version: 66.13
glider: 228
mission: 14
dive: 122
start: 10 6 118 17 26 16
data:
$ID,228
$MISSION,14
$DIVE,122
$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,37
$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
$GPS1,061018,171009,7350.4194,-14659.2598,67,1.2,67,18.2,0.3,121.0,7,7.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.00
$_SM_ANGLEo,-75.1
$GPS2,061018,172537,7350.4390,-14659.2393,5,1.2,8,18.2,0.2,0.0,7,9.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,11.9,44125,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-0.92,-146.0,199,2404,456,536,0.0,0.0,0,75,0.00,0.00,-62.33,0.003,16386,0.000,0.000,198,2404,1726,1840,1613,0,0,0,0,0,0,14.49,28.83,14.52
$GC,77,-0.92,-146.0,198,2403,1840,1616,3.1,-9.2,6,127,9.60,4.70,-32.97,0.005,18692,0.459,0.093,2008,3947,3453,3572,3334,0,0,0,0,0,0,14.10,13.48,14.37
$GC,352,-0.92,-146.0,2008,3948,3563,3345,98.9,-27.1,60,359,0.00,4.45,0.00,0.000,1030,0.000,0.045,2024,2417,3452,3561,3344,0,0,0,0,0,0,14.45,14.38,14.46
$GC,544,-0.92,-146.0,2024,2416,3561,3345,139.4,-19.8,80,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2416,3452,3561,3344,0,0,0,0,0,0,14.62,14.64,14.64
$GC,724,-0.92,-146.0,2025,2416,3562,3345,175.9,-19.9,98,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2415,3452,3560,3344,0,0,0,0,0,0,14.65,14.67,14.67
$GC,904,-0.92,-146.0,2024,2416,3562,3344,209.2,-17.6,116,911,0.00,4.97,0.00,0.000,516,0.000,0.065,2028,705,3452,3560,3344,0,0,0,0,0,0,14.68,14.49,14.69
$GC,921,-0.92,-146.0,2028,705,3562,3345,212.3,-17.2,119,928,0.00,4.90,0.00,0.000,1030,0.000,0.056,2009,2394,3452,3560,3344,0,0,0,0,0,0,14.52,14.45,14.54
$GC,1106,-0.92,-146.0,2008,2396,3561,3345,242.2,-14.9,138,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2395,3452,3560,3344,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1286,-0.92,-146.0,2009,2394,3562,3345,267.2,-13.2,150,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2395,3452,3560,3344,0,0,0,0,0,0,14.72,14.74,14.73
$GC,1586,-0.92,-146.0,2010,2396,3562,3345,306.4,-13.2,165,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2395,3452,3561,3343,0,0,0,0,0,0,14.76,14.77,14.78
$GC,1886,-0.92,-146.0,2009,2395,3561,3345,344.3,-12.7,180,1892,0.00,4.88,0.00,0.000,516,0.000,0.071,2011,703,3452,3560,3344,0,0,0,0,0,0,14.78,14.59,14.79
$GC,1927,-0.92,-146.0,2011,699,3560,3345,349.9,-13.8,188,1934,0.17,4.93,0.00,0.000,3078,0.314,0.058,2026,2404,3452,3560,3345,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2249,-0.92,-146.0,2027,2404,3560,3345,387.5,-11.5,207,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2404,3452,3559,3345,0,0,0,0,0,0,14.79,14.82,14.81
$GC,2549,-0.92,-146.0,2027,2405,3560,3345,421.2,-11.3,222,2559,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,705,3452,3559,3345,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2594,-0.92,-146.0,2028,705,3560,3345,426.6,-12.1,231,2604,0.00,4.90,0.00,0.000,1030,0.000,0.058,2009,2406,3452,3559,3345,0,0,0,0,0,0,14.71,14.63,14.72
