version: 66.13
glider: 228
mission: 14
dive: 89
start: 10 2 118 22 35 7
data:
$ID,228
$MISSION,14
$DIVE,89
$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,2330
$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,21
$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
$GPS1,021018,222531,7403.7563,-14639.7246,30,0.7,31,18.3,0.3,211.6,12,2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.99
$_SM_ANGLEo,-72.1
$GPS2,021018,223432,7403.8062,-14639.8867,4,0.5,5,18.3,1.0,319.2,12,4.9
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.6,54115,-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,-146.0,199,2404,461,535,0.0,0.0,0,93,0.00,0.00,-81.85,0.003,16386,0.000,0.000,198,2404,2068,2158,1979,0,0,0,0,0,0,14.45,28.83,14.47
$GC,96,-0.92,-146.0,199,2405,2159,1983,3.9,-10.9,8,142,9.68,5.05,-25.70,0.005,18948,0.461,0.073,2046,707,3453,3573,3333,0,0,0,0,0,0,14.08,13.50,14.33
$GC,204,-0.92,-146.0,2047,708,3574,3336,54.3,-32.2,28,215,0.00,4.95,0.00,0.000,1030,0.000,0.057,2027,2397,3453,3573,3334,0,0,0,0,0,0,14.35,14.31,14.38
$GC,392,-0.92,-146.0,2027,2397,3573,3335,104.8,-22.6,48,403,0.00,4.72,0.00,0.000,260,0.000,0.089,2007,3954,3453,3572,3335,0,0,0,0,0,0,14.54,14.35,14.57
$GC,433,-0.92,-146.0,2008,3955,3571,3340,114.1,-22.6,56,439,0.00,4.47,0.00,0.000,1030,0.000,0.044,2024,2399,3454,3570,3339,0,0,0,0,0,0,14.47,14.40,14.48
$GC,624,-0.92,-146.0,2023,2399,3569,3339,154.0,-21.1,76,635,0.00,4.93,0.00,0.000,516,0.000,0.065,2028,705,3453,3569,3338,0,0,0,0,0,0,14.61,14.42,14.63
$GC,665,-0.92,-146.0,2028,705,3570,3339,162.6,-20.4,84,676,0.00,4.95,0.00,0.000,1030,0.000,0.058,2009,2400,3453,3569,3338,0,0,0,0,0,0,14.51,14.43,14.52
$GC,855,-0.92,-146.0,2008,2401,3568,3340,200.7,-19.4,104,865,0.00,4.70,0.00,0.000,260,0.000,0.092,1989,3956,3452,3566,3339,0,0,0,0,0,0,14.65,14.45,14.67
$GC,875,-0.92,-146.0,1989,3957,3566,3342,205.0,-21.2,108,881,0.00,4.47,0.00,0.000,1030,0.000,0.045,2005,2394,3452,3565,3340,0,0,0,0,0,0,14.54,14.49,14.56
$GC,1066,-0.92,-146.0,2006,2394,3566,3342,239.7,-16.1,128,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2393,3452,3564,3341,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1256,-0.92,-146.0,2005,2394,3565,3341,267.4,-13.8,141,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2393,3453,3565,3341,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1556,-0.92,-146.0,2005,2394,3565,3341,306.4,-12.5,156,1566,0.00,4.88,0.00,0.000,516,0.000,0.068,2012,707,3452,3564,3341,0,0,0,0,0,0,14.73,14.55,14.76
$GC,1611,-0.92,-146.0,2012,707,3565,3342,313.9,-13.5,167,1618,0.17,4.88,0.00,0.000,3078,0.347,0.054,2025,2401,3452,3564,3341,0,0,0,0,0,0,14.39,14.53,14.59
$GC,1916,-0.92,-146.0,2025,2402,3562,3341,349.6,-11.7,183,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2401,3452,3563,3341,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2216,-0.92,-146.0,2026,2402,3565,3342,384.1,-11.4,198,2222,0.00,4.90,0.00,0.000,516,0.000,0.066,2028,703,3452,3564,3341,0,0,0,0,0,0,14.78,14.60,14.81
$GC,2287,-0.92,-146.0,2028,704,3564,3342,393.0,-12.4,212,2298,0.00,4.90,0.00,0.000,1030,0.000,0.057,2008,2406,3452,3563,3341,0,0,0,0,0,0,14.69,14.61,14.70
$GC,2597,-0.92,-146.0,2009,2407,3564,3342,430.3,-12.0,229,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2406,3454,3563,3346,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2897,-0.92,-146.0,2009,2407,3564,3342,465.8,-11.8,244,2907,0.00,4.90,0.00,0.000,516,0.000,0.068,2012,704,3451,3562,3341,0,0,0,0,0,0,14.82,14.62,14.84
