version: 66.13
glider: 228
mission: 14
dive: 84
start: 10 2 118 9 1 55
data:
$ID,228
$MISSION,14
$DIVE,84
$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,22
$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
$GPS1,021018,085220,7407.3525,-14634.4219,14,1.6,18,18.4,0.4,358.9,5,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-73.8
$GPS2,021018,090117,7407.3945,-14634.5352,4,1.4,6,18.4,0.4,267.2,7,7.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,160.6,61315,-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,-146.0,205,2400,453,540,0.0,0.0,0,93,0.00,0.00,-81.35,0.003,16386,0.000,0.000,203,2400,2076,2163,1990,0,0,0,0,0,0,14.44,28.83,14.46
$GC,96,-0.92,-146.0,203,2400,2163,1993,4.4,-11.6,8,142,9.38,5.03,-25.50,0.005,18948,0.464,0.071,1986,705,3454,3577,3332,0,0,0,0,0,0,14.07,13.50,14.31
$GC,172,-0.92,-146.0,1985,706,3575,3335,45.6,-52.8,22,178,0.00,4.97,0.00,0.000,1030,0.000,0.057,1967,2396,3454,3575,3334,0,0,0,0,0,0,14.35,14.28,14.37
$GC,364,-0.92,-146.0,1968,2397,3576,3335,109.5,-26.8,42,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2396,3454,3574,3334,0,0,0,0,0,0,14.54,14.56,14.56
$GC,543,-0.92,-146.0,1967,2396,3574,3335,152.8,-23.2,60,554,0.00,4.93,0.00,0.000,516,0.000,0.063,1985,709,3454,3574,3334,0,0,0,0,0,0,14.59,14.41,14.62
$GC,564,-0.92,-146.0,1986,710,3575,3336,157.8,-23.4,64,575,0.00,4.93,0.00,0.000,1030,0.000,0.053,1966,2404,3454,3574,3335,0,0,0,0,0,0,14.47,14.42,14.50
$GC,755,-0.92,-146.0,1967,2405,3575,3336,200.7,-20.9,84,755,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2405,3454,3574,3335,0,0,0,0,0,0,14.64,14.66,14.66
$GC,935,-0.92,-146.0,1967,2405,3575,3334,238.0,-19.3,102,935,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2409,3454,3574,3335,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1125,-0.92,-146.0,1967,2405,3575,3336,270.6,-17.0,115,1134,0.00,4.62,0.00,0.000,260,0.000,0.087,1947,3946,3454,3573,3335,0,0,0,0,0,0,14.70,14.49,14.71
$GC,1279,-0.92,-146.0,1946,3946,3566,3341,298.4,-17.5,146,1287,0.00,4.40,0.00,0.000,1030,0.000,0.044,1960,2398,3453,3566,3341,0,0,0,0,0,0,14.61,14.55,14.62
$GC,1584,-0.92,-146.0,1961,2397,3568,3342,342.9,-14.5,162,1591,0.00,4.88,0.00,0.000,516,0.000,0.067,1960,706,3453,3566,3341,0,0,0,0,0,0,14.75,14.57,14.77
$GC,1611,-0.92,-146.0,1961,707,3567,3342,347.2,-16.6,167,1621,0.15,4.90,0.00,0.000,3078,0.344,0.054,1969,2409,3453,3566,3341,0,0,0,0,0,0,14.42,14.57,14.62
$GC,1926,-0.92,-146.0,1970,2410,3567,3342,391.5,-13.9,185,1937,0.00,4.90,0.00,0.000,516,0.000,0.066,1986,712,3453,3566,3341,0,0,0,0,0,0,14.78,14.59,14.80
$GC,1952,-0.92,-146.0,1985,713,3565,3342,395.2,-14.8,190,1958,0.00,4.85,0.00,0.000,1030,0.000,0.053,1967,2405,3453,3566,3341,0,0,0,0,0,0,14.66,14.59,14.67
$GC,2268,-0.92,-146.0,1968,2406,3566,3341,439.2,-13.8,208,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2405,3453,3565,3341,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2568,-0.92,-146.0,1968,2406,3567,3342,480.6,-13.8,223,2578,0.00,4.88,0.00,0.000,516,0.000,0.065,1973,711,3453,3565,3341,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2633,-0.92,-146.0,1974,712,3565,3342,490.2,-14.9,236,2643,0.00,4.85,0.00,0.000,1030,0.000,0.054,1954,2407,3452,3564,3341,0,0,0,0,0,0,14.71,14.63,14.72
