version: 66.13
glider: 228
mission: 14
dive: 123
start: 10 6 118 20 12 27
data:
$ID,228
$MISSION,14
$DIVE,123
$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,38
$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
$GPS1,061018,200132,7351.5059,-14657.9199,89,0.8,90,18.2,0.8,313.8,11,2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.52
$_SM_ANGLEo,-72.8
$GPS2,061018,201146,7351.5796,-14658.0537,4,0.8,6,18.2,0.3,331.0,11,5.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,21.5,41962,-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,-146.0,197,2405,458,535,0.0,0.0,0,75,0.00,0.00,-62.22,0.003,16386,0.000,0.000,197,2405,1784,1895,1674,0,0,0,0,0,0,14.40,28.83,14.42
$GC,77,-0.92,-146.0,198,2405,1897,1676,3.5,-12.2,6,126,9.62,4.72,-30.55,0.005,18692,0.455,0.093,2007,3947,3454,3575,3333,0,0,0,0,0,0,14.03,13.42,14.28
$GC,342,-0.92,-146.0,2007,3949,3566,3344,97.3,-25.0,58,352,0.00,4.45,0.00,0.000,1030,0.000,0.044,2023,2415,3454,3564,3345,0,0,0,0,0,0,14.35,14.29,14.36
$GC,531,-0.92,-146.0,2023,2414,3564,3345,136.0,-19.9,78,542,0.00,4.68,0.00,0.000,260,0.000,0.084,2006,3948,3453,3563,3344,0,0,0,0,0,0,14.52,14.32,14.54
$GC,547,-0.92,-146.0,2004,3948,3563,3344,139.2,-20.6,81,554,0.00,4.50,0.00,0.000,1030,0.000,0.041,2023,2391,3453,3563,3344,0,0,0,0,0,0,14.40,14.35,14.42
$GC,732,-0.92,-146.0,2024,2392,3564,3345,176.6,-18.9,100,738,0.00,4.93,0.00,0.000,516,0.000,0.064,2028,706,3454,3563,3345,0,0,0,0,0,0,14.57,14.38,14.56
$GC,778,-0.92,-146.0,2028,706,3563,3344,185.7,-19.3,109,785,0.00,4.95,0.00,0.000,1030,0.000,0.055,2009,2398,3454,3563,3345,0,0,0,0,0,0,14.46,14.39,14.47
$GC,963,-0.92,-146.0,2009,2399,3564,3345,220.6,-18.0,128,970,0.00,4.68,0.00,0.000,260,0.000,0.086,1989,3949,3452,3562,3343,0,0,0,0,0,0,14.58,14.39,14.59
$GC,1000,-0.92,-146.0,1996,3949,3555,3348,227.2,-17.9,135,1006,0.00,4.45,0.00,0.000,1030,0.000,0.042,2006,2395,3453,3559,3347,0,0,0,0,0,0,14.47,14.42,14.49
$GC,1195,-0.92,-146.0,2006,2398,3561,3349,256.7,-13.8,153,1204,0.00,4.72,0.00,0.000,260,0.000,0.087,1988,3953,3453,3559,3347,0,0,0,0,0,0,14.60,14.40,14.62
$GC,1215,-0.92,-146.0,1987,3954,3563,3349,259.6,-14.7,157,1224,0.00,4.47,0.00,0.000,1030,0.000,0.042,2005,2395,3453,3559,3348,0,0,0,0,0,0,14.51,14.45,14.52
$GC,1535,-0.92,-146.0,2004,2394,3559,3348,301.7,-13.0,176,1542,0.12,4.88,0.00,0.000,2564,0.350,0.066,2042,711,3453,3559,3348,0,0,0,0,0,0,14.34,14.48,14.52
$GC,1571,-0.92,-146.0,2041,711,3559,3348,306.3,-12.5,183,1578,0.00,4.93,0.00,0.000,1030,0.000,0.056,2023,2406,3453,3559,3348,0,0,0,0,0,0,14.57,14.50,14.58
$GC,1877,-0.92,-146.0,2023,2407,3561,3349,342.2,-11.7,199,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2406,3453,3559,3348,0,0,0,0,0,0,14.72,14.74,14.73
$GC,2177,-0.92,-146.0,2023,2407,3559,3348,377.1,-11.6,214,2186,0.00,4.90,0.00,0.000,516,0.000,0.064,2029,713,3453,3559,3347,0,0,0,0,0,0,14.75,14.54,14.77
$GC,2212,-0.92,-146.0,2028,714,3560,3349,381.4,-12.8,221,2218,0.00,4.88,0.00,0.000,1030,0.000,0.055,2008,2405,3453,3559,3348,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2517,-0.92,-146.0,2008,2406,3558,3348,418.1,-11.9,237,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2405,3453,3558,3348,0,0,0,0,0,0,14.78,14.79,14.79