$GC,2952,-0.92,-146.0,2012,704,3562,3341,472.8,-12.8,255,2959,0.17,4.85,0.00,0.000,3078,0.343,0.056,2026,2401,3451,3562,3341,0,0,0,0,0,0,14.48,14.64,14.69
$GC,3257,-0.92,-146.0,2026,2402,3563,3341,506.3,-10.9,271,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2401,3451,3562,3341,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3557,-0.92,-146.0,2027,2402,3564,3342,537.9,-10.4,286,3563,0.00,4.88,0.00,0.000,516,0.000,0.069,2028,708,3451,3562,3341,0,0,0,0,0,0,14.85,14.65,14.86
$GC,3603,-0.92,-146.0,2028,708,3562,3341,543.1,-11.5,295,3613,0.00,4.85,0.00,0.000,1030,0.000,0.056,2008,2405,3451,3561,3341,0,0,0,0,0,0,14.74,14.66,14.76
$GC,3918,-0.92,-146.0,2009,2406,3563,3342,577.9,-11.0,313,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2405,3451,3562,3340,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4116,begin apogee
$GC,4122,-0.11,0.0,2008,2180,3563,3342,600.3,-11.2,323,4262,1.10,0.08,136.88,2.126,10246,0.291,0.164,2291,2214,2853,2926,2781,0,0,0,0,0,0,14.56,13.95,13.24
$STATE,4263,end apogee,CONTROL_FINISHED_OK
$STATE,4263,begin climb
$GC,4266,0.92,146.0,2291,2215,2925,2781,602.5,0.0,330,4418,1.10,5.38,139.93,2.033,10500,0.161,0.090,2609,3884,2254,2278,2231,0,0,0,0,0,0,13.92,13.73,13.05
$GC,4422,0.92,146.0,2608,3885,2276,2232,585.1,15.5,359,4429,0.00,5.05,0.00,0.000,1030,0.000,0.047,2628,2217,2253,2276,2230,0,0,0,0,0,0,13.88,13.81,13.90
$GC,4740,0.92,146.0,2629,2217,2275,2216,529.1,17.6,377,4749,0.00,5.07,0.00,0.000,516,0.000,0.073,2650,509,2243,2273,2214,0,0,0,0,0,0,14.39,14.20,14.41
$GC,4784,0.92,146.0,2650,509,2268,2215,520.8,18.3,386,4795,0.00,4.93,0.00,0.000,1030,0.000,0.050,2649,2196,2240,2268,2213,0,0,0,0,0,0,14.31,14.24,14.33
$GC,5113,0.92,146.0,2649,2197,2269,2212,462.5,18.4,404,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2196,2239,2268,2211,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5400,0.92,146.0,2650,2197,2270,2211,407.2,18.3,419,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2196,2239,2269,2210,0,0,0,0,0,0,14.58,14.60,14.60
$GC,5700,0.92,146.0,2650,2197,2274,2209,353.5,17.6,434,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2196,2239,2269,2209,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6000,0.92,146.0,2649,2197,2270,2208,302.4,16.5,449,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2196,2238,2269,2207,0,0,0,0,0,0,14.65,14.68,14.67
$GC,6301,0.92,146.0,2649,2197,2270,2206,256.9,14.1,464,6310,0.00,4.95,0.00,0.000,516,0.000,0.073,2669,504,2238,2270,2206,0,0,0,0,0,0,14.67,14.48,14.69
$GC,6335,0.92,146.0,2670,504,2270,2207,252.1,14.2,471,6343,0.15,4.88,0.00,0.000,5126,0.335,0.052,2633,2203,2237,2269,2205,0,0,0,0,0,0,14.36,14.51,14.55
$GC,6640,0.95,146.0,2632,2203,2271,2204,220.5,8.9,501,6641,0.00,0.00,0.00,0.000,70,0.000,0.000,2633,2203,2237,2271,2203,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6821,1.03,146.0,2633,2204,2273,2204,206.6,7.4,519,6821,0.00,0.00,0.00,0.000,70,0.000,0.000,2633,2203,2237,2271,2203,0,0,0,0,0,0,14.68,14.69,14.69
$GC,7000,1.14,146.0,2633,2204,2272,2204,194.7,6.2,537,7012,0.17,4.95,0.00,0.000,2628,0.166,0.067,2709,501,2236,2270,2203,0,0,0,0,0,0,14.47,14.50,14.54
$GC,7037,1.18,146.0,2708,504,2269,2203,191.8,8.6,544,7044,0.00,4.80,0.00,0.000,1094,0.000,0.047,2703,2204,2238,2271,2205,0,0,0,0,0,0,14.54,14.48,14.56
