version: 66.13
glider: 228
mission: 14
dive: 125
start: 10 7 118 1 44 16
data:
$ID,228
$MISSION,14
$DIVE,125
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,071018,013401,7353.9287,-14653.3740,116,1.0,117,18.2,0.6,0.0,9,4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.90
$_SM_ANGLEo,-70.2
$GPS2,071018,014336,7354.0342,-14653.1465,4,0.8,4,18.3,1.0,123.2,10,9.7
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,18.8,36793,-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,-146.0,197,2401,462,533,0.0,0.0,0,75,0.00,0.00,-62.12,0.003,16386,0.000,0.000,196,2401,1703,1809,1598,0,0,0,0,0,0,14.48,28.83,14.50
$GC,77,-0.92,-146.0,197,2402,1811,1608,2.4,-8.5,6,133,9.25,4.70,-34.83,0.005,18692,0.441,0.094,2007,3949,3453,3575,3331,0,0,0,0,0,0,14.10,13.69,14.35
$GC,358,-0.92,-146.0,2006,3950,3566,3343,98.5,-25.3,61,366,0.00,4.47,0.00,0.000,1030,0.000,0.044,2014,2398,3453,3564,3342,0,0,0,0,0,0,14.46,14.39,14.47
$GC,543,-0.92,-146.0,2014,2398,3564,3342,138.5,-21.3,80,555,0.00,4.72,0.00,0.000,260,0.000,0.087,1997,3953,3456,3571,3342,0,0,0,0,0,0,14.60,14.40,14.62
$GC,740,-0.92,-146.0,1997,3953,3561,3346,184.6,-24.2,119,746,0.00,4.47,0.00,0.000,1030,0.000,0.044,2011,2398,3452,3560,3345,0,0,0,0,0,0,14.54,14.47,14.56
$GC,925,-0.92,-146.0,2011,2397,3561,3346,220.0,-17.6,138,936,0.00,4.93,0.00,0.000,516,0.000,0.066,2029,702,3452,3560,3345,0,0,0,0,0,0,14.67,14.47,14.69
$GC,956,-0.92,-146.0,2029,702,3561,3346,225.3,-17.9,144,967,0.00,4.93,0.00,0.000,1030,0.000,0.054,2009,2404,3452,3560,3345,0,0,0,0,0,0,14.54,14.46,14.55
$GC,1156,-0.92,-146.0,2009,2399,3560,3346,255.7,-13.7,163,1165,0.00,4.93,0.00,0.000,516,0.000,0.063,2014,704,3452,3560,3345,0,0,0,0,0,0,14.69,14.50,14.71
$GC,1176,-0.92,-146.0,2014,704,3560,3346,258.4,-13.6,167,1186,0.17,4.90,0.00,0.000,3078,0.324,0.052,2029,2400,3452,3559,3345,0,0,0,0,0,0,14.34,14.49,14.53
$GC,1496,-0.92,-146.0,2030,2401,3560,3346,298.2,-12.1,186,1506,0.00,4.90,0.00,0.000,516,0.000,0.064,2048,709,3452,3559,3345,0,0,0,0,0,0,14.73,14.54,14.76
$GC,1541,-0.92,-146.0,2048,709,3559,3346,303.8,-12.5,195,1550,0.00,4.88,0.00,0.000,1030,0.000,0.053,2029,2400,3452,3559,3345,0,0,0,0,0,0,14.63,14.55,14.64
$GC,1856,-0.92,-146.0,2027,2402,3562,3346,341.5,-11.8,213,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2401,3452,3559,3345,0,0,0,0,0,0,14.77,14.79,14.78
$GC,2156,-0.92,-146.0,2029,2401,3559,3346,376.6,-11.7,228,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2401,3452,3559,3345,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2456,-0.92,-146.0,2030,2401,3560,3346,411.0,-11.3,243,2466,0.00,4.90,0.00,0.000,516,0.000,0.067,2042,702,3452,3559,3345,0,0,0,0,0,0,14.81,14.61,14.83
