version: 66.13
glider: 228
mission: 14
dive: 73
start: 10 1 118 2 7 52
data:
$ID,228
$MISSION,14
$DIVE,73
$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,23
$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
$GPS1,011018,020031,7412.2749,-14628.9980,61,0.7,62,18.4,0.9,358.9,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-76.0
$GPS2,011018,020712,7412.3149,-14629.0527,4,0.7,4,18.4,0.1,342.0,12,9.3
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,29.4,5374,-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,-146.0,199,2400,467,533,0.0,0.0,0,83,0.00,0.00,-71.68,0.003,16386,0.000,0.000,198,2401,1932,2034,1830,0,0,0,0,0,0,14.47,28.83,14.50
$GC,86,-0.92,-146.0,198,2402,2034,1835,4.4,-10.4,7,132,9.30,4.70,-29.02,0.005,18692,0.461,0.096,1948,3943,3450,3572,3329,0,0,0,0,0,0,14.09,13.76,14.33
$GC,312,-0.92,-146.0,1948,3944,3561,3340,99.3,-29.7,51,317,0.00,4.50,0.00,0.000,1030,0.000,0.048,1963,2398,3450,3561,3340,0,0,0,0,0,0,14.41,14.35,14.42
$GC,502,-0.92,-146.0,1965,2397,3562,3341,146.4,-23.3,71,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2397,3450,3561,3340,0,0,0,0,0,0,14.59,14.61,14.60
$GC,682,-0.92,-146.0,1964,2397,3562,3341,187.1,-22.5,89,683,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2396,3450,3561,3339,0,0,0,0,0,0,14.62,14.64,14.64
$GC,862,-0.92,-146.0,1964,2397,3561,3340,225.7,-19.7,107,873,0.00,4.90,0.00,0.000,516,0.000,0.067,1978,703,3450,3561,3340,0,0,0,0,0,0,14.65,14.47,14.67
$GC,878,-0.92,-146.0,1978,703,3561,3341,228.8,-20.1,110,885,0.00,4.95,0.00,0.000,1030,0.000,0.058,1959,2403,3450,3561,3340,0,0,0,0,0,0,14.57,14.49,14.57
$GC,1073,-0.92,-146.0,1959,2404,3562,3341,264.8,-17.5,126,1083,0.00,4.62,0.00,0.000,260,0.000,0.091,1940,3947,3450,3560,3340,0,0,0,0,0,0,14.70,14.49,14.72
$GC,1253,-0.92,-146.0,1939,3945,3556,3345,298.9,-19.6,162,1259,0.00,4.43,0.00,0.000,1030,0.000,0.046,1956,2390,3450,3556,3344,0,0,0,0,0,0,14.62,14.56,14.63
$GC,1574,-0.92,-146.0,1957,2390,3558,3345,346.0,-13.9,181,1580,0.00,4.85,0.00,0.000,516,0.000,0.067,1960,706,3450,3556,3344,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1600,-0.92,-146.0,1960,707,3555,3345,350.0,-15.6,186,1610,0.15,4.90,0.00,0.000,3078,0.353,0.056,1968,2406,3449,3555,3344,0,0,0,0,0,0,14.43,14.58,14.62
$GC,1915,-0.92,-146.0,1968,2407,3556,3345,393.8,-13.9,204,1926,0.00,4.93,0.00,0.000,516,0.000,0.070,1974,708,3449,3555,3344,0,0,0,0,0,0,14.78,14.57,14.80
$GC,1946,-0.92,-146.0,1974,709,3555,3345,398.3,-15.3,210,1957,0.00,4.88,0.00,0.000,1030,0.000,0.057,1955,2404,3450,3555,3345,0,0,0,0,0,0,14.65,14.58,14.66
$GC,2256,-0.92,-146.0,1955,2405,3556,3345,443.6,-14.5,227,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2404,3450,3555,3345,0,0,0,0,0,0,14.79,14.82,14.81
$GC,2556,-0.92,-146.0,1956,2405,3556,3346,486.2,-14.1,242,2565,0.00,4.90,0.00,0.000,516,0.000,0.071,1960,711,3449,3554,3344,0,0,0,0,0,0,14.81,14.63,14.83
$GC,2626,-0.92,-146.0,1960,711,3554,3345,496.7,-15.1,256,2638,0.15,4.85,0.00,0.000,3078,0.354,0.057,1968,2400,3449,3554,3345,0,0,0,0,0,0,14.49,14.64,14.68
$GC,2936,-0.92,-146.0,1968,2400,3554,3345,538.1,-13.3,273,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2400,3449,3554,3345,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3236,-0.92,-146.0,1968,2401,3554,3345,577.1,-12.8,288,3246,0.00,4.90,0.00,0.000,516,0.000,0.072,1974,706,3449,3554,3345,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3286,-0.92,-146.0,1975,707,3555,3346,584.1,-14.0,298,3297,0.00,4.88,0.00,0.000,1030,0.000,0.058,1955,2406,3449,3554,3345,0,0,0,0,0,0,14.74,14.67,14.76
