version: 66.13
glider: 228
mission: 14
dive: 91
start: 10 3 118 4 4 17
data:
$ID,228
$MISSION,14
$DIVE,91
$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,31
$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
$GPS1,031018,035632,7402.0850,-14641.8340,13,1.4,17,18.3,0.0,0.0,4,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.51
$_SM_ANGLEo,-76.1
$GPS2,031018,040339,7402.1348,-14641.8281,17,1.1,18,18.3,0.3,339.5,7,7.2
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,174.8,50888,-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,-146.0,198,2406,450,541,0.0,0.0,0,79,0.00,0.00,-67.82,0.004,16386,0.000,0.000,198,2407,1800,1900,1700,0,0,0,0,0,0,14.44,28.83,14.45
$GC,82,-0.92,-146.0,197,2406,1900,1702,2.9,-10.1,7,132,9.70,5.03,-33.20,0.005,18948,0.461,0.075,2043,714,3452,3576,3329,0,0,0,0,0,0,14.04,13.46,14.29
$GC,157,-0.92,-146.0,2044,715,3576,3331,36.7,-48.3,21,164,0.00,4.97,0.00,0.000,1030,0.000,0.060,2025,2395,3453,3576,3331,0,0,0,0,0,0,14.32,14.24,14.33
$GC,349,-0.92,-146.0,2026,2396,3577,3331,96.5,-24.6,41,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2395,3453,3575,3331,0,0,0,0,0,0,14.48,14.50,14.50
$GC,529,-0.92,-146.0,2024,2396,3576,3332,135.2,-20.3,59,540,0.00,4.75,0.00,0.000,260,0.000,0.090,2005,3954,3453,3574,3332,0,0,0,0,0,0,14.52,14.34,14.54
$GC,585,-0.92,-146.0,2005,3955,3572,3339,148.1,-23.2,70,591,0.00,4.47,0.00,0.000,1030,0.000,0.044,2021,2407,3453,3570,3337,0,0,0,0,0,0,14.44,14.38,14.45
$GC,770,-0.92,-146.0,2022,2406,3571,3339,185.4,-19.9,89,776,0.00,4.97,0.00,0.000,516,0.000,0.067,2029,704,3453,3570,3337,0,0,0,0,0,0,14.56,14.38,14.58
$GC,791,-0.92,-146.0,2029,705,3570,3339,189.6,-19.4,93,798,0.00,4.97,0.00,0.000,1030,0.000,0.057,2009,2404,3453,3569,3338,0,0,0,0,0,0,14.45,14.39,14.47
$GC,983,-0.92,-146.0,2010,2406,3570,3339,224.8,-17.1,113,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2405,3453,3569,3338,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1173,-0.92,-146.0,2009,2404,3569,3338,253.5,-13.7,131,1183,0.00,4.97,0.00,0.000,516,0.000,0.070,2015,706,3453,3569,3338,0,0,0,0,0,0,14.60,14.42,14.62
$GC,1238,-0.92,-146.0,2014,706,3568,3345,263.0,-14.5,144,1249,0.17,4.97,0.00,0.000,3078,0.339,0.060,2028,2406,3451,3564,3338,0,0,0,0,0,0,14.29,14.42,14.47
$GC,1554,-0.92,-146.0,2028,2407,3568,3337,300.3,-11.5,162,1564,0.00,5.00,0.00,0.000,516,0.000,0.070,2042,704,3452,3567,3338,0,0,0,0,0,0,14.64,14.45,14.67
$GC,1619,-0.92,-146.0,2042,704,3567,3339,308.4,-12.4,175,1629,0.00,4.95,0.00,0.000,1030,0.000,0.057,2023,2408,3452,3565,3339,0,0,0,0,0,0,14.54,14.47,14.55
$GC,1934,-0.92,-146.0,2022,2408,3567,3339,346.0,-11.7,193,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2408,3452,3567,3338,0,0,0,0,0,0,14.65,14.68,14.67
$MODEM_MSG,CACST,6,1,20181003040541.146560,18,42,10,0048,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*00
$MODEM_MSG,CACST,6,1,20181003041039.957665,18,1737,32,0047,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*01
$GC,2234,-0.92,-146.0,2023,2408,3569,3339,380.8,-11.6,208,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2408,3452,3566,3338,0,0,0,0,0,0,14.74,14.74,14.74
$GC,2534,-0.92,-146.0,2024,2409,3568,3339,415.1,-11.4,223,2543,0.00,4.95,0.00,0.000,516,0.000,0.070,2028,704,3452,3566,3338,0,0,0,0,0,0,14.78,14.57,14.78
