version: 66.13
glider: 228
mission: 14
dive: 62
start: 9 29 118 18 53 42
data:
$ID,228
$MISSION,14
$DIVE,62
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,290918,184607,7401.0024,-14650.4277,35,1.1,36,18.3,0.5,34.5,7,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-75.7
$GPS2,290918,185303,7401.0337,-14650.4404,4,0.9,5,18.3,0.2,0.0,9,7.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,23.5,28855,-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,-146.0,206,2407,451,542,0.0,0.0,0,83,0.00,0.00,-71.90,0.003,16386,0.000,0.000,204,2406,1861,1966,1756,0,0,0,0,0,0,14.45,28.83,14.47
$GC,86,-0.92,-146.0,205,2407,1967,1760,3.3,-7.0,7,136,9.38,4.68,-32.70,0.005,18692,0.465,0.098,1948,3943,3453,3576,3331,0,0,0,0,0,0,14.08,13.57,14.32
$GC,361,-0.92,-146.0,1947,3944,3566,3344,107.3,-27.6,61,368,0.00,4.50,0.00,0.000,1030,0.000,0.052,1963,2393,3454,3566,3342,0,0,0,0,0,0,14.42,14.35,14.43
$GC,553,-0.92,-146.0,1964,2392,3567,3344,153.3,-23.9,81,559,0.00,4.70,0.00,0.000,260,0.000,0.088,1947,3946,3454,3566,3343,0,0,0,0,0,0,14.59,14.40,14.61
$GC,764,-0.92,-146.0,1946,3946,3561,3347,207.8,-24.8,123,769,0.00,4.47,0.00,0.000,1030,0.000,0.051,1963,2394,3453,3560,3346,0,0,0,0,0,0,14.54,14.47,14.56
$GC,955,-0.92,-146.0,1963,2393,3561,3347,244.7,-17.2,143,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2393,3453,3560,3346,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1134,-0.92,-146.0,1963,2393,3561,3346,273.0,-14.9,154,1144,0.00,4.90,0.00,0.000,516,0.000,0.072,1975,702,3454,3561,3347,0,0,0,0,0,0,14.71,14.51,14.72
$GC,1159,-0.92,-146.0,1975,703,3561,3347,277.1,-16.6,159,1169,0.00,4.90,0.00,0.000,1030,0.000,0.057,1956,2402,3453,3560,3347,0,0,0,0,0,0,14.59,14.52,14.60
$GC,1474,-0.92,-146.0,1956,2403,3561,3347,325.0,-14.8,177,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2403,3453,3560,3347,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1775,-0.92,-146.0,1957,2403,3562,3348,369.2,-14.8,192,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2403,3453,3560,3347,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2074,-0.92,-146.0,1957,2403,3562,3344,413.0,-14.4,207,2084,0.00,4.90,0.00,0.000,516,0.000,0.071,1957,706,3451,3559,3343,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2124,-0.92,-146.0,1957,707,3560,3348,420.7,-15.5,217,2131,0.15,4.88,0.00,0.000,3078,0.355,0.060,1965,2405,3453,3559,3347,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2436,-0.92,-146.0,1966,2406,3561,3348,464.0,-13.6,234,2446,0.00,4.90,0.00,0.000,516,0.000,0.071,1974,707,3453,3559,3347,0,0,0,0,0,0,14.81,14.61,14.83
$GC,2471,-0.92,-146.0,1973,707,3559,3348,469.1,-14.5,241,2478,0.00,4.85,0.00,0.000,1030,0.000,0.058,1955,2405,3450,3554,3347,0,0,0,0,0,0,14.71,14.63,14.72
$GC,2776,-0.92,-146.0,1955,2406,3561,3348,512.3,-14.1,257,2782,0.00,4.90,0.00,0.000,516,0.000,0.070,1957,702,3453,3559,3347,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2802,-0.92,-146.0,1956,703,3559,3347,516.2,-15.2,262,2812,0.15,4.85,0.00,0.000,3078,0.359,0.058,1966,2401,3453,3559,3347,0,0,0,0,0,0,14.50,14.65,14.69
$GC,3117,-0.92,-146.0,1966,2402,3561,3348,558.5,-13.3,280,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2401,3453,3559,3347,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3417,-0.92,-146.0,1966,2402,3559,3348,598.3,-13.2,295,3427,0.00,4.88,0.00,0.000,516,0.000,0.073,1974,707,3452,3559,3346,0,0,0,0,0,0,14.86,14.67,14.88
