version: 66.13
glider: 228
mission: 14
dive: 130
start: 10 7 118 15 32 40
data:
$ID,228
$MISSION,14
$DIVE,130
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,071018,152137,7359.9458,-14642.2900,113,1.0,114,18.3,1.0,18.0,8,7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-74.6
$GPS2,071018,153153,7400.0249,-14642.0449,4,1.1,8,18.3,0.5,321.1,7,9.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,11.5,24373,-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,-146.0,198,2407,458,534,0.0,0.0,0,75,0.00,0.00,-61.88,0.003,16386,0.000,0.000,197,2406,1766,1878,1654,0,0,0,0,0,0,14.47,28.83,14.49
$GC,77,-0.92,-146.0,197,2406,1878,1657,4.4,-11.7,6,127,9.68,4.75,-31.15,0.005,18692,0.461,0.095,2006,3950,3453,3575,3331,0,0,0,0,0,0,14.09,13.46,14.34
$GC,352,-0.92,-146.0,2006,3950,3564,3343,103.1,-25.1,60,359,0.00,4.50,0.00,0.000,1030,0.000,0.044,2022,2394,3453,3564,3342,0,0,0,0,0,0,14.44,14.37,14.45
$GC,544,-0.92,-146.0,2023,2394,3565,3343,144.9,-21.3,80,550,0.00,4.72,0.00,0.000,260,0.000,0.086,2005,3947,3452,3563,3342,0,0,0,0,0,0,14.61,14.40,14.62
$GC,745,-0.92,-146.0,2004,3948,3560,3346,192.0,-22.3,120,751,0.00,4.47,0.00,0.000,1030,0.000,0.044,2020,2393,3452,3560,3345,0,0,0,0,0,0,14.53,14.46,14.54
$GC,936,-0.92,-146.0,2021,2393,3561,3346,228.2,-16.8,140,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2392,3452,3560,3345,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1116,-0.92,-146.0,2020,2393,3560,3346,257.1,-15.6,156,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2392,3452,3559,3345,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1417,-0.92,-146.0,2020,2393,3560,3346,296.3,-12.4,171,1427,0.00,4.88,0.00,0.000,516,0.000,0.064,2025,703,3452,3559,3345,0,0,0,0,0,0,14.73,14.54,14.76
$GC,1497,-0.92,-146.0,2025,708,3561,3346,307.4,-13.9,187,1508,0.00,4.90,0.00,0.000,1030,0.000,0.055,2006,2399,3452,3559,3345,0,0,0,0,0,0,14.63,14.56,14.64
$GC,1818,-0.92,-146.0,2005,2396,3559,3346,348.7,-12.9,206,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2398,3452,3559,3345,0,0,0,0,0,0,14.72,14.74,14.73
$GC,2118,-0.92,-146.0,2006,2400,3560,3346,387.7,-12.9,221,2128,0.00,4.95,0.00,0.000,516,0.000,0.070,2011,703,3452,3559,3346,0,0,0,0,0,0,14.71,14.53,14.73
$GC,2148,-0.92,-146.0,2011,703,3560,3346,391.8,-14.3,227,2160,0.17,4.93,0.00,0.000,3078,0.318,0.056,2027,2404,3452,3559,3345,0,0,0,0,0,0,14.38,14.54,14.58
$GC,2458,-0.92,-146.0,2027,2405,3560,3346,428.3,-11.5,244,2464,0.00,4.93,0.00,0.000,516,0.000,0.063,2028,704,3452,3559,3346,0,0,0,0,0,0,14.70,14.53,14.72
$GC,2494,-0.92,-146.0,2028,703,3559,3346,432.8,-12.7,251,2501,0.00,4.90,0.00,0.000,1030,0.000,0.055,2008,2400,3453,3561,3346,0,0,0,0,0,0,14.61,14.54,14.62
$GC,2799,-0.92,-146.0,2009,2402,3560,3346,469.9,-12.1,267,2809,0.00,4.95,0.00,0.000,516,0.000,0.069,2013,703,3451,3558,3345,0,0,0,0,0,0,14.71,14.52,14.73
$GC,2814,-0.92,-146.0,2013,704,3560,3346,471.8,-12.0,270,2821,0.17,4.90,0.00,0.000,3078,0.317,0.055,2029,2401,3452,3558,3346,0,0,0,0,0,0,14.38,14.53,14.58
$GC,3119,-0.92,-146.0,2029,2401,3558,3346,506.0,-10.9,286,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2400,3451,3558,3345,0,0,0,0,0,0,14.71,14.73,14.73