$GC,2817,-0.92,-146.0,2009,2406,3559,3349,453.7,-11.9,252,2823,0.00,4.88,0.00,0.000,516,0.000,0.063,2012,712,3453,3559,3348,0,0,0,0,0,0,14.79,14.61,14.81
$GC,2853,-0.92,-146.0,2013,712,3559,3348,458.3,-12.9,259,2860,0.17,4.85,0.00,0.000,3078,0.313,0.055,2029,2401,3453,3558,3348,0,0,0,0,0,0,14.46,14.61,14.66
$GC,3158,-0.92,-146.0,2028,2402,3558,3348,491.6,-10.7,275,3168,0.00,4.88,0.00,0.000,516,0.000,0.065,2042,709,3452,3556,3348,0,0,0,0,0,0,14.81,14.62,14.83
$GC,3193,-0.92,-146.0,2043,709,3559,3349,495.5,-11.7,282,3200,0.00,4.85,0.00,0.000,1030,0.000,0.053,2023,2409,3452,3556,3348,0,0,0,0,0,0,14.70,14.62,14.71
$GC,3498,-0.92,-146.0,2023,2404,3558,3349,528.7,-10.9,298,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2404,3453,3558,3348,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3798,-0.92,-146.0,2024,2405,3559,3349,560.9,-10.6,313,3808,0.00,4.88,0.00,0.000,516,0.000,0.063,2028,705,3454,3559,3349,0,0,0,0,0,0,14.85,14.65,14.87
$GC,3843,-0.92,-146.0,2028,708,3558,3349,566.1,-11.5,322,3853,0.00,4.82,0.00,0.000,1030,0.000,0.054,2008,2398,3453,3558,3348,0,0,0,0,0,0,14.73,14.66,14.75
$STATE,4156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4156,begin apogee
$GC,4162,-0.11,0.0,2010,2179,3559,3349,601.7,-11.3,340,4302,1.08,0.08,136.62,2.130,10246,0.286,0.161,2287,2213,2853,2922,2785,0,0,0,0,0,0,14.54,13.95,13.24
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,0.92,146.0,2287,2214,2920,2784,604.4,0.0,347,4447,1.15,0.00,138.15,2.043,10246,0.161,0.000,2619,2213,2255,2276,2235,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4738,0.92,146.0,2620,2213,2270,2217,526.7,20.8,369,4748,0.00,5.07,0.00,0.000,516,0.000,0.071,2640,525,2242,2268,2216,0,0,0,0,0,0,14.35,14.16,14.37
$GC,4778,0.92,146.0,2641,525,2268,2218,518.0,22.1,377,4788,0.00,4.93,0.00,0.000,1030,0.000,0.053,2633,2196,2241,2267,2215,0,0,0,0,0,0,14.27,14.21,14.29
$GC,5098,0.92,146.0,2634,2198,2269,2214,449.4,21.2,396,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2197,2240,2267,2213,0,0,0,0,0,0,14.54,14.56,14.55
$GC,5398,0.92,146.0,2634,2198,2269,2212,386.6,20.8,411,5409,0.00,4.95,0.00,0.000,516,0.000,0.071,2653,524,2239,2267,2211,0,0,0,0,0,0,14.62,14.42,14.64
$GC,5429,0.92,146.0,2653,524,2267,2211,380.0,21.4,417,5440,0.00,4.85,0.00,0.000,1030,0.000,0.051,2649,2203,2238,2267,2210,0,0,0,0,0,0,14.52,14.45,14.54
$GC,5739,0.92,146.0,2649,2204,2268,2210,315.0,20.6,434,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2204,2238,2268,2209,0,0,0,0,0,0,14.69,14.71,14.71
$GC,6039,0.92,146.0,2649,2204,2268,2208,256.6,18.8,449,6049,0.00,4.93,0.00,0.000,516,0.000,0.069,2669,522,2238,2267,2209,0,0,0,0,0,0,14.73,14.54,14.75
$GC,6074,0.92,146.0,2669,523,2268,2210,250.0,18.7,456,6082,0.15,4.82,0.00,0.000,5126,0.348,0.051,2631,2204,2237,2267,2208,0,0,0,0,0,0,14.39,14.55,14.60
$GC,6379,0.92,146.0,2632,2205,2269,2206,211.2,9.7,487,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,2236,2268,2205,0,0,0,0,0,0,14.74,14.76,14.76
$GC,6559,0.97,146.0,2632,2205,2269,2206,195.6,8.3,505,6570,0.00,5.03,0.00,0.000,324,0.000,0.086,2631,3896,2237,2267,2207,0,0,0,0,0,0,14.75,14.54,14.77
$GC,6610,0.97,146.0,2631,3902,2268,2210,190.4,10.8,515,6622,0.00,4.80,0.00,0.000,1030,0.000,0.044,2651,2206,2237,2268,2207,0,0,0,0,0,0,14.64,14.57,14.65
