version: 66.13
glider: 228
mission: 14
dive: 66
start: 9 30 118 6 19 47
data:
$ID,228
$MISSION,14
$DIVE,66
$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
$GPS1,300918,061231,7404.8237,-14643.4648,19,0.7,20,18.3,0.2,347.3,11,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-74.5
$GPS2,300918,061903,7404.8706,-14643.5410,4,0.6,6,18.3,0.3,345.2,12,4.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,34.1,20947,-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,-146.0,205,2411,444,545,0.0,0.0,0,83,0.00,0.00,-72.00,0.003,16386,0.000,0.000,205,2411,1907,2008,1806,0,0,0,0,0,0,14.43,28.83,14.45
$GC,86,-0.92,-146.0,206,2417,2009,1809,3.8,-9.3,7,132,9.30,4.65,-30.15,0.005,18692,0.460,0.090,1948,3942,3451,3570,3332,0,0,0,0,0,0,14.07,13.72,14.30
$GC,352,-0.92,-146.0,1949,3943,3561,3344,108.3,-27.5,59,358,0.00,4.47,0.00,0.000,1030,0.000,0.047,1964,2397,3452,3560,3344,0,0,0,0,0,0,14.42,14.35,14.43
$GC,543,-0.92,-146.0,1964,2395,3560,3344,152.7,-22.4,79,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2394,3451,3559,3343,0,0,0,0,0,0,14.58,14.59,14.60
$GC,723,-0.92,-146.0,1964,2395,3559,3344,192.6,-22.3,97,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2395,3452,3560,3344,0,0,0,0,0,0,14.62,14.64,14.64
$GC,903,-0.92,-146.0,1964,2394,3560,3344,230.7,-20.1,115,908,0.00,4.68,0.00,0.000,260,0.000,0.089,1947,3945,3451,3559,3344,0,0,0,0,0,0,14.65,14.46,14.67
$GC,953,-0.92,-146.0,1948,3946,3558,3347,241.8,-22.1,125,960,0.00,4.43,0.00,0.000,1030,0.000,0.046,1961,2396,3451,3556,3346,0,0,0,0,0,0,14.57,14.50,14.58
$GC,1145,-0.92,-146.0,1961,2396,3556,3347,273.0,-15.6,138,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2396,3454,3556,3353,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1445,-0.92,-146.0,1962,2396,3557,3347,316.5,-14.2,153,1451,0.00,4.85,0.00,0.000,516,0.000,0.067,1980,709,3451,3556,3346,0,0,0,0,0,0,14.74,14.55,14.76
$GC,1481,-0.92,-146.0,1981,709,3553,3346,321.8,-14.3,160,1488,0.00,4.85,0.00,0.000,1030,0.000,0.056,1962,2397,3451,3556,3346,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1786,-0.92,-146.0,1962,2398,3556,3347,364.2,-14.0,176,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2398,3451,3556,3346,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2086,-0.92,-146.0,1962,2398,3556,3346,406.7,-14.2,191,2096,0.00,4.90,0.00,0.000,516,0.000,0.073,1972,705,3450,3555,3346,0,0,0,0,0,0,14.79,14.59,14.81
$GC,2126,-0.92,-146.0,1972,706,3556,3347,412.7,-15.2,199,2136,0.00,4.90,0.00,0.000,1030,0.000,0.060,1952,2405,3450,3555,3346,0,0,0,0,0,0,14.69,14.61,14.70
$GC,2446,-0.92,-146.0,1950,2406,3563,3347,458.2,-14.1,218,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2405,3450,3555,3346,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2746,-0.92,-146.0,1952,2406,3555,3346,500.1,-13.8,233,2752,0.00,4.90,0.00,0.000,516,0.000,0.071,1957,707,3450,3555,3346,0,0,0,0,0,0,14.82,14.62,14.84
$GC,2797,-0.92,-146.0,1958,708,3555,3347,507.7,-15.0,243,2809,0.15,4.85,0.00,0.000,3078,0.346,0.059,1966,2400,3450,3554,3346,0,0,0,0,0,0,14.51,14.65,14.69
$GC,3108,-0.92,-146.0,1966,2399,3555,3347,548.3,-12.9,260,3118,0.00,4.88,0.00,0.000,516,0.000,0.071,1974,707,3450,3554,3346,0,0,0,0,0,0,14.84,14.65,14.86
