version: 66.13
glider: 228
mission: 14
dive: 111
start: 10 5 118 11 0 41
data:
$ID,228
$MISSION,14
$DIVE,111
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,051018,104945,7348.2070,-14703.6953,30,1.5,32,18.2,0.8,46.6,4,6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.07
$_SM_ANGLEo,-75.8
$GPS2,051018,110002,7348.2710,-14703.6973,22,0.8,23,18.2,0.5,199.3,12,2.9
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,174.6,22840,-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,-146.0,201,2414,470,528,0.0,0.0,0,73,0.00,0.00,-61.35,0.003,16386,0.000,0.000,202,2413,1697,1803,1591,0,0,0,0,0,0,14.48,28.83,14.51
$GC,76,-0.92,-146.0,202,2414,1805,1595,2.5,-8.4,6,131,9.60,5.00,-34.95,0.005,18948,0.460,0.073,2045,707,3451,3574,3329,0,0,0,0,0,0,14.08,13.71,14.33
$GC,266,-0.92,-146.0,2046,708,3575,3331,70.8,-23.2,43,273,0.00,4.97,0.00,0.000,1030,0.000,0.060,2026,2396,3452,3574,3331,0,0,0,0,0,0,14.40,14.33,14.40
$GC,451,-0.92,-146.0,2027,2398,3574,3333,112.2,-21.0,62,462,0.00,4.72,0.00,0.000,260,0.000,0.091,2006,3952,3451,3572,3331,0,0,0,0,0,0,14.57,14.35,14.59
$GC,477,-0.92,-146.0,2006,3953,3571,3335,117.6,-22.3,67,484,0.00,4.50,0.00,0.000,1030,0.000,0.044,2023,2392,3451,3569,3334,0,0,0,0,0,0,14.46,14.40,14.47
$GC,662,-0.92,-146.0,2022,2392,3570,3335,155.1,-20.2,86,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2391,3451,3569,3334,0,0,0,0,0,0,14.62,14.63,14.63
$GC,842,-0.92,-146.0,2023,2392,3571,3335,190.1,-18.8,104,854,0.00,4.88,0.00,0.000,516,0.000,0.066,2028,708,3451,3569,3334,0,0,0,0,0,0,14.64,14.46,14.66
$GC,869,-0.92,-146.0,2029,710,3570,3336,195.3,-19.6,109,877,0.00,4.93,0.00,0.000,1030,0.000,0.057,2009,2402,3451,3569,3334,0,0,0,0,0,0,14.54,14.46,14.56
$GC,1054,-0.92,-146.0,2009,2403,3570,3336,228.6,-15.8,128,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2402,3451,3568,3335,0,0,0,0,0,0,14.68,14.69,14.69
$GC,1244,-0.92,-146.0,2008,2403,3569,3335,256.6,-13.4,145,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2402,3451,3569,3334,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1544,-0.92,-146.0,2009,2403,3570,3336,295.8,-13.0,160,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2403,3451,3568,3335,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1844,-0.92,-146.0,2009,2403,3568,3336,333.6,-12.6,175,1854,0.00,4.95,0.00,0.000,516,0.000,0.070,2011,702,3450,3567,3334,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1874,-0.92,-146.0,2012,702,3568,3336,337.6,-14.0,181,1881,0.17,4.93,0.00,0.000,3078,0.324,0.058,2026,2405,3451,3567,3335,0,0,0,0,0,0,14.43,14.59,14.65
$GC,2186,-0.92,-146.0,2027,2404,3568,3336,374.1,-11.6,198,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2405,3451,3567,3335,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2486,-0.92,-146.0,2026,2406,3567,3336,408.4,-11.3,213,2492,0.00,4.93,0.00,0.000,516,0.000,0.069,2028,704,3451,3567,3335,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2522,-0.92,-146.0,2028,704,3566,3336,412.8,-12.6,220,2529,0.00,4.90,0.00,0.000,1030,0.000,0.057,2008,2406,3450,3566,3335,0,0,0,0,0,0,14.70,14.62,14.71
$GC,2827,-0.92,-146.0,2010,2407,3568,3336,449.5,-11.9,236,2838,0.00,4.93,0.00,0.000,516,0.000,0.068,2011,702,3450,3566,3335,0,0,0,0,0,0,14.81,14.62,14.84
$GC,2852,-0.92,-146.0,2012,703,3567,3337,452.7,-13.2,241,2860,0.17,4.90,0.00,0.000,3078,0.311,0.057,2027,2406,3450,3566,3335,0,0,0,0,0,0,14.50,14.64,14.69
