version: 66.13
glider: 228
mission: 14
dive: 133
start: 10 7 118 23 55 40
data:
$ID,228
$MISSION,14
$DIVE,133
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,071018,234121,7403.7837,-14635.9717,5,1.9,52,18.3,0.4,46.4,5,6.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-74.0
$GPS2,071018,235501,7403.9731,-14635.6924,6,5.1,45,18.3,0.9,31.1,4,7.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.6,16391,-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,-146.0,197,2403,462,540,0.0,0.0,0,74,0.00,0.00,-62.03,0.003,16386,0.000,0.000,196,2402,1759,1877,1641,0,0,0,0,0,0,14.50,28.83,14.52
$GC,77,-0.92,-146.0,197,2403,1878,1647,4.7,-11.4,6,127,9.65,4.72,-31.70,0.005,18692,0.461,0.096,2006,3947,3453,3577,3330,0,0,0,0,0,0,14.11,13.48,14.37
$GC,360,-0.92,-146.0,2006,3948,3566,3341,103.0,-24.0,60,371,0.00,4.47,0.00,0.000,1030,0.000,0.044,2019,2398,3453,3566,3340,0,0,0,0,0,0,14.45,14.39,14.46
$GC,548,-0.92,-146.0,2019,2399,3567,3341,144.6,-20.7,80,559,0.00,4.70,0.00,0.000,260,0.000,0.085,2002,3947,3452,3565,3340,0,0,0,0,0,0,14.56,14.35,14.57
$GC,679,-0.92,-146.0,2001,3945,3562,3343,175.3,-23.9,106,690,0.00,4.47,0.00,0.000,1030,0.000,0.043,2014,2392,3452,3561,3343,0,0,0,0,0,0,14.49,14.42,14.50
$GC,869,-0.92,-146.0,2015,2393,3563,3344,214.4,-19.5,126,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2392,3452,3562,3343,0,0,0,0,0,0,14.59,14.61,14.62
$GC,1049,-0.92,-146.0,2014,2393,3561,3343,247.0,-17.1,144,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2392,3451,3561,3342,0,0,0,0,0,0,14.61,14.63,14.62
$GC,1229,-0.92,-146.0,2015,2393,3562,3344,274.2,-14.6,154,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2392,3452,3561,3343,0,0,0,0,0,0,14.63,14.65,14.64
$GC,1529,-0.92,-146.0,2015,2393,3561,3343,313.5,-12.9,169,1536,0.00,4.90,0.00,0.000,516,0.000,0.065,2014,702,3452,3561,3343,0,0,0,0,0,0,14.65,14.47,14.67
$GC,1571,-0.92,-146.0,2014,702,3561,3343,319.1,-13.9,177,1578,0.17,4.93,0.00,0.000,3078,0.318,0.055,2029,2402,3452,3561,3343,0,0,0,0,0,0,14.33,14.48,14.52
$GC,1893,-0.92,-146.0,2030,2403,3562,3344,357.1,-11.5,196,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2402,3452,3561,3343,0,0,0,0,0,0,14.66,14.69,14.69
$GC,2193,-0.92,-146.0,2030,2403,3561,3343,391.2,-11.5,211,2202,0.00,4.95,0.00,0.000,516,0.000,0.070,2040,711,3451,3560,3343,0,0,0,0,0,0,14.68,14.50,14.70
$GC,2237,-0.92,-146.0,2040,712,3562,3344,396.7,-12.3,220,2248,0.00,4.90,0.00,0.000,1030,0.000,0.057,2020,2404,3452,3560,3344,0,0,0,0,0,0,14.57,14.50,14.59
$MODEM_MSG,CACST,6,1,20181008000132.118086,18,43,04,0049,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*07
$MODEM_MSG,CACST,6,1,20181008000540.825673,18,74,18,0082,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04
$MODEM_MSG,CACST,6,1,20181008001037.444007,18,71,18,0053,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04
$GC,2553,-0.92,-146.0,2021,2405,3562,3344,434.4,-12.0,238,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2404,3451,3560,3343,0,0,0,0,0,0,14.72,14.74,14.74
$GC,2853,-0.92,-146.0,2020,2405,3561,3343,469.4,-11.6,253,2859,0.00,4.95,0.00,0.000,516,0.000,0.070,2024,703,3451,3560,3343,0,0,0,0,0,0,14.76,14.57,14.78
