version: 66.13
glider: 228
mission: 14
dive: 86
start: 10 2 118 14 37 12
data:
$ID,228
$MISSION,14
$DIVE,86
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,021018,142509,7406.0283,-14636.1338,31,0.8,32,18.3,0.6,303.8,11,7.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.02
$_SM_ANGLEo,-73.3
$GPS2,021018,143633,7406.1050,-14636.1973,3,0.9,5,18.3,0.2,38.5,11,10.0
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.7,58786,-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,-146.0,202,2408,456,533,0.0,0.0,0,93,0.00,0.00,-81.95,0.003,16386,0.000,0.000,202,2408,2083,2176,1991,0,0,0,0,0,0,14.48,28.83,14.50
$GC,96,-0.92,-146.0,203,2409,2178,1995,4.0,-11.2,8,142,9.32,5.03,-25.50,0.005,18948,0.464,0.074,1986,717,3452,3574,3331,0,0,0,0,0,0,14.10,13.52,14.35
$GC,199,-0.92,-146.0,1987,717,3575,3334,52.5,-36.4,27,205,0.00,4.93,0.00,0.000,1030,0.000,0.060,1968,2394,3454,3574,3334,0,0,0,0,0,0,14.42,14.34,14.44
$GC,382,-0.92,-146.0,1968,2394,3574,3334,108.9,-25.4,46,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2394,3454,3574,3334,0,0,0,0,0,0,14.56,14.58,14.58
$GC,562,-0.92,-146.0,1968,2394,3573,3334,152.2,-23.3,64,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2394,3453,3573,3334,0,0,0,0,0,0,14.61,14.62,14.62
$GC,742,-0.92,-146.0,1967,2395,3574,3333,193.2,-21.6,82,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2394,3453,3573,3333,0,0,0,0,0,0,14.64,14.66,14.66
$GC,922,-0.92,-146.0,1969,2395,3575,3334,231.1,-19.1,100,933,0.00,4.70,0.00,0.000,260,0.000,0.091,1948,3952,3453,3571,3335,0,0,0,0,0,0,14.66,14.47,14.68
$GC,958,-0.92,-146.0,1948,3953,3570,3339,238.3,-19.9,107,964,0.00,4.43,0.00,0.000,1030,0.000,0.045,1964,2405,3453,3568,3339,0,0,0,0,0,0,14.57,14.50,14.57
$GC,1143,-0.92,-146.0,1964,2405,3568,3339,268.9,-15.5,120,1152,0.00,4.93,0.00,0.000,516,0.000,0.066,1975,703,3453,3568,3338,0,0,0,0,0,0,14.70,14.52,14.71
$GC,1212,-0.92,-146.0,1975,704,3568,3341,279.7,-15.6,134,1219,0.00,4.90,0.00,0.000,1030,0.000,0.054,1954,2408,3450,3567,3334,0,0,0,0,0,0,14.60,14.53,14.62
$GC,1524,-0.92,-146.0,1955,2409,3568,3340,327.3,-15.2,151,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2408,3452,3565,3339,0,0,0,0,0,0,14.73,14.78,14.77
$GC,1824,-0.92,-146.0,1955,2410,3568,3340,371.5,-14.7,166,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2408,3453,3567,3340,0,0,0,0,0,0,14.78,14.81,14.80
$GC,2124,-0.92,-146.0,1954,2409,3566,3340,415.6,-14.6,181,2135,0.00,4.90,0.00,0.000,516,0.000,0.065,1958,703,3452,3566,3339,0,0,0,0,0,0,14.81,14.62,14.82
$GC,2155,-0.92,-146.0,1958,702,3567,3340,420.4,-16.8,187,2166,0.15,4.88,0.00,0.000,3078,0.345,0.055,1966,2407,3452,3566,3339,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2465,-0.92,-146.0,1966,2408,3566,3340,464.1,-13.8,204,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2407,3453,3566,3340,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2765,-0.92,-146.0,1966,2408,3567,3340,504.7,-13.4,219,2775,0.00,4.88,0.00,0.000,516,0.000,0.065,1974,706,3452,3565,3340,0,0,0,0,0,0,14.83,14.64,14.84
$GC,2805,-0.92,-146.0,1973,707,3565,3343,510.3,-14.7,227,2815,0.00,4.82,0.00,0.000,1030,0.000,0.054,1955,2401,3452,3565,3339,0,0,0,0,0,0,14.71,14.64,14.73
