version: 66.13
glider: 228
mission: 14
dive: 80
start: 10 1 118 21 49 58
data:
$ID,228
$MISSION,14
$DIVE,80
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,011018,214219,7410.3262,-14630.2393,91,0.6,92,18.4,0.4,328.8,12,2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-75.6
$GPS2,011018,214911,7410.3511,-14630.3750,4,0.7,4,18.4,0.4,308.5,12,9.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,159.7,67193,-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,-146.0,199,2404,461,534,0.0,0.0,0,93,0.00,0.00,-81.40,0.003,16386,0.000,0.000,199,2404,2102,2191,2014,0,0,0,0,0,0,14.46,28.83,14.48
$GC,96,-0.92,-146.0,200,2405,2192,2018,4.6,-11.7,8,142,9.25,4.95,-24.73,0.005,18948,0.457,0.071,1986,721,3450,3570,3330,0,0,0,0,0,0,14.09,13.73,14.33
$GC,187,-0.92,-146.0,1985,721,3574,3332,54.1,-44.9,25,194,0.00,4.95,0.00,0.000,1030,0.000,0.062,1968,2396,3455,3578,3332,0,0,0,0,0,0,14.37,14.29,14.38
$GC,372,-0.92,-146.0,1968,2397,3573,3333,110.7,-25.4,44,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2396,3452,3573,3332,0,0,0,0,0,0,14.54,14.57,14.57
$GC,552,-0.92,-146.0,1968,2397,3573,3332,153.2,-23.1,62,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2397,3452,3573,3332,0,0,0,0,0,0,14.59,14.62,14.61
$GC,732,-0.92,-146.0,1968,2397,3573,3333,194.0,-22.4,80,733,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2396,3452,3573,3332,0,0,0,0,0,0,14.63,14.65,14.64
$GC,912,-0.92,-146.0,1966,2397,3573,3333,231.6,-19.6,98,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2396,3452,3573,3332,0,0,0,0,0,0,14.66,14.68,14.67
$GC,1102,-0.92,-146.0,1969,2395,3574,3333,266.9,-18.8,113,1112,0.00,4.68,0.00,0.000,260,0.000,0.093,1948,3948,3452,3572,3333,0,0,0,0,0,0,14.70,14.49,14.71
$GC,1229,-0.92,-146.0,1948,3949,3566,3339,289.3,-17.8,138,1235,0.00,4.40,0.00,0.000,1030,0.000,0.046,1962,2405,3452,3566,3339,0,0,0,0,0,0,14.61,14.55,14.61
$GC,1545,-0.92,-146.0,1963,2404,3567,3340,335.6,-14.3,156,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2404,3452,3565,3339,0,0,0,0,0,0,14.75,14.77,14.76
$GC,1846,-0.92,-146.0,1963,2405,3567,3340,378.4,-14.3,171,1855,0.00,4.88,0.00,0.000,516,0.000,0.067,1974,713,3452,3565,3339,0,0,0,0,0,0,14.78,14.59,14.80
$GC,1890,-0.92,-146.0,1974,713,3566,3340,385.2,-15.3,180,1900,0.00,4.88,0.00,0.000,1030,0.000,0.056,1955,2404,3452,3565,3339,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2205,-0.92,-146.0,1955,2405,3566,3340,431.2,-14.5,198,2212,0.00,4.90,0.00,0.000,516,0.000,0.070,1957,712,3452,3565,3339,0,0,0,0,0,0,14.82,14.61,14.82
$GC,2267,-0.92,-146.0,1958,712,3565,3340,440.7,-15.6,210,2273,0.15,4.88,0.00,0.000,3078,0.347,0.057,1966,2407,3451,3564,3339,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2588,-0.92,-146.0,1966,2407,3565,3340,484.9,-13.5,229,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2407,3451,3563,3339,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2888,-0.92,-146.0,1966,2407,3564,3340,525.1,-13.3,244,2898,0.00,4.93,0.00,0.000,516,0.000,0.070,1974,708,3451,3564,3339,0,0,0,0,0,0,14.84,14.64,14.85
$GC,2928,-0.92,-146.0,1974,708,3565,3340,530.8,-14.5,252,2938,0.00,4.88,0.00,0.000,1030,0.000,0.058,1955,2405,3451,3563,3340,0,0,0,0,0,0,14.72,14.65,14.74
$GC,3249,-0.92,-146.0,1955,2407,3565,3341,574.7,-13.7,271,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2405,3451,3563,3340,0,0,0,0,0,0,14.85,14.88,14.87