$GC,2609,-0.92,-146.0,2028,705,3567,3340,424.2,-12.1,238,2616,0.00,4.93,0.00,0.000,1030,0.000,0.057,2009,2406,3452,3566,3339,0,0,0,0,0,0,14.66,14.56,14.67
$GC,2914,-0.92,-146.0,2008,2407,3566,3339,459.9,-11.5,254,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2407,3452,3566,3339,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3214,-0.92,-146.0,2009,2408,3567,3339,494.3,-11.3,269,3220,0.00,4.93,0.00,0.000,516,0.000,0.070,2012,708,3452,3566,3339,0,0,0,0,0,0,14.81,14.62,14.83
$GC,3255,-0.92,-146.0,2013,708,3566,3340,499.5,-12.9,277,3262,0.17,4.88,0.00,0.000,3078,0.327,0.057,2027,2405,3452,3565,3339,0,0,0,0,0,0,14.47,14.63,14.66
$GC,3577,-0.92,-146.0,2026,2405,3565,3340,532.9,-10.2,296,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2405,3452,3565,3339,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3877,-0.92,-146.0,2027,2410,3565,3339,563.6,-10.2,311,3887,0.00,4.90,0.00,0.000,516,0.000,0.068,2028,708,3452,3565,3339,0,0,0,0,0,0,14.84,14.64,14.86
$GC,3917,-0.92,-146.0,2028,708,3565,3340,568.0,-11.4,319,3927,0.00,4.85,0.00,0.000,1030,0.000,0.057,2009,2401,3452,3565,3340,0,0,0,0,0,0,14.71,14.64,14.73
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4220,-0.11,0.0,2008,2181,3565,3340,600.6,-10.8,337,4361,1.08,0.08,136.80,2.127,10246,0.288,0.163,2285,2214,2853,2926,2781,0,0,0,0,0,0,14.54,13.94,13.24
$STATE,4362,end apogee,CONTROL_FINISHED_OK
$STATE,4362,begin climb
$GC,4364,0.92,146.0,2285,2214,2925,2780,602.6,0.0,344,4509,1.15,0.00,140.95,2.030,10246,0.162,0.000,2618,2213,2255,2276,2234,0,0,0,0,0,0,13.91,13.74,13.05
$GC,4797,0.92,146.0,2617,2213,2271,2216,524.8,20.6,366,4807,0.00,5.10,0.00,0.000,516,0.000,0.076,2639,517,2242,2269,2215,0,0,0,0,0,0,14.36,14.17,14.38
$GC,4832,0.92,146.0,2640,518,2268,2217,517.2,21.4,373,4840,0.00,4.95,0.00,0.000,1030,0.000,0.056,2621,2196,2241,2267,2215,0,0,0,0,0,0,14.28,14.21,14.30
$GC,5137,0.92,146.0,2621,2197,2269,2213,453.9,20.6,389,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2196,2240,2268,2212,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5437,0.92,146.0,2620,2196,2268,2211,392.8,20.1,404,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2196,2239,2268,2210,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5737,0.92,146.0,2620,2196,2267,2210,334.3,19.2,419,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2196,2238,2268,2209,0,0,0,0,0,0,14.68,14.70,14.69
$GC,6037,0.92,146.0,2620,2197,2268,2209,279.7,18.1,434,6047,0.00,4.95,0.00,0.000,516,0.000,0.073,2641,515,2238,2268,2208,0,0,0,0,0,0,14.71,14.53,14.74
$GC,6087,0.92,146.0,2641,516,2268,2208,270.1,18.6,444,6099,0.00,4.85,0.00,0.000,1030,0.000,0.055,2631,2205,2237,2267,2207,0,0,0,0,0,0,14.62,14.55,14.64
$GC,6397,0.92,146.0,2628,2205,2266,2207,223.6,12.6,470,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2205,2236,2268,2205,0,0,0,0,0,0,14.74,14.76,14.76
$GC,6577,0.92,146.0,2630,2205,2268,2205,204.8,10.1,488,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2205,2236,2268,2205,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6757,0.97,146.0,2631,2205,2270,2205,189.0,8.2,506,6768,0.00,4.90,0.00,0.000,580,0.000,0.073,2651,522,2236,2268,2204,0,0,0,0,0,0,14.76,14.58,14.78