$GC,2909,-0.92,-146.0,2024,704,3560,3343,476.6,-13.0,264,2915,0.00,4.90,0.00,0.000,1030,0.000,0.057,2006,2403,3451,3560,3343,0,0,0,0,0,0,14.65,14.57,14.66
$GC,3214,-0.92,-146.0,2006,2404,3561,3344,513.8,-12.3,280,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2403,3451,3560,3343,0,0,0,0,0,0,14.79,14.81,14.81
$GC,3514,-0.92,-146.0,2006,2404,3560,3344,549.6,-11.7,295,3523,0.00,4.93,0.00,0.000,516,0.000,0.070,2011,704,3451,3560,3343,0,0,0,0,0,0,14.81,14.61,14.83
$GC,3554,-0.92,-146.0,2011,705,3560,3344,554.6,-12.7,303,3564,0.17,4.88,0.00,0.000,3078,0.312,0.057,2027,2402,3451,3559,3344,0,0,0,0,0,0,14.47,14.62,14.66
$GC,3874,-0.92,-146.0,2026,2402,3560,3345,588.7,-10.5,322,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2401,3452,3560,3344,0,0,0,0,0,0,14.83,14.85,14.85
$STATE,3991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3992,begin apogee
$GC,3997,-0.11,0.0,2028,2184,3560,3345,601.2,-10.4,328,4137,1.00,0.05,135.32,2.133,10246,0.282,0.207,2287,2207,2851,2922,2780,0,0,0,0,0,0,14.52,13.91,13.23
$STATE,4138,end apogee,CONTROL_FINISHED_OK
$STATE,4138,begin climb
$GC,4140,0.92,146.0,2288,2208,2922,2780,603.5,0.0,335,4282,1.15,0.00,138.98,2.036,10246,0.162,0.000,2620,2207,2257,2280,2235,0,0,0,0,0,0,13.92,13.74,13.05
$GC,4574,0.92,146.0,2621,2208,2274,2217,525.6,20.5,357,4585,0.00,5.10,0.00,0.000,516,0.000,0.076,2641,521,2243,2272,2215,0,0,0,0,0,0,14.35,14.15,14.36
$GC,4599,0.92,146.0,2641,522,2269,2216,520.1,22.3,362,4606,0.00,4.97,0.00,0.000,1030,0.000,0.056,2635,2200,2241,2268,2215,0,0,0,0,0,0,14.26,14.19,14.27
$GC,4916,0.92,146.0,2636,2201,2270,2214,452.7,20.9,380,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2200,2240,2268,2212,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5216,0.92,146.0,2635,2201,2269,2211,390.4,20.7,395,5226,0.00,4.97,0.00,0.000,516,0.000,0.073,2655,516,2240,2270,2210,0,0,0,0,0,0,14.62,14.42,14.63
$GC,5231,0.92,146.0,2656,517,2270,2211,387.3,20.6,398,5239,0.00,4.90,0.00,0.000,1030,0.000,0.054,2649,2206,2240,2269,2211,0,0,0,0,0,0,14.47,14.40,14.49
$GC,5536,0.92,146.0,2649,2207,2269,2209,323.6,20.3,414,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2206,2239,2269,2209,0,0,0,0,0,0,14.67,14.69,14.69
$GC,5836,0.92,146.0,2649,2207,2269,2207,268.3,17.4,429,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2206,2238,2269,2208,0,0,0,0,0,0,14.71,14.73,14.73
$GC,6136,0.92,146.0,2650,2207,2271,2207,227.0,11.1,453,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2206,2238,2270,2207,0,0,0,0,0,0,14.73,14.76,14.76
$GC,6316,0.96,146.0,2650,2207,2272,2207,210.3,8.5,471,6317,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2206,2238,2271,2206,0,0,0,0,0,0,14.74,14.77,14.76
$GC,6496,1.03,146.0,2649,2206,2271,2206,195.8,7.6,489,6509,0.00,5.05,0.00,0.000,324,0.000,0.088,2649,3896,2238,2268,2208,0,0,0,0,0,0,14.76,14.55,14.78
$GC,6529,1.06,146.0,2650,3898,2269,2210,192.9,9.1,495,6540,0.00,4.82,0.00,0.000,1094,0.000,0.044,2670,2199,2237,2269,2206,0,0,0,0,0,0,14.65,14.59,14.66
$GC,6719,1.14,146.0,2669,2200,2271,2205,177.3,7.4,515,6730,0.00,4.88,0.00,0.000,580,0.000,0.067,2691,502,2237,2269,2205,0,0,0,0,0,0,14.76,14.56,14.78
$GC,6775,1.21,146.0,2691,503,2269,2205,172.9,7.8,526,6783,0.00,4.88,0.00,0.000,1094,0.000,0.050,2689,2212,2236,2269,2204,0,0,0,0,0,0,14.66,14.60,14.68
