version: 66.13
glider: 228
mission: 14
dive: 70
start: 9 30 118 17 43 12
data:
$ID,228
$MISSION,14
$DIVE,70
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,300918,173540,7409.0371,-14634.9795,25,0.7,26,18.4,0.5,0.0,12,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.83
$_SM_ANGLEo,-74.7
$GPS2,300918,174236,7409.0767,-14635.0059,4,0.6,5,18.4,0.3,331.8,12,8.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,34.9,12068,-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,10,-0.92,-146.0,197,2402,463,534,0.0,0.0,0,92,0.00,0.00,-81.05,0.003,16386,0.000,0.000,197,2403,2093,2181,2006,0,0,0,0,0,0,14.46,28.83,14.48
$GC,95,-0.92,-146.0,198,2403,2181,2011,1.9,-12.3,8,140,9.32,4.70,-24.65,0.005,18692,0.461,0.093,1947,3939,3453,3575,3332,0,0,0,0,0,0,14.12,13.55,14.36
$GC,170,-0.92,-146.0,1949,3939,3574,3338,43.2,-53.8,22,177,0.00,4.47,0.00,0.000,1030,0.000,0.047,1960,2400,3454,3572,3337,0,0,0,0,0,0,14.36,14.31,14.38
$GC,362,-0.92,-146.0,1961,2399,3573,3338,105.1,-25.8,42,368,0.00,4.70,0.00,0.000,260,0.000,0.086,1943,3943,3454,3572,3337,0,0,0,0,0,0,14.54,14.35,14.57
$GC,383,-0.92,-146.0,1943,3945,3569,3340,110.9,-26.1,46,390,0.00,4.47,0.00,0.000,1030,0.000,0.044,1959,2391,3454,3568,3340,0,0,0,0,0,0,14.46,14.40,14.47
$GC,575,-0.92,-146.0,1960,2391,3570,3341,155.1,-22.3,66,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2390,3454,3568,3340,0,0,0,0,0,0,14.61,14.63,14.62
$GC,755,-0.92,-146.0,1960,2391,3570,3341,194.3,-21.2,84,756,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2390,3454,3568,3340,0,0,0,0,0,0,14.64,14.66,14.66
$GC,935,-0.92,-146.0,1960,2391,3569,3341,230.0,-20.0,102,941,0.00,4.70,0.00,0.000,260,0.000,0.090,1943,3943,3454,3568,3340,0,0,0,0,0,0,14.67,14.47,14.69
$GC,1126,-0.92,-146.0,1943,3943,3562,3346,269.0,-18.2,140,1132,0.00,4.43,0.00,0.000,1030,0.000,0.045,1958,2393,3452,3560,3345,0,0,0,0,0,0,14.59,14.53,14.61
$GC,1437,-0.92,-146.0,1959,2392,3562,3346,313.9,-14.1,157,1447,0.00,4.68,0.00,0.000,260,0.000,0.089,1941,3946,3452,3560,3345,0,0,0,0,0,0,14.73,14.54,14.76
$GC,1457,-0.92,-146.0,1942,3947,3561,3346,317.1,-15.9,161,1463,0.00,4.40,0.00,0.000,1030,0.000,0.044,1957,2398,3452,3560,3345,0,0,0,0,0,0,14.64,14.57,14.64
$GC,1778,-0.92,-146.0,1958,2398,3561,3346,361.4,-13.9,180,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2397,3452,3560,3345,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2078,-0.92,-146.0,1957,2398,3560,3346,402.5,-13.5,195,2087,0.00,4.85,0.00,0.000,516,0.000,0.066,1958,708,3452,3559,3345,0,0,0,0,0,0,14.79,14.60,14.81
$GC,2142,-0.92,-146.0,1959,708,3560,3346,411.7,-14.2,208,2153,0.15,4.88,0.00,0.000,3078,0.342,0.058,1966,2401,3452,3559,3346,0,0,0,0,0,0,14.47,14.61,14.66
$GC,2458,-0.92,-146.0,1966,2401,3559,3346,452.4,-12.8,226,2464,0.00,4.90,0.00,0.000,516,0.000,0.072,1986,710,3452,3559,3345,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2474,-0.92,-146.0,1986,710,3559,3346,454.4,-12.6,229,2481,0.00,4.88,0.00,0.000,1030,0.000,0.059,1968,2405,3452,3559,3346,0,0,0,0,0,0,14.70,14.63,14.71
$GC,2779,-0.92,-146.0,1969,2406,3561,3346,492.0,-12.3,245,2790,0.00,4.93,0.00,0.000,516,0.000,0.071,1986,704,3452,3559,3346,0,0,0,0,0,0,14.82,14.64,14.84