$STATE,3446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3446,begin apogee
$GC,3452,-0.11,0.0,1956,2187,3564,3341,602.1,-13.6,281,3591,1.10,0.00,135.80,2.128,10246,0.311,0.000,2229,2185,2854,2926,2782,0,0,0,0,0,0,14.54,13.97,13.24
$STATE,3592,end apogee,CONTROL_FINISHED_OK
$STATE,3592,begin climb
$GC,3594,0.92,146.0,2229,2186,2927,2781,607.3,0.0,288,3746,1.17,5.53,138.80,2.034,10500,0.202,0.092,2554,3898,2256,2285,2227,0,0,0,0,0,0,13.90,13.73,13.05
$GC,3771,0.92,146.0,2554,3899,2280,2229,591.4,12.8,322,3777,0.00,5.10,0.00,0.000,1030,0.000,0.048,2574,2208,2253,2279,2227,0,0,0,0,0,0,13.94,13.88,13.95
$GC,4082,0.92,146.0,2573,2208,2279,2215,550.6,13.2,339,4092,0.00,5.10,0.00,0.000,516,0.000,0.073,2594,498,2245,2278,2213,0,0,0,0,0,0,14.40,14.21,14.44
$GC,4137,0.92,146.0,2596,499,2276,2214,543.0,13.3,350,4145,0.00,5.00,0.00,0.000,1030,0.000,0.054,2595,2203,2243,2275,2212,0,0,0,0,0,0,14.33,14.26,14.35
$GC,4442,0.92,146.0,2595,2204,2275,2211,498.9,14.7,366,4448,0.00,5.15,0.00,0.000,260,0.000,0.092,2595,3893,2242,2275,2210,0,0,0,0,0,0,14.56,14.36,14.58
$GC,4463,0.92,146.0,2596,3894,2274,2213,495.5,16.0,370,4471,0.22,4.93,0.00,0.000,5126,0.333,0.047,2572,2193,2242,2273,2212,0,0,0,0,0,0,14.25,14.40,14.45
$GC,4786,0.92,146.0,2572,2191,2275,2206,451.3,13.5,389,4796,0.00,4.95,0.00,0.000,516,0.000,0.073,2591,504,2242,2275,2209,0,0,0,0,0,0,14.65,14.46,14.66
$GC,4826,0.92,146.0,2591,505,2274,2209,445.5,14.2,397,4836,0.00,4.90,0.00,0.000,1030,0.000,0.054,2591,2204,2241,2274,2208,0,0,0,0,0,0,14.52,14.46,14.54
$GC,5146,0.92,146.0,2591,2205,2276,2207,398.8,14.6,416,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2240,2275,2206,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5446,0.92,146.0,2590,2204,2275,2205,356.0,14.2,431,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,2240,2275,2205,0,0,0,0,0,0,14.75,14.77,14.76
$GC,5746,0.92,146.0,2588,2205,2281,2205,314.6,13.6,446,5753,0.00,4.97,0.00,0.000,516,0.000,0.076,2612,504,2240,2276,2205,0,0,0,0,0,0,14.78,14.58,14.80
$GC,5777,0.92,146.0,2612,503,2275,2205,310.3,14.0,452,5784,0.20,4.80,0.00,0.000,5126,0.291,0.054,2568,2202,2239,2274,2205,0,0,0,0,0,0,14.48,14.61,14.66
$GC,6089,0.92,146.0,2567,2203,2276,2203,276.1,10.0,469,6099,0.00,5.05,0.00,0.000,260,0.000,0.089,2569,3892,2240,2275,2205,0,0,0,0,0,0,14.80,14.59,14.82
$GC,6144,0.92,146.0,2568,3893,2275,2208,269.5,12.2,480,6151,0.00,4.82,0.00,0.000,1030,0.000,0.045,2586,2193,2240,2274,2206,0,0,0,0,0,0,14.69,14.63,14.71
$GC,6451,1.00,146.0,2586,2191,2276,2203,241.4,7.3,501,6462,0.00,4.88,0.00,0.000,580,0.000,0.071,2608,506,2238,2275,2202,0,0,0,0,0,0,14.81,14.62,14.82
$GC,6498,1.05,146.0,2608,507,2275,2203,237.6,8.1,510,6505,0.00,4.82,0.00,0.000,1094,0.000,0.052,2608,2204,2238,2275,2202,0,0,0,0,0,0,14.71,14.64,14.73
$GC,6683,1.13,146.0,2607,2205,2276,2203,223.3,7.5,529,6694,0.00,5.00,0.00,0.000,324,0.000,0.090,2608,3886,2239,2274,2204,0,0,0,0,0,0,14.81,14.63,14.83
$GC,6765,1.17,146.0,2608,3887,2274,2207,215.8,8.6,545,6776,0.00,4.78,0.00,0.000,1094,0.000,0.044,2630,2192,2239,2274,2204,0,0,0,0,0,0,14.70,14.65,14.70
$GC,6954,1.28,146.0,2630,2192,2277,2203,202.4,6.5,565,6966,0.17,4.82,0.00,0.000,2628,0.164,0.068,2708,510,2238,2275,2202,0,0,0,0,0,0,14.59,14.61,14.66
$GC,6991,1.31,146.0,2707,511,2275,2203,199.6,8.8,572,6998,0.00,4.80,0.00,0.000,1094,0.000,0.051,2703,2200,2238,2274,2202,0,0,0,0,0,0,14.70,14.64,14.72