$GC,3143,-0.92,-146.0,1974,707,3555,3348,553.3,-14.7,267,3150,0.00,4.85,0.00,0.000,1030,0.000,0.057,1954,2406,3450,3554,3347,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3448,-0.92,-146.0,1955,2407,3557,3347,594.4,-13.4,283,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2406,3450,3554,3346,0,0,0,0,0,0,14.85,14.88,14.87
$STATE,3506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3506,begin apogee
$GC,3512,-0.11,0.0,1955,2184,3554,3347,602.4,-13.4,286,3650,1.08,0.00,135.60,2.131,10246,0.312,0.000,2225,2182,2852,2916,2788,0,0,0,0,0,0,14.54,13.98,13.26
$STATE,3651,end apogee,CONTROL_FINISHED_OK
$STATE,3651,begin climb
$GC,3654,0.92,146.0,2226,2186,2918,2788,607.4,0.0,293,3801,1.20,0.00,139.00,2.036,10502,0.207,0.000,2555,2185,2255,2282,2228,0,0,0,0,0,0,13.89,13.74,13.06
$GC,4111,0.92,146.0,2556,2185,2280,2212,556.6,12.4,337,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2185,2244,2278,2211,0,0,0,0,0,0,14.40,14.41,14.42
$GC,4411,0.92,146.0,2556,2185,2280,2204,519.7,12.2,352,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2184,2243,2279,2207,0,0,0,0,0,0,14.54,14.57,14.56
$GC,4711,0.92,146.0,2556,2185,2280,2206,483.3,12.1,367,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2185,2242,2279,2205,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5011,0.92,146.0,2558,2185,2279,2203,447.3,12.0,382,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2184,2241,2279,2203,0,0,0,0,0,0,14.68,14.70,14.70
$GC,5311,0.92,146.0,2556,2185,2280,2203,412.0,11.6,397,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2184,2241,2279,2203,0,0,0,0,0,0,14.71,14.74,14.74
$GC,5611,0.92,146.0,2555,2184,2279,2202,377.4,11.5,412,5621,0.00,4.88,0.00,0.000,516,0.000,0.081,2576,519,2240,2278,2202,0,0,0,0,0,0,14.76,14.57,14.78
$GC,5636,0.92,146.0,2576,519,2276,2203,374.4,12.3,417,5646,0.00,4.85,0.00,0.000,1030,0.000,0.057,2576,2208,2239,2277,2202,0,0,0,0,0,0,14.64,14.57,14.66
$GC,5951,0.92,146.0,2575,2209,2279,2203,334.6,12.7,435,5965,0.00,5.00,0.00,0.000,260,0.000,0.094,2577,3888,2239,2276,2203,0,0,0,0,0,0,14.79,14.57,14.81
$GC,5984,0.92,146.0,2576,3890,2277,2205,330.0,14.1,440,5995,0.15,4.78,0.00,0.000,5126,0.322,0.047,2569,2208,2239,2277,2202,0,0,0,0,0,0,14.46,14.61,14.64
$GC,6300,0.92,146.0,2570,2208,2278,2202,293.3,11.2,458,6306,0.00,4.93,0.00,0.000,516,0.000,0.074,2588,510,2239,2277,2201,0,0,0,0,0,0,14.75,14.57,14.77
$GC,6346,0.92,146.0,2589,510,2276,2202,288.0,11.4,467,6355,0.00,4.85,0.00,0.000,1030,0.000,0.054,2588,2208,2238,2276,2201,0,0,0,0,0,0,14.65,14.59,14.67
$GC,6661,0.92,146.0,2588,2209,2279,2201,254.4,9.8,485,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2208,2238,2276,2201,0,0,0,0,0,0,14.73,14.76,14.76
$GC,6962,0.98,146.0,2588,2208,2277,2200,228.6,7.8,512,6973,0.00,5.03,0.00,0.000,324,0.000,0.092,2588,3892,2237,2275,2200,0,0,0,0,0,0,14.71,14.54,14.74
$GC,7008,1.01,146.0,2588,3893,2274,2203,224.5,9.0,521,7015,0.00,4.80,0.00,0.000,1094,0.000,0.044,2609,2196,2240,2278,2202,0,0,0,0,0,0,14.64,14.59,14.65
$GC,7193,1.13,146.0,2610,2194,2277,2201,211.9,6.1,540,7204,0.00,4.88,0.00,0.000,580,0.000,0.070,2631,508,2237,2275,2200,0,0,0,0,0,0,14.71,14.54,14.73
$GC,7254,1.20,146.0,2631,509,2274,2201,207.1,7.6,552,7265,0.00,4.82,0.00,0.000,1094,0.000,0.050,2632,2207,2237,2275,2200,0,0,0,0,0,0,14.62,14.55,14.63
$GC,7444,1.40,211.0,2638,2207,2275,2201,194.8,6.0,572,7512,0.28,5.15,56.92,1.673,10532,0.147,0.091,2715,3890,1990,2024,1956,0,0,0,0,0,0,14.51,14.19,13.68
