-146.0,1966,2404,3561,3343,587.8,-12.8,325,3400,0.00,4.88,0.00,0.000,516,0.000,0.071,1974,710,3451,3560,3343,0,0,0,0,0,0,14.85,14.66,14.88
$GC,3420,-0.92,-146.0,1975,711,3562,3344,591.4,-14.2,330,3430,0.00,4.85,0.00,0.000,1030,0.000,0.058,1955,2406,3452,3561,3343,0,0,0,0,0,0,14.75,14.67,14.76
$STATE,3493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3493,begin apogee
$GC,3499,-0.11,0.0,1956,2187,3561,3343,601.6,-13.6,336,3638,1.08,0.00,136.32,2.128,10246,0.319,0.000,2225,2185,2853,2921,2785,0,0,0,0,0,0,14.54,13.97,13.24
$STATE,3639,end apogee,CONTROL_FINISHED_OK
$STATE,3639,begin climb
$GC,3641,0.92,146.0,2226,2185,2921,2784,606.7,0.0,343,3785,1.23,0.00,140.05,2.033,10246,0.211,0.000,2555,2185,2257,2285,2230,0,0,0,0,0,0,13.89,13.75,13.06
$GC,4075,0.92,146.0,2556,2186,2281,2213,558.3,12.4,365,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2185,2245,2279,2212,0,0,0,0,0,0,14.38,14.40,14.40
$GC,4375,0.92,146.0,2556,2185,2281,2209,521.3,12.3,380,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2185,2244,2280,2208,0,0,0,0,0,0,14.54,14.56,14.56
$GC,4675,0.92,146.0,2556,2186,2281,2209,485.1,11.9,395,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2185,2242,2280,2205,0,0,0,0,0,0,14.63,14.65,14.65
$GC,4975,0.92,146.0,2555,2186,2280,2205,449.4,11.7,410,4985,0.00,4.93,0.00,0.000,516,0.000,0.080,2576,517,2241,2279,2204,0,0,0,0,0,0,14.69,14.50,14.71
$GC,5005,0.92,146.0,2576,518,2278,2205,445.7,12.4,416,5011,0.00,4.88,0.00,0.000,1030,0.000,0.057,2576,2214,2243,2282,2204,0,0,0,0,0,0,14.59,14.52,14.61
$GC,5316,0.92,146.0,2576,2209,2278,2204,404.6,13.3,433,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2208,2240,2278,2203,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5616,0.92,146.0,2577,2210,2279,2203,364.4,13.4,448,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2209,2240,2278,2203,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5916,0.92,146.0,2577,2209,2279,2202,324.8,13.0,463,5926,0.00,4.95,0.00,0.000,516,0.000,0.078,2597,517,2240,2278,2202,0,0,0,0,0,0,14.80,14.60,14.81
$GC,5956,0.92,146.0,2597,517,2276,2202,319.5,13.7,471,5966,0.15,4.80,0.00,0.000,5126,0.292,0.056,2567,2199,2239,2277,2202,0,0,0,0,0,0,14.51,14.62,14.67
$GC,6276,0.92,146.0,2568,2200,2279,2202,282.8,10.9,490,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2199,2239,2278,2201,0,0,0,0,0,0,14.82,14.84,14.83
$GC,6576,0.94,146.0,2568,2200,2278,2202,253.0,9.2,505,6577,0.00,0.00,0.00,0.000,70,0.000,0.000,2567,2198,2239,2277,2201,0,0,0,0,0,0,14.85,14.85,14.85
$GC,6878,1.02,146.0,2567,2200,2279,2207,229.2,7.2,533,6879,0.00,0.00,0.00,0.000,70,0.000,0.000,2568,2198,2239,2278,2201,0,0,0,0,0,0,14.82,14.84,14.84
$GC,7056,1.13,146.0,2567,2200,2278,2201,217.1,6.6,551,7068,0.17,5.03,0.00,0.000,2372,0.155,0.092,2626,3892,2239,2276,2202,0,0,0,0,0,0,14.60,14.62,14.66
$GC,7103,1.13,146.0,2626,3893,2276,2204,212.6,10.3,560,7110,0.00,4.75,0.00,0.000,1030,0.000,0.044,2646,2207,2239,2276,2203,0,0,0,0,0,0,14.71,14.66,14.73
$GC,7288,1.21,146.0,2647,2207,2278,2201,198.0,7.1,579,7289,0.00,0.00,0.00,0.000,70,0.000,0.000,2646,2205,2238,2275,2201,0,0,0,0,0,0,14.82,14.84,14.84