$GC,3170,-0.92,-146.0,2028,2407,3567,3337,487.5,-10.7,259,3180,0.00,4.93,0.00,0.000,516,0.000,0.068,2028,701,3450,3565,3336,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3195,-0.92,-146.0,2029,702,3567,3337,490.6,-12.5,264,3205,0.00,4.88,0.00,0.000,1030,0.000,0.056,2009,2402,3450,3565,3336,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3521,-0.92,-146.0,2009,2403,3566,3337,526.7,-11.4,282,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2403,3450,3565,3336,0,0,0,0,0,0,14.81,14.82,14.83
$GC,3810,-0.92,-146.0,2008,2404,3567,3337,560.4,-11.2,297,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2402,3454,3571,3337,0,0,0,0,0,0,14.80,14.83,14.82
$GC,4110,-0.92,-146.0,2009,2403,3565,3338,593.8,-11.0,312,4120,0.00,4.93,0.00,0.000,516,0.000,0.070,2011,704,3451,3566,3337,0,0,0,0,0,0,14.79,14.61,14.81
$STATE,4163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4163,begin apogee
$GC,4173,-0.11,0.0,1994,2208,3563,3338,600.4,-12.1,323,4313,1.17,0.00,136.90,2.131,10246,0.305,0.000,2285,2207,2852,2926,2778,0,0,0,0,0,0,14.47,13.94,13.21
$STATE,4314,end apogee,CONTROL_FINISHED_OK
$STATE,4314,begin climb
$GC,4316,0.92,146.0,2286,2208,2927,2778,603.3,0.0,330,4467,1.15,0.00,140.93,2.035,10246,0.161,0.000,2619,2206,2256,2280,2233,0,0,0,0,0,0,13.88,13.71,13.02
$GC,4766,0.92,146.0,2620,2207,2272,2217,521.5,20.8,353,4772,0.00,5.15,0.00,0.000,516,0.000,0.074,2640,508,2243,2271,2216,0,0,0,0,0,0,14.31,14.13,14.33
$GC,4792,0.92,146.0,2640,508,2268,2217,515.7,21.1,358,4802,0.00,5.03,0.00,0.000,1030,0.000,0.055,2634,2202,2241,2268,2215,0,0,0,0,0,0,14.23,14.16,14.24
$GC,5107,0.92,146.0,2634,2203,2267,2213,447.8,21.4,376,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2203,2240,2268,2213,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5407,0.92,146.0,2633,2202,2268,2212,384.3,20.9,391,5417,0.00,5.05,0.00,0.000,516,0.000,0.072,2654,501,2239,2268,2211,0,0,0,0,0,0,14.54,14.35,14.55
$GC,5447,0.92,146.0,2655,502,2269,2212,375.4,22.0,399,5457,0.00,4.95,0.00,0.000,1030,0.000,0.054,2651,2202,2239,2268,2210,0,0,0,0,0,0,14.45,14.38,14.47
$MODEM_MSG,CACST,6,1,20181005120552.940551,18,88,13,0054,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*02
$MODEM_MSG,CACST,6,1,20181005121552.424911,18,86,13,0040,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D
$MODEM_MSG,CACST,6,1,20181005122052.886309,18,38,15,0049,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03
$GC,5771,0.92,146.0,2649,2202,2268,2210,307.5,20.9,418,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2202,2238,2268,2209,0,0,0,0,0,0,14.61,14.63,14.61
$GC,6067,0.92,146.0,2650,2203,2269,2209,249.6,18.0,433,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,2238,2268,2208,0,0,0,0,0,0,14.68,14.70,14.70
$GC,6247,0.92,146.0,2650,2203,2269,2208,222.0,13.7,451,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,2237,2268,2207,0,0,0,0,0,0,14.68,14.71,14.71
$GC,6427,0.92,146.0,2650,2203,2270,2207,201.5,9.8,469,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2202,2237,2268,2206,0,0,0,0,0,0,14.71,14.73,14.73
$GC,6607,0.96,146.0,2649,2202,2269,2206,185.4,8.6,487,6608,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2202,2237,2268,2206,0,0,0,0,0,0,14.72,14.74,14.74
$GC,6787,1.03,146.0,2649,2202,2270,2206,171.0,7.5,505,6794,0.00,4.97,0.00,0.000,580,0.000,0.073,2669,503,2236,2268,2205,0,0,0,0,0,0,14.73,14.54,14.76
