version: 66.13
glider: 228
mission: 14
dive: 124
start: 10 6 118 22 58 52
data:
$ID,228
$MISSION,14
$DIVE,124
$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,24
$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,3
$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
$GPS1,061018,224544,7352.6611,-14656.0400,51,1.3,54,18.2,0.6,3.6,4,5.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-76.0
$GPS2,061018,225819,7352.8218,-14656.0508,4,1.3,6,18.2,0.7,359.8,4,7.7
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,26.2,39450,-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,-146.0,199,2404,461,536,0.0,0.0,0,73,0.00,0.00,-61.30,0.003,16386,0.000,0.000,199,2403,1722,1828,1617,0,0,0,0,0,0,14.47,28.83,14.49
$GC,76,-0.92,-146.0,199,2404,1831,1620,3.5,-9.6,6,126,9.68,4.70,-33.45,0.005,18692,0.461,0.094,2006,3943,3452,3573,3331,0,0,0,0,0,0,14.06,13.47,14.32
$GC,351,-0.92,-146.0,2006,3944,3564,3343,99.6,-23.7,60,357,0.00,4.47,0.00,0.000,1030,0.000,0.044,2023,2396,3452,3563,3342,0,0,0,0,0,0,14.42,14.35,14.43
$GC,542,-0.92,-146.0,2025,2396,3564,3343,138.9,-19.9,80,553,0.00,4.70,0.00,0.000,260,0.000,0.086,2006,3945,3451,3561,3342,0,0,0,0,0,0,14.59,14.40,14.61
$GC,654,-0.92,-146.0,2005,3946,3560,3345,164.3,-22.8,102,659,0.00,4.47,0.00,0.000,1030,0.000,0.044,2022,2395,3452,3560,3345,0,0,0,0,0,0,14.52,14.46,14.54
$GC,844,-0.92,-146.0,2023,2393,3561,3345,201.2,-19.1,122,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2393,3452,3560,3345,0,0,0,0,0,0,14.65,14.67,14.66
$GC,1024,-0.92,-146.0,2023,2394,3560,3345,232.5,-15.4,140,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2393,3452,3560,3344,0,0,0,0,0,0,14.68,14.69,14.69
$GC,1204,-0.92,-146.0,2022,2394,3560,3345,258.7,-14.3,155,1214,0.00,4.90,0.00,0.000,516,0.000,0.065,2025,706,3452,3561,3344,0,0,0,0,0,0,14.71,14.51,14.72
$GC,1224,-0.92,-146.0,2026,707,3560,3345,261.6,-14.3,159,1234,0.00,4.88,0.00,0.000,1030,0.000,0.054,2007,2394,3451,3559,3344,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1544,-0.92,-146.0,2007,2395,3560,3345,303.3,-12.5,178,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2394,3451,3559,3344,0,0,0,0,0,0,14.73,14.76,14.76
$GC,1844,-0.92,-146.0,2007,2394,3559,3345,340.8,-12.7,193,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2394,3451,3558,3344,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2144,-0.92,-146.0,2007,2395,3560,3345,378.5,-12.7,208,2155,0.12,4.88,0.00,0.000,2564,0.359,0.067,2028,708,3451,3558,3345,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2190,-0.92,-146.0,2026,709,3566,3345,384.4,-12.6,217,2196,0.00,4.85,0.00,0.000,1030,0.000,0.053,2009,2404,3452,3559,3345,0,0,0,0,0,0,14.67,14.60,14.69
$GC,2506,-0.92,-146.0,2009,2404,3559,3345,423.1,-12.2,235,2516,0.00,4.88,0.00,0.000,516,0.000,0.063,2014,709,3451,3558,3345,0,0,0,0,0,0,14.81,14.62,14.82
$GC,2541,-0.92,-146.0,2015,709,3560,3346,427.6,-13.0,242,2548,0.15,4.85,0.00,0.000,3078,0.321,0.051,2024,2405,3451,3558,3345,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2846,-0.92,-146.0,2024,2405,3558,3345,461.8,-11.1,258,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2402,3451,3558,3345,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3146,-0.92,-146.0,2024,2406,3559,3346,494.5,-10.9,273,3152,0.00,4.88,0.00,0.000,516,0.000,0.063,2028,708,3451,3558,3345,0,0,0,0,0,0,14.83,14.63,14.85
