version: 66.13
glider: 228
mission: 14
dive: 126
start: 10 7 118 4 29 21
data:
$ID,228
$MISSION,14
$DIVE,126
$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,21
$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,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
$GPS1,071018,041501,7355.0205,-14650.7549,139,1.9,140,18.3,0.3,0.0,6,7.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.10
$_SM_ANGLEo,-78.4
$GPS2,071018,042843,7355.0693,-14650.5654,5,1.8,7,18.3,0.4,127.6,6,9.7
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.9,34505,-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,-146.0,203,2399,466,531,0.0,0.0,0,75,0.00,0.00,-61.97,0.003,16386,0.000,0.000,202,2398,1744,1860,1628,0,0,0,0,0,0,14.42,28.83,14.45
$GC,77,-0.92,-146.0,203,2399,1861,1633,3.0,-10.5,6,127,9.38,4.75,-32.15,0.005,18692,0.444,0.096,2008,3947,3453,3573,3333,0,0,0,0,0,0,14.04,13.43,14.30
$GC,352,-0.92,-146.0,2008,3948,3566,3344,99.4,-25.2,60,363,0.00,4.50,0.00,0.000,1030,0.000,0.044,2023,2399,3453,3564,3343,0,0,0,0,0,0,14.36,14.31,14.38
$MODEM_MSG,CACST,6,1,20181007040546.812623,18,65,12,0050,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03
$GC,542,-0.92,-146.0,2024,2399,3566,3344,139.7,-20.0,80,553,0.00,4.70,0.00,0.000,260,0.000,0.086,2006,3940,3454,3565,3343,0,0,0,0,0,0,14.57,14.37,14.58
$GC,594,-0.92,-146.0,2006,3943,3563,3342,151.4,-23.7,90,599,0.00,4.45,0.00,0.000,1030,0.000,0.044,2022,2398,3453,3562,3344,0,0,0,0,0,0,14.48,14.42,14.50
$GC,784,-0.92,-146.0,2022,2398,3562,3346,189.9,-19.8,110,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2397,3453,3562,3344,0,0,0,0,0,0,14.62,14.64,14.63
$GC,964,-0.92,-146.0,2023,2398,3562,3346,221.6,-16.9,128,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2397,3453,3562,3344,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1144,-0.92,-146.0,2022,2398,3562,3345,248.5,-13.6,146,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2397,3453,3561,3345,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1324,-0.92,-146.0,2023,2398,3563,3346,272.3,-12.9,156,1335,0.00,4.90,0.00,0.000,516,0.000,0.065,2029,704,3453,3561,3345,0,0,0,0,0,0,14.70,14.52,14.71
$GC,1350,-0.92,-146.0,2028,705,3562,3346,275.8,-14.5,161,1356,0.00,4.90,0.00,0.000,1030,0.000,0.053,2009,2401,3453,3561,3345,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1667,-0.92,-146.0,2009,2401,3561,3345,316.4,-12.7,179,1677,0.00,4.90,0.00,0.000,516,0.000,0.064,2011,708,3453,3561,3345,0,0,0,0,0,0,14.74,14.55,14.76
$GC,1712,-0.92,-146.0,2010,708,3561,3345,322.5,-13.8,188,1723,0.17,4.90,0.00,0.000,3078,0.316,0.053,2026,2407,3453,3561,3345,0,0,0,0,0,0,14.40,14.56,14.60
$GC,2028,-0.92,-146.0,2026,2408,3561,3345,359.2,-11.2,206,2037,0.00,4.93,0.00,0.000,516,0.000,0.064,2028,705,3452,3560,3344,0,0,0,0,0,0,14.78,14.57,14.79
$GC,2048,-0.92,-146.0,2027,704,3560,3344,361.5,-11.7,210,2057,0.00,4.90,0.00,0.000,1030,0.000,0.054,2009,2407,3453,3561,3345,0,0,0,0,0,0,14.65,14.57,14.66
$GC,2368,-0.92,-146.0,2008,2408,3560,3345,399.9,-12.0,229,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2407,3453,3561,3345,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2668,-0.92,-146.0,2009,2408,3562,3346,435.8,-11.9,244,2679,0.00,4.93,0.00,0.000,516,0.000,0.066,2011,702,3452,3560,3345,0,0,0,0,0,0,14.81,14.60,14.83