$GC,2506,-0.92,-146.0,2043,703,3560,3346,417.1,-12.5,253,2513,0.00,4.88,0.00,0.000,1030,0.000,0.054,2022,2404,3452,3559,3345,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2818,-0.92,-146.0,2023,2404,3560,3346,452.4,-11.3,270,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2404,3452,3559,3345,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3118,-0.92,-146.0,2022,2404,3559,3346,486.0,-11.1,285,3124,0.00,4.88,0.00,0.000,516,0.000,0.064,2026,709,3452,3559,3345,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3159,-0.92,-146.0,2026,710,3560,3346,491.0,-12.3,293,3165,0.00,4.85,0.00,0.000,1030,0.000,0.053,2006,2403,3452,3558,3346,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3480,-0.92,-146.0,2007,2404,3560,3346,528.5,-11.6,312,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2402,3452,3559,3346,0,0,0,0,0,0,14.85,14.86,14.86
$GC,3780,-0.92,-146.0,2007,2403,3560,3347,563.1,-11.5,327,3790,0.00,4.88,0.00,0.000,516,0.000,0.063,2007,701,3451,3557,3346,0,0,0,0,0,0,14.85,14.66,14.88
$GC,3830,-0.92,-146.0,2008,702,3559,3347,569.4,-12.7,337,3837,0.17,4.88,0.00,0.000,3078,0.310,0.054,2023,2406,3452,3558,3346,0,0,0,0,0,0,14.52,14.66,14.71
$STATE,4119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4120,begin apogee
$GC,4125,-0.11,0.0,2028,2180,3558,3347,600.8,-10.6,353,4264,1.00,0.08,132.23,2.140,10246,0.272,0.161,2290,2214,2853,2921,2785,0,0,0,0,0,0,14.54,13.96,13.25
$STATE,4265,end apogee,CONTROL_FINISHED_OK
$STATE,4265,begin climb
$GC,4267,0.92,146.0,2290,2214,2921,2784,603.2,0.0,360,4407,1.12,0.00,136.05,2.049,10246,0.157,0.000,2619,2214,2255,2276,2235,0,0,0,0,0,0,13.94,13.74,13.05
$GC,4702,0.92,146.0,2619,2214,2272,2217,524.7,20.9,382,4712,0.00,5.05,0.00,0.000,516,0.000,0.072,2640,529,2242,2268,2216,0,0,0,0,0,0,14.36,14.17,14.38
$GC,4722,0.92,146.0,2641,530,2269,2217,520.3,22.1,386,4732,0.00,4.90,0.00,0.000,1030,0.000,0.050,2631,2197,2242,2268,2216,0,0,0,0,0,0,14.26,14.20,14.28
$GC,5042,0.92,146.0,2631,2197,2268,2213,451.4,21.2,405,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2240,2268,2213,0,0,0,0,0,0,14.52,14.55,14.54
$GC,5342,0.92,146.0,2631,2198,2268,2212,388.1,20.8,420,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2239,2268,2211,0,0,0,0,0,0,14.62,14.64,14.62
$GC,5642,0.92,146.0,2632,2198,2269,2211,326.9,20.3,435,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2239,2268,2211,0,0,0,0,0,0,14.68,14.68,14.70
$GC,5942,0.92,146.0,2632,2198,2269,2210,270.8,17.7,450,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2197,2238,2268,2209,0,0,0,0,0,0,14.73,14.74,14.74
$GC,6242,0.92,146.0,2632,2198,2269,2208,226.4,12.3,473,6248,0.00,4.88,0.00,0.000,516,0.000,0.070,2652,526,2238,2268,2208,0,0,0,0,0,0,14.74,14.56,14.76
$GC,6308,0.92,146.0,2652,528,2268,2209,218.0,12.7,486,6315,0.00,4.80,0.00,0.000,1030,0.000,0.050,2649,2208,2237,2267,2208,0,0,0,0,0,0,14.64,14.58,14.64
$GC,6493,0.94,146.0,2650,2209,2270,2207,199.1,9.3,505,6500,0.00,4.90,0.00,0.000,580,0.000,0.067,2669,520,2237,2269,2206,0,0,0,0,0,0,14.75,14.56,14.77
$GC,6560,0.94,146.0,2670,521,2269,2208,192.3,10.4,518,6567,0.12,4.80,0.00,0.000,5126,0.349,0.049,2638,2209,2237,2268,2206,0,0,0,0,0,0,14.40,14.57,14.62
$GC,6747,1.02,146.0,2639,2210,2269,2205,177.8,7.2,537,6753,0.00,5.00,0.00,0.000,324,0.000,0.083,2634,3895,2236,2268,2205,0,0,0,0,0,0,14.76,14.57,14.78
$GC,6803,1.05,146.0,2634,3896,2268,2209,172.7,9.1,548,6810,0.00,4.75,0.00,0.000,1094,0.000,0.041,2654,2210,2237,2267,2208,0,0,0,0,0,0,14.66,14.61,14.67