$GC,2909,-0.92,-146.0,2009,2407,3560,3345,464.4,-12.1,249,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2406,3452,3559,3345,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3209,-0.92,-146.0,2013,2406,3560,3345,499.6,-11.7,264,3215,0.00,4.93,0.00,0.000,516,0.000,0.070,2013,706,3451,3559,3344,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3245,-0.92,-146.0,2014,705,3560,3346,503.9,-13.1,271,3252,0.15,4.88,0.00,0.000,3078,0.313,0.057,2025,2404,3452,3559,3345,0,0,0,0,0,0,14.50,14.65,14.69
$GC,3550,-0.92,-146.0,2025,2404,3559,3346,537.0,-10.6,287,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2404,3452,3560,3345,0,0,0,0,0,0,14.85,14.88,14.88
$GC,3850,-0.92,-146.0,2026,2405,3560,3346,568.8,-10.6,302,3860,0.00,4.90,0.00,0.000,516,0.000,0.070,2028,706,3452,3559,3345,0,0,0,0,0,0,14.87,14.66,14.88
$GC,3900,-0.92,-146.0,2031,707,3559,3346,574.7,-11.8,312,3906,0.00,4.85,0.00,0.000,1030,0.000,0.056,2009,2404,3450,3559,3342,0,0,0,0,0,0,14.75,14.68,14.76
$STATE,4129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4129,begin apogee
$GC,4135,-0.11,0.0,2010,2185,3559,3346,600.7,-11.3,325,4274,1.08,0.05,135.43,2.129,10246,0.284,0.206,2287,2208,2851,2921,2782,0,0,0,0,0,0,14.56,13.93,13.24
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4277,0.92,146.0,2288,2209,2920,2781,603.4,0.0,332,4420,1.15,0.00,139.50,2.033,10246,0.159,0.000,2622,2207,2256,2277,2235,0,0,0,0,0,0,13.93,13.75,13.06
$GC,4711,0.92,146.0,2622,2209,2271,2216,526.7,20.4,354,4721,0.00,5.07,0.00,0.000,516,0.000,0.073,2644,524,2242,2269,2215,0,0,0,0,0,0,14.35,14.16,14.38
$GC,4746,0.92,146.0,2643,523,2268,2216,519.1,21.4,361,4754,0.00,4.95,0.00,0.000,1030,0.000,0.054,2634,2207,2241,2267,2215,0,0,0,0,0,0,14.28,14.21,14.29
$GC,5051,0.92,146.0,2634,2203,2268,2213,455.2,20.7,377,5058,0.00,5.00,0.00,0.000,516,0.000,0.071,2651,521,2240,2268,2213,0,0,0,0,0,0,14.53,14.34,14.54
$GC,5067,0.92,146.0,2654,522,2267,2212,451.7,21.0,380,5074,0.00,4.88,0.00,0.000,1030,0.000,0.052,2649,2199,2239,2267,2212,0,0,0,0,0,0,14.42,14.35,14.45
$GC,5373,0.92,146.0,2649,2200,2268,2211,385.5,21.5,396,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2199,2239,2268,2210,0,0,0,0,0,0,14.63,14.64,14.64
$GC,5673,0.92,146.0,2649,2200,2268,2210,322.8,20.6,411,5682,0.00,4.90,0.00,0.000,516,0.000,0.070,2669,520,2238,2268,2209,0,0,0,0,0,0,14.68,14.48,14.70
$GC,5687,0.92,146.0,2669,521,2267,2210,319.7,20.7,414,5695,0.15,4.85,0.00,0.000,5126,0.362,0.052,2631,2205,2238,2267,2209,0,0,0,0,0,0,14.33,14.51,14.55
$GC,5993,0.92,146.0,2631,2206,2269,2208,263.2,17.4,430,6002,0.00,4.93,0.00,0.000,516,0.000,0.071,2651,520,2237,2267,2207,0,0,0,0,0,0,14.73,14.53,14.74
$GC,6022,0.92,146.0,2652,521,2269,2208,257.8,18.3,436,6034,0.00,4.82,0.00,0.000,1030,0.000,0.052,2646,2204,2237,2267,2207,0,0,0,0,0,0,14.62,14.55,14.64
$GC,6333,0.92,146.0,2646,2204,2268,2206,214.9,10.8,466,6344,0.00,5.05,0.00,0.000,260,0.000,0.086,2646,3892,2237,2267,2207,0,0,0,0,0,0,14.74,14.53,14.76
$GC,6379,0.92,146.0,2646,3893,2266,2210,209.2,12.9,475,6386,0.17,4.80,0.00,0.000,5126,0.379,0.043,2633,2201,2237,2267,2208,0,0,0,0,0,0,14.38,14.55,14.59
$GC,6566,0.98,146.0,2635,2203,2269,2206,192.8,8.0,494,6576,0.00,5.03,0.00,0.000,324,0.000,0.083,2632,3889,2237,2268,2207,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6616,0.98,146.0,2632,3889,2266,2208,187.6,10.6,504,6628,0.00,4.80,0.00,0.000,1030,0.000,0.042,2652,2194,2237,2268,2206,0,0,0,0,0,0,14.65,14.59,14.67