$GC,6824,1.08,146.0,2670,503,2269,2206,168.0,8.5,512,6831,0.00,4.88,0.00,0.000,1094,0.000,0.052,2663,2209,2236,2268,2205,0,0,0,0,0,0,14.64,14.57,14.66
$GC,7009,1.18,146.0,2663,2210,2269,2203,155.3,6.5,531,7020,0.12,4.93,0.00,0.000,2628,0.194,0.067,2723,510,2236,2268,2205,0,0,0,0,0,0,14.52,14.56,14.60
$GC,7140,1.25,146.0,2724,510,2268,2205,144.5,7.7,557,7147,0.00,4.82,0.00,0.000,1094,0.000,0.051,2704,2203,2236,2267,2205,0,0,0,0,0,0,14.64,14.58,14.66
$GC,7332,1.47,217.3,2705,2205,2270,2204,132.6,5.6,577,7400,0.28,5.15,60.33,1.617,10532,0.164,0.085,2780,3895,1963,1993,1933,0,0,0,0,0,0,14.55,14.21,13.69
$GC,7455,1.47,217.3,2779,3895,1988,1933,118.4,16.5,600,7462,0.00,4.93,0.00,0.000,1030,0.000,0.044,2799,2194,1960,1988,1933,0,0,0,0,0,0,14.40,14.34,14.41
$GC,7640,1.47,217.3,2798,2193,1988,1927,92.7,11.7,619,7651,0.00,4.95,0.00,0.000,516,0.000,0.067,2822,505,1956,1985,1927,0,0,0,0,0,0,14.55,14.38,14.57
$GC,7726,1.52,217.3,2822,502,1982,1929,83.8,8.4,636,7733,0.00,4.85,0.00,0.000,1094,0.000,0.051,2809,2198,1954,1982,1927,0,0,0,0,0,0,14.49,14.42,14.50
$GC,7911,1.85,328.4,2809,2202,1982,1930,73.8,3.1,655,8018,0.35,5.20,93.85,1.521,10532,0.151,0.081,2906,3891,1510,1537,1484,0,0,0,0,0,0,14.39,13.97,13.50
$GC,8033,1.85,328.4,2905,3891,1535,1484,65.3,12.8,677,8040,0.00,5.00,0.00,0.000,1030,0.000,0.046,2925,2197,1508,1534,1482,0,0,0,0,0,0,14.16,14.10,14.18
$GC,8225,2.08,406.1,2924,2196,1529,1472,46.7,5.2,697,8296,0.20,0.00,63.72,1.453,10790,0.164,0.000,2990,2195,1193,1212,1174,0,0,0,0,0,0,14.20,14.05,13.49
$GC,8475,2.31,482.8,2995,2196,1203,1164,34.6,5.3,723,8548,0.22,5.35,61.83,1.424,10532,0.158,0.084,3059,3890,880,882,879,0,0,0,0,0,0,14.16,13.97,13.47
$GC,8774,2.60,579.4,3059,3890,875,876,20.6,4.0,781,8861,0.28,4.93,76.10,1.398,11302,0.155,0.041,3157,2189,495,473,518,0,0,0,0,0,0,14.17,14.25,13.45
$STATE,8933,end climb,SURFACE_DEPTH_REACHED
$STATE,8934,begin surface coast
$FINISH,-0.3,1.020616
$STATE,8944,end surface coast,CONTROL_FINISHED_OK
$STATE,8944,begin surface
$SM_CCo,8964,-0.40,0.221,0,0,500,577.68
$SM_CCo,8967,0.00,0.000,0,0,500,577.44
$SM_CCo,8970,0.22,0.791,0,0,499,577.44
$SM_GC,1.44,10.62,0.65,0.22,0.207,0.065,0.791,199,2403,499,-6.63,-0.85,577.44,0,0,0,0,0,0,14.08,14.13,14.00
$RAFOS_CLK,342
$MODEM,4,1538742052,76.58334,-140.05000,52.886,76551.0
$MODEM,3,1538741752,75.50000,-144.13333,52.425,75883.2
$MODEM,1,1538741152,74.43333,-147.95000,52.941,76629.5
$RAFOS_FIX,7518.784180,-14315.337891,051018,121252,3,255,41.14
$IRIDIUM_FIX,7350.92,-14701.49,051018,105244
$TT8_MAMPS,0.042693,0.593208
$HUMID,46.69
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.7,5.8
$24V_AH,13.02,53.413
$10V_AH,13.14,0.000
$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,24.350,158.375,633.650,0.225,0.000,0.000,0.000,377.750,5.000,0.000,34.845,0.000,6560.935,821.221,2006.177,225.814,0.000,1877.155,0.000,1156.525,2211.000,2.519,0.000
$DEVICE_MAMPS,459.765,91.035,2130.525,791.010,0.000,0.000,0.000,183.600,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8960.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.422,0.000,0.000,0.000
$MEM,334444
$DATA_FILE_SIZE,26735,805
$CAP_FILE_SIZE,97417,0
$CFSIZE,2097872896,2075525120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.053,1.99,1
$GPS,051018,133142,7347.535,-14704.241,32,1.2,36,18.2,0.1,0.0,5,5.7