$STATE,3430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3430,begin apogee
$GC,3440,-0.11,0.0,1957,2211,3559,3348,600.3,-13.2,298,3579,1.10,0.00,136.40,2.125,10246,0.328,0.000,2224,2210,2853,2920,2787,0,0,0,0,0,0,14.54,13.97,13.26
$STATE,3581,end apogee,CONTROL_FINISHED_OK
$STATE,3581,begin climb
$GC,3583,0.92,146.0,2225,2211,2921,2788,606.2,0.0,305,3728,1.23,0.00,141.10,2.030,10246,0.210,0.000,2554,2210,2255,2282,2228,0,0,0,0,0,0,13.89,13.74,13.07
$GC,4013,0.92,146.0,2555,2211,2279,2212,559.0,12.4,327,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2210,2244,2277,2211,0,0,0,0,0,0,14.34,14.35,14.36
$GC,4313,0.92,146.0,2555,2210,2278,2206,522.2,12.1,342,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2210,2242,2278,2206,0,0,0,0,0,0,14.48,14.50,14.50
$GC,4613,0.92,146.0,2555,2211,2279,2204,485.9,12.0,357,4623,0.00,5.07,0.00,0.000,516,0.000,0.081,2576,506,2240,2277,2204,0,0,0,0,0,0,14.56,14.38,14.58
$GC,4658,0.92,146.0,2575,506,2276,2204,480.3,12.1,366,4664,0.00,4.90,0.00,0.000,1030,0.000,0.058,2576,2198,2239,2275,2203,0,0,0,0,0,0,14.47,14.40,14.49
$GC,4974,0.92,146.0,2576,2200,2277,2203,439.0,13.1,384,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2199,2239,2275,2203,0,0,0,0,0,0,14.62,14.64,14.62
$GC,5274,0.92,146.0,2575,2199,2275,2202,399.2,13.3,399,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2199,2238,2275,2201,0,0,0,0,0,0,14.65,14.66,14.66
$GC,5574,0.92,146.0,2576,2200,2276,2202,360.3,12.8,414,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2198,2238,2275,2201,0,0,0,0,0,0,14.66,14.69,14.69
$GC,5874,0.92,146.0,2575,2200,2276,2202,322.4,12.5,429,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2199,2238,2276,2201,0,0,0,0,0,0,14.69,14.71,14.70
$GC,6175,0.92,146.0,2576,2199,2276,2201,287.1,11.4,444,6184,0.00,5.07,0.00,0.000,260,0.000,0.095,2576,3893,2238,2275,2201,0,0,0,0,0,0,14.71,14.52,14.73
$GC,6209,0.92,146.0,2577,3894,2274,2201,282.8,12.7,451,6216,0.00,4.82,0.00,0.000,1030,0.000,0.048,2596,2198,2238,2274,2202,0,0,0,0,0,0,14.62,14.55,14.64
$GC,6514,0.92,146.0,2596,2197,2275,2201,248.2,10.7,467,6521,0.15,4.90,0.00,0.000,4612,0.318,0.073,2586,504,2237,2275,2200,0,0,0,0,0,0,14.47,14.57,14.64
$GC,6571,0.94,146.0,2593,506,2275,2201,242.7,9.3,478,6578,0.00,4.85,0.00,0.000,1094,0.000,0.053,2586,2209,2237,2274,2200,0,0,0,0,0,0,14.64,14.58,14.66
$GC,6756,0.99,146.0,2587,2210,2276,2201,227.2,8.1,497,6767,0.00,4.93,0.00,0.000,580,0.000,0.073,2608,505,2237,2274,2200,0,0,0,0,0,0,14.76,14.57,14.78
$GC,6772,1.05,146.0,2607,505,2274,2200,225.8,8.1,500,6779,0.00,4.82,0.00,0.000,1094,0.000,0.052,2608,2206,2236,2274,2199,0,0,0,0,0,0,14.67,14.60,14.69
$GC,6957,1.14,146.0,2607,2207,2274,2199,211.8,7.2,519,6958,0.00,0.00,0.00,0.000,70,0.000,0.000,2607,2206,2236,2274,2199,0,0,0,0,0,0,14.78,14.79,14.79
$GC,7137,1.24,146.0,2607,2207,2275,2200,199.7,6.4,537,7149,0.17,4.93,0.00,0.000,2628,0.155,0.073,2688,506,2236,2274,2199,0,0,0,0,0,0,14.59,14.60,14.64
$GC,7160,1.32,146.0,2689,507,2275,2201,198.1,7.3,541,7171,0.00,4.82,0.00,0.000,1094,0.000,0.054,2688,2203,2236,2274,2199,0,0,0,0,0,0,14.65,14.59,14.67
