version: 66.13
glider: 228
mission: 14
dive: 119
start: 10 6 118 9 0 51
data:
$ID,228
$MISSION,14
$DIVE,119
$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,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
$GPS1,061018,085010,7346.8330,-14706.1318,25,1.7,31,18.2,0.3,0.0,5,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.62
$_SM_ANGLEo,-77.5
$GPS2,061018,090016,7346.9238,-14706.2363,3,1.7,5,18.2,0.4,0.7,5,6.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.5,51520,-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,-146.0,201,2399,466,533,0.0,0.0,0,73,0.00,0.00,-61.62,0.003,16386,0.000,0.000,200,2400,1731,1836,1627,0,0,0,0,0,0,14.45,28.83,14.47
$GC,76,-0.92,-146.0,201,2400,1838,1630,1.3,-8.9,6,126,9.73,4.72,-33.15,0.005,18692,0.463,0.094,2008,3947,3453,3576,3330,0,0,0,0,0,0,14.07,13.47,14.33
$GC,341,-0.92,-146.0,2009,3948,3566,3341,94.9,-24.6,58,352,0.00,4.47,0.00,0.000,1030,0.000,0.044,2025,2406,3453,3565,3341,0,0,0,0,0,0,14.42,14.35,14.42
$GC,531,-0.92,-146.0,2025,2406,3566,3341,133.2,-19.6,78,542,0.00,4.68,0.00,0.000,260,0.000,0.085,2007,3945,3452,3564,3340,0,0,0,0,0,0,14.58,14.39,14.60
$GC,562,-0.92,-146.0,2007,3944,3563,3341,140.0,-23.3,84,568,0.00,4.45,0.00,0.000,1030,0.000,0.043,2021,2398,3452,3563,3341,0,0,0,0,0,0,14.50,14.43,14.51
$GC,753,-0.92,-146.0,2025,2398,3564,3342,177.6,-19.1,104,759,0.00,4.93,0.00,0.000,516,0.000,0.065,2028,704,3452,3563,3341,0,0,0,0,0,0,14.63,14.45,14.64
$GC,784,-0.92,-146.0,2029,704,3564,3342,183.9,-20.8,110,795,0.00,4.93,0.00,0.000,1030,0.000,0.056,2009,2397,3451,3562,3341,0,0,0,0,0,0,14.52,14.45,14.54
$GC,974,-0.92,-146.0,2009,2398,3564,3343,219.1,-17.8,130,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2397,3452,3563,3341,0,0,0,0,0,0,14.66,14.68,14.68
$GC,1154,-0.92,-146.0,2010,2398,3564,3342,246.2,-14.6,148,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2396,3451,3562,3341,0,0,0,0,0,0,14.69,14.70,14.70
$GC,1344,-0.92,-146.0,2009,2397,3562,3342,271.1,-13.0,159,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2397,3452,3562,3342,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1644,-0.92,-146.0,2009,2397,3562,3342,308.3,-12.5,174,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2397,3451,3562,3341,0,0,0,0,0,0,14.75,14.77,14.76
$GC,1945,-0.92,-146.0,2008,2397,3562,3342,345.6,-12.5,189,1954,0.00,4.90,0.00,0.000,516,0.000,0.070,2014,706,3451,3561,3341,0,0,0,0,0,0,14.78,14.58,14.79
$GC,1969,-0.92,-146.0,2014,706,3561,3342,348.8,-14.5,194,1979,0.15,4.90,0.00,0.000,3078,0.315,0.056,2025,2406,3451,3561,3341,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2284,-0.92,-146.0,2025,2407,3561,3341,385.5,-11.5,212,2290,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,707,3451,3561,3341,0,0,0,0,0,0,14.79,14.60,14.82
$GC,2305,-0.92,-146.0,2028,707,3562,3343,388.2,-13.0,216,2312,0.00,4.88,0.00,0.000,1030,0.000,0.055,2008,2406,3451,3561,3342,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2627,-0.92,-146.0,2010,2406,3562,3343,426.7,-11.8,235,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2405,3451,3561,3342,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2927,-0.92,-146.0,2008,2406,3561,3342,461.7,-11.6,250,2937,0.00,4.93,0.00,0.000,516,0.000,0.070,2013,704,3453,3565,3342,0,0,0,0,0,0,14.83,14.63,14.85
