version: 66.13
glider: 228
mission: 14
dive: 137
start: 10 8 118 10 44 11
data:
$ID,228
$MISSION,14
$DIVE,137
$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
$GPS1,081018,103401,7408.2334,-14629.1240,68,0.7,69,18.4,0.3,112.3,12,2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.51
$_SM_ANGLEo,-75.4
$GPS2,081018,104324,7408.3105,-14629.1104,4,0.7,4,18.4,0.2,36.5,12,7.9
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,33.0,7716,-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,-146.0,194,2396,463,534,0.0,0.0,0,84,0.00,0.00,-71.57,0.003,16386,0.000,0.000,193,2395,1950,2052,1848,0,0,0,0,0,0,14.47,28.83,14.49
$GC,87,-0.92,-146.0,193,2396,2052,1852,4.9,-13.2,7,132,9.75,4.97,-26.62,0.005,18948,0.464,0.071,2046,709,3453,3577,3330,0,0,0,0,0,0,14.07,13.45,14.34
$GC,357,-0.92,-146.0,2047,709,3577,3333,94.5,-22.9,60,364,0.00,4.97,0.00,0.000,1030,0.000,0.057,2027,2402,3454,3576,3333,0,0,0,0,0,0,14.45,14.35,14.46
$GC,543,-0.92,-146.0,2028,2403,3577,3333,135.5,-21.3,79,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2402,3454,3575,3333,0,0,0,0,0,0,14.59,14.62,14.61
$GC,723,-0.92,-146.0,2028,2402,3577,3333,173.1,-20.6,97,729,0.00,4.68,0.00,0.000,260,0.000,0.090,2007,3948,3453,3575,3332,0,0,0,0,0,0,14.63,14.43,14.65
$GC,744,-0.92,-146.0,2007,3949,3572,3337,177.8,-22.4,101,750,0.00,4.45,0.00,0.000,1030,0.000,0.044,2024,2398,3453,3569,3337,0,0,0,0,0,0,14.54,14.47,14.57
$GC,935,-0.92,-146.0,2024,2397,3571,3338,216.2,-18.7,121,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2397,3454,3571,3337,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1116,-0.92,-146.0,2025,2398,3572,3338,247.7,-16.9,139,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2397,3454,3571,3337,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1295,-0.92,-146.0,2024,2398,3571,3338,273.7,-13.4,149,1302,0.00,4.90,0.00,0.000,516,0.000,0.066,2028,704,3454,3571,3337,0,0,0,0,0,0,14.72,14.52,14.73
$GC,1332,-0.92,-146.0,2029,704,3572,3339,279.1,-15.8,156,1339,0.00,4.93,0.00,0.000,1030,0.000,0.056,2009,2404,3454,3571,3338,0,0,0,0,0,0,14.59,14.52,14.62
$GC,1637,-0.92,-146.0,2008,2404,3571,3338,320.3,-13.1,172,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2405,3454,3571,3338,0,0,0,0,0,0,14.76,14.77,14.77
$GC,1937,-0.92,-146.0,2009,2405,3572,3335,358.5,-12.6,187,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2404,3454,3570,3338,0,0,0,0,0,0,14.78,14.80,14.81
$GC,2237,-0.92,-146.0,2009,2405,3572,3339,395.8,-12.4,202,2247,0.00,4.93,0.00,0.000,516,0.000,0.070,2011,711,3454,3570,3338,0,0,0,0,0,0,14.80,14.60,14.81
$GC,2302,-0.92,-146.0,2011,711,3571,3339,404.5,-13.4,215,2312,0.17,4.90,0.00,0.000,3078,0.324,0.058,2026,2405,3454,3570,3338,0,0,0,0,0,0,14.45,14.60,14.66
$GC,2617,-0.92,-146.0,2027,2406,3571,3339,440.9,-11.4,233,2623,0.00,4.93,0.00,0.000,516,0.000,0.069,2028,706,3454,3570,3338,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2643,-0.92,-146.0,2029,707,3571,3339,444.1,-13.1,238,2653,0.00,4.88,0.00,0.000,1030,0.000,0.055,2009,2401,3454,3570,3338,0,0,0,0,0,0,14.70,14.62,14.71
$GC,2958,-0.92,-146.0,2010,2402,3571,3339,482.4,-12.2,256,2969,0.00,4.90,0.00,0.000,516,0.000,0.068,2013,707,3453,3569,3338,0,0,0,0,0,0,14.82,14.62,14.84