$GC,6960,1.31,146.0,2688,2213,2269,2204,160.4,6.4,545,6972,0.17,4.93,0.00,0.000,2372,0.167,0.081,2744,3889,2237,2268,2207,0,0,0,0,0,0,14.54,14.53,14.62
$GC,7052,1.35,146.0,2745,3890,2268,2210,152.2,8.9,563,7063,0.00,4.78,0.00,0.000,1094,0.000,0.040,2765,2196,2237,2268,2207,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7242,1.46,146.0,2765,2196,2270,2206,139.0,6.4,583,7253,0.00,5.00,0.00,0.000,324,0.000,0.077,2747,3886,2237,2267,2208,0,0,0,0,0,0,14.78,14.57,14.80
$GC,7338,1.55,146.0,2747,3887,2268,2210,132.2,6.9,602,7346,0.20,4.78,0.00,0.000,3142,0.181,0.039,2825,2191,2237,2267,2208,0,0,0,0,0,0,14.54,14.62,14.66
$GC,7525,1.84,241.3,2825,2192,2268,2206,122.9,4.1,621,7614,0.30,4.97,80.25,1.611,10788,0.155,0.065,2936,515,1866,1893,1839,0,0,0,0,0,0,14.52,14.22,13.62
$GC,7639,1.84,241.3,2937,516,1888,1840,111.5,18.5,637,7651,0.00,4.93,0.00,0.000,1030,0.000,0.050,2931,2200,1862,1886,1839,0,0,0,0,0,0,14.32,14.26,14.34
$GC,7829,1.84,241.3,2931,2201,1887,1830,82.6,12.4,657,7841,0.00,5.12,0.00,0.000,260,0.000,0.080,2931,3899,1857,1883,1832,0,0,0,0,0,0,14.50,14.31,14.52
$GC,7916,1.84,241.3,2931,3899,1881,1832,72.4,9.6,674,7925,0.15,4.93,0.00,0.000,5126,0.415,0.044,2928,2196,1855,1881,1830,0,0,0,0,0,0,14.16,14.38,14.40
$GC,8103,2.38,422.0,2928,2196,1882,1827,71.4,-1.2,693,8264,0.50,5.38,147.35,1.493,10532,0.142,0.081,3069,3887,1127,1135,1119,0,0,0,0,0,0,14.37,13.92,13.38
$GC,8489,2.60,496.2,3069,3889,1129,1115,29.4,5.4,767,8557,0.22,4.95,59.47,1.414,11302,0.171,0.041,3156,2191,827,823,831,0,0,0,0,0,0,14.14,14.23,13.47
$GC,8732,2.81,564.7,3157,2191,819,822,14.7,5.8,797,8800,0.22,5.05,55.75,1.394,10788,0.158,0.066,3248,514,547,525,570,0,0,0,0,0,0,14.14,14.00,13.48
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,-0.1,1.020647
$STATE,8888,end surface coast,CONTROL_FINISHED_OK
$STATE,8888,begin surface
$SM_CCo,8914,55.35,0.497,1,0,497,577.44
$SM_CCo,8978,-0.15,0.583,0,0,500,577.68
$SM_CCo,8981,0.00,0.000,0,0,500,577.68
$SM_GC,1.06,11.30,5.68,0.00,0.233,0.052,0.000,201,2401,500,-6.62,-0.80,577.68,0,0,0,0,0,0,14.10,14.14,14.31
$RAFOS_CLK,547
$MODEM,2,1538957437,74.08334,-144.88333,37.444,54209.1
$MODEM,1,1538957140,74.43333,-147.95000,40.826,59104.9
$MODEM,0,1538956892,73.00000,-148.33333,92.118,133362.9
$RAFOS_FIX,7403.768555,-14636.663086,081018,000037,3,255,0.67
$IRIDIUM_FIX,7401.90,-14646.77,071018,234603
$TT8_MAMPS,0.041195,0.817908
$HUMID,46.14
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.05,62.922
$10V_AH,13.36,0.000
$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,25.225,158.400,617.125,55.350,0.000,0.000,0.000,499.275,6.250,0.000,56.640,0.000,6549.105,879.011,2161.451,229.238,0.000,2067.072,0.000,1187.969,2160.000,2.513,0.000
$DEVICE_MAMPS,461.295,206.550,2132.820,497.250,0.000,0.000,0.000,175.950,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8900.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.800,0.000,0.000,0.000
$MEM,334660
$DATA_FILE_SIZE,30040,827
$CAP_FILE_SIZE,99859,0
$CFSIZE,2097872896,2071887872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1446.7
$CURRENT,0.084,10.62,1
$GPS,081018,022809,7405.059,-14633.283,123,1.1,124,18.4,0.8,18.4,7,6.9