$GC,2948,-0.92,-146.0,1955,2408,3566,3342,535.0,-14.1,254,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2407,3453,3565,3341,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3248,-0.92,-146.0,1954,2408,3565,3341,577.4,-14.1,269,3259,0.00,4.88,0.00,0.000,516,0.000,0.065,1957,706,3452,3564,3341,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3304,-0.92,-146.0,1964,707,3562,3343,585.8,-15.1,280,3311,0.15,4.85,0.00,0.000,3078,0.342,0.054,1966,2407,3453,3564,3342,0,0,0,0,0,0,14.52,14.66,14.71
$STATE,3407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3407,begin apogee
$GC,3412,-0.11,0.0,1969,2179,3565,3343,600.2,-13.5,286,3552,1.02,0.08,136.38,2.129,10246,0.308,0.162,2225,2215,2854,2925,2783,0,0,0,0,0,0,14.53,13.94,13.24
$STATE,3553,end apogee,CONTROL_FINISHED_OK
$STATE,3553,begin climb
$GC,3556,0.92,146.0,2225,2213,2923,2782,605.8,0.0,293,3706,1.23,5.35,139.70,2.037,10500,0.210,0.090,2555,3881,2256,2284,2228,0,0,0,0,0,0,13.88,13.72,13.05
$GC,3712,0.92,146.0,2554,3881,2282,2229,592.5,11.7,313,3723,0.00,5.05,0.00,0.000,1030,0.000,0.048,2575,2214,2254,2281,2227,0,0,0,0,0,0,13.88,13.81,13.88
$GC,4033,0.92,146.0,2576,2213,2281,2213,549.2,13.6,332,4043,0.00,5.10,0.00,0.000,516,0.000,0.074,2597,503,2245,2279,2212,0,0,0,0,0,0,14.39,14.20,14.40
$GC,4098,0.92,146.0,2597,504,2276,2214,540.2,13.4,345,4109,0.15,4.95,0.00,0.000,5126,0.293,0.051,2568,2199,2243,2275,2212,0,0,0,0,0,0,14.14,14.26,14.31
$GC,4414,0.92,146.0,2568,2200,2276,2208,499.0,12.9,363,4424,0.00,5.12,0.00,0.000,260,0.000,0.090,2567,3890,2243,2275,2211,0,0,0,0,0,0,14.56,14.35,14.58
$GC,4428,0.92,146.0,2568,3891,2276,2212,497.0,13.0,366,4436,0.00,4.90,0.00,0.000,1030,0.000,0.047,2587,2196,2242,2275,2210,0,0,0,0,0,0,14.46,14.40,14.48
$GC,4734,0.92,146.0,2587,2195,2276,2208,454.0,13.9,382,4740,0.00,4.95,0.00,0.000,516,0.000,0.073,2609,506,2241,2276,2207,0,0,0,0,0,0,14.64,14.45,14.66
$GC,4775,0.92,146.0,2609,507,2276,2208,448.2,13.9,390,4781,0.17,4.88,0.00,0.000,5126,0.295,0.052,2571,2201,2240,2274,2207,0,0,0,0,0,0,14.35,14.47,14.53
$GC,5096,0.92,146.0,2572,2202,2277,2206,406.4,12.8,409,5107,0.00,5.10,0.00,0.000,260,0.000,0.090,2569,3902,2238,2271,2206,0,0,0,0,0,0,14.71,14.48,14.73
$GC,5332,0.92,146.0,2569,3902,2274,2211,375.2,13.0,456,5339,0.00,4.88,0.00,0.000,1030,0.000,0.047,2588,2198,2240,2273,2208,0,0,0,0,0,0,14.62,14.57,14.64
$GC,5637,0.92,146.0,2588,2197,2275,2205,333.5,13.8,472,5647,0.00,5.10,0.00,0.000,260,0.000,0.087,2588,3899,2239,2274,2205,0,0,0,0,0,0,14.76,14.53,14.78
$GC,5867,0.92,146.0,2588,3901,2273,2210,300.8,13.9,518,5873,0.20,4.85,0.00,0.000,5126,0.315,0.047,2568,2196,2241,2273,2209,0,0,0,0,0,0,14.47,14.61,14.65
$GC,6179,0.92,146.0,2567,2196,2275,2203,266.4,10.1,535,6188,0.00,4.90,0.00,0.000,516,0.000,0.071,2586,504,2238,2274,2203,0,0,0,0,0,0,14.80,14.60,14.82
$GC,6238,0.92,146.0,2586,504,2274,2204,260.2,10.3,547,6248,0.00,4.85,0.00,0.000,1030,0.000,0.050,2586,2209,2238,2275,2202,0,0,0,0,0,0,14.69,14.63,14.71
$GC,6549,0.99,146.0,2587,2209,2277,2203,233.9,7.4,575,6549,0.00,0.00,0.00,0.000,70,0.000,0.000,2586,2208,2238,2275,2202,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6729,1.09,146.0,2586,2209,2276,2202,221.4,6.7,593,6740,0.12,5.00,0.00,0.000,2372,0.169,0.089,2630,3891,2239,2274,2204,0,0,0,0,0,0,14.60,14.61,14.67
$GC,6785,1.09,146.0,2630,3891,2273,2206,216.2,9.8,604,6792,0.00,4.80,0.00,0.000,1030,0.000,0.046,2651,2196,2239,2274,2205,0,0,0,0,0,0,14.68,14.63,14.69