$GC,2974,-0.92,-146.0,2015,708,3570,3339,484.4,-12.0,259,2981,0.17,4.88,0.00,0.000,3078,0.321,0.054,2029,2407,3453,3569,3338,0,0,0,0,0,0,14.47,14.63,14.68
$GC,3279,-0.92,-146.0,2028,2408,3569,3339,518.6,-10.9,275,3289,0.00,4.93,0.00,0.000,516,0.000,0.068,2036,704,3453,3569,3338,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3304,-0.92,-146.0,2037,704,3570,3339,521.6,-11.9,280,3314,0.00,4.88,0.00,0.000,1030,0.000,0.055,2017,2406,3454,3569,3339,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3619,-0.92,-146.0,2016,2406,3568,3339,557.0,-11.2,298,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2405,3454,3569,3339,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3919,-0.92,-146.0,2017,2406,3569,3339,589.9,-10.9,313,3925,0.00,4.90,0.00,0.000,516,0.000,0.067,2017,706,3453,3568,3339,0,0,0,0,0,0,14.85,14.66,14.88
$GC,3965,-0.92,-146.0,2017,707,3569,3341,595.5,-12.6,322,3975,0.15,4.85,0.00,0.000,3078,0.314,0.054,2026,2402,3453,3568,3339,0,0,0,0,0,0,14.52,14.65,14.71
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4024,-0.11,0.0,2028,2183,3568,3340,601.4,-10.9,327,4163,1.00,0.05,134.93,2.134,10246,0.277,0.203,2289,2207,2852,2928,2777,0,0,0,0,0,0,14.54,13.93,13.26
$STATE,4164,end apogee,CONTROL_FINISHED_OK
$STATE,4164,begin climb
$GC,4167,0.92,146.0,2289,2207,2927,2778,603.6,0.0,334,4310,1.12,0.00,139.57,2.033,10246,0.158,0.000,2617,2206,2256,2279,2234,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4600,0.92,146.0,2620,2207,2275,2216,526.0,20.6,356,4611,0.00,5.10,0.00,0.000,516,0.000,0.073,2638,519,2244,2274,2215,0,0,0,0,0,0,14.31,14.13,14.33
$GC,4641,0.92,146.0,2638,519,2270,2216,517.2,21.9,364,4652,0.00,4.97,0.00,0.000,1030,0.000,0.056,2633,2199,2242,2269,2215,0,0,0,0,0,0,14.23,14.16,14.26
$GC,4962,0.92,146.0,2633,2199,2269,2213,448.8,21.2,383,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2199,2240,2269,2212,0,0,0,0,0,0,14.46,14.48,14.48
$GC,5262,0.92,146.0,2633,2200,2270,2212,386.5,20.5,398,5272,0.00,4.97,0.00,0.000,516,0.000,0.072,2653,517,2241,2271,2211,0,0,0,0,0,0,14.54,14.36,14.56
$GC,5282,0.92,146.0,2654,518,2271,2212,382.2,22.1,402,5292,0.00,4.93,0.00,0.000,1030,0.000,0.055,2647,2204,2239,2269,2210,0,0,0,0,0,0,14.45,14.38,14.47
$GC,5602,0.92,146.0,2647,2204,2269,2210,315.4,20.3,421,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2204,2239,2269,2209,0,0,0,0,0,0,14.59,14.62,14.62
$GC,5902,0.92,146.0,2647,2205,2271,2209,263.2,15.0,436,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,2239,2270,2208,0,0,0,0,0,0,14.63,14.65,14.65
$GC,6202,0.92,146.0,2646,2205,2274,2208,225.6,11.0,461,6208,0.00,4.97,0.00,0.000,516,0.000,0.072,2667,516,2239,2271,2207,0,0,0,0,0,0,14.64,14.45,14.66
$GC,6229,0.92,146.0,2668,517,2270,2208,222.7,10.2,466,6236,0.15,4.88,0.00,0.000,5126,0.347,0.052,2633,2203,2238,2269,2208,0,0,0,0,0,0,14.30,14.47,14.51
$GC,6415,0.97,146.0,2633,2205,2272,2205,206.2,8.1,485,6426,0.00,5.10,0.00,0.000,324,0.000,0.086,2632,3895,2238,2269,2208,0,0,0,0,0,0,14.64,14.45,14.66
$GC,6451,0.97,146.0,2632,3895,2268,2210,202.5,10.7,492,6458,0.00,4.82,0.00,0.000,1030,0.000,0.043,2652,2207,2238,2268,2208,0,0,0,0,0,0,14.55,14.50,14.57
$GC,6637,1.06,146.0,2652,2207,2273,2206,188.7,7.0,511,6647,0.00,4.90,0.00,0.000,580,0.000,0.066,2674,515,2237,2270,2205,0,0,0,0,0,0,14.65,14.44,14.66
