version: 66.13
glider: 228
mission: 14
dive: 132
start: 10 7 118 21 8 4
data:
$ID,228
$MISSION,14
$DIVE,132
$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,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
$GPS1,071018,205732,7402.4360,-14638.2002,134,0.9,135,18.3,0.2,341.9,10,3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.33
$_SM_ANGLEo,-72.8
$GPS2,071018,210725,7402.5562,-14638.1357,4,0.7,5,18.3,0.5,118.6,11,6.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.6,19290,-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,-146.0,201,2404,463,532,0.0,0.0,0,84,0.00,0.00,-71.70,0.003,16386,0.000,0.000,200,2404,1891,2001,1782,0,0,0,0,0,0,14.47,28.83,14.49
$GC,87,-0.92,-146.0,200,2404,2001,1787,1.2,-10.3,7,133,9.77,4.70,-29.02,0.005,18692,0.467,0.091,2006,3945,3451,3573,3330,0,0,0,0,0,0,14.09,13.68,14.34
$GC,358,-0.92,-146.0,2006,3945,3564,3340,96.3,-24.5,60,365,0.00,4.47,0.00,0.000,1030,0.000,0.043,2023,2395,3451,3563,3340,0,0,0,0,0,0,14.45,14.38,14.46
$GC,543,-0.92,-146.0,2023,2394,3563,3340,134.5,-19.9,79,554,0.00,4.72,0.00,0.000,260,0.000,0.086,2006,3947,3451,3563,3340,0,0,0,0,0,0,14.59,14.40,14.61
$GC,604,-0.92,-146.0,2006,3948,3558,3342,148.2,-23.2,91,609,0.00,4.45,0.00,0.000,1030,0.000,0.044,2015,2401,3450,3560,3341,0,0,0,0,0,0,14.51,14.45,14.52
$GC,794,-0.92,-146.0,2014,2400,3561,3341,187.5,-19.9,111,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2401,3451,3561,3341,0,0,0,0,0,0,14.64,14.66,14.66
$GC,974,-0.92,-146.0,2015,2401,3562,3342,221.1,-18.5,129,981,0.00,4.93,0.00,0.000,516,0.000,0.066,2015,706,3451,3561,3341,0,0,0,0,0,0,14.67,14.48,14.69
$GC,996,-0.92,-146.0,2015,706,3562,3342,225.1,-19.4,133,1002,0.15,4.93,0.00,0.000,3078,0.327,0.055,2025,2401,3450,3560,3341,0,0,0,0,0,0,14.35,14.47,14.51
$GC,1189,-0.92,-146.0,2025,2402,3562,3342,254.1,-14.2,152,1199,0.00,4.65,0.00,0.000,260,0.000,0.089,2007,3949,3450,3560,3341,0,0,0,0,0,0,14.70,14.49,14.71
$GC,1204,-0.92,-146.0,2007,3949,3559,3343,256.5,-13.6,155,1211,0.00,4.43,0.00,0.000,1030,0.000,0.041,2014,2392,3450,3559,3342,0,0,0,0,0,0,14.59,14.54,14.61
$GC,1510,-0.92,-146.0,2014,2392,3559,3342,295.9,-12.8,171,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2391,3450,3559,3342,0,0,0,0,0,0,14.73,14.76,14.76
$GC,1810,-0.92,-146.0,2015,2392,3560,3344,332.8,-12.2,186,1819,0.00,4.88,0.00,0.000,516,0.000,0.066,2014,705,3450,3559,3342,0,0,0,0,0,0,14.77,14.57,14.78
$GC,1834,-0.92,-146.0,2016,706,3560,3343,336.2,-14.2,191,1845,0.17,4.90,0.00,0.000,3078,0.319,0.054,2030,2406,3450,3559,3342,0,0,0,0,0,0,14.42,14.58,14.62
$GC,2150,-0.92,-146.0,2029,2406,3559,3342,372.2,-11.1,209,2156,0.00,4.90,0.00,0.000,516,0.000,0.064,2042,708,3450,3558,3342,0,0,0,0,0,0,14.79,14.59,14.81
$GC,2191,-0.92,-146.0,2042,708,3559,3343,377.0,-11.9,217,2197,0.00,4.88,0.00,0.000,1030,0.000,0.054,2023,2401,3450,3559,3342,0,0,0,0,0,0,14.68,14.60,14.69
$GC,2512,-0.92,-146.0,2023,2402,3559,3343,413.3,-11.1,236,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2401,3450,3559,3342,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2812,-0.92,-146.0,2024,2402,3560,3343,447.4,-11.2,251,2822,0.00,4.90,0.00,0.000,516,0.000,0.069,2028,710,3450,3558,3342,0,0,0,0,0,0,14.82,14.62,14.84