$GC,3125,-0.92,-146.0,1955,2401,3565,3340,555.2,-13.9,246,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2401,3452,3565,3340,0,0,0,0,0,0,14.84,14.86,14.85
$GC,3425,-0.92,-146.0,1955,2402,3566,3341,596.3,-13.6,261,3436,0.00,4.85,0.00,0.000,516,0.000,0.064,1958,705,3452,3565,3340,0,0,0,0,0,0,14.86,14.66,14.88
$STATE,3448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3448,begin apogee
$GC,3458,-0.11,0.0,1941,2209,3564,3341,600.0,-14.6,266,3598,1.20,0.00,136.73,2.134,10246,0.338,0.000,2227,2209,2854,2926,2782,0,0,0,0,0,0,14.51,13.97,13.24
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3601,0.92,146.0,2228,2209,2926,2782,606.1,0.0,273,3753,1.17,5.38,139.93,2.036,10500,0.208,0.090,2551,3887,2254,2281,2227,0,0,0,0,0,0,13.88,13.72,13.07
$GC,3758,0.92,146.0,2551,3889,2274,2228,589.7,14.8,302,3765,0.00,5.10,0.00,0.000,1030,0.000,0.047,2570,2202,2252,2278,2227,0,0,0,0,0,0,13.87,13.81,13.89
$GC,4080,0.92,146.0,2570,2200,2276,2212,535.0,17.0,321,4091,0.00,5.05,0.00,0.000,516,0.000,0.073,2591,506,2243,2275,2211,0,0,0,0,0,0,14.39,14.20,14.41
$GC,4126,0.92,146.0,2592,507,2273,2213,526.8,17.9,330,4133,0.00,4.97,0.00,0.000,1030,0.000,0.054,2591,2203,2242,2272,2212,0,0,0,0,0,0,14.31,14.25,14.33
$GC,4443,0.92,146.0,2592,2205,2273,2209,469.1,18.2,348,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,2240,2273,2208,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4743,0.92,146.0,2592,2204,2274,2208,415.4,17.7,363,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2204,2240,2273,2207,0,0,0,0,0,0,14.67,14.66,14.66
$GC,5043,0.92,146.0,2592,2205,2275,2206,362.6,17.5,378,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2204,2238,2272,2205,0,0,0,0,0,0,14.66,14.68,14.67
$GC,5343,0.92,146.0,2592,2204,2274,2205,311.7,16.1,393,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,2238,2273,2204,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5643,0.92,146.0,2592,2205,2274,2204,265.6,15.3,408,5653,0.00,5.00,0.00,0.000,516,0.000,0.076,2613,506,2238,2273,2203,0,0,0,0,0,0,14.71,14.47,14.71
$GC,5678,0.92,146.0,2614,506,2273,2204,260.2,15.8,415,5685,0.20,4.88,0.00,0.000,5126,0.320,0.056,2570,2201,2237,2272,2203,0,0,0,0,0,0,14.38,14.52,14.57
$GC,5983,0.95,146.0,2569,2202,2274,2202,227.7,9.1,442,5984,0.00,0.00,0.00,0.000,70,0.000,0.000,2570,2201,2237,2273,2202,0,0,0,0,0,0,14.68,14.70,14.69
$GC,6163,1.00,146.0,2570,2202,2274,2202,213.2,8.0,460,6174,0.00,4.97,0.00,0.000,580,0.000,0.074,2588,505,2237,2273,2202,0,0,0,0,0,0,14.68,14.49,14.69
$GC,6229,1.07,146.0,2589,506,2273,2202,207.6,7.9,473,6236,0.00,4.88,0.00,0.000,1094,0.000,0.053,2588,2205,2236,2272,2201,0,0,0,0,0,0,14.58,14.52,14.60
$GC,6414,1.27,214.5,2588,2206,2274,2197,196.3,5.8,492,6476,0.28,0.00,59.38,1.674,10278,0.145,0.000,2673,2206,1978,2013,1943,0,0,0,0,0,0,14.48,14.24,13.62
$GC,6656,1.27,214.5,2673,2207,2007,1934,170.2,11.1,516,6666,0.00,5.05,0.00,0.000,516,0.000,0.075,2694,508,1968,2004,1933,0,0,0,0,0,0,14.48,14.29,14.50
$GC,6706,1.27,214.5,2695,509,2003,1936,164.4,11.5,526,6713,0.00,4.93,0.00,0.000,1030,0.000,0.054,2693,2203,1968,2002,1934,0,0,0,0,0,0,14.40,14.33,14.41
