version: 66.13
glider: 228
mission: 14
dive: 135
start: 10 8 118 5 19 44
data:
$ID,228
$MISSION,14
$DIVE,135
$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,31
$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
$GPS1,081018,051204,7406.1289,-14631.1104,169,1.0,170,18.4,0.7,356.7,8,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.69
$_SM_ANGLEo,-74.4
$GPS2,081018,051904,7406.1636,-14631.0635,4,0.9,7,18.4,0.4,20.7,11,6.0
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,7.7,11735,-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,-146.0,199,2404,464,534,0.0,0.0,0,74,0.00,0.00,-62.08,0.003,16386,0.000,0.000,198,2404,1675,1770,1581,0,0,0,0,0,0,14.46,28.83,14.48
$GC,77,-0.92,-146.0,200,2409,1773,1583,2.5,-6.7,6,133,9.75,4.97,-35.88,0.005,18948,0.464,0.075,2046,712,3452,3575,3330,0,0,0,0,0,0,14.06,13.69,14.32
$GC,353,-0.92,-146.0,2045,712,3575,3331,92.1,-21.2,60,359,0.00,4.97,0.00,0.000,1030,0.000,0.060,2026,2396,3453,3574,3332,0,0,0,0,0,0,14.45,14.37,14.47
$GC,545,-0.92,-146.0,2027,2397,3575,3330,133.8,-21.0,80,551,0.00,4.95,0.00,0.000,516,0.000,0.068,2044,717,3452,3573,3332,0,0,0,0,0,0,14.60,14.40,14.62
$GC,561,-0.92,-146.0,2045,717,3575,3332,137.5,-21.4,83,568,0.00,4.93,0.00,0.000,1030,0.000,0.056,2025,2403,3452,3573,3332,0,0,0,0,0,0,14.45,14.38,14.47
$GC,746,-0.92,-146.0,2025,2402,3574,3332,176.1,-20.1,102,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3452,3573,3332,0,0,0,0,0,0,14.63,14.65,14.64
$GC,926,-0.92,-146.0,2025,2403,3574,3332,211.6,-19.2,120,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3452,3572,3332,0,0,0,0,0,0,14.66,14.68,14.67
$GC,1106,-0.92,-146.0,2025,2403,3573,3332,243.9,-16.9,138,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2403,3452,3573,3332,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1286,-0.92,-146.0,2025,2403,3574,3332,270.4,-13.8,149,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3452,3573,3332,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1586,-0.92,-146.0,2026,2403,3574,3332,309.4,-12.4,164,1592,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,714,3452,3573,3332,0,0,0,0,0,0,14.75,14.55,14.77
$GC,1622,-0.92,-146.0,2028,714,3572,3333,314.1,-13.3,171,1629,0.00,4.90,0.00,0.000,1030,0.000,0.057,2008,2405,3452,3572,3333,0,0,0,0,0,0,14.63,14.55,14.64
$GC,1927,-0.92,-146.0,2010,2405,3573,3333,353.3,-12.8,187,1938,0.00,4.90,0.00,0.000,516,0.000,0.069,2013,720,3452,3571,3333,0,0,0,0,0,0,14.76,14.56,14.77
$GC,1973,-0.92,-146.0,2014,721,3572,3334,359.4,-13.8,196,1980,0.17,4.88,0.00,0.000,3078,0.321,0.057,2029,2407,3452,3571,3333,0,0,0,0,0,0,14.43,14.59,14.63
$GC,2290,-0.92,-146.0,2029,2408,3572,3334,396.8,-11.6,214,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2407,3452,3571,3333,0,0,0,0,0,0,14.79,14.82,14.81
$GC,2590,-0.92,-146.0,2028,2408,3571,3333,431.0,-11.4,229,2599,0.00,4.90,0.00,0.000,516,0.000,0.069,2039,719,3452,3571,3333,0,0,0,0,0,0,14.81,14.61,14.83
$GC,2635,-0.92,-146.0,2040,720,3572,3334,436.4,-12.1,238,2644,0.00,4.85,0.00,0.000,1030,0.000,0.057,2020,2405,3452,3571,3333,0,0,0,0,0,0,14.70,14.62,14.71