$GC,6806,1.05,146.0,2653,2195,2269,2205,172.1,7.6,524,6818,0.00,4.85,0.00,0.000,580,0.000,0.067,2674,515,2236,2268,2204,0,0,0,0,0,0,14.76,14.57,14.77
$GC,6833,1.11,146.0,2675,516,2269,2204,170.0,7.8,529,6841,0.00,4.80,0.00,0.000,1094,0.000,0.048,2670,2204,2235,2268,2203,0,0,0,0,0,0,14.64,14.58,14.66
$GC,7018,1.22,146.0,2673,2205,2269,2204,157.5,6.3,548,7029,0.15,4.88,0.00,0.000,2628,0.182,0.067,2741,516,2235,2268,2202,0,0,0,0,0,0,14.53,14.54,14.59
$GC,7100,1.29,146.0,2741,517,2268,2204,150.9,7.9,564,7112,0.00,4.80,0.00,0.000,1094,0.000,0.049,2727,2206,2235,2268,2203,0,0,0,0,0,0,14.65,14.60,14.66
$GC,7290,1.38,146.0,2730,2207,2268,2203,137.9,6.8,584,7302,0.15,4.88,0.00,0.000,2628,0.186,0.065,2796,515,2235,2267,2203,0,0,0,0,0,0,14.54,14.59,14.62
$GC,7332,1.44,146.0,2795,516,2267,2204,134.6,8.0,592,7344,0.00,4.82,0.00,0.000,1094,0.000,0.050,2786,2209,2235,2268,2203,0,0,0,0,0,0,14.66,14.61,14.69
$GC,7522,1.56,146.0,2786,2209,2268,2203,121.9,6.2,612,7534,0.12,4.95,0.00,0.000,2372,0.200,0.077,2804,3890,2235,2265,2205,0,0,0,0,0,0,14.54,14.58,14.62
$GC,7759,1.87,249.3,2805,3891,2265,2209,108.2,3.6,659,7856,0.35,4.80,86.65,1.585,11302,0.174,0.043,2927,2188,1833,1860,1806,0,0,0,0,0,0,14.53,14.59,13.59
$GC,8031,1.87,249.3,2927,2189,1854,1795,74.8,11.5,694,8042,0.00,5.18,0.00,0.000,260,0.000,0.080,2918,3890,1823,1852,1795,0,0,0,0,0,0,14.46,14.29,14.49
$GC,8267,2.35,411.1,2918,3890,1848,1796,62.8,-0.0,741,8413,0.47,4.82,131.52,1.479,11302,0.156,0.038,3080,2196,1173,1185,1162,0,0,0,0,0,0,14.31,14.42,13.40
$GC,8588,2.46,411.1,3080,2196,1179,1145,31.7,6.3,784,8600,0.12,5.18,0.00,0.000,2372,0.185,0.077,3110,3886,1163,1178,1149,0,0,0,0,0,0,14.12,14.13,14.19
$GC,8825,2.91,559.8,3109,3887,1176,1145,28.9,0.8,831,8953,0.43,4.85,117.12,1.408,11302,0.151,0.040,3255,2196,565,540,591,0,0,0,0,0,0,14.25,14.33,13.41
$STATE,9068,end climb,SURFACE_DEPTH_REACHED
$STATE,9068,begin surface coast
$FINISH,0.6,1.020550
$STATE,9078,end surface coast,CONTROL_FINISHED_OK
$STATE,9078,begin surface
$SM_CCo,9099,58.58,0.544,1,0,498,577.44
$SM_CCo,9165,-0.15,0.583,0,0,500,577.68
$SM_CCo,9169,0.00,0.000,0,0,500,577.44
$SM_GC,4.18,11.18,0.62,0.00,0.220,0.063,0.000,200,2402,500,-6.62,-0.85,577.44,0,0,0,0,0,0,14.10,14.15,14.29
$RAFOS_CLK,6
$RAFOS_FIX,7351.258789,-14659.800781,061018,191921,0,1,0.17
$IRIDIUM_FIX,7349.19,-14705.69,061018,171906
$TT8_MAMPS,0.077147,0.769223
$HUMID,45.98
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.80
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.0,6.5
$24V_AH,13.06,58.162
$10V_AH,13.15,0.000
$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,25.450,177.350,610.225,58.575,0.000,0.000,0.000,526.000,6.000,0.000,19.936,0.000,6777.456,889.984,2236.906,226.163,0.000,2136.734,0.000,1244.765,2209.000,2.513,0.000
$DEVICE_MAMPS,459.000,205.785,2128.995,543.915,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9089.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.175,0.000,0.000,0.000
$MEM,334552
$DATA_FILE_SIZE,30017,867
$CAP_FILE_SIZE,102717,0
$CFSIZE,2097872896,2073690112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.6
$CURRENT,0.055,333.81,1
$GPS,061018,200132,7351.506,-14657.920,89,0.8,90,18.2,0.8,313.8,11,2.8