$GC,6898,1.27,214.5,2692,2203,2003,1931,143.7,10.6,546,6904,0.00,5.12,0.00,0.000,260,0.000,0.086,2690,3895,1966,2002,1931,0,0,0,0,0,0,14.53,14.36,14.56
$GC,6919,1.27,214.5,2690,3897,2002,1935,141.2,11.5,550,6926,0.00,4.90,0.00,0.000,1030,0.000,0.044,2710,2193,1967,2001,1933,0,0,0,0,0,0,14.45,14.40,14.47
$GC,7111,1.27,214.5,2711,2193,2003,1931,121.1,9.8,570,7113,0.15,0.00,0.00,0.000,4102,0.350,0.000,2682,2192,1965,2001,1930,0,0,0,0,0,0,14.26,14.48,14.46
$MODEM_MSG,CACST,6,1,20181002160539.225747,18,235,23,0061,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$GC,7293,1.37,214.5,2682,2192,2001,1930,106.8,6.9,588,7294,0.00,0.00,0.00,0.000,70,0.000,0.000,2682,2192,1965,2001,1930,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7472,1.61,296.0,2682,2192,2002,1929,96.9,5.0,606,7552,0.30,5.30,69.82,1.564,10532,0.142,0.087,2779,3887,1644,1679,1609,0,0,0,0,0,0,14.42,14.13,13.59
$GC,7607,1.61,296.0,2779,3888,1675,1609,84.2,12.6,632,7619,0.00,4.95,0.00,0.000,1030,0.000,0.046,2799,2193,1640,1675,1606,0,0,0,0,0,0,14.28,14.22,14.29
$GC,7798,1.71,296.0,2799,2193,1675,1598,67.0,6.7,652,7809,0.00,4.95,0.00,0.000,580,0.000,0.070,2821,511,1635,1671,1600,0,0,0,0,0,0,14.47,14.30,14.50
$GC,7954,2.12,432.8,2821,512,1665,1601,61.6,1.5,683,8080,0.43,4.88,112.55,1.486,11302,0.142,0.047,2950,2213,1085,1095,1075,0,0,0,0,0,0,14.33,14.38,13.43
$GC,8257,2.20,432.8,2950,2214,1093,1064,39.1,7.2,724,8257,0.00,0.00,0.00,0.000,70,0.000,0.000,2950,2213,1077,1092,1063,0,0,0,0,0,0,14.35,14.38,14.38
$GC,8437,2.46,518.3,2950,2214,1093,1060,28.7,4.7,742,8513,0.30,5.22,68.07,1.432,10532,0.140,0.086,3045,3887,737,728,746,0,0,0,0,0,0,14.23,14.03,13.52
$GC,8593,2.46,518.3,3045,3888,725,746,16.5,16.1,772,8604,0.00,4.97,0.00,0.000,1030,0.000,0.044,3066,2195,733,724,743,0,0,0,0,0,0,14.20,14.14,14.21
$STATE,8751,end climb,SURFACE_DEPTH_REACHED
$STATE,8751,begin surface coast
$FINISH,0.6,1.021273
$STATE,8761,end surface coast,CONTROL_FINISHED_OK
$STATE,8761,begin surface
$SM_CCo,8782,92.50,0.873,1,0,497,577.44
$SM_CCo,8883,-0.17,0.500,0,0,499,577.68
$SM_CCo,8886,0.00,0.000,0,0,499,577.68
$SM_GC,-1.87,10.05,0.60,0.00,0.199,0.067,0.000,203,2397,499,-6.43,-1.18,577.68,0,0,0,0,0,0,14.22,14.28,14.28
$RAFOS_CLK,248
$MODEM,1,1538496339,74.43333,-147.95000,39.226,56797.2
$RAFOS_FIX,7405.325195,-14635.522461,021018,161639,1,2,0.28
$IRIDIUM_FIX,7406.50,-14644.74,021018,142750
$TT8_MAMPS,0.041944,0.915278
$HUMID,46.53
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,20
$ALTIM_TOP_PING,20.0,5.7
$24V_AH,13.07,42.689
$10V_AH,13.04,0.000
$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,23.550,148.625,586.475,92.500,0.000,0.000,0.000,404.100,5.250,0.000,15.490,0.000,6543.162,851.506,1967.803,223.283,0.000,1933.110,0.000,1135.223,2208.000,2.512,0.000
$DEVICE_MAMPS,463.590,91.035,2133.585,872.865,0.000,0.000,0.000,179.010,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8781.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.586,0.000,0.000,0.000
$MEM,334548
$DATA_FILE_SIZE,26720,790
$CAP_FILE_SIZE,97484,0
$CFSIZE,2097872896,2079621120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.074,304.38,1
$GPS,021018,170640,7405.273,-14637.718,35,0.7,38,18.3,0.6,328.1,12,4.3