$GC,7222,1.29,146.0,2704,2205,2271,2203,178.2,6.3,563,7228,0.15,5.05,0.00,0.000,2372,0.184,0.081,2745,3894,2234,2269,2199,0,0,0,0,0,0,14.44,14.49,14.51
$MODEM_MSG,CACST,6,1,20181003001038.346350,18,64,12,0042,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0C
$GC,7353,1.29,146.0,2744,3895,2267,2209,164.3,10.6,589,7364,0.00,4.85,0.00,0.000,1030,0.000,0.042,2765,2183,2237,2267,2207,0,0,0,0,0,0,14.59,14.54,14.62
$GC,7544,1.35,146.0,2766,2184,2269,2206,148.4,7.9,609,7555,0.00,5.07,0.00,0.000,324,0.000,0.082,2758,3886,2237,2267,2207,0,0,0,0,0,0,14.71,14.52,14.73
$GC,7565,1.39,146.0,2759,3887,2269,2208,146.5,8.7,613,7576,0.00,4.78,0.00,0.000,1094,0.000,0.042,2779,2197,2237,2268,2206,0,0,0,0,0,0,14.62,14.57,14.63
$GC,7755,1.51,146.0,2779,2198,2268,2205,133.8,6.2,633,7766,0.12,5.03,0.00,0.000,2372,0.202,0.080,2798,3886,2236,2267,2206,0,0,0,0,0,0,14.52,14.54,14.61
$GC,7771,1.61,146.0,2799,3887,2268,2208,132.7,6.5,636,7778,0.00,4.80,0.00,0.000,1094,0.000,0.042,2818,2192,2236,2266,2207,0,0,0,0,0,0,14.63,14.59,14.64
$GC,7956,1.86,227.6,2818,2191,2268,2205,121.9,5.0,655,8036,0.32,5.20,69.22,1.613,10532,0.168,0.081,2918,3889,1922,1948,1896,0,0,0,0,0,0,14.51,14.19,13.65
$GC,8091,1.86,227.6,2918,3890,1944,1898,105.4,18.8,680,8098,0.00,4.93,0.00,0.000,1030,0.000,0.047,2938,2204,1918,1942,1895,0,0,0,0,0,0,14.36,14.30,14.38
$GC,8276,1.89,227.6,2939,2203,1944,1888,81.0,8.8,699,8277,0.00,0.00,0.00,0.000,70,0.000,0.000,2939,2203,1914,1942,1886,0,0,0,0,0,0,14.53,14.55,14.54
$GC,8456,2.36,383.8,2938,2204,1942,1884,75.5,0.3,717,8596,0.45,5.15,130.10,1.507,10788,0.154,0.069,3100,506,1284,1296,1272,0,0,0,0,0,0,14.35,13.95,13.40
$GC,8657,2.36,383.8,3099,505,1283,1272,53.3,16.0,754,8665,0.00,5.03,0.00,0.000,1030,0.000,0.050,3095,2202,1276,1283,1270,0,0,0,0,0,0,14.13,14.07,14.14
$GC,8843,2.71,499.0,3095,2202,1283,1261,38.8,2.9,773,8944,0.30,5.28,91.95,1.432,10532,0.158,0.081,3179,3891,817,795,839,0,0,0,0,0,0,14.18,13.92,13.42
$GC,9110,2.71,499.0,3179,3891,789,830,8.9,11.5,824,9116,0.00,5.00,0.00,0.000,1030,0.000,0.047,3198,2198,809,789,829,0,0,0,0,0,0,14.22,14.17,14.24
$STATE,9192,end climb,SURFACE_DEPTH_REACHED
$STATE,9192,begin surface coast
$FINISH,-0.3,1.021208
$STATE,9212,end surface coast,CONTROL_FINISHED_OK
$STATE,9213,begin surface
$SM_CCo,9233,107.12,0.942,1,0,499,577.44
$SM_CCo,9348,-0.17,0.498,0,0,499,577.68
$SM_CCo,9351,0.00,0.000,0,0,499,577.68
$SM_GC,-1.05,11.20,0.62,0.00,0.244,0.070,0.000,206,2403,499,-6.61,-0.85,577.68,0,0,0,0,0,0,14.19,14.24,14.21
$RAFOS_CLK,266
$MODEM,2,1538525438,74.08334,-144.88333,38.346,55519.0
$RAFOS_FIX,7403.130859,-14641.288086,031018,000038,1,2,0.25
$IRIDIUM_FIX,7423.36,-15113.80,021018,222822
$TT8_MAMPS,0.040446,0.877828
$HUMID,46.41
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.8,7.7
$24V_AH,13.05,43.973
$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,25.100,178.725,568.075,107.125,0.000,0.000,0.000,324.775,4.250,0.000,15.219,0.000,6831.188,878.670,1973.182,222.718,0.000,1920.285,0.000,1199.222,2155.000,2.513,0.000
$DEVICE_MAMPS,461.295,163.710,2125.935,942.480,0.000,0.000,0.000,183.600,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.249,0.000,0.000,0.000
$MEM,334468
$DATA_FILE_SIZE,30020,835
$CAP_FILE_SIZE,102893,0
$CFSIZE,2097872896,2079096832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1448.0
$CURRENT,0.043,316.34,1
$GPS,031018,011147,7402.920,-14640.570,2,1.2,6,18.3,0.2,0.0,7,8.7