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3420,-0.11,0.0,1956,2187,3563,3346,601.6,-13.4,306,3558,1.10,0.03,132.07,2.144,10246,0.314,0.307,2229,2206,2853,2920,2787,0,0,0,0,0,0,14.54,13.91,13.25
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3562,0.92,146.0,2230,2207,2921,2787,606.6,0.0,313,3702,1.20,0.00,136.45,2.054,10246,0.203,0.000,2556,2206,2255,2282,2229,0,0,0,0,0,0,13.90,13.75,13.05
$GC,3996,0.92,146.0,2556,2206,2278,2212,556.1,13.1,335,4006,0.00,5.10,0.00,0.000,516,0.000,0.080,2577,518,2243,2277,2210,0,0,0,0,0,0,14.38,14.19,14.40
$GC,4021,0.92,146.0,2577,518,2275,2212,552.6,13.9,340,4031,0.00,4.95,0.00,0.000,1030,0.000,0.056,2577,2199,2243,2275,2211,0,0,0,0,0,0,14.29,14.22,14.31
$GC,4336,0.92,146.0,2577,2199,2277,2209,506.6,14.7,358,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2241,2275,2208,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4636,0.92,146.0,2577,2199,2276,2207,463.4,14.3,373,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2240,2275,2206,0,0,0,0,0,0,14.62,14.65,14.64
$GC,4936,0.92,146.0,2577,2199,2276,2205,420.9,14.0,388,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2240,2275,2205,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5236,0.92,146.0,2577,2202,2276,2205,379.6,13.7,403,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2239,2275,2204,0,0,0,0,0,0,14.73,14.75,14.75
$GC,5536,0.92,146.0,2577,2198,2276,2204,339.7,13.2,418,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2239,2275,2203,0,0,0,0,0,0,14.75,14.78,14.78
$GC,5836,0.92,146.0,2578,2200,2277,2204,301.7,12.2,433,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2199,2239,2275,2203,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6136,0.92,146.0,2577,2199,2277,2204,267.8,10.5,448,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2198,2239,2275,2203,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6436,1.00,146.0,2577,2199,2277,2202,242.2,7.3,468,6437,0.00,0.00,0.00,0.000,70,0.000,0.000,2577,2199,2238,2275,2202,0,0,0,0,0,0,14.82,14.84,14.84
$GC,6616,1.11,146.0,2577,2199,2275,2202,230.1,6.2,486,6618,0.17,0.00,0.00,0.000,2118,0.153,0.000,2627,2199,2238,2275,2201,0,0,0,0,0,0,14.62,14.73,14.72
$GC,6800,1.21,146.0,2631,2200,2277,2202,218.0,6.8,504,6810,0.00,5.05,0.00,0.000,324,0.000,0.093,2631,3891,2238,2275,2202,0,0,0,0,0,0,14.78,14.59,14.80
$GC,7011,1.26,146.0,2631,3892,2273,2210,198.4,8.3,546,7017,0.00,4.78,0.00,0.000,1094,0.000,0.045,2650,2202,2237,2270,2205,0,0,0,0,0,0,14.66,14.61,14.68
$GC,7202,1.36,146.0,2651,2201,2274,2202,185.9,6.5,566,7213,0.15,4.90,0.00,0.000,2628,0.175,0.069,2722,506,2236,2272,2201,0,0,0,0,0,0,14.55,14.57,14.62
$GC,7268,1.40,146.0,2723,507,2273,2202,180.2,8.8,579,7275,0.00,4.88,0.00,0.000,1094,0.000,0.053,2719,2210,2237,2273,2201,0,0,0,0,0,0,14.64,14.58,14.65
$GC,7453,1.49,146.0,2720,2211,2275,2202,166.7,7.0,598,7459,0.00,4.95,0.00,0.000,580,0.000,0.072,2741,510,2237,2274,2201,0,0,0,0,0,0,14.73,14.54,14.75
$GC,7479,1.57,146.0,2742,511,2274,2202,164.7,7.3,603,7486,0.00,4.82,0.00,0.000,1094,0.000,0.051,2741,2205,2237,2273,2201,0,0,0,0,0,0,14.63,14.57,14.64