$GC,7176,1.39,146.0,2704,2202,2276,2203,184.6,7.4,591,7187,0.00,5.00,0.00,0.000,324,0.000,0.086,2704,3888,2239,2274,2204,0,0,0,0,0,0,14.81,14.59,14.83
$GC,7237,1.39,146.0,2703,3889,2272,2207,178.1,11.8,603,7248,0.00,4.78,0.00,0.000,1030,0.000,0.044,2724,2197,2239,2273,2205,0,0,0,0,0,0,14.71,14.65,14.72
$GC,7427,1.46,146.0,2724,2198,2274,2204,162.1,7.6,623,7438,0.00,4.85,0.00,0.000,580,0.000,0.065,2746,509,2238,2273,2203,0,0,0,0,0,0,14.81,14.63,14.83
$GC,7493,1.50,146.0,2746,509,2273,2203,156.5,8.5,636,7500,0.00,4.80,0.00,0.000,1094,0.000,0.050,2742,2201,2238,2273,2203,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7679,1.60,146.0,2743,2202,2275,2203,142.9,6.8,655,7690,0.12,4.97,0.00,0.000,2372,0.198,0.083,2781,3888,2238,2272,2205,0,0,0,0,0,0,14.59,14.62,14.66
$GC,7755,1.66,146.0,2782,3888,2270,2208,136.7,8.1,670,7763,0.00,4.78,0.00,0.000,1094,0.000,0.041,2801,2190,2237,2270,2205,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7942,1.92,234.4,2801,2189,2274,2204,126.5,4.5,689,8023,0.28,0.00,75.47,1.623,10278,0.167,0.000,2881,2190,1893,1924,1863,0,0,0,0,0,0,14.56,14.14,13.66
$GC,8202,1.92,234.4,2882,2191,1920,1855,94.2,13.4,715,8213,0.00,5.18,0.00,0.000,260,0.000,0.084,2878,3886,1885,1916,1854,0,0,0,0,0,0,14.47,14.31,14.50
$GC,8218,1.92,234.4,2878,3889,1916,1854,91.8,14.4,718,8226,0.00,4.88,0.00,0.000,1030,0.000,0.045,2897,2205,1885,1916,1854,0,0,0,0,0,0,14.39,14.34,14.41
$GC,8403,2.26,345.8,2896,2204,1916,1851,77.3,3.1,737,8507,0.30,5.12,93.43,1.522,10788,0.161,0.067,3013,505,1438,1460,1417,0,0,0,0,0,0,14.32,14.02,13.47
$GC,8523,2.26,345.8,3013,505,1454,1418,69.8,11.0,755,8530,0.00,5.03,0.00,0.000,1030,0.000,0.052,3010,2199,1436,1454,1418,0,0,0,0,0,0,14.12,14.06,14.13
$GC,8707,2.53,435.3,3010,2200,1453,1409,52.9,4.5,774,8789,0.22,5.28,72.65,1.460,10532,0.165,0.083,3070,3892,1074,1078,1070,0,0,0,0,0,0,14.17,13.94,13.43
$GC,9015,3.17,650.0,3070,3893,1074,1063,28.8,-3.3,831,9137,0.60,4.95,113.22,1.416,11302,0.133,0.040,3278,2184,497,462,533,0,0,0,0,0,0,14.12,14.22,13.36
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,-0.7,1.021278
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9262,-0.55,0.160,0,0,500,577.68
$SM_CCo,9265,0.00,0.000,0,0,499,577.68
$SM_CCo,9268,0.00,0.000,0,0,499,577.44
$SM_GC,0.38,10.35,0.68,0.00,0.151,0.068,0.000,195,2403,499,-6.42,-0.75,577.44,0,0,0,0,0,0,14.07,14.07,14.24
$RAFOS_CLK,96
$RAFOS_FIX,7409.261230,-14630.426758,021018,000047,0,1,0.22
$IRIDIUM_FIX,7414.00,-14627.38,011018,185652
$TT8_MAMPS,0.077896,0.829143
$HUMID,46.88
$INTERNAL_PRESSURE,8.89988
$TCM_TEMP,14.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,18.5,5.7
$24V_AH,13.05,40.089
$10V_AH,13.05,0.000
$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,24.150,198.575,629.375,0.000,0.000,0.000,0.000,248.800,3.750,0.000,16.401,0.000,6663.904,853.203,1960.289,227.460,0.000,1843.236,0.000,1240.328,2155.000,2.513,0.000
$DEVICE_MAMPS,456.705,92.565,2128.230,0.000,0.000,0.000,0.000,188.955,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.120,0.000,0.000,0.000
$MEM,334600
$DATA_FILE_SIZE,30040,864
$CAP_FILE_SIZE,104703,0
$CFSIZE,2097872896,2080604160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8742.13,0x2355a6,1,24
$SOUNDSPEED,1448.4
$CURRENT,0.078,315.45,1
$GPS,021018,002601,7409.543,-14631.230,44,0.7,45,18.4,0.3,313.8,12,2.7