$GC,2992,-0.92,-146.0,2014,704,3562,3343,469.8,-12.5,263,3003,0.17,4.88,0.00,0.000,3078,0.312,0.057,2029,2402,3451,3561,3342,0,0,0,0,0,0,14.49,14.64,14.69
$GC,3308,-0.92,-146.0,2026,2403,3560,3342,503.3,-10.4,281,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2403,3451,3561,3342,0,0,0,0,0,0,14.84,14.85,14.85
$GC,3608,-0.92,-146.0,2028,2403,3561,3342,534.4,-10.4,296,3615,0.00,4.90,0.00,0.000,516,0.000,0.070,2042,708,3451,3560,3342,0,0,0,0,0,0,14.85,14.64,14.88
$GC,3650,-0.92,-146.0,2043,708,3562,3344,539.0,-11.3,304,3656,0.00,4.85,0.00,0.000,1030,0.000,0.056,2022,2401,3451,3560,3343,0,0,0,0,0,0,14.73,14.66,14.76
$GC,3971,-0.92,-146.0,2023,2402,3562,3343,573.0,-10.6,323,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2401,3452,3561,3343,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4229,begin apogee
$GC,4234,-0.11,0.0,2023,2181,3562,3344,600.3,-10.4,336,4374,1.02,0.08,136.30,2.133,10246,0.284,0.162,2288,2213,2853,2925,2782,0,0,0,0,0,0,14.55,13.95,13.24
$STATE,4375,end apogee,CONTROL_FINISHED_OK
$STATE,4375,begin climb
$GC,4377,0.92,146.0,2288,2214,2921,2780,602.6,0.0,343,4524,1.10,0.00,139.23,2.037,10502,0.162,0.000,2614,2213,2255,2276,2234,0,0,0,0,0,0,13.93,13.76,13.05
$GC,4834,0.92,146.0,2614,2213,2269,2217,523.2,19.7,387,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2213,2242,2268,2216,0,0,0,0,0,0,14.37,14.39,14.39
$GC,5134,0.92,146.0,2615,2214,2271,2213,463.8,19.1,402,5144,0.00,5.05,0.00,0.000,516,0.000,0.076,2635,518,2240,2270,2211,0,0,0,0,0,0,14.52,14.33,14.53
$GC,5169,0.92,146.0,2636,519,2269,2213,456.6,21.3,409,5176,0.00,4.90,0.00,0.000,1030,0.000,0.056,2632,2197,2240,2268,2212,0,0,0,0,0,0,14.42,14.35,14.45
$GC,5474,0.92,146.0,2632,2199,2269,2211,395.2,20.1,425,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,2239,2268,2210,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5774,0.92,146.0,2632,2198,2268,2209,336.5,19.3,440,5781,0.00,4.93,0.00,0.000,516,0.000,0.072,2652,523,2238,2268,2208,0,0,0,0,0,0,14.69,14.49,14.70
$GC,5796,0.92,146.0,2652,523,2268,2209,332.4,20.0,444,5802,0.00,4.85,0.00,0.000,1030,0.000,0.053,2649,2207,2238,2268,2208,0,0,0,0,0,0,14.57,14.51,14.60
$GC,6117,0.92,146.0,2650,2207,2269,2207,269.3,18.9,463,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2207,2237,2268,2206,0,0,0,0,0,0,14.73,14.75,14.76
$GC,6417,0.92,146.0,2649,2207,2268,2206,220.8,13.3,487,6429,0.00,4.93,0.00,0.000,516,0.000,0.070,2669,518,2236,2268,2205,0,0,0,0,0,0,14.75,14.56,14.77
$GC,6434,0.92,146.0,2669,519,2269,2207,218.7,13.1,490,6442,0.17,4.82,0.00,0.000,5126,0.337,0.053,2630,2205,2236,2268,2205,0,0,0,0,0,0,14.42,14.58,14.63
$GC,6621,0.94,146.0,2631,2206,2270,2204,199.2,9.4,509,6622,0.00,0.00,0.00,0.000,70,0.000,0.000,2630,2206,2235,2268,2203,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6800,1.00,146.0,2630,2206,2269,2204,184.5,7.7,527,6811,0.00,4.90,0.00,0.000,580,0.000,0.070,2650,522,2235,2268,2203,0,0,0,0,0,0,14.76,14.57,14.78
$GC,6822,1.06,146.0,2651,523,2270,2204,182.7,8.2,531,6834,0.00,4.80,0.00,0.000,1094,0.000,0.050,2648,2206,2235,2268,2203,0,0,0,0,0,0,14.66,14.60,14.68