$GC,7350,1.39,146.0,2689,2205,2276,2200,183.0,7.7,561,7350,0.00,0.00,0.00,0.000,70,0.000,0.000,2687,2203,2237,2275,2199,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7530,1.50,146.0,2688,2204,2275,2200,170.8,6.5,579,7541,0.17,4.90,0.00,0.000,2628,0.167,0.072,2766,507,2236,2273,2200,0,0,0,0,0,0,14.58,14.59,14.65
$GC,7561,1.55,146.0,2766,507,2273,2201,168.2,8.3,585,7573,0.00,4.82,0.00,0.000,1094,0.000,0.054,2758,2208,2236,2274,2199,0,0,0,0,0,0,14.69,14.64,14.71
$GC,7751,1.63,146.0,2758,2208,2275,2201,153.7,7.4,605,7763,0.12,4.97,0.00,0.000,2372,0.197,0.087,2796,3894,2236,2271,2201,0,0,0,0,0,0,14.57,14.59,14.64
$GC,7828,1.63,146.0,2797,3894,2270,2204,145.7,10.7,620,7835,0.00,4.80,0.00,0.000,1030,0.000,0.045,2817,2192,2235,2268,2203,0,0,0,0,0,0,14.70,14.64,14.71
$GC,8014,1.73,146.0,2817,2191,2273,2202,131.1,6.7,639,8014,0.00,0.00,0.00,0.000,70,0.000,0.000,2817,2190,2236,2271,2201,0,0,0,0,0,0,14.80,14.83,14.82
$GC,8193,1.95,219.8,2818,2191,2273,2202,120.6,5.4,657,8266,0.25,5.20,62.22,1.609,10532,0.172,0.083,2891,3889,1954,1982,1927,0,0,0,0,0,0,14.56,14.31,13.76
$GC,8326,1.95,219.8,2891,3889,1976,1928,104.7,17.9,682,8334,0.00,4.90,0.00,0.000,1030,0.000,0.047,2911,2198,1950,1975,1926,0,0,0,0,0,0,14.42,14.37,14.44
$GC,8512,2.00,219.8,2911,2197,1975,1920,82.3,8.4,701,8524,0.00,5.05,0.00,0.000,324,0.000,0.081,2905,3887,1947,1974,1920,0,0,0,0,0,0,14.57,14.39,14.59
$GC,8749,2.51,389.6,2904,3888,1973,1921,76.3,-0.5,748,8901,0.47,4.82,141.68,1.506,11302,0.174,0.041,3064,2188,1261,1274,1249,0,0,0,0,0,0,14.38,14.48,13.45
$GC,9076,2.57,389.6,3063,2188,1267,1236,40.1,8.0,793,9088,0.00,4.93,0.00,0.000,580,0.000,0.067,3084,516,1250,1264,1236,0,0,0,0,0,0,14.35,14.19,14.37
$GC,9314,2.91,504.0,3084,517,1256,1237,27.7,2.9,840,9414,0.43,4.88,90.62,1.430,11302,0.168,0.050,3200,2207,795,777,814,0,0,0,0,0,0,14.25,14.32,13.49
$GC,9600,2.91,504.0,3200,2208,771,805,6.5,11.6,877,9612,0.00,5.10,0.00,0.000,260,0.000,0.086,3189,3880,787,770,805,0,0,0,0,0,0,14.38,14.16,14.39
$STATE,9630,end climb,SURFACE_DEPTH_REACHED
$STATE,9630,begin surface coast
$FINISH,0.3,1.021264
$STATE,9640,end surface coast,CONTROL_FINISHED_OK
$STATE,9640,begin surface
$SM_CCo,9664,102.25,0.920,1,0,498,577.44
$SM_CCo,9774,-0.17,0.500,0,0,499,577.68
$SM_CCo,9777,0.00,0.000,0,0,499,577.68
$SM_GC,-0.23,10.70,4.32,0.00,0.207,0.047,0.000,192,2411,499,-6.44,1.65,577.68,0,0,0,0,0,0,14.23,14.26,14.23
$RAFOS_CLK,368
$RAFOS_FIX,7401.729004,-14651.171875,290918,212109,0,1,0.14
$IRIDIUM_FIX,7401.30,-14657.59,290918,155936
$TT8_MAMPS,0.042693,0.575232
$HUMID,45.78
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.6,5.7
$24V_AH,13.07,32.341
$10V_AH,13.31,0.000
$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,24.475,174.425,572.025,102.250,0.000,0.000,0.000,260.375,3.750,0.000,16.955,0.000,7085.360,903.990,1994.229,226.245,0.000,1889.799,0.000,1270.412,2208.000,2.513,0.000
$DEVICE_MAMPS,465.120,97.920,2125.170,920.295,0.000,0.000,0.000,182.070,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9653.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.356,0.000,0.000,0.000
$MEM,334456
$DATA_FILE_SIZE,30091,885
$CAP_FILE_SIZE,103755,0
$CFSIZE,2097872896,2083651584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.3
$CURRENT,0.063,287.71,1
$GPS,290918,213739,7401.831,-14649.115,17,1.3,18,18.3,0.4,320.6,7,8.2