$GC,6800,1.03,146.0,2652,2206,2269,2206,174.5,7.8,535,6812,0.00,4.90,0.00,0.000,580,0.000,0.067,2673,505,2236,2268,2204,0,0,0,0,0,0,14.76,14.57,14.77
$GC,6867,1.07,146.0,2673,506,2269,2205,168.6,8.8,548,6875,0.00,4.82,0.00,0.000,1094,0.000,0.047,2661,2206,2235,2267,2204,0,0,0,0,0,0,14.66,14.59,14.67
$GC,7052,1.18,146.0,2662,2206,2269,2203,155.6,6.3,567,7064,0.12,4.90,0.00,0.000,2628,0.193,0.063,2722,509,2235,2268,2203,0,0,0,0,0,0,14.54,14.57,14.61
$GC,7134,1.24,146.0,2722,510,2268,2204,148.8,8.1,583,7146,0.00,4.78,0.00,0.000,1094,0.000,0.045,2713,2205,2236,2268,2204,0,0,0,0,0,0,14.63,14.60,14.66
$GC,7324,1.35,146.0,2713,2206,2268,2204,136.1,6.3,603,7326,0.17,0.00,0.00,0.000,2118,0.177,0.000,2763,2205,2235,2268,2203,0,0,0,0,0,0,14.53,14.66,14.65
$GC,7505,1.55,211.8,2763,2206,2269,2204,125.3,5.9,621,7572,0.17,5.07,54.83,1.611,10532,0.182,0.081,2799,3886,1985,2013,1957,0,0,0,0,0,0,14.54,14.22,13.71
$GC,7722,1.55,211.8,2799,3887,2006,1957,98.5,15.0,663,7734,0.00,4.88,0.00,0.000,1030,0.000,0.044,2819,2198,1980,2006,1954,0,0,0,0,0,0,14.46,14.40,14.47
$GC,7912,1.64,211.8,2819,2197,2006,1949,80.6,6.9,683,7924,0.12,4.90,0.00,0.000,2628,0.190,0.063,2879,510,1976,2003,1949,0,0,0,0,0,0,14.38,14.42,14.45
$GC,8026,1.95,313.4,2879,511,2003,1950,74.0,3.7,705,8121,0.22,4.82,85.38,1.516,11302,0.150,0.044,2949,2213,1573,1601,1545,0,0,0,0,0,0,14.38,14.44,13.53
$GC,8306,2.04,313.4,2949,2214,1595,1532,51.6,6.7,741,8317,0.12,5.03,0.00,0.000,2628,0.188,0.063,3010,508,1562,1592,1533,0,0,0,0,0,0,14.20,14.23,14.26
$GC,8542,2.51,468.3,3010,508,1584,1536,49.0,0.4,788,8676,0.47,4.88,123.95,1.450,11302,0.161,0.045,3133,2209,940,933,947,0,0,0,0,0,0,14.28,14.37,13.42
$GC,8863,2.94,611.9,3133,2209,929,934,22.0,1.1,831,8959,0.43,5.20,87.15,1.387,10788,0.148,0.068,3285,507,495,460,531,0,0,0,0,0,0,14.15,13.93,13.42
$GC,9026,2.94,611.9,3284,507,455,532,5.8,13.5,861,9037,0.00,5.00,0.00,0.000,1030,0.000,0.046,3275,2197,492,455,529,0,0,0,0,0,0,14.10,14.04,14.12
$STATE,9064,end climb,SURFACE_DEPTH_REACHED
$STATE,9064,begin surface coast
$FINISH,-0.2,1.020549
$STATE,9074,end surface coast,CONTROL_FINISHED_OK
$STATE,9074,begin surface
$SM_CCo,9096,-0.43,0.208,0,0,500,577.68
$SM_CCo,9099,0.12,1.245,0,0,500,577.44
$SM_CCo,9102,0.00,0.000,0,0,500,577.44
$SM_GC,1.53,11.48,0.60,0.00,0.234,0.066,0.000,201,2402,500,-6.62,-0.94,577.44,0,0,0,0,0,0,14.09,14.13,14.31
$RAFOS_CLK,564
$RAFOS_FIX,7352.319336,-14658.861328,061018,222218,0,1,0.16
$IRIDIUM_FIX,7350.92,-14701.49,061018,200427
$TT8_MAMPS,0.042693,0.84637
$HUMID,47.08
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.0,5.7
$24V_AH,13.05,58.579
$10V_AH,13.19,0.000
$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,25.625,195.075,626.075,0.125,0.000,0.000,0.000,390.575,7.750,0.000,17.030,0.000,6561.110,857.161,2084.925,226.310,0.000,1982.604,0.000,1244.350,0.000,2.519,0.000
$DEVICE_MAMPS,455.175,160.650,2129.760,1244.655,0.000,0.000,0.000,184.365,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.273,0.000,0.000,0.000
$MEM,334620
$DATA_FILE_SIZE,30074,867
$CAP_FILE_SIZE,102297,0
$CFSIZE,2097872896,2073526272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$WARN,PPS timeout
$CURRENT,0.075,336.18,1
$GPS,061018,224544,7352.661,-14656.040,51,1.3,54,18.2,0.6,3.6,4,5.8