$GC,7012,1.14,146.0,2649,2207,2270,2204,168.2,7.2,551,7013,0.17,0.00,0.00,0.000,2118,0.170,0.000,2697,2206,2236,2269,2203,0,0,0,0,0,0,14.54,14.67,14.65
$GC,7192,1.21,146.0,2697,2207,2269,2203,154.2,7.7,569,7203,0.00,5.00,0.00,0.000,324,0.000,0.086,2686,3889,2236,2268,2205,0,0,0,0,0,0,14.78,14.57,14.79
$GC,7283,1.25,146.0,2687,3887,2267,2209,145.8,8.7,587,7295,0.00,4.78,0.00,0.000,1094,0.000,0.046,2706,2204,2236,2268,2205,0,0,0,0,0,0,14.66,14.61,14.68
$GC,7473,1.35,146.0,2707,2205,2269,2204,133.1,6.6,607,7485,0.15,4.85,0.00,0.000,2628,0.178,0.067,2777,516,2235,2268,2203,0,0,0,0,0,0,14.52,14.58,14.59
$GC,7510,1.42,146.0,2776,517,2268,2204,130.4,7.6,614,7517,0.00,4.78,0.00,0.000,1094,0.000,0.048,2767,2201,2235,2268,2203,0,0,0,0,0,0,14.68,14.62,14.69
$GC,7695,1.68,232.8,2767,2202,2267,2203,120.3,4.6,633,7779,0.30,5.18,72.43,1.600,10532,0.160,0.081,2851,3886,1900,1928,1872,0,0,0,0,0,0,14.55,14.23,13.66
$GC,7914,1.68,232.8,2851,3887,1921,1872,89.4,18.6,675,7926,0.00,4.88,0.00,0.000,1030,0.000,0.044,2870,2203,1894,1920,1868,0,0,0,0,0,0,14.38,14.33,14.40
$GC,8104,1.89,302.3,2870,2203,1920,1862,69.7,5.7,695,8172,0.20,5.10,58.12,1.509,10788,0.172,0.066,2954,506,1617,1645,1589,0,0,0,0,0,0,14.32,14.14,13.57
$GC,8177,1.95,302.3,2954,507,1643,1590,64.7,7.9,708,8184,0.00,4.97,0.00,0.000,1094,0.000,0.050,2946,2205,1615,1642,1589,0,0,0,0,0,0,14.24,14.18,14.26
$GC,8369,2.29,413.8,2946,2205,1642,1581,50.9,3.1,728,8472,0.35,5.25,91.72,1.455,10532,0.148,0.083,3039,3889,1161,1173,1149,0,0,0,0,0,0,14.23,13.95,13.45
$GC,8648,2.39,413.8,3039,3889,1168,1143,27.8,6.5,781,8655,0.12,4.95,0.00,0.000,3142,0.202,0.042,3090,2191,1153,1166,1141,0,0,0,0,0,0,14.11,14.20,14.22
$GC,8834,2.90,583.5,3091,2190,1167,1136,26.3,-0.5,800,8968,0.55,0.00,130.05,1.403,10790,0.142,0.000,3257,2189,499,465,533,0,0,0,0,0,0,14.25,13.94,13.40
$STATE,9080,end climb,SURFACE_DEPTH_REACHED
$STATE,9081,begin surface coast
$FINISH,-0.4,1.020537
$STATE,9101,end surface coast,CONTROL_FINISHED_OK
$STATE,9101,begin surface
$SM_CCo,9121,-0.40,0.221,0,0,500,577.68
$SM_CCo,9124,0.00,0.000,0,0,500,577.44
$SM_CCo,9128,0.00,0.000,0,0,500,577.44
$SM_GC,1.89,11.18,0.65,0.00,0.221,0.068,0.000,203,2404,500,-6.61,-0.85,577.44,0,0,0,0,0,0,14.10,14.14,14.32
$RAFOS_CLK,571
$RAFOS_FIX,7347.707031,-14706.953125,061018,111159,0,1,0.16
$IRIDIUM_FIX,7348.06,-14659.21,061018,085302
$TT8_MAMPS,0.042693,0.882322
$HUMID,46.77
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.7,6.5
$24V_AH,13.05,56.843
$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,25.375,157.550,627.850,0.000,0.000,0.000,0.000,384.350,6.000,0.000,15.491,0.000,6724.821,789.651,2011.276,219.797,0.000,1886.521,0.000,1194.799,0.000,2.520,0.000
$DEVICE_MAMPS,462.825,162.180,2132.820,0.000,0.000,0.000,0.000,183.600,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9122.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.866,0.000,0.000,0.000
$MEM,334628
$DATA_FILE_SIZE,30024,832
$CAP_FILE_SIZE,97451,0
$CFSIZE,2097872896,2074214400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$CURRENT,0.085,2.79,1
$GPS,061018,113702,7348.137,-14704.007,200,0.7,201,18.2,0.5,117.0,12,3.4