version: 66.13
glider: 228
mission: 14
dive: 110
start: 10 5 118 8 16 51
data:
$ID,228
$MISSION,14
$DIVE,110
$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,36
$R_STBD_OVSHOOT,17
$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
$GPS1,051018,080631,7348.7822,-14703.0596,105,0.8,106,18.2,0.2,1.9,10,3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.58
$_SM_ANGLEo,-75.0
$GPS2,051018,081603,7348.8242,-14703.1807,4,0.6,6,18.2,0.0,0.0,12,5.5
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,170.6,23867,-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,8,begin dive
$GC,11,-0.92,-146.0,198,2403,461,534,0.0,0.0,0,83,0.00,0.00,-71.15,0.003,16386,0.000,0.000,198,2405,1935,2036,1834,0,0,0,0,0,0,14.40,28.83,14.42
$GC,86,-0.92,-146.0,200,2403,2037,1838,3.5,-11.7,7,130,9.60,5.00,-27.05,0.005,18948,0.454,0.075,2047,718,3449,3571,3328,0,0,0,0,0,0,14.02,13.67,14.27
$GC,340,-0.92,-146.0,2048,721,3572,3332,86.1,-19.6,57,352,0.00,4.97,0.00,0.000,1030,0.000,0.060,2028,2400,3450,3571,3330,0,0,0,0,0,0,14.35,14.27,14.35
$GC,530,-0.92,-146.0,2028,2401,3570,3331,126.8,-20.0,77,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2401,3448,3570,3326,0,0,0,0,0,0,14.52,14.53,14.54
$GC,711,-0.92,-146.0,2028,2401,3570,3330,162.5,-19.9,95,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2401,3450,3570,3330,0,0,0,0,0,0,14.55,14.57,14.57
$GC,890,-0.92,-146.0,2029,2401,3571,3331,196.9,-18.1,113,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2400,3450,3570,3330,0,0,0,0,0,0,14.57,14.59,14.59
$GC,1071,-0.92,-146.0,2029,2401,3571,3331,227.5,-15.8,131,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2400,3450,3570,3330,0,0,0,0,0,0,14.59,14.62,14.62
$GC,1260,-0.92,-146.0,2030,2401,3571,3331,253.4,-12.9,149,1271,0.00,4.93,0.00,0.000,516,0.000,0.070,2038,720,3450,3570,3331,0,0,0,0,0,0,14.65,14.45,14.66
$GC,1296,-0.92,-146.0,2038,720,3569,3331,258.2,-12.8,156,1303,0.00,4.90,0.00,0.000,1030,0.000,0.058,2019,2404,3450,3569,3331,0,0,0,0,0,0,14.52,14.45,14.53
$GC,1601,-0.92,-146.0,2019,2404,3569,3338,296.2,-12.2,172,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2404,3450,3569,3331,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1901,-0.92,-146.0,2019,2404,3568,3332,332.8,-12.1,187,1911,0.00,4.90,0.00,0.000,516,0.000,0.070,2027,721,3449,3568,3330,0,0,0,0,0,0,14.73,14.54,14.75
$GC,1941,-0.92,-146.0,2027,722,3569,3332,337.8,-12.8,195,1951,0.00,4.85,0.00,0.000,1030,0.000,0.057,2008,2401,3449,3567,3331,0,0,0,0,0,0,14.64,14.56,14.65
$GC,2261,-0.92,-146.0,2007,2402,3567,3332,377.7,-12.3,214,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2401,3449,3567,3331,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2561,-0.92,-146.0,2007,2402,3567,3332,414.9,-12.4,229,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2401,3449,3567,3331,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2861,-0.92,-146.0,2009,2402,3568,3332,451.4,-12.0,244,2871,0.00,4.88,0.00,0.000,516,0.000,0.070,2012,718,3448,3566,3331,0,0,0,0,0,0,14.81,14.61,14.82