$GC,2709,-0.92,-146.0,2010,703,3561,3346,441.1,-13.3,252,2719,0.17,4.88,0.00,0.000,3078,0.319,0.054,2025,2402,3452,3560,3345,0,0,0,0,0,0,14.47,14.62,14.66
$GC,3029,-0.92,-146.0,2025,2404,3561,3346,477.6,-11.1,271,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3453,3561,3345,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3329,-0.92,-146.0,2025,2403,3561,3346,510.5,-10.8,286,3339,0.00,4.88,0.00,0.000,516,0.000,0.065,2027,705,3452,3560,3345,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3384,-0.92,-146.0,2028,706,3561,3346,517.0,-11.9,297,3392,0.00,4.88,0.00,0.000,1030,0.000,0.055,2007,2405,3452,3560,3345,0,0,0,0,0,0,14.72,14.65,14.74
$GC,3689,-0.92,-146.0,2008,2406,3561,3346,552.5,-11.4,313,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2405,3452,3560,3345,0,0,0,0,0,0,14.85,14.88,14.87
$GC,3989,-0.92,-146.0,2008,2406,3560,3346,587.0,-11.6,328,4000,0.00,4.88,0.00,0.000,516,0.000,0.065,2008,708,3453,3560,3346,0,0,0,0,0,0,14.86,14.66,14.88
$GC,4050,-0.92,-146.0,2009,708,3561,3347,594.5,-12.6,340,4061,0.20,4.85,0.00,0.000,3078,0.317,0.053,2028,2407,3453,3560,3346,0,0,0,0,0,0,14.51,14.67,14.71
$STATE,4108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4108,begin apogee
$GC,4114,-0.11,0.0,2032,2179,3561,3347,601.2,-10.9,346,4254,0.98,0.10,136.27,2.131,10246,0.275,0.135,2287,2223,2852,2923,2782,0,0,0,0,0,0,14.54,13.97,13.24
$STATE,4255,end apogee,CONTROL_FINISHED_OK
$STATE,4255,begin climb
$GC,4257,0.92,146.0,2287,2223,2920,2781,604.1,0.0,353,4407,1.15,5.25,136.68,2.039,10756,0.158,0.070,2644,531,2255,2276,2235,0,0,0,0,0,0,13.92,13.74,13.05
$GC,4426,0.92,146.0,2645,532,2269,2236,581.1,21.6,381,4439,0.00,5.00,0.00,0.000,1030,0.000,0.050,2635,2189,2250,2268,2232,0,0,0,0,0,0,13.92,13.85,13.93
$GC,4737,0.92,146.0,2636,2190,2269,2222,514.5,21.4,398,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2189,2244,2268,2220,0,0,0,0,0,0,14.38,14.40,14.40
$GC,5037,0.92,146.0,2636,2190,2269,2218,450.7,21.3,413,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2189,2242,2268,2217,0,0,0,0,0,0,14.53,14.55,14.54
$GC,5337,0.92,146.0,2636,2190,2268,2215,388.1,20.7,428,5346,0.00,4.90,0.00,0.000,516,0.000,0.067,2655,524,2241,2268,2214,0,0,0,0,0,0,14.62,14.45,14.64
$GC,5351,0.92,146.0,2655,524,2269,2215,385.0,20.6,431,5359,0.00,4.85,0.00,0.000,1030,0.000,0.048,2646,2205,2241,2268,2214,0,0,0,0,0,0,14.52,14.45,14.53
$GC,5657,0.92,146.0,2645,2207,2267,2213,321.5,19.9,447,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2207,2240,2268,2213,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5957,0.92,146.0,2646,2207,2269,2213,263.7,18.6,462,5966,0.00,4.80,0.00,0.000,516,0.000,0.067,2666,525,2239,2267,2212,0,0,0,0,0,0,14.71,14.54,14.73
$GC,6001,0.92,146.0,2666,526,2269,2213,255.6,18.4,470,6008,0.15,4.80,0.00,0.000,5126,0.339,0.051,2633,2203,2239,2267,2212,0,0,0,0,0,0,14.39,14.55,14.60
$GC,6313,0.92,146.0,2633,2204,2270,2211,215.0,10.6,502,6320,0.00,5.05,0.00,0.000,260,0.000,0.085,2615,3895,2239,2268,2210,0,0,0,0,0,0,14.73,14.54,14.76
$GC,6369,0.92,146.0,2615,3895,2268,2213,208.4,11.7,513,6376,0.00,4.80,0.00,0.000,1030,0.000,0.045,2635,2218,2239,2267,2212,0,0,0,0,0,0,14.63,14.57,14.65
$GC,6555,0.99,146.0,2636,2213,2270,2210,191.4,7.7,532,6556,0.00,0.00,0.00,0.000,70,0.000,0.000,2635,2212,2238,2268,2209,0,0,0,0,0,0,14.74,14.77,14.76
$GC,6735,1.08,146.0,2636,2212,2270,2210,178.4,6.8,550,6742,0.15,4.93,0.00,0.000,2628,0.174,0.066,2706,505,2238,2268,2209,0,0,0,0,0,0,14.53,14.57,14.59