$GC,2950,-0.92,-146.0,2020,2406,3571,3334,473.7,-11.8,256,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2406,3452,3571,3333,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3250,-0.92,-146.0,2021,2407,3572,3334,507.9,-11.1,271,3260,0.00,4.90,0.00,0.000,516,0.000,0.069,2024,713,3452,3570,3334,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3295,-0.92,-146.0,2025,714,3570,3335,513.3,-12.2,280,3301,0.00,4.85,0.00,0.000,1030,0.000,0.056,2006,2406,3452,3570,3334,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3611,-0.92,-146.0,2006,2407,3571,3335,550.0,-11.5,298,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2406,3452,3570,3334,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3911,-0.92,-146.0,2005,2406,3570,3335,584.5,-11.6,313,3921,0.00,4.88,0.00,0.000,516,0.000,0.067,2011,715,3452,3570,3335,0,0,0,0,0,0,14.86,14.66,14.88
$GC,3951,-0.92,-146.0,2011,717,3570,3336,589.5,-12.6,321,3961,0.17,4.82,0.00,0.000,3078,0.310,0.055,2027,2406,3453,3570,3336,0,0,0,0,0,0,14.52,14.66,14.71
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4054,-0.11,0.0,2029,2196,3570,3333,600.3,-10.6,329,4193,1.00,0.00,134.95,2.137,10246,0.279,0.000,2288,2193,2850,2927,2774,0,0,0,0,0,0,14.51,13.99,13.24
$STATE,4194,end apogee,CONTROL_FINISHED_OK
$STATE,4194,begin climb
$GC,4196,0.92,146.0,2288,2194,2927,2775,602.6,0.0,336,4339,1.15,0.00,139.18,2.037,10246,0.160,0.000,2623,2193,2255,2279,2232,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4631,0.92,146.0,2622,2199,2275,2215,524.9,20.7,358,4641,0.00,5.05,0.00,0.000,516,0.000,0.074,2644,517,2243,2273,2214,0,0,0,0,0,0,14.35,14.16,14.37
$GC,4651,0.92,146.0,2643,521,2270,2215,520.6,21.5,362,4661,0.00,4.97,0.00,0.000,1030,0.000,0.054,2635,2205,2241,2269,2214,0,0,0,0,0,0,14.26,14.19,14.27
$GC,4971,0.92,146.0,2635,2205,2269,2211,452.1,21.2,381,4978,0.00,5.03,0.00,0.000,516,0.000,0.072,2655,520,2239,2269,2210,0,0,0,0,0,0,14.52,14.33,14.54
$GC,4987,0.92,146.0,2656,521,2271,2212,448.5,21.7,384,4994,0.00,4.90,0.00,0.000,1030,0.000,0.053,2649,2204,2239,2269,2210,0,0,0,0,0,0,14.38,14.32,14.40
$GC,5293,0.92,146.0,2645,2205,2268,2209,381.8,21.5,400,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2204,2239,2269,2209,0,0,0,0,0,0,14.62,14.64,14.63
$GC,5593,0.92,146.0,2650,2205,2269,2209,320.7,19.6,415,5602,0.00,4.93,0.00,0.000,516,0.000,0.071,2669,521,2238,2270,2207,0,0,0,0,0,0,14.68,14.47,14.69
$GC,5613,0.92,146.0,2670,522,2270,2209,316.6,21.0,419,5623,0.15,4.85,0.00,0.000,5126,0.363,0.053,2633,2205,2237,2268,2207,0,0,0,0,0,0,14.33,14.50,14.55
$GC,5933,0.92,146.0,2634,2207,2271,2206,261.4,15.8,438,5942,0.00,4.95,0.00,0.000,516,0.000,0.072,2653,516,2238,2271,2205,0,0,0,0,0,0,14.72,14.53,14.74
$GC,5947,0.92,146.0,2654,517,2271,2206,259.0,16.4,441,5955,0.00,4.85,0.00,0.000,1030,0.000,0.052,2649,2209,2237,2269,2206,0,0,0,0,0,0,14.58,14.52,14.60
$GC,6253,0.95,146.0,2650,2210,2272,2205,222.7,8.9,469,6254,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2210,2236,2270,2203,0,0,0,0,0,0,14.73,14.74,14.76
$GC,6433,0.99,146.0,2648,2211,2271,2204,206.6,8.8,487,6434,0.00,0.00,0.00,0.000,70,0.000,0.000,2650,2210,2237,2271,2203,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6613,1.06,146.0,2649,2211,2271,2202,192.5,7.4,505,6614,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2210,2237,2271,2203,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6793,1.15,146.0,2649,2210,2271,2204,179.2,7.1,523,6794,0.17,0.00,0.00,0.000,2118,0.168,0.000,2699,2210,2236,2271,2202,0,0,0,0,0,0,14.52,14.64,14.62