$GC,2820,-0.92,-146.0,1986,704,3559,3346,513.7,-13.5,253,2831,0.00,4.88,0.00,0.000,1030,0.000,0.058,1968,2401,3452,3559,3346,0,0,0,0,0,0,14.68,14.59,14.69
$GC,3141,-0.92,-146.0,1968,2402,3560,3346,555.9,-13.0,272,3151,0.00,4.88,0.00,0.000,516,0.000,0.070,1974,705,3452,3559,3346,0,0,0,0,0,0,14.84,14.64,14.86
$GC,3171,-0.92,-146.0,1974,706,3559,3346,560.0,-14.3,278,3177,0.00,4.85,0.00,0.000,1030,0.000,0.057,1955,2400,3452,3559,3346,0,0,0,0,0,0,14.73,14.66,14.75
$STATE,3480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3480,begin apogee
$GC,3486,-0.11,0.0,1956,2182,3560,3347,602.1,-13.5,295,3625,1.08,0.08,135.98,2.128,10246,0.311,0.164,2225,2212,2853,2921,2785,0,0,0,0,0,0,14.54,13.94,13.24
$STATE,3626,end apogee,CONTROL_FINISHED_OK
$STATE,3626,begin climb
$GC,3629,0.92,146.0,2225,2212,2920,2783,607.4,0.0,302,3771,1.23,0.00,138.90,2.033,10246,0.205,0.000,2558,2211,2257,2283,2232,0,0,0,0,0,0,13.89,13.75,13.06
$GC,4062,0.92,146.0,2558,2212,2277,2213,547.2,15.8,324,4072,0.00,5.10,0.00,0.000,516,0.000,0.079,2580,519,2244,2276,2213,0,0,0,0,0,0,14.38,14.18,14.40
$GC,4077,0.92,146.0,2579,519,2276,2213,544.8,16.3,327,4085,0.00,4.95,0.00,0.000,1030,0.000,0.057,2578,2193,2243,2275,2212,0,0,0,0,0,0,14.30,14.21,14.30
$GC,4382,0.92,146.0,2578,2194,2276,2210,492.9,17.0,343,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,2240,2275,2206,0,0,0,0,0,0,14.54,14.56,14.56
$GC,4683,0.92,146.0,2578,2194,2276,2208,442.7,16.6,358,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,2241,2276,2207,0,0,0,0,0,0,14.63,14.64,14.64
$GC,4982,0.92,146.0,2575,2194,2274,2206,393.4,16.4,373,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,2240,2275,2206,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5282,0.92,146.0,2579,2195,2277,2205,345.0,16.0,388,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2194,2240,2275,2205,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5582,0.92,146.0,2578,2194,2276,2205,299.8,14.2,403,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2193,2239,2275,2204,0,0,0,0,0,0,14.76,14.79,14.78
$GC,5882,0.92,146.0,2578,2194,2276,2204,260.4,12.3,418,5893,0.00,5.05,0.00,0.000,260,0.000,0.093,2578,3888,2239,2275,2204,0,0,0,0,0,0,14.79,14.58,14.81
$GC,5933,0.92,146.0,2579,3889,2275,2208,253.6,13.9,428,5944,0.15,4.78,0.00,0.000,5126,0.342,0.047,2570,2205,2242,2275,2210,0,0,0,0,0,0,14.47,14.62,14.67
$GC,6243,1.00,146.0,2570,2203,2277,2204,227.3,7.1,459,6249,0.00,4.90,0.00,0.000,580,0.000,0.071,2589,506,2238,2275,2202,0,0,0,0,0,0,14.79,14.60,14.81
$GC,6294,1.07,146.0,2589,507,2274,2203,223.2,8.0,469,6305,0.00,4.85,0.00,0.000,1094,0.000,0.052,2589,2210,2238,2275,2202,0,0,0,0,0,0,14.69,14.62,14.69
$GC,6484,1.15,146.0,2590,2211,2276,2202,209.6,7.2,489,6496,0.12,4.97,0.00,0.000,2372,0.181,0.089,2632,3887,2238,2274,2203,0,0,0,0,0,0,14.57,14.59,14.63
$GC,6650,1.15,146.0,2632,3888,2271,2208,192.8,9.9,522,6657,0.00,4.78,0.00,0.000,1030,0.000,0.044,2653,2198,2238,2271,2206,0,0,0,0,0,0,14.69,14.63,14.70
$GC,6836,1.23,146.0,2653,2198,2276,2203,178.5,7.2,541,6847,0.00,4.85,0.00,0.000,580,0.000,0.068,2675,509,2237,2273,2202,0,0,0,0,0,0,14.79,14.61,14.81