$GC,6988,1.15,146.0,2654,2210,2268,2205,159.6,6.7,567,6999,0.12,4.85,0.00,0.000,2628,0.188,0.064,2716,515,2236,2268,2204,0,0,0,0,0,0,14.53,14.54,14.61
$GC,7035,1.20,146.0,2717,516,2269,2205,156.0,8.3,576,7041,0.00,4.78,0.00,0.000,1094,0.000,0.045,2702,2207,2236,2268,2204,0,0,0,0,0,0,14.66,14.59,14.67
$GC,7220,1.40,211.4,2702,2208,2268,2205,143.0,6.0,595,7283,0.22,5.10,54.55,1.624,10532,0.160,0.081,2773,3893,1987,2018,1957,0,0,0,0,0,0,14.54,14.31,13.69
$GC,7320,1.40,211.4,2772,3894,2014,1959,132.7,15.1,613,7326,0.00,4.90,0.00,0.000,1030,0.000,0.043,2792,2202,1985,2014,1957,0,0,0,0,0,0,14.40,14.35,14.42
$GC,7511,1.40,211.4,2793,2202,2014,1950,107.4,11.3,633,7518,0.00,4.95,0.00,0.000,516,0.000,0.065,2814,506,1980,2012,1949,0,0,0,0,0,0,14.58,14.40,14.60
$GC,7563,1.40,211.4,2814,506,2007,1951,101.2,12.5,643,7574,0.12,4.90,0.00,0.000,5126,0.367,0.048,2786,2207,1978,2008,1949,0,0,0,0,0,0,14.26,14.44,14.48
$GC,7755,1.52,211.4,2786,2208,2009,1948,86.0,6.0,663,7755,0.00,0.00,0.00,0.000,70,0.000,0.000,2786,2207,1977,2008,1947,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7933,1.86,326.0,2787,2209,2010,1947,79.2,2.9,681,8039,0.43,5.22,95.88,1.522,10532,0.142,0.085,2919,3888,1520,1548,1492,0,0,0,0,0,0,14.40,14.06,13.52
$GC,8275,2.21,443.2,2920,3890,1542,1487,48.8,2.8,744,8379,0.32,4.93,95.22,1.445,11302,0.155,0.040,3036,2182,1042,1052,1033,0,0,0,0,0,0,14.19,14.25,13.41
$GC,8555,2.64,584.6,3037,2183,1048,1019,29.5,1.2,781,8675,0.45,5.32,107.10,1.398,10532,0.129,0.080,3168,3892,494,464,524,0,0,0,0,0,0,14.09,13.80,13.35
$GC,8767,2.64,584.6,3168,3892,461,523,7.6,17.9,820,8779,0.00,5.00,0.00,0.000,1030,0.000,0.045,3186,2210,490,461,520,0,0,0,0,0,0,14.10,14.04,14.12
$STATE,8824,end climb,SURFACE_DEPTH_REACHED
$STATE,8824,begin surface coast
$FINISH,0.3,1.020546
$STATE,8834,end surface coast,CONTROL_FINISHED_OK
$STATE,8834,begin surface
$SM_CCo,8855,-0.47,0.186,0,0,500,577.68
$SM_CCo,8858,0.00,0.000,0,0,500,577.44
$SM_CCo,8861,0.00,0.000,0,0,500,577.44
$SM_GC,1.91,11.10,0.57,0.00,0.232,0.073,0.000,205,2397,500,-6.61,-1.08,577.44,0,0,0,0,0,0,14.06,14.11,14.28
$RAFOS_CLK,53
$RAFOS_FIX,7354.731934,-14653.800781,071018,040407,0,1,0.15
$IRIDIUM_FIX,7354.38,-14703.77,071018,013655
$TT8_MAMPS,0.078645,0.823151
$HUMID,47.12
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.4,5.8
$24V_AH,13.05,59.443
$10V_AH,13.13,0.000
$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,24.625,167.350,621.025,0.000,0.000,0.000,0.000,350.150,4.250,0.000,13.502,0.000,6432.255,808.457,1979.463,230.403,0.000,1855.501,0.000,1189.276,2217.000,2.511,0.000
$DEVICE_MAMPS,440.640,160.650,2139.705,0.000,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8845.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.869,0.000,0.000,0.000
$MEM,334660
$DATA_FILE_SIZE,30090,828
$CAP_FILE_SIZE,96793,0
$CFSIZE,2097872896,2073231360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7978.42,0x2355a8,1,24
$SOUNDSPEED,1447.2
$CURRENT,0.061,14.44,1
$GPS,071018,041501,7355.021,-14650.755,139,1.9,140,18.3,0.3,0.0,6,7.0