$GC,3419,-0.92,-146.0,2029,2402,3560,3347,538.6,-10.8,301,3429,0.00,4.93,0.00,0.000,516,0.000,0.070,2042,705,3452,3558,3346,0,0,0,0,0,0,14.72,14.52,14.73
$GC,3474,-0.92,-146.0,2043,706,3560,3347,544.9,-11.5,312,3481,0.00,4.90,0.00,0.000,1030,0.000,0.056,2023,2403,3452,3558,3346,0,0,0,0,0,0,14.61,14.54,14.63
$GC,3779,-0.92,-146.0,2022,2403,3559,3347,578.8,-11.1,328,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2403,3452,3558,3346,0,0,0,0,0,0,14.73,14.74,14.74
$STATE,3977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3977,begin apogee
$GC,3983,-0.11,0.0,2023,2184,3559,3346,600.6,-10.9,338,4122,1.02,0.05,136.48,2.126,10246,0.282,0.206,2286,2208,2855,2925,2786,0,0,0,0,0,0,14.45,13.88,13.19
$STATE,4123,end apogee,CONTROL_FINISHED_OK
$STATE,4123,begin climb
$GC,4126,0.92,146.0,2286,2208,2922,2784,603.4,0.0,345,4270,1.15,0.00,140.40,2.030,10502,0.164,0.000,2618,2207,2256,2278,2235,0,0,0,0,0,0,13.88,13.72,13.02
$GC,4559,0.92,146.0,2619,2208,2273,2216,528.3,20.1,370,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2207,2243,2272,2215,0,0,0,0,0,0,14.33,14.35,14.35
$GC,4859,0.92,146.0,2618,2208,2273,2211,469.6,19.3,385,4869,0.00,5.03,0.00,0.000,516,0.000,0.076,2640,518,2241,2273,2210,0,0,0,0,0,0,14.50,14.30,14.52
$GC,4884,0.92,146.0,2640,518,2269,2211,464.5,20.5,390,4894,0.00,4.93,0.00,0.000,1030,0.000,0.056,2635,2199,2239,2269,2210,0,0,0,0,0,0,14.40,14.33,14.42
$GC,5199,0.92,146.0,2636,2199,2271,2209,399.2,20.7,408,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,2239,2269,2209,0,0,0,0,0,0,14.60,14.62,14.62
$GC,5499,0.92,146.0,2635,2200,2270,2208,338.9,19.9,423,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,2239,2270,2208,0,0,0,0,0,0,14.66,14.69,14.69
$GC,5799,0.92,146.0,2636,2199,2271,2207,283.1,17.6,438,5809,0.00,4.95,0.00,0.000,516,0.000,0.073,2655,517,2238,2269,2207,0,0,0,0,0,0,14.71,14.52,14.73
$GC,5829,0.92,146.0,2655,517,2269,2207,277.6,18.3,444,5836,0.00,4.85,0.00,0.000,1030,0.000,0.054,2646,2202,2237,2268,2206,0,0,0,0,0,0,14.61,14.54,14.63
$GC,6143,0.92,146.0,2649,2202,2270,2205,230.7,11.6,468,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2202,2237,2269,2205,0,0,0,0,0,0,14.73,14.75,14.75
$GC,6321,0.92,146.0,2649,2202,2270,2205,212.1,9.7,486,6332,0.00,5.05,0.00,0.000,260,0.000,0.084,2648,3894,2237,2268,2206,0,0,0,0,0,0,14.76,14.54,14.78
$GC,6387,0.92,146.0,2649,3895,2269,2208,204.5,12.2,499,6394,0.20,4.80,0.00,0.000,5126,0.364,0.042,2630,2206,2237,2268,2207,0,0,0,0,0,0,14.39,14.55,14.61
$GC,6574,1.00,146.0,2631,2205,2268,2204,189.3,7.3,518,6584,0.00,4.88,0.00,0.000,580,0.000,0.066,2651,506,2236,2269,2203,0,0,0,0,0,0,14.76,14.57,14.77
$GC,6649,1.06,146.0,2651,507,2268,2203,183.2,8.0,533,6656,0.00,4.85,0.00,0.000,1094,0.000,0.049,2648,2205,2236,2269,2203,0,0,0,0,0,0,14.66,14.59,14.68
$GC,6834,1.17,146.0,2649,2206,2270,2202,170.7,6.3,552,6842,0.15,5.03,0.00,0.000,2372,0.180,0.083,2686,3891,2235,2269,2202,0,0,0,0,0,0,14.57,14.57,14.62
$GC,6917,1.19,146.0,2686,3893,2267,2208,163.6,9.4,568,6923,0.00,4.82,0.00,0.000,1094,0.000,0.045,2707,2198,2237,2267,2207,0,0,0,0,0,0,14.65,14.59,14.66