$GC,6772,1.12,146.0,2707,506,2270,2210,175.4,8.5,557,6779,0.00,4.82,0.00,0.000,1094,0.000,0.047,2689,2206,2238,2268,2209,0,0,0,0,0,0,14.66,14.60,14.69
$GC,6957,1.22,146.0,2689,2206,2269,2209,162.2,6.9,576,6958,0.00,0.00,0.00,0.000,70,0.000,0.000,2689,2206,2238,2268,2208,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7137,1.33,146.0,2689,2207,2269,2208,150.3,6.3,594,7144,0.20,5.00,0.00,0.000,2372,0.169,0.082,2741,3890,2238,2269,2208,0,0,0,0,0,0,14.54,14.53,14.64
$GC,7194,1.35,146.0,2741,3890,2267,2213,145.2,9.4,605,7201,0.00,4.82,0.00,0.000,1094,0.000,0.043,2762,2188,2238,2266,2211,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7379,1.44,146.0,2762,2187,2269,2209,132.2,6.8,624,7380,0.00,0.00,0.00,0.000,70,0.000,0.000,2762,2186,2238,2268,2209,0,0,0,0,0,0,14.77,14.80,14.79
$GC,7559,1.69,228.1,2762,2187,2268,2209,122.2,4.9,642,7631,0.32,0.00,69.10,1.601,10790,0.153,0.000,2865,2186,1922,1950,1895,0,0,0,0,0,0,14.55,14.29,13.67
$GC,7809,1.69,228.1,2865,2187,1944,1884,91.1,13.1,672,7820,0.00,4.93,0.00,0.000,516,0.000,0.067,2886,513,1913,1941,1885,0,0,0,0,0,0,14.52,14.35,14.54
$GC,7957,1.74,228.1,2886,513,1937,1886,75.7,8.3,701,7963,0.00,4.85,0.00,0.000,1094,0.000,0.046,2882,2202,1909,1937,1882,0,0,0,0,0,0,14.47,14.42,14.49
$GC,8140,2.24,394.0,2881,2203,1937,1881,71.6,-0.3,720,8287,0.50,5.25,136.98,1.497,10532,0.140,0.080,3033,3886,1241,1253,1230,0,0,0,0,0,0,14.39,13.88,13.40
$GC,8312,2.24,394.0,3033,3887,1250,1231,53.8,19.9,751,8319,0.00,5.00,0.00,0.000,1030,0.000,0.044,3053,2205,1238,1249,1228,0,0,0,0,0,0,14.09,14.03,14.12
$GC,8498,2.55,498.7,3053,2205,1248,1218,35.5,3.5,770,8589,0.28,5.30,82.53,1.418,10532,0.151,0.081,3138,3892,816,806,827,0,0,0,0,0,0,14.16,13.94,13.43
$GC,8814,2.79,579.6,3138,3893,800,823,7.3,5.0,831,8887,0.22,4.97,64.12,1.383,11302,0.154,0.042,3224,2186,495,471,520,0,0,0,0,0,0,14.16,14.21,13.47
$STATE,8932,end climb,SURFACE_DEPTH_REACHED
$STATE,8932,begin surface coast
$FINISH,-0.8,1.020581
$STATE,8950,end surface coast,CONTROL_FINISHED_OK
$STATE,8950,begin surface
$SM_CCo,8971,-0.35,0.252,0,0,500,577.44
$SM_CCo,8974,0.00,0.000,0,0,500,577.44
$SM_CCo,8977,0.00,0.000,0,0,500,577.44
$SM_GC,0.20,11.18,0.65,0.00,0.226,0.061,0.000,206,2403,500,-6.61,-0.94,577.44,0,0,0,0,0,0,14.05,14.12,14.30
$RAFOS_CLK,555
$MODEM,1,1538885146,74.43333,-147.95000,46.813,67747.8
$RAFOS_FIX,7354.001953,-14648.467773,071018,040446,1,2,0.00
$IRIDIUM_FIX,7354.98,-14653.04,071018,041958
$TT8_MAMPS,0.042693,0.733271
$HUMID,47.40
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,40
$ALTIM_TOP_PING,20.0,23.7
$24V_AH,13.05,59.865
$10V_AH,13.12,0.000
$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,25.050,167.775,625.675,0.000,0.000,0.000,0.000,539.900,10.250,0.000,17.039,0.000,6595.071,788.229,2196.080,237.313,0.000,2054.190,0.000,1221.614,0.000,2.536,0.000
$DEVICE_MAMPS,444.465,135.405,2131.290,0.000,0.000,0.000,0.000,179.010,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8962.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.029,0.000,0.000,0.000
$MEM,334612
$DATA_FILE_SIZE,30031,851
$CAP_FILE_SIZE,102396,0
$CFSIZE,2097872896,2073034752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5956.78,0x2355a8,1,24
$SOUNDSPEED,1447.5
$CURRENT,0.052,338.48,1
$GPS,071018,070139,7356.102,-14649.224,117,1.0,118,18.3,0.9,324.3,9,6.5