$GC,2921,-0.92,-146.0,2012,719,3567,3332,459.1,-12.9,256,2931,0.17,4.85,0.00,0.000,3078,0.311,0.060,2028,2402,3449,3566,3332,0,0,0,0,0,0,14.48,14.59,14.67
$GC,3241,-0.92,-146.0,2029,2402,3567,3332,494.3,-10.8,275,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2402,3449,3566,3332,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3541,-0.92,-146.0,2029,2402,3567,3332,526.2,-10.5,290,3547,0.00,4.85,0.00,0.000,516,0.000,0.070,2028,724,3449,3566,3332,0,0,0,0,0,0,14.84,14.64,14.86
$GC,3572,-0.92,-146.0,2029,724,3566,3334,529.8,-12.1,296,3583,0.00,4.82,0.00,0.000,1030,0.000,0.058,2009,2405,3448,3565,3332,0,0,0,0,0,0,14.73,14.65,14.74
$GC,3882,-0.92,-146.0,2009,2405,3565,3333,565.1,-11.3,313,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2405,3449,3565,3333,0,0,0,0,0,0,14.85,14.88,14.87
$GC,4183,-0.92,-146.0,2010,2406,3566,3334,598.6,-11.1,328,4192,0.00,4.85,0.00,0.000,516,0.000,0.068,2012,721,3449,3565,3333,0,0,0,0,0,0,14.86,14.67,14.88
$STATE,4195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4205,-0.11,0.0,1996,2214,3566,3334,600.3,-11.1,331,4343,1.17,0.00,135.73,2.135,10246,0.304,0.000,2289,2214,2855,2931,2780,0,0,0,0,0,0,14.53,13.98,13.22
$STATE,4344,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4347,0.92,146.0,2290,2214,2929,2780,603.4,0.0,338,4498,1.10,0.00,139.85,2.039,10502,0.158,0.000,2616,2213,2254,2276,2233,0,0,0,0,0,0,13.92,13.74,13.05
$GC,4783,0.92,146.0,2616,2214,2273,2217,527.1,20.1,381,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2213,2244,2272,2216,0,0,0,0,0,0,14.35,14.38,14.38
$GC,5083,0.92,146.0,2616,2214,2272,2212,467.4,19.8,396,5092,0.00,5.05,0.00,0.000,516,0.000,0.074,2638,521,2242,2274,2211,0,0,0,0,0,0,14.51,14.32,14.53
$GC,5117,0.92,146.0,2638,522,2270,2213,460.2,21.5,403,5125,0.00,4.90,0.00,0.000,1030,0.000,0.055,2632,2200,2243,2268,2218,0,0,0,0,0,0,14.40,14.34,14.42
$GC,5423,0.92,146.0,2633,2201,2270,2211,397.3,20.4,419,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,2239,2268,2210,0,0,0,0,0,0,14.62,14.64,14.63
$GC,5723,0.92,146.0,2632,2201,2269,2210,336.9,19.8,434,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,2238,2268,2209,0,0,0,0,0,0,14.70,14.70,14.70
$GC,6023,0.92,146.0,2633,2201,2270,2209,280.4,18.0,449,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,2238,2268,2208,0,0,0,0,0,0,14.71,14.74,14.74
$GC,6323,0.92,146.0,2633,2201,2270,2208,230.9,14.7,470,6334,0.00,4.90,0.00,0.000,516,0.000,0.073,2652,525,2238,2269,2207,0,0,0,0,0,0,14.74,14.55,14.76
$GC,6374,0.92,146.0,2648,525,2270,2207,223.3,14.4,480,6385,0.00,4.80,0.00,0.000,1030,0.000,0.053,2649,2204,2237,2268,2206,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6565,0.92,146.0,2649,2204,2270,2205,202.1,9.5,500,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,2237,2269,2205,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6745,0.97,146.0,2649,2205,2269,2205,186.1,8.2,518,6746,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2204,2235,2269,2201,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6925,1.05,146.0,2649,2205,2270,2205,172.1,7.2,536,6936,0.00,4.88,0.00,0.000,580,0.000,0.070,2669,522,2236,2269,2204,0,0,0,0,0,0,14.77,14.57,14.78