$GC,2862,-0.92,-146.0,2028,710,3559,3343,453.5,-12.3,261,2868,0.00,4.88,0.00,0.000,1030,0.000,0.056,2009,2405,3450,3558,3342,0,0,0,0,0,0,14.71,14.62,14.72
$GC,3173,-0.92,-146.0,2009,2406,3559,3343,489.7,-11.5,278,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2405,3450,3558,3342,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3473,-0.92,-146.0,2009,2406,3559,3343,524.3,-11.4,293,3479,0.00,4.88,0.00,0.000,516,0.000,0.063,2014,708,3450,3558,3342,0,0,0,0,0,0,14.85,14.64,14.86
$GC,3524,-0.92,-146.0,2015,708,3559,3344,530.5,-12.3,303,3535,0.17,4.85,0.00,0.000,3078,0.317,0.052,2030,2404,3450,3558,3343,0,0,0,0,0,0,14.50,14.66,14.70
$GC,3834,-0.92,-146.0,2030,2404,3559,3343,563.1,-10.2,320,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2404,3450,3558,3343,0,0,0,0,0,0,14.85,14.88,14.87
$GC,4134,-0.92,-146.0,2031,2405,3559,3344,593.7,-10.3,335,4144,0.00,4.85,0.00,0.000,516,0.000,0.063,2042,712,3450,3558,3343,0,0,0,0,0,0,14.87,14.66,14.88
$GC,4174,-0.92,-146.0,2043,713,3559,3345,598.0,-11.0,343,4184,0.00,4.82,0.00,0.000,1030,0.000,0.052,2022,2406,3451,3558,3344,0,0,0,0,0,0,14.75,14.67,14.76
$STATE,4192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4192,begin apogee
$GC,4198,-0.11,0.0,2023,2173,3559,3345,600.2,-11.1,347,4337,1.02,0.10,134.38,2.157,10246,0.290,0.135,2285,2218,2851,2921,2781,0,0,0,0,0,0,14.54,13.97,13.23
$STATE,4338,end apogee,CONTROL_FINISHED_OK
$STATE,4338,begin climb
$GC,4340,0.92,146.0,2287,2219,2922,2781,603.0,0.0,354,4487,1.15,5.22,136.98,2.059,10756,0.161,0.070,2640,535,2255,2277,2234,0,0,0,0,0,0,13.93,13.74,13.04
$GC,4504,0.92,146.0,2640,535,2269,2235,585.1,20.6,375,4514,0.00,5.00,0.00,0.000,1030,0.000,0.049,2633,2189,2250,2268,2232,0,0,0,0,0,0,13.89,13.83,13.91
$GC,4819,0.92,146.0,2634,2189,2268,2219,517.9,21.3,393,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2188,2243,2269,2218,0,0,0,0,0,0,14.38,14.40,14.40
$GC,5119,0.92,146.0,2633,2189,2269,2215,454.6,20.9,408,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2189,2241,2268,2215,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5419,0.92,146.0,2634,2189,2270,2214,392.7,20.6,423,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2188,2240,2269,2212,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5719,0.92,146.0,2634,2193,2270,2213,331.2,20.2,438,5729,0.00,4.85,0.00,0.000,516,0.000,0.070,2653,535,2240,2269,2212,0,0,0,0,0,0,14.68,14.48,14.70
$GC,5739,0.92,146.0,2653,535,2268,2213,327.2,20.3,442,5749,0.00,4.82,0.00,0.000,1030,0.000,0.053,2648,2208,2240,2268,2212,0,0,0,0,0,0,14.57,14.50,14.59
$GC,6059,0.92,146.0,2649,2209,2269,2211,267.1,17.5,461,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2208,2239,2268,2211,0,0,0,0,0,0,14.72,14.74,14.74
$GC,6359,0.92,146.0,2649,2209,2269,2211,224.6,11.4,485,6365,0.00,5.05,0.00,0.000,260,0.000,0.086,2649,3895,2239,2268,2210,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6395,0.92,146.0,2650,3896,2268,2214,220.2,12.5,492,6402,0.20,4.78,0.00,0.000,5126,0.353,0.044,2629,2220,2240,2268,2212,0,0,0,0,0,0,14.40,14.58,14.60
$GC,6582,0.96,146.0,2629,2219,2269,2209,203.0,8.5,511,6583,0.00,0.00,0.00,0.000,70,0.000,0.000,2629,2219,2239,2269,2209,0,0,0,0,0,0,14.76,14.78,14.77
$GC,6761,1.04,146.0,2630,2219,2271,2209,189.2,7.3,529,6768,0.12,5.03,0.00,0.000,2372,0.181,0.082,2662,3897,2238,2269,2208,0,0,0,0,0,0,14.54,14.52,14.60