$GC,7109,1.29,146.0,2707,2197,2269,2203,149.5,6.6,588,7115,0.12,4.88,0.00,0.000,2628,0.186,0.065,2764,506,2235,2268,2202,0,0,0,0,0,0,14.55,14.59,14.65
$GC,7135,1.34,146.0,2764,506,2268,2203,147.3,8.3,593,7142,0.00,4.82,0.00,0.000,1094,0.000,0.048,2758,2205,2235,2268,2203,0,0,0,0,0,0,14.65,14.61,14.66
$GC,7320,1.54,212.0,2759,2207,2270,2203,135.2,5.9,612,7387,0.17,4.97,55.58,1.623,10788,0.176,0.068,2836,517,1984,2013,1955,0,0,0,0,0,0,14.51,14.23,13.71
$GC,7437,1.54,212.0,2836,517,2009,1955,123.3,14.4,634,7448,0.00,4.90,0.00,0.000,1030,0.000,0.052,2822,2203,1979,2008,1950,0,0,0,0,0,0,14.41,14.35,14.43
$GC,7627,1.54,212.0,2823,2204,2008,1946,99.8,10.7,654,7638,0.00,4.97,0.00,0.000,516,0.000,0.068,2843,510,1976,2006,1946,0,0,0,0,0,0,14.57,14.39,14.59
$GC,7668,1.54,212.0,2843,510,2005,1946,95.5,10.1,662,7679,0.00,4.90,0.00,0.000,1030,0.000,0.049,2836,2208,1975,2006,1944,0,0,0,0,0,0,14.48,14.42,14.50
$GC,7858,1.79,296.0,2837,2208,2007,1944,83.8,4.8,682,7934,0.20,0.00,71.70,1.534,11046,0.171,0.000,2898,2208,1642,1673,1611,0,0,0,0,0,0,14.38,14.14,13.55
$GC,8119,1.99,362.0,2897,2209,1667,1600,61.6,5.9,711,8187,0.20,5.15,55.00,1.477,10788,0.161,0.068,2985,502,1371,1392,1351,0,0,0,0,0,0,14.24,14.07,13.52
$GC,8214,2.02,362.0,2985,503,1387,1354,56.1,8.9,728,8221,0.00,5.00,0.00,0.000,1094,0.000,0.050,2977,2202,1368,1387,1350,0,0,0,0,0,0,14.21,14.15,14.23
$GC,8397,2.27,445.4,2977,2203,1388,1343,43.7,4.8,747,8477,0.22,5.20,67.32,1.445,10532,0.156,0.079,3044,3889,1033,1037,1030,0,0,0,0,0,0,14.22,13.94,13.47
$GC,8587,2.27,445.4,3044,3890,1034,1028,25.8,10.0,783,8599,0.00,4.97,0.00,0.000,1030,0.000,0.041,3064,2192,1028,1031,1025,0,0,0,0,0,0,14.23,14.18,14.26
$GC,8777,2.71,591.0,3064,2193,1033,1020,26.4,1.0,803,8894,0.40,5.10,106.53,1.414,10788,0.136,0.067,3211,513,494,464,524,0,0,0,0,0,0,14.23,13.93,13.42
$GC,8961,2.71,591.0,3211,514,458,526,6.9,13.9,837,8972,0.00,5.03,0.00,0.000,1030,0.000,0.050,3206,2203,492,462,523,0,0,0,0,0,0,14.12,14.07,14.14
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,-0.6,1.020618
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9039,-0.52,0.169,0,0,500,577.68
$SM_CCo,9042,0.00,0.000,0,0,500,577.44
$SM_CCo,9045,0.00,0.000,0,0,499,577.68
$SM_GC,1.13,10.70,0.60,0.00,0.200,0.071,0.000,203,2405,499,-6.62,-0.75,577.68,0,0,0,0,0,0,14.09,14.14,14.33
$RAFOS_CLK,466
$RAFOS_FIX,7400.791016,-14642.599609,071018,181825,0,1,0.16
$IRIDIUM_FIX,7403.63,-14642.48,071018,152430
$TT8_MAMPS,0.041944,0.656873
$HUMID,46.81
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,20.0,6.5
$24V_AH,13.02,61.612
$10V_AH,13.26,0.000
$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,24.575,177.925,633.000,0.000,0.000,0.000,0.000,394.550,5.000,0.000,19.878,0.000,6558.562,834.188,2067.560,227.525,0.000,1943.421,0.000,1211.934,2205.000,2.522,0.000
$DEVICE_MAMPS,461.295,205.785,2125.935,0.000,0.000,0.000,0.000,179.010,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.320,0.000,0.000,0.000
$MEM,334684
$DATA_FILE_SIZE,30071,844
$CAP_FILE_SIZE,99794,0
$CFSIZE,2097872896,2072379392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.8
$CURRENT,0.063,7.47,1
$GPS,071018,180631,7401.102,-14640.004,142,0.9,143,18.3,0.6,65.6,8,3.6