$GC,6973,1.24,146.0,2699,2210,2271,2203,165.8,7.1,541,6980,0.00,5.03,0.00,0.000,324,0.000,0.086,2686,3895,2236,2270,2203,0,0,0,0,0,0,14.77,14.57,14.79
$GC,7065,1.29,146.0,2687,3896,2269,2208,157.9,8.3,559,7076,0.12,4.78,0.00,0.000,3142,0.206,0.041,2740,2201,2236,2267,2205,0,0,0,0,0,0,14.52,14.61,14.67
$GC,7256,1.40,146.0,2741,2202,2270,2207,145.2,6.4,579,7267,0.12,4.82,0.00,0.000,2628,0.197,0.063,2801,513,2235,2268,2203,0,0,0,0,0,0,14.54,14.59,14.62
$GC,7328,1.48,146.0,2800,512,2268,2203,139.9,7.4,593,7334,0.00,4.82,0.00,0.000,1094,0.000,0.050,2797,2212,2235,2268,2202,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7519,1.72,226.9,2797,2213,2269,2203,128.8,5.0,613,7591,0.28,0.00,68.93,1.618,10278,0.160,0.000,2878,2212,1925,1956,1895,0,0,0,0,0,0,14.55,14.29,13.66
$GC,7771,1.72,226.9,2878,2213,1951,1884,97.2,13.7,638,7781,0.00,5.07,0.00,0.000,260,0.000,0.082,2867,3891,1916,1948,1884,0,0,0,0,0,0,14.53,14.33,14.54
$GC,7802,1.72,226.9,2866,3892,1947,1886,92.7,14.9,644,7814,0.00,4.90,0.00,0.000,1030,0.000,0.043,2886,2201,1916,1948,1884,0,0,0,0,0,0,14.45,14.40,14.47
$GC,7992,1.93,295.2,2886,2202,1949,1882,75.3,5.8,664,8060,0.17,5.20,58.25,1.524,11044,0.173,0.079,2932,3891,1645,1676,1615,0,0,0,0,0,0,14.37,14.16,13.59
$GC,8065,2.00,295.2,2932,3890,1676,1615,71.0,7.6,675,8076,0.00,4.97,0.00,0.000,1094,0.000,0.041,2953,2193,1644,1676,1613,0,0,0,0,0,0,14.26,14.21,14.27
$GC,8255,2.45,446.0,2953,2194,1674,1604,59.7,0.7,695,8388,0.50,5.10,123.50,1.463,10788,0.136,0.065,3132,507,1029,1031,1027,0,0,0,0,0,0,14.26,13.86,13.40
$GC,8394,2.45,446.0,3132,508,1028,1030,48.8,15.5,720,8401,0.00,5.07,0.00,0.000,1030,0.000,0.051,3129,2199,1026,1025,1028,0,0,0,0,0,0,14.03,13.96,14.04
$GC,8580,2.51,446.0,3130,2200,1025,1017,25.9,7.9,739,8591,0.00,5.15,0.00,0.000,324,0.000,0.078,3128,3890,1019,1022,1017,0,0,0,0,0,0,14.35,14.16,14.35
$GC,8816,2.91,578.7,3130,3891,1021,1017,22.7,1.8,786,8932,0.38,4.90,105.38,1.411,11302,0.148,0.039,3263,2188,495,465,526,0,0,0,0,0,0,14.24,14.33,13.44
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9015,begin surface coast
$FINISH,-0.3,1.020669
$STATE,9025,end surface coast,CONTROL_FINISHED_OK
$STATE,9025,begin surface
$SM_CCo,9047,-0.45,0.197,0,0,500,577.19
$SM_CCo,9050,0.00,0.000,0,0,500,577.44
$SM_CCo,9053,0.00,0.000,0,0,500,577.44
$SM_GC,1.82,11.55,0.65,0.00,0.242,0.061,0.000,201,2403,500,-6.63,-0.90,577.44,0,0,0,0,0,0,14.09,14.13,14.31
$RAFOS_CLK,563
$RAFOS_FIX,7407.029785,-14631.446289,081018,070746,0,1,0.18
$IRIDIUM_FIX,7405.36,-14638.18,081018,023311
$TT8_MAMPS,0.041944,0.608188
$HUMID,46.73
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.05,63.767
$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,25.700,169.200,630.175,0.000,0.000,0.000,0.000,260.725,2.750,0.000,16.932,0.000,6566.074,831.527,1879.707,222.810,0.000,1780.471,0.000,1172.030,0.000,2.518,0.000
$DEVICE_MAMPS,463.590,85.680,2137.410,0.000,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.241,0.000,0.000,0.000
$MEM,334644
$DATA_FILE_SIZE,30063,816
$CAP_FILE_SIZE,97440,0
$CFSIZE,2097872896,2071592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.1
$CURRENT,0.046,317.95,1
$GPS,081018,075331,7407.200,-14630.370,123,0.9,124,18.4,0.9,11.8,9,3.3