$GC,6877,1.29,146.0,2675,510,2273,2203,175.2,8.1,549,6888,0.00,4.80,0.00,0.000,1094,0.000,0.052,2675,2200,2237,2273,2202,0,0,0,0,0,0,14.70,14.64,14.71
$GC,7067,1.39,146.0,2675,2201,2274,2202,161.8,6.7,569,7078,0.12,4.97,0.00,0.000,2372,0.194,0.084,2708,3886,2237,2271,2204,0,0,0,0,0,0,14.58,14.60,14.64
$GC,7133,1.42,146.0,2707,3887,2268,2207,156.1,8.8,582,7140,0.00,4.78,0.00,0.000,1094,0.000,0.042,2728,2191,2236,2268,2205,0,0,0,0,0,0,14.70,14.65,14.72
$GC,7318,1.53,146.0,2729,2191,2274,2203,143.5,6.3,601,7329,0.00,5.03,0.00,0.000,324,0.000,0.083,2713,3891,2237,2269,2205,0,0,0,0,0,0,14.81,14.58,14.83
$GC,7436,1.61,146.0,2713,3891,2269,2206,135.0,7.2,624,7443,0.17,4.75,0.00,0.000,3142,0.194,0.041,2782,2196,2236,2268,2205,0,0,0,0,0,0,14.57,14.65,14.69
$GC,7621,1.89,236.6,2783,2196,2273,2204,125.1,4.4,643,7709,0.28,5.15,76.40,1.607,10532,0.174,0.082,2864,3886,1883,1911,1856,0,0,0,0,0,0,14.57,14.17,13.69
$GC,7774,1.89,236.6,2865,3887,1906,1857,105.9,18.6,672,7781,0.00,4.90,0.00,0.000,1030,0.000,0.045,2883,2205,1879,1905,1854,0,0,0,0,0,0,14.37,14.31,14.38
$GC,7959,1.89,236.6,2883,2204,1906,1846,82.0,10.5,691,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2203,1875,1906,1845,0,0,0,0,0,0,14.55,14.57,14.57
$GC,8139,2.43,418.0,2883,2204,1905,1844,76.2,-1.2,709,8297,0.50,5.20,149.90,1.499,10788,0.154,0.069,3062,507,1145,1153,1137,0,0,0,0,0,0,14.36,13.83,13.39
$GC,8396,2.43,418.0,3062,507,1136,1135,47.9,14.7,760,8402,0.00,5.05,0.00,0.000,1030,0.000,0.054,3058,2205,1135,1134,1137,0,0,0,0,0,0,14.14,14.07,14.16
$GC,8579,2.54,418.0,3060,2206,1136,1131,31.3,6.3,779,8586,0.00,5.15,0.00,0.000,324,0.000,0.083,3059,3892,1132,1134,1130,0,0,0,0,0,0,14.37,14.17,14.39
$GC,8703,2.94,548.7,3060,3893,1134,1131,32.4,1.9,803,8816,0.43,4.93,102.53,1.427,11302,0.158,0.041,3204,2186,614,584,644,0,0,0,0,0,0,14.23,14.30,13.41
$STATE,8970,end climb,SURFACE_DEPTH_REACHED
$STATE,8970,begin surface coast
$FINISH,-0.7,1.021308
$STATE,8980,end surface coast,CONTROL_FINISHED_OK
$STATE,8981,begin surface
$SM_CCo,9000,66.57,0.653,1,0,499,577.44
$SM_CCo,9074,-0.15,0.585,0,0,499,577.68
$SM_CCo,9078,-0.03,1.315,0,0,499,577.44
$SM_GC,-0.61,9.88,0.68,-0.03,0.138,0.074,1.315,195,2405,499,-6.44,-0.66,577.44,0,0,0,0,0,0,14.14,14.15,13.79
$RAFOS_CLK,62
$RAFOS_FIX,7409.627930,-14635.882812,300918,202050,0,1,0.12
$IRIDIUM_FIX,7411.13,-14625.16,300918,144459
$TT8_MAMPS,0.079394,0.688331
$HUMID,46.18
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.8,5.8
$24V_AH,13.06,35.793
$10V_AH,13.24,0.000
$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,23.425,175.850,603.700,66.575,0.000,0.000,0.000,258.025,4.000,0.000,15.245,0.000,6506.353,774.436,1994.080,229.873,0.000,1839.021,0.000,1206.506,2215.000,2.512,0.000
$DEVICE_MAMPS,461.295,163.710,2128.230,653.310,0.000,0.000,0.000,183.600,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8990.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.753,0.000,0.000,0.000
$MEM,334548
$DATA_FILE_SIZE,30031,840
$CAP_FILE_SIZE,99912,0
$CFSIZE,2097872896,2082275328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,10411.72,0x21471c,7,24
$SOUNDSPEED,1447.2
$CURRENT,0.084,328.08,1
$GPS,300918,201531,7409.981,-14633.003,17,0.9,18,18.4,0.5,335.5,9,3.4