$GC,6808,1.04,146.0,2662,3898,2267,2212,185.1,9.8,538,6814,0.00,4.82,0.00,0.000,1030,0.000,0.043,2682,2199,2239,2267,2211,0,0,0,0,0,0,14.66,14.60,14.68
$GC,6993,1.13,146.0,2684,2199,2268,2209,171.0,7.2,557,6999,0.00,4.88,0.00,0.000,580,0.000,0.064,2704,505,2238,2269,2208,0,0,0,0,0,0,14.77,14.57,14.78
$GC,7064,1.18,146.0,2704,505,2268,2209,165.4,8.2,571,7075,0.00,4.85,0.00,0.000,1094,0.000,0.047,2699,2205,2237,2268,2207,0,0,0,0,0,0,14.66,14.61,14.69
$GC,7254,1.28,146.0,2700,2206,2270,2207,152.2,6.7,591,7265,0.12,5.00,0.00,0.000,2372,0.187,0.081,2729,3889,2238,2268,2209,0,0,0,0,0,0,14.55,14.57,14.62
$GC,7291,1.38,146.0,2729,3889,2268,2212,149.2,6.8,598,7297,0.00,4.80,0.00,0.000,1094,0.000,0.041,2750,2192,2241,2267,2216,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7476,1.49,146.0,2752,2192,2270,2208,137.0,6.2,617,7477,0.17,0.00,0.00,0.000,2118,0.176,0.000,2801,2191,2238,2269,2207,0,0,0,0,0,0,14.51,14.64,14.62
$GC,7656,1.72,221.3,2802,2192,2270,2207,126.0,5.3,635,7727,0.25,0.00,63.30,1.623,10278,0.162,0.000,2875,2191,1948,1978,1919,0,0,0,0,0,0,14.52,14.33,13.68
$GC,7907,1.72,221.3,2874,2192,1973,1912,96.5,14.2,660,7919,0.00,5.15,0.00,0.000,260,0.000,0.081,2855,3885,1942,1971,1913,0,0,0,0,0,0,14.54,14.35,14.56
$GC,7959,1.72,221.3,2855,3885,1970,1913,89.4,13.9,670,7970,0.00,4.85,0.00,0.000,1030,0.000,0.043,2875,2201,1940,1969,1912,0,0,0,0,0,0,14.46,14.40,14.48
$GC,8149,2.00,316.8,2874,2201,1970,1910,74.0,4.1,690,8241,0.30,5.28,80.50,1.525,10532,0.156,0.079,2947,3885,1558,1587,1529,0,0,0,0,0,0,14.38,14.05,13.52
$GC,8466,2.54,494.8,2946,3885,1580,1525,50.9,-1.0,748,8620,0.55,4.90,142.18,1.451,11302,0.142,0.038,3138,2180,832,822,842,0,0,0,0,0,0,14.21,14.30,13.34
$GC,8796,2.76,570.0,3138,2182,819,831,18.6,5.3,794,8866,0.25,5.35,60.92,1.388,10532,0.145,0.080,3208,3889,525,498,552,0,0,0,0,0,0,14.07,13.95,13.43
$GC,8896,2.76,570.0,3208,3889,496,552,10.6,13.3,811,8903,0.00,5.03,0.00,0.000,1030,0.000,0.048,3228,2212,523,495,551,0,0,0,0,0,0,14.09,14.03,14.10
$STATE,9008,end climb,SURFACE_DEPTH_REACHED
$STATE,9008,begin surface coast
$FINISH,-0.0,1.020652
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9039,50.65,0.405,1,0,498,577.44
$SM_CCo,9098,-0.12,0.701,0,0,499,577.68
$SM_CCo,9102,0.00,0.000,0,0,499,577.68
$SM_GC,2.87,11.10,0.57,0.00,0.223,0.070,0.000,202,2401,499,-6.62,-0.99,577.68,0,0,0,0,0,0,14.11,14.16,14.33
$RAFOS_CLK,566
$RAFOS_FIX,7403.319336,-14638.802734,071018,232359,0,1,0.16
$IRIDIUM_FIX,7403.03,-14653.32,071018,210017
$TT8_MAMPS,0.042693,0.863597
$HUMID,47.12
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.8,9.0
$24V_AH,13.04,62.480
$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,25.525,176.925,618.250,50.650,0.000,0.000,0.000,374.050,6.000,0.000,14.999,0.000,6619.281,870.434,1997.147,226.437,0.000,1944.464,0.000,1183.502,0.000,2.515,0.000
$DEVICE_MAMPS,466.650,135.405,2156.535,405.450,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.615,0.000,0.000,0.000
$MEM,334616
$DATA_FILE_SIZE,30061,824
$CAP_FILE_SIZE,99888,0
$CFSIZE,2097872896,2072051712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.7
$CURRENT,0.094,357.26,1
$GPS,071018,234121,7403.784,-14635.972,5,1.9,52,18.3,0.4,46.4,5,6.2