$GC,6833,1.01,146.0,2651,523,2269,2205,182.3,8.7,521,6841,0.00,4.80,0.00,0.000,1094,0.000,0.051,2648,2203,2235,2267,2204,0,0,0,0,0,0,14.65,14.60,14.68
$GC,7019,1.09,146.0,2648,2205,2269,2204,168.6,7.2,540,7020,0.12,0.00,0.00,0.000,2118,0.197,0.000,2686,2204,2235,2267,2203,0,0,0,0,0,0,14.52,14.64,14.63
$GC,7198,1.19,146.0,2680,2204,2268,2204,155.8,6.8,558,7210,0.00,4.88,0.00,0.000,580,0.000,0.071,2702,524,2235,2268,2203,0,0,0,0,0,0,14.78,14.58,14.80
$GC,7245,1.26,146.0,2703,525,2269,2204,152.4,7.6,567,7252,0.17,4.78,0.00,0.000,3142,0.189,0.051,2734,2204,2236,2268,2204,0,0,0,0,0,0,14.53,14.60,14.65
$GC,7431,1.36,146.0,2735,2205,2269,2205,139.3,6.7,586,7432,0.00,0.00,0.00,0.000,70,0.000,0.000,2734,2203,2235,2268,2203,0,0,0,0,0,0,14.78,14.80,14.80
$GC,7610,1.61,228.1,2734,2204,2268,2203,129.6,4.9,604,7682,0.35,0.00,69.57,1.615,10278,0.161,0.000,2839,2204,1922,1951,1893,0,0,0,0,0,0,14.56,14.31,13.69
$GC,7861,1.61,228.1,2839,2205,1943,1881,99.2,12.9,629,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2204,1911,1943,1880,0,0,0,0,0,0,14.52,14.54,14.54
$GC,8040,1.71,228.1,2839,2205,1940,1877,81.9,6.5,647,8041,0.15,0.00,0.00,0.000,2118,0.184,0.000,2880,2205,1909,1942,1877,0,0,0,0,0,0,14.35,14.47,14.46
$GC,8220,2.10,358.6,2880,2205,1942,1877,75.2,1.9,665,8339,0.38,5.25,108.40,1.515,10532,0.156,0.086,2988,3892,1386,1408,1365,0,0,0,0,0,0,14.38,14.02,13.47
$GC,8528,2.21,358.6,2987,3893,1400,1363,43.9,6.6,723,8538,0.00,4.90,0.00,0.000,1094,0.000,0.047,3007,2200,1379,1399,1359,0,0,0,0,0,0,14.28,14.23,14.29
$GC,8716,2.71,524.7,3008,2201,1400,1355,41.6,-0.3,743,8863,0.57,5.10,132.85,1.440,10788,0.144,0.073,3207,511,709,686,733,0,0,0,0,0,0,14.26,13.84,13.39
$GC,8904,2.71,524.7,3207,512,679,735,19.9,16.0,777,8910,0.00,5.03,0.00,0.000,1030,0.000,0.053,3203,2199,706,679,734,0,0,0,0,0,0,14.06,14.00,14.07
$STATE,9053,end climb,SURFACE_DEPTH_REACHED
$STATE,9053,begin surface coast
$FINISH,0.1,1.020996
$STATE,9063,end surface coast,CONTROL_FINISHED_OK
$STATE,9063,begin surface
$SM_CCo,9084,86.78,0.833,1,0,497,577.44
$SM_CCo,9179,-0.20,0.436,0,0,500,577.68
$SM_CCo,9182,0.00,0.000,0,0,501,577.44
$SM_GC,-0.39,11.30,0.60,0.00,0.246,0.077,0.000,204,2399,501,-6.61,-0.94,577.44,0,0,0,0,0,0,14.15,14.19,14.25
$RAFOS_CLK,571
$MODEM,2,1538539839,74.08334,-144.88333,39.958,57845.4
$MODEM,1,1538539541,74.43333,-147.95000,41.147,59566.5
$RAFOS_FIX,7401.369629,-14643.714844,031018,040439,2,255,4.20
$IRIDIUM_FIX,7402.49,-14635.95,031018,011647
$TT8_MAMPS,0.043442,0.934752
$HUMID,46.69
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.05,44.820
$10V_AH,13.37,0.000
$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,25.325,139.250,588.575,86.775,0.000,0.000,0.000,261.950,3.750,0.000,28.023,0.000,6713.386,810.925,1895.474,210.387,0.000,1779.986,0.000,1140.889,1883.000,2.511,0.000
$DEVICE_MAMPS,460.530,162.945,2127.465,833.085,0.000,0.000,0.000,182.835,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9074.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.766,0.000,0.000,0.000
$MEM,334516
$DATA_FILE_SIZE,26722,794
$CAP_FILE_SIZE,95739,0
$CFSIZE,2097872896,2078801920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.6
$CURRENT,0.046,312.23,1
$GPS,031018,063901,7401.306,-14643.174,57,0.9,58,18.3,0.5,286.7,9,3.5