$GC,6658,1.14,146.0,2674,516,2271,2206,187.1,7.3,515,6669,0.00,4.88,0.00,0.000,1094,0.000,0.050,2673,2211,2237,2271,2204,0,0,0,0,0,0,14.52,14.46,14.54
$GC,6849,1.24,146.0,2672,2211,2271,2205,173.3,6.8,535,6860,0.15,4.95,0.00,0.000,2628,0.181,0.067,2742,511,2237,2270,2204,0,0,0,0,0,0,14.45,14.50,14.53
$GC,6865,1.32,146.0,2742,512,2269,2205,172.0,7.4,538,6872,0.00,4.82,0.00,0.000,1094,0.000,0.048,2729,2204,2237,2270,2204,0,0,0,0,0,0,14.58,14.52,14.59
$GC,7050,1.41,146.0,2730,2205,2272,2205,158.1,7.0,557,7057,0.15,5.03,0.00,0.000,2372,0.181,0.080,2757,3888,2239,2270,2209,0,0,0,0,0,0,14.47,14.51,14.54
$GC,7112,1.43,146.0,2757,3889,2268,2210,152.5,9.3,569,7119,0.00,4.82,0.00,0.000,1094,0.000,0.044,2778,2195,2238,2268,2208,0,0,0,0,0,0,14.60,14.54,14.62
$GC,7304,1.63,213.2,2778,2194,2270,2206,139.6,5.8,589,7371,0.20,5.20,57.42,1.627,10532,0.168,0.081,2837,3893,1979,2010,1949,0,0,0,0,0,0,14.49,14.26,13.64
$GC,7386,1.63,213.2,2836,3893,2008,1950,132.1,13.2,604,7393,0.00,4.95,0.00,0.000,1030,0.000,0.046,2857,2196,1978,2007,1949,0,0,0,0,0,0,14.35,14.30,14.37
$GC,7571,1.63,213.2,2858,2195,2006,1942,107.2,12.3,623,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2194,1973,2005,1942,0,0,0,0,0,0,14.54,14.55,14.55
$GC,7751,1.69,213.2,2856,2195,2005,1941,89.4,7.9,641,7758,0.00,4.95,0.00,0.000,580,0.000,0.068,2879,510,1972,2004,1940,0,0,0,0,0,0,14.57,14.40,14.59
$GC,7803,1.75,213.2,2878,510,1999,1943,85.2,8.2,651,7814,0.00,4.90,0.00,0.000,1094,0.000,0.050,2870,2207,1970,2000,1940,0,0,0,0,0,0,14.47,14.41,14.49
$GC,7993,2.15,345.9,2871,2208,2002,1940,77.0,1.8,671,8117,0.47,5.28,111.95,1.522,10532,0.143,0.081,2998,3889,1438,1461,1415,0,0,0,0,0,0,14.39,14.00,13.45
$GC,8344,2.73,540.4,2999,3889,1454,1410,51.3,-2.0,735,8513,0.57,4.93,155.65,1.433,11302,0.134,0.044,3200,2184,646,617,675,0,0,0,0,0,0,14.20,14.26,13.33
$GC,8698,2.82,540.4,3201,2185,616,664,9.4,6.9,785,8699,0.12,0.00,0.00,0.000,2118,0.181,0.000,3235,2184,641,615,667,0,0,0,0,0,0,14.08,14.19,14.18
$STATE,8815,end climb,SURFACE_DEPTH_REACHED
$STATE,8815,begin surface coast
$FINISH,-0.3,1.020689
$STATE,8836,end surface coast,CONTROL_FINISHED_OK
$STATE,8836,begin surface
$SM_CCo,8856,74.45,0.739,1,0,497,577.44
$SM_CCo,8939,-0.20,0.438,0,0,500,577.68
$SM_CCo,8942,0.00,0.000,0,0,500,577.44
$SM_GC,-0.70,11.10,0.65,0.00,0.226,0.073,0.000,203,2397,500,-6.61,-1.08,577.44,0,0,0,0,0,0,14.19,14.23,14.31
$RAFOS_CLK,277
$RAFOS_FIX,7408.952637,-14629.898438,081018,131313,0,1,0.14
$IRIDIUM_FIX,7409.40,-14629.52,081018,103653
$TT8_MAMPS,0.042693,0.834386
$HUMID,46.14
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.7,8.2
$24V_AH,13.05,64.636
$10V_AH,13.28,0.000
$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,25.300,178.500,599.525,74.450,0.000,0.000,0.000,346.725,4.000,0.000,13.578,0.000,6475.156,887.011,1944.501,225.400,0.000,1910.813,0.000,1148.083,2211.000,2.514,0.000
$DEVICE_MAMPS,463.590,203.490,2134.350,738.990,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8847.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.106,0.000,0.000,0.000
$MEM,334560
$DATA_FILE_SIZE,26701,799
$CAP_FILE_SIZE,99353,0
$CFSIZE,2097872896,2071232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.081,334.94,1
$GPS,081018,131402,7409.310,-14627.182,3,1.2,7,18.4,0.7,32.7,5,9.7