$GC,6971,1.18,146.0,2652,2196,2276,2203,201.9,7.2,623,6971,0.00,0.00,0.00,0.000,70,0.000,0.000,2651,2195,2239,2276,2202,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7150,1.28,146.0,2651,2196,2276,2202,188.6,6.8,641,7162,0.00,5.05,0.00,0.000,324,0.000,0.085,2648,3894,2238,2273,2204,0,0,0,0,0,0,14.81,14.60,14.83
$GC,7192,1.31,146.0,2649,3896,2274,2206,185.2,8.8,649,7204,0.00,4.80,0.00,0.000,1094,0.000,0.044,2668,2192,2238,2274,2203,0,0,0,0,0,0,14.71,14.65,14.72
$GC,7382,1.55,223.7,2668,2193,2275,2202,172.9,5.2,669,7459,0.30,5.20,66.55,1.666,10532,0.150,0.086,2758,3888,1939,1971,1907,0,0,0,0,0,0,14.59,14.27,13.71
$GC,7509,1.55,223.7,2758,3892,1966,1908,158.4,17.0,690,7516,0.00,4.90,0.00,0.000,1030,0.000,0.047,2779,2205,1936,1966,1906,0,0,0,0,0,0,14.41,14.35,14.42
$GC,7701,1.55,223.7,2779,2204,1968,1900,131.3,12.8,710,7707,0.00,5.00,0.00,0.000,516,0.000,0.071,2800,504,1931,1965,1898,0,0,0,0,0,0,14.59,14.40,14.60
$GC,7862,1.55,223.7,2800,504,1959,1899,110.3,11.4,742,7869,0.12,4.90,0.00,0.000,5126,0.363,0.050,2774,2205,1928,1959,1897,0,0,0,0,0,0,14.29,14.45,14.50
$GC,8056,1.62,223.7,2774,2205,1960,1894,93.5,7.7,762,8057,0.00,0.00,0.00,0.000,70,0.000,0.000,2774,2205,1927,1960,1894,0,0,0,0,0,0,14.64,14.66,14.66
$GC,8234,1.84,298.0,2775,2206,1961,1893,81.6,5.4,780,8307,0.25,5.07,62.88,1.547,10788,0.155,0.070,2875,508,1635,1667,1603,0,0,0,0,0,0,14.45,14.21,13.65
$GC,8347,1.84,298.0,2874,507,1661,1603,72.7,10.2,801,8354,0.00,4.93,0.00,0.000,1030,0.000,0.049,2871,2200,1631,1660,1602,0,0,0,0,0,0,14.28,14.23,14.31
$GC,8532,2.20,419.7,2871,2201,1660,1595,62.7,2.5,820,8636,0.32,0.00,101.28,1.483,10534,0.145,0.000,2973,2200,1140,1152,1129,0,0,0,0,0,0,14.29,14.01,13.46
$GC,8812,2.24,419.7,2973,2200,1144,1114,41.0,8.7,849,8823,0.00,5.18,0.00,0.000,324,0.000,0.087,2974,3889,1129,1143,1115,0,0,0,0,0,0,14.35,14.16,14.38
$GC,8894,2.35,419.7,2974,3889,1141,1116,35.3,6.5,865,8906,0.00,4.93,0.00,0.000,1094,0.000,0.045,2995,2195,1127,1141,1114,0,0,0,0,0,0,14.31,14.27,14.33
$GC,9084,2.73,545.9,2995,2196,1137,1113,27.8,2.2,885,9192,0.47,5.10,100.62,1.431,10788,0.129,0.071,3163,514,622,600,645,0,0,0,0,0,0,14.30,13.90,13.45
$GC,9287,2.73,545.9,3162,513,589,647,11.2,13.7,920,9294,0.00,4.97,0.00,0.000,1030,0.000,0.049,3160,2203,618,590,646,0,0,0,0,0,0,14.19,14.13,14.21
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,0.1,1.021304
$STATE,9360,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9381,69.03,0.682,1,0,499,577.44
$SM_CCo,9458,-0.17,0.502,0,0,500,577.68
$SM_CCo,9461,0.00,0.000,0,0,500,577.44
$SM_GC,0.22,10.80,0.60,0.00,0.223,0.074,0.000,199,2405,500,-6.43,-0.71,577.44,0,0,0,0,0,0,14.16,14.20,14.31
$RAFOS_CLK,589
$RAFOS_FIX,7406.419922,-14634.596680,021018,111142,0,1,0.19
$IRIDIUM_FIX,7410.81,-14750.48,021018,085503
$TT8_MAMPS,0.041195,0.682339
$HUMID,46.14
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.6,5.7
$24V_AH,13.05,41.805
$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,24.850,208.925,607.400,69.025,0.000,0.000,0.000,318.425,4.750,0.000,16.389,0.000,6719.377,938.135,2123.962,232.579,0.000,2024.896,0.000,1330.893,0.000,2.511,0.000
$DEVICE_MAMPS,463.590,162.180,2128.995,682.380,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9369.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.846,0.000,0.000,0.000
$MEM,334524
$DATA_FILE_SIZE,33384,928
$CAP_FILE_SIZE,109792,0
$CFSIZE,2097872896,2079916032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1448.9
$CURRENT,0.092,328.03,1
$GPS,021018,114039,7406.821,-14635.250,18,0.7,19,18.4,0.1,0.0,11,7.0