$GC,7468,1.31,146.0,2647,2206,2278,2202,185.3,6.6,597,7474,0.12,4.90,0.00,0.000,2628,0.180,0.070,2709,503,2239,2277,2201,0,0,0,0,0,0,14.61,14.64,14.67
$GC,7520,1.37,146.0,2709,500,2275,2202,181.1,8.3,607,7531,0.00,4.82,0.00,0.000,1094,0.000,0.053,2710,2207,2238,2276,2201,0,0,0,0,0,0,14.73,14.66,14.74
$GC,7710,1.46,146.0,2709,2207,2276,2201,167.3,6.9,627,7711,0.00,0.00,0.00,0.000,70,0.000,0.000,2709,2206,2238,2276,2201,0,0,0,0,0,0,14.83,14.84,14.84
$GC,7890,1.57,146.0,2709,2207,2276,2201,156.2,6.2,645,7896,0.17,4.97,0.00,0.000,2372,0.174,0.086,2766,3891,2238,2276,2201,0,0,0,0,0,0,14.62,14.63,14.68
$GC,8111,1.57,146.0,2767,3892,2272,2207,133.6,9.5,689,8118,0.00,4.75,0.00,0.000,1030,0.000,0.042,2788,2196,2238,2271,2206,0,0,0,0,0,0,14.73,14.68,14.74
$GC,8303,1.78,215.5,2788,2196,2275,2203,120.6,5.7,709,8370,0.15,5.12,58.38,1.613,10532,0.197,0.082,2823,3890,1972,2002,1942,0,0,0,0,0,0,14.59,14.32,13.79
$GC,8412,1.78,215.5,2824,3891,1999,1944,110.0,14.4,729,8419,0.00,4.88,0.00,0.000,1030,0.000,0.044,2843,2199,1970,1998,1942,0,0,0,0,0,0,14.42,14.36,14.43
$GC,8604,1.78,215.5,2844,2199,1999,1941,87.1,10.1,749,8610,0.00,4.93,0.00,0.000,516,0.000,0.066,2865,505,1964,1995,1934,0,0,0,0,0,0,14.59,14.43,14.61
$GC,8835,2.27,378.2,2865,506,1991,1935,77.2,-0.1,795,8986,0.40,4.88,136.98,1.508,11302,0.164,0.050,2988,2213,1307,1323,1292,0,0,0,0,0,0,14.42,14.50,13.47
$GC,9172,2.29,378.2,2988,2214,1317,1278,41.0,9.4,841,9178,0.00,5.10,0.00,0.000,580,0.000,0.075,3010,513,1296,1316,1277,0,0,0,0,0,0,14.39,14.19,14.40
$GC,9184,2.39,378.2,3010,513,1316,1279,40.7,6.4,843,9195,0.00,4.90,0.00,0.000,1094,0.000,0.051,3007,2194,1295,1314,1277,0,0,0,0,0,0,14.30,14.24,14.31
$GC,9374,2.84,528.5,3007,2194,1315,1274,38.7,0.7,863,9507,0.55,5.25,120.22,1.433,10532,0.147,0.083,3177,3886,693,667,720,0,0,0,0,0,0,14.28,13.86,13.44
$STATE,9647,end climb,SURFACE_DEPTH_REACHED
$STATE,9647,begin surface coast
$FINISH,0.2,1.021209
$STATE,9659,end surface coast,CONTROL_FINISHED_OK
$STATE,9659,begin surface
$SM_CCo,9683,83.15,0.802,1,0,499,577.44
$SM_CCo,9774,-0.15,0.583,0,0,499,577.68
$SM_CCo,9777,0.00,0.000,0,0,499,577.68
$SM_GC,-0.57,10.62,4.40,0.00,0.200,0.044,0.000,201,2397,499,-6.43,1.04,577.68,0,0,0,0,0,0,14.14,14.19,14.25
$RAFOS_CLK,606
$RAFOS_FIX,7359.841797,-14655.065430,290918,151517,0,1,0.18
$IRIDIUM_FIX,7357.85,-14655.30,290918,130315
$TT8_MAMPS,0.042693,0.653877
$HUMID,46.57
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.5,5.8
$24V_AH,13.06,31.467
$10V_AH,13.39,0.000
$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,24.275,175.550,591.950,83.150,0.000,0.000,0.000,334.125,6.000,0.000,30.332,0.000,7110.520,891.283,2135.170,227.583,0.000,1975.897,0.000,1315.297,0.000,2.512,0.000
$DEVICE_MAMPS,463.590,91.800,2128.230,802.485,0.000,0.000,0.000,185.895,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9668.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.200,0.000,0.000,0.000
$MEM,334580
$DATA_FILE_SIZE,33423,917
$CAP_FILE_SIZE,104944,0
$CFSIZE,2097872896,2083946496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1448.0
$CURRENT,0.060,301.62,1
$GPS,290918,155455,7400.010,-14652.725,5,1.1,29,18.3,0.4,204.8,5,4.2