$GC,6966,1.11,146.0,2668,522,2268,2205,169.0,8.0,544,6977,0.00,4.80,0.00,0.000,1094,0.000,0.051,2666,2209,2236,2268,2204,0,0,0,0,0,0,14.66,14.60,14.68
$GC,7156,1.31,212.2,2667,2209,2270,2204,156.4,5.9,564,7219,0.25,0.00,56.50,1.638,10534,0.164,0.000,2745,2208,1985,2017,1953,0,0,0,0,0,0,14.55,14.33,13.69
$GC,7396,1.31,212.2,2743,2209,2009,1946,128.8,13.0,590,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2208,1979,2013,1945,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7576,1.31,212.2,2745,2210,2012,1943,107.4,11.1,608,7587,0.00,5.00,0.00,0.000,516,0.000,0.071,2765,518,1975,2008,1943,0,0,0,0,0,0,14.61,14.42,14.62
$GC,7693,1.33,212.2,2765,518,2006,1944,94.9,9.5,631,7701,0.00,4.88,0.00,0.000,1094,0.000,0.054,2761,2207,1973,2005,1942,0,0,0,0,0,0,14.52,14.45,14.53
$GC,7877,1.55,287.6,2760,2207,2008,1940,81.8,5.3,650,7955,0.20,5.18,64.62,1.545,10532,0.159,0.086,2809,3889,1677,1709,1646,0,0,0,0,0,0,14.42,14.16,13.60
$GC,8182,1.87,391.2,2810,3889,1704,1641,55.7,3.6,709,8280,0.32,4.88,86.38,1.479,11302,0.152,0.045,2926,2198,1255,1280,1230,0,0,0,0,0,0,14.27,14.33,13.46
$GC,8465,2.07,458.3,2926,2199,1275,1219,35.6,5.8,746,8531,0.20,5.28,54.30,1.431,10532,0.148,0.083,2990,3890,980,992,968,0,0,0,0,0,0,14.18,13.95,13.50
$GC,8756,2.49,599.9,2991,3891,988,965,28.3,1.2,803,8861,0.38,4.90,94.88,1.418,11302,0.138,0.039,3122,2190,497,475,519,0,0,0,0,0,0,14.20,14.26,13.42
$GC,9036,2.49,599.9,3123,2191,475,510,2.7,9.9,840,9047,0.00,5.22,0.00,0.000,260,0.000,0.082,3123,3886,490,472,509,0,0,0,0,0,0,14.32,14.12,14.34
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$FINISH,-1.4,1.020725
$STATE,9070,end surface coast,CONTROL_FINISHED_OK
$STATE,9070,begin surface
$SM_CCo,9093,-0.52,0.170,0,0,500,577.68
$SM_CCo,9096,0.00,0.000,0,0,500,577.44
$SM_CCo,9099,0.00,0.000,0,0,500,577.44
$SM_GC,-0.33,9.55,4.35,0.00,0.131,0.041,0.000,203,2415,500,-6.62,1.74,577.44,0,0,0,0,0,0,14.14,14.21,14.38
$RAFOS_CLK,567
$RAFOS_FIX,7347.902832,-14703.148438,051018,101043,0,1,0.19
$IRIDIUM_FIX,7353.85,-14646.54,051018,080911
$TT8_MAMPS,0.041944,0.773717
$HUMID,47.79
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.70
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.8,5.7
$24V_AH,13.05,52.976
$10V_AH,13.03,0.000
$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,22.950,127.075,632.250,0.000,0.000,0.000,0.000,356.100,7.250,0.000,17.693,0.000,6704.652,772.126,2010.861,211.441,0.000,1842.677,0.000,1216.035,0.000,2.510,0.000
$DEVICE_MAMPS,453.645,85.680,2135.115,0.000,0.000,0.000,0.000,180.540,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.575,0.000,0.000,0.000
$MEM,334544
$DATA_FILE_SIZE,30052,847
$CAP_FILE_SIZE,93798,0
$CFSIZE,2097872896,2075688960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.066,339.14,1
$GPS,051018,104945,7348.207,-14703.695,30,1.5,32,18.2,0.8,46.6,4,6.7