$GC,3207,-0.92,-146.0,2030,709,3559,3346,501.8,-11.9,285,3214,0.00,4.82,0.00,0.000,1030,0.000,0.051,2009,2401,3451,3558,3345,0,0,0,0,0,0,14.73,14.65,14.73
$GC,3529,-0.92,-146.0,2008,2401,3558,3345,538.9,-11.6,304,3539,0.00,4.88,0.00,0.000,516,0.000,0.064,2012,703,3451,3558,3345,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3549,-0.92,-146.0,2013,703,3559,3346,541.4,-12.2,308,3560,0.17,4.85,0.00,0.000,3078,0.314,0.052,2028,2404,3451,3558,3345,0,0,0,0,0,0,14.50,14.65,14.69
$GC,3871,-0.92,-146.0,2029,2405,3559,3346,575.5,-10.4,327,3880,0.00,4.88,0.00,0.000,516,0.000,0.063,2041,709,3451,3557,3345,0,0,0,0,0,0,14.81,14.63,14.83
$GC,3900,-0.92,-146.0,2041,713,3559,3346,578.8,-11.7,333,3906,0.00,4.85,0.00,0.000,1030,0.000,0.053,2021,2407,3451,3557,3345,0,0,0,0,0,0,14.70,14.63,14.74
$STATE,4109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4109,begin apogee
$GC,4115,-0.11,0.0,2023,2183,3558,3346,601.7,-10.8,345,4253,1.02,0.08,132.70,2.137,10246,0.283,0.161,2285,2216,2852,2921,2783,0,0,0,0,0,0,14.49,13.93,13.21
$STATE,4254,end apogee,CONTROL_FINISHED_OK
$STATE,4255,begin climb
$GC,4257,0.92,146.0,2286,2217,2921,2784,604.1,0.0,352,4396,1.15,0.00,135.98,2.044,10246,0.161,0.000,2618,2216,2257,2278,2237,0,0,0,0,0,0,13.90,13.72,13.03
$GC,4691,0.92,146.0,2625,2217,2276,2217,526.2,20.6,374,4698,0.00,5.10,0.00,0.000,516,0.000,0.073,2640,526,2243,2270,2216,0,0,0,0,0,0,14.31,14.13,14.32
$GC,4718,0.92,146.0,2640,527,2268,2217,520.6,21.9,379,4727,0.00,4.93,0.00,0.000,1030,0.000,0.051,2632,2195,2241,2267,2215,0,0,0,0,0,0,14.22,14.16,14.26
$GC,5033,0.92,146.0,2632,2196,2269,2214,453.0,21.3,397,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,2240,2268,2213,0,0,0,0,0,0,14.46,14.48,14.48
$GC,5333,0.92,146.0,2632,2196,2269,2212,390.1,20.9,412,5342,0.00,4.93,0.00,0.000,516,0.000,0.067,2651,527,2239,2267,2211,0,0,0,0,0,0,14.54,14.36,14.56
$GC,5353,0.92,146.0,2652,527,2268,2211,385.7,21.9,416,5362,0.00,4.85,0.00,0.000,1030,0.000,0.050,2647,2201,2239,2268,2211,0,0,0,0,0,0,14.45,14.38,14.46
$GC,5673,0.92,146.0,2647,2202,2269,2211,318.0,20.6,435,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2238,2268,2209,0,0,0,0,0,0,14.59,14.62,14.62
$GC,5973,0.92,146.0,2647,2201,2268,2209,260.6,17.9,450,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2238,2268,2209,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6274,0.92,146.0,2647,2201,2269,2208,217.5,11.7,476,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,2238,2268,2208,0,0,0,0,0,0,14.69,14.71,14.71
$GC,6453,0.95,146.0,2646,2201,2268,2207,200.3,8.9,494,6459,0.00,4.90,0.00,0.000,580,0.000,0.068,2667,521,2237,2268,2207,0,0,0,0,0,0,14.72,14.52,14.73
$GC,6489,0.95,146.0,2666,521,2268,2208,196.7,10.5,501,6496,0.00,4.82,0.00,0.000,1030,0.000,0.050,2662,2208,2237,2267,2207,0,0,0,0,0,0,14.57,14.52,14.60
$GC,6674,1.01,146.0,2662,2209,2269,2206,180.8,8.1,520,6685,0.00,4.90,0.00,0.000,580,0.000,0.066,2682,517,2236,2267,2205,0,0,0,0,0,0,14.72,14.54,14.74
$GC,6705,1.04,146.0,2681,519,2268,2205,178.0,8.9,526,6712,0.00,4.80,0.00,0.000,1094,0.000,0.047,2676,2205,2236,2268,2205,0,0,0,0,0,0,14.62,14.56,14.64
$GC,6897,1.14,146.0,2677,2206,2270,2206,163.5,6.8,546,6904,0.00,5.03,0.00,0.000,324,0.000,0.083,2674,3893,2236,2268,2205,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6994,1.16,146.0,2674,3893,2266,2209,154.8,9.2,565,7001,0.00,4.78,0.00,0.000,1094,0.000,0.041,2694,2203,2237,2267,2208,0,0,0,0,0,0,14.65,14.59,14.66