$GC,7527,1.40,211.0,2714,3889,2021,1957,187.2,11.2,586,7534,0.00,4.93,0.00,0.000,1030,0.000,0.047,2736,2194,1988,2021,1956,0,0,0,0,0,0,14.38,14.28,14.35
$GC,7719,1.40,211.0,2736,2194,2019,1948,159.8,13.8,606,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2194,1984,2019,1949,0,0,0,0,0,0,14.52,14.54,14.54
$GC,7899,1.40,211.0,2736,2194,2018,1948,136.8,12.2,624,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2193,1982,2017,1948,0,0,0,0,0,0,14.56,14.58,14.57
$GC,8079,1.40,211.0,2737,2194,2018,1948,116.9,11.0,642,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2193,1982,2017,1947,0,0,0,0,0,0,14.59,14.61,14.60
$MODEM_MSG,CACST,6,1,20180930080536.982328,18,1029,30,0121,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D
$MODEM_MSG,CACST,6,1,20180930081038.637531,18,2776,34,0098,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*08
$MODEM_MSG,CACST,6,1,20180930081648.433096,18,25,07,0044,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03
$GC,8261,1.44,211.0,2738,2194,2018,1947,100.8,8.5,660,8261,0.00,0.00,0.00,0.000,70,0.000,0.000,2737,2193,1979,2016,1942,0,0,0,0,0,0,14.62,14.64,14.64
$GC,8439,1.68,291.3,2737,2194,2018,1946,89.5,5.0,678,8511,0.25,0.00,69.60,1.555,10278,0.158,0.000,2810,2193,1663,1698,1629,0,0,0,0,0,0,14.44,14.19,13.62
$GC,8691,1.76,291.3,2810,2194,1693,1618,68.4,7.4,703,8701,0.00,5.18,0.00,0.000,324,0.000,0.089,2810,3891,1654,1691,1618,0,0,0,0,0,0,14.46,14.26,14.47
$GC,8861,2.28,466.2,2811,3892,1689,1620,64.4,-0.8,737,9016,0.52,4.88,141.73,1.481,11302,0.144,0.042,2997,2181,950,948,953,0,0,0,0,0,0,14.33,14.38,13.38
$GC,9191,2.30,466.2,2997,2182,943,938,32.5,9.5,783,9202,0.00,5.28,0.00,0.000,324,0.000,0.086,2997,3894,940,942,938,0,0,0,0,0,0,14.33,14.16,14.35
$GC,9427,2.70,601.1,2997,3895,940,938,24.5,1.7,830,9527,0.40,4.88,88.32,1.431,11302,0.147,0.042,3137,2196,494,467,522,0,0,0,0,0,0,14.26,14.33,13.49
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,-0.5,1.021148
$STATE,9642,end surface coast,CONTROL_FINISHED_OK
$STATE,9642,begin surface
$SM_CCo,9662,-0.55,0.161,0,0,500,576.95
$SM_CCo,9666,0.00,0.000,0,0,500,577.44
$SM_CCo,9669,0.05,2.455,0,0,501,577.68
$SM_GC,1.88,10.52,0.62,0.05,0.208,0.070,2.455,203,2401,501,-6.43,-0.85,577.68,0,0,0,0,0,0,14.13,14.16,14.00
$RAFOS_CLK,233
$MODEM,3,1538295408,75.50000,-144.13333,108.433,156977.1
$MODEM,2,1538295038,74.08334,-144.88333,38.638,55935.0
$MODEM,1,1538294736,74.43333,-147.95000,36.982,53538.8
$RAFOS_FIX,7413.273926,-14630.664062,300918,080848,3,255,2.39
$IRIDIUM_FIX,7403.03,-14653.32,300918,032134
$TT8_MAMPS,0.042693,0.70406
$HUMID,47.48
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.60
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.6,6.5
$24V_AH,13.06,34.070
$10V_AH,13.07,0.000
$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,23.850,137.500,631.175,0.050,0.000,0.000,0.000,241.450,3.500,0.000,16.471,0.000,7170.978,765.429,1931.935,216.698,0.000,1739.459,0.000,1235.061,2219.000,2.521,0.000
$DEVICE_MAMPS,459.765,94.095,2131.290,2454.885,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9660.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.441,0.000,0.000,0.000
$MEM,334580
$DATA_FILE_SIZE,30040,860
$CAP_FILE_SIZE,97654,0
$CFSIZE,2097872896,2082996224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$WARN,PPS timeout
$CURRENT,0.085,306.31,1
$GPS,300918,090156,7405.876,-14641.376,16,1.8,17,18.3,0.5,0.0,4,9.8