$GC,7665,1.68,146.0,2741,2205,2274,2201,152.8,6.1,622,7676,0.20,5.00,0.00,0.000,2372,0.175,0.084,2800,3890,2237,2272,2203,0,0,0,0,0,0,14.51,14.54,14.58
$GC,7706,1.73,146.0,2800,3891,2269,2205,149.4,8.6,630,7713,0.00,4.85,0.00,0.000,1094,0.000,0.046,2820,2191,2236,2269,2204,0,0,0,0,0,0,14.63,14.57,14.64
$GC,7898,1.81,146.0,2820,2191,2271,2203,134.4,7.1,650,7899,0.00,0.00,0.00,0.000,70,0.000,0.000,2821,2190,2237,2272,2202,0,0,0,0,0,0,14.71,14.73,14.73
$GC,8078,2.08,237.3,2821,2191,2274,2203,125.0,4.4,668,8166,0.35,5.28,77.07,1.616,10532,0.164,0.084,2918,3904,1882,1908,1856,0,0,0,0,0,0,14.46,14.17,13.62
$GC,8196,2.08,237.3,2919,3904,1905,1857,111.9,18.7,690,8203,0.00,4.97,0.00,0.000,1030,0.000,0.044,2938,2199,1879,1904,1855,0,0,0,0,0,0,14.29,14.23,14.30
$GC,8388,2.08,237.3,2938,2196,1904,1846,83.4,12.6,710,8395,0.00,4.97,0.00,0.000,516,0.000,0.065,2961,502,1874,1903,1845,0,0,0,0,0,0,14.46,14.28,14.48
$GC,8425,2.13,237.3,2962,503,1900,1846,80.3,8.4,717,8432,0.00,4.95,0.00,0.000,1094,0.000,0.050,2944,2211,1872,1899,1846,0,0,0,0,0,0,14.38,14.32,14.39
$GC,8610,2.68,418.3,2944,2212,1899,1845,77.7,-1.2,736,8774,0.57,5.22,149.07,1.501,10788,0.153,0.073,3142,507,1141,1142,1141,0,0,0,0,0,0,14.31,13.82,13.36
$GC,8859,2.68,418.3,3142,508,1130,1143,44.8,17.1,783,8865,0.00,5.05,0.00,0.000,1030,0.000,0.054,3137,2203,1134,1128,1141,0,0,0,0,0,0,14.11,14.04,14.12
$MODEM_MSG,CACST,6,1,20181001040536.172044,18,2126,33,0060,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0A
$MODEM_MSG,CACST,6,1,20181001041035.985548,18,4464,36,0108,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0C
$MODEM_MSG,CACST,6,1,20181001042841.675240,18,25,-4,0040,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*10
$GC,9044,3.07,549.5,3137,2204,1130,1135,31.5,1.9,802,9159,0.38,5.18,103.38,1.417,10788,0.157,0.071,3266,510,607,570,644,0,0,0,0,0,0,14.15,13.82,13.40
$STATE,9276,end climb,SURFACE_DEPTH_REACHED
$STATE,9276,begin surface coast
$FINISH,0.3,1.021134
$STATE,9286,end surface coast,CONTROL_FINISHED_OK
$STATE,9286,begin surface
$SM_CCo,9314,66.68,0.655,1,0,498,577.44
$SM_CCo,9388,-0.20,0.438,0,0,500,577.68
$SM_CCo,9392,0.00,0.000,0,0,500,577.44
$SM_GC,-1.88,11.88,5.70,0.00,0.266,0.056,0.000,203,2404,500,-6.42,-0.61,577.44,0,0,0,0,0,0,14.10,14.14,14.26
$RAFOS_CLK,172
$MODEM,5,1538368121,76.93333,-143.66667,221.675,320958.1
$MODEM,2,1538367035,74.08334,-144.88333,35.986,52102.6
$MODEM,1,1538366736,74.43333,-147.95000,36.172,52372.6
$RAFOS_FIX,7408.540527,-14634.997070,011018,040441,3,255,0.90
$IRIDIUM_FIX,7411.13,-14625.16,300918,231151
$TT8_MAMPS,0.042693,0.551264
$HUMID,45.66
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.70
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.05,37.073
$10V_AH,13.36,0.000
$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,25.600,158.400,598.050,66.675,0.000,0.000,0.000,245.025,2.500,0.000,16.182,0.000,6819.766,860.517,1909.006,219.982,0.000,1806.662,0.000,1216.339,2214.000,2.513,0.000
$DEVICE_MAMPS,460.530,306.765,2144.295,654.840,0.000,0.000,0.000,189.720,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.874,0.000,0.000,0.000
$MEM,334596
$DATA_FILE_SIZE,30064,847
$CAP_FILE_SIZE,100273,0
$CFSIZE,2097872896,2081783808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.6
$CURRENT,0.078,314.91,1
$GPS,011018,044540,7413.310,-14627.099,33,1.0,34,18.4,0.3,220.3,9,6.4