$GC,7179,1.27,146.0,2693,2202,2263,2205,141.8,6.4,584,7190,0.15,4.85,0.00,0.000,2628,0.183,0.063,2763,510,2238,2267,2210,0,0,0,0,0,0,14.52,14.55,14.60
$GC,7292,1.37,146.0,2764,510,2268,2204,134.0,6.8,606,7298,0.00,4.80,0.00,0.000,1094,0.000,0.047,2754,2204,2235,2267,2204,0,0,0,0,0,0,14.66,14.59,14.67
$GC,7483,1.63,232.0,2754,2204,2268,2204,123.8,4.7,626,7567,0.32,5.15,72.12,1.601,10532,0.152,0.083,2837,3891,1905,1933,1877,0,0,0,0,0,0,14.51,14.23,13.64
$GC,7577,1.63,232.0,2837,3892,1932,1877,114.7,14.8,637,7589,0.00,4.93,0.00,0.000,1030,0.000,0.044,2857,2202,1903,1931,1875,0,0,0,0,0,0,14.33,14.27,14.34
$GC,7767,1.63,232.0,2857,2202,1929,1866,88.1,11.7,657,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2203,1897,1929,1866,0,0,0,0,0,0,14.51,14.53,14.53
$GC,7947,1.72,232.0,2856,2202,1928,1862,72.4,6.8,675,7948,0.00,0.00,0.00,0.000,70,0.000,0.000,2857,2202,1895,1928,1862,0,0,0,0,0,0,14.57,14.59,14.59
$GC,8127,2.22,397.3,2857,2203,1929,1857,70.4,-0.2,693,8269,0.60,0.00,136.27,1.489,10278,0.141,0.000,3042,2201,1229,1242,1216,0,0,0,0,0,0,14.38,13.99,13.42
$GC,8447,2.34,397.3,3043,2202,1239,1203,36.7,6.1,725,8460,0.12,5.03,0.00,0.000,2628,0.187,0.064,3095,504,1219,1234,1204,0,0,0,0,0,0,14.15,14.19,14.26
$GC,8475,2.65,501.6,3096,511,1234,1206,36.0,3.5,730,8570,0.32,4.95,83.15,1.414,11302,0.168,0.045,3172,2210,803,789,818,0,0,0,0,0,0,14.14,14.21,13.41
$GC,8746,2.75,501.6,3172,2210,786,807,17.6,6.8,765,8758,0.12,5.05,0.00,0.000,2628,0.197,0.063,3226,507,796,784,808,0,0,0,0,0,0,14.12,14.16,14.21
$GC,8809,2.83,501.6,3226,509,782,810,13.1,7.2,777,8821,0.00,4.93,0.00,0.000,1094,0.000,0.044,3218,2204,794,781,808,0,0,0,0,0,0,14.25,14.19,14.26
$GC,8999,3.28,650.8,3219,2205,783,807,8.8,0.8,797,9070,0.50,5.05,61.35,1.395,10788,0.142,0.063,3394,510,496,464,529,0,0,0,0,0,0,14.23,14.08,13.54
$GC,9080,3.38,650.8,3392,510,462,531,5.1,6.6,812,9087,0.00,5.00,0.00,0.000,1094,0.000,0.047,3383,2200,496,462,530,0,0,0,0,0,0,14.16,14.11,14.19
$STATE,9112,end climb,SURFACE_DEPTH_REACHED
$STATE,9112,begin surface coast
$FINISH,-0.6,1.020534
$STATE,9122,end surface coast,CONTROL_FINISHED_OK
$STATE,9123,begin surface
$SM_CCo,9143,-0.38,0.236,0,0,500,577.68
$SM_CCo,9146,0.00,0.000,0,0,500,577.44
$SM_CCo,9150,0.00,0.000,0,0,499,577.44
$SM_GC,0.88,10.98,0.60,0.00,0.178,0.072,0.000,198,2400,499,-6.61,-0.85,577.44,0,0,0,0,0,0,14.14,14.16,14.34
$RAFOS_CLK,342
$RAFOS_FIX,7353.508301,-14656.888672,071018,010132,0,1,0.15
$IRIDIUM_FIX,7354.98,-14653.04,061018,225042
$TT8_MAMPS,0.041944,0.605941
$HUMID,47.20
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,5.7
$24V_AH,13.03,59.015
$10V_AH,13.34,0.000
$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,25.425,176.750,621.575,0.000,0.000,0.000,0.000,476.275,7.250,0.000,15.842,0.000,6747.049,849.808,2098.115,221.762,0.000,2009.088,0.000,1173.864,2160.000,2.510,0.000
$DEVICE_MAMPS,461.295,160.650,2137.410,0.000,0.000,0.000,0.000,181.305,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9133.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.550,0.000,0.000,0.000
$MEM,334644
$DATA_FILE_SIZE,30017,817
$CAP_FILE_SIZE,101053,0
$CFSIZE,2097872896,2073362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$CURRENT,0.084,359.49,1
$GPS,071018,013401,7353.929,-14653.374,116,1.0,117,18.2,0.6,0.0,9,4.0