version: 66.13
glider: 228
mission: 14
dive: 141
start: 10 8 118 21 32 29
data:
$ID,228
$MISSION,14
$DIVE,141
$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,24
$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
$GPS1,081018,212439,7412.3345,-14621.8086,46,1.0,47,18.4,0.5,340.3,8,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-75.3
$GPS2,081018,213150,7412.3574,-14621.8574,5,1.0,8,18.4,0.1,0.0,8,7.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.7,666,-23.2,-10.000,-30.00,1611
$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,-0.90,-132.7,199,2394,462,534,0.0,0.0,0,84,0.00,0.00,-71.50,0.003,16386,0.000,0.000,198,2393,1916,2020,1812,0,0,0,0,0,0,14.45,28.83,14.47
$GC,87,-0.90,-132.7,199,2394,2021,1818,4.6,-11.2,7,133,9.88,4.75,-27.58,0.005,18692,0.467,0.094,2012,3943,3398,3517,3279,0,0,0,0,0,0,14.05,13.44,14.33
$GC,358,-0.90,-132.7,2012,3943,3511,3288,101.2,-23.6,60,365,0.00,4.47,0.00,0.000,1030,0.000,0.044,2014,2398,3399,3511,3288,0,0,0,0,0,0,14.42,14.36,14.43
$GC,543,-0.90,-132.7,2015,2398,3512,3289,141.8,-21.1,79,554,0.00,4.70,0.00,0.000,260,0.000,0.085,1997,3942,3399,3510,3288,0,0,0,0,0,0,14.59,14.39,14.61
$GC,624,-0.90,-132.7,1998,3943,3509,3290,160.7,-23.9,95,634,0.00,4.45,0.00,0.000,1030,0.000,0.044,2010,2395,3398,3508,3289,0,0,0,0,0,0,14.51,14.45,14.52
$GC,814,-0.90,-132.7,2010,2394,3508,3289,200.5,-20.0,115,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2394,3398,3508,3289,0,0,0,0,0,0,14.64,14.66,14.66
$GC,994,-0.90,-132.7,2011,2395,3509,3290,233.9,-18.0,133,1000,0.00,4.90,0.00,0.000,516,0.000,0.065,2014,710,3398,3508,3288,0,0,0,0,0,0,14.66,14.48,14.69
$GC,1030,-0.90,-132.7,2014,711,3508,3290,240.9,-19.7,140,1038,0.17,4.90,0.00,0.000,3078,0.333,0.057,2030,2391,3398,3507,3289,0,0,0,0,0,0,14.33,14.48,14.53
$GC,1225,-0.90,-132.7,2030,2391,3508,3290,270.1,-13.5,153,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2391,3398,3507,3289,0,0,0,0,0,0,14.71,14.72,14.72
$GC,1525,-0.90,-132.7,2034,2391,3508,3290,307.0,-12.2,168,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2391,3398,3507,3289,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1825,-0.90,-132.7,2031,2392,3508,3290,341.1,-10.9,183,1835,0.00,4.93,0.00,0.000,516,0.000,0.069,2040,701,3397,3506,3289,0,0,0,0,0,0,14.77,14.57,14.81
$GC,1875,-0.90,-132.7,2041,703,3508,3290,347.2,-12.7,193,1882,0.00,4.90,0.00,0.000,1030,0.000,0.056,2021,2402,3397,3506,3289,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2187,-0.90,-132.7,2020,2402,3506,3290,382.2,-11.3,210,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2401,3396,3503,3289,0,0,0,0,0,0,14.79,14.81,14.81
$GC,2487,-0.90,-132.7,2020,2402,3506,3291,415.4,-10.9,225,2493,0.00,4.90,0.00,0.000,516,0.000,0.063,2028,705,3397,3506,3289,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2523,-0.90,-132.7,2029,706,3506,3290,419.7,-12.0,232,2530,0.12,4.88,0.00,0.000,3078,0.322,0.056,2031,2401,3397,3505,3289,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2828,-0.90,-132.7,2032,2402,3506,3290,451.7,-10.6,248,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2401,3397,3505,3289,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3128,-0.90,-132.7,2031,2401,3505,3290,483.1,-10.4,263,3138,0.00,4.88,0.00,0.000,516,0.000,0.065,2042,710,3397,3505,3289,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3158,-0.90,-132.7,2043,712,3506,3290,486.4,-11.5,269,3164,0.00,4.85,0.00,0.000,1030,0.000,0.055,2022,2401,3397,3505,3289,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3469,-0.90,-132.7,2022,2402,3505,3290,519.4,-10.5,286,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2402,3397,3506,3289,0,0,0,0,0,0,14.85,14.85,14.87
$GC,3769,-0.90,-132.7,2023,2402,3506,3291,550.5,-10.2,301,3775,0.00,4.88,0.00,0.000,516,0.000,0.063,2026,705,3397,3505,3290,0,0,0,0,0,0,14.86,14.65,14.88
$GC,3811,-0.90,-132.7,2026,705,3506,3297,555.1,-11.2,309,3817,0.12,4.85,0.00,0.000,3078,0.321,0.053,2030,2407,3397,3505,3290,0,0,0,0,0,0,14.51,14.66,14.71
$GC,4132,-0.90,-132.7,2030,2408,3505,3291,586.8,-9.8,328,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2408,3397,3505,3290,0,0,0,0,0,0,14.87,14.89,14.88
$STATE,4270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4270,begin apogee
$GC,4276,-0.11,0.0,2033,2179,3506,3291,600.4,-9.8,335,4402,0.98,0.08,122.82,2.136,10246,0.279,0.161,2285,2214,2853,2927,2779,0,0,0,0,0,0,14.54,14.00,13.28
$STATE,4403,end apogee,CONTROL_FINISHED_OK
$STATE,4403,begin climb
$GC,4405,0.90,132.7,2286,2215,2926,2778,602.7,0.0,341,4535,1.10,0.00,125.38,2.040,10502,0.161,0.000,2612,2214,2308,2330,2286,0,0,0,0,0,0,13.96,13.78,13.07
$GC,4822,0.90,132.7,2612,2215,2328,2270,530.4,20.1,380,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2214,2298,2328,2269,0,0,0,0,0,0,14.37,14.39,14.39
$GC,5122,0.90,132.7,2612,2214,2328,2265,471.5,19.4,395,5132,0.00,5.00,0.00,0.000,516,0.000,0.070,2634,525,2296,2327,2265,0,0,0,0,0,0,14.52,14.33,14.54
$GC,5157,0.90,132.7,2635,526,2325,2266,464.3,20.3,402,5165,0.00,4.85,0.00,0.000,1030,0.000,0.051,2631,2193,2294,2324,2265,0,0,0,0,0,0,14.40,14.34,14.42
$GC,5462,0.90,132.7,2631,2194,2324,2264,401.8,20.4,418,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2194,2293,2324,2263,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5762,0.90,132.7,2632,2194,2326,2263,342.3,19.9,433,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2193,2293,2324,2262,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6062,0.90,132.7,2631,2194,2325,2262,287.1,17.4,448,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2193,2293,2325,2261,0,0,0,0,0,0,14.72,14.74,14.73
$GC,6362,0.90,132.7,2632,2194,2326,2262,242.7,12.3,465,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2194,2293,2325,2261,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6542,0.97,132.7,2631,2194,2325,2261,226.3,7.8,483,6553,0.00,4.85,0.00,0.000,580,0.000,0.070,2651,522,2292,2324,2260,0,0,0,0,0,0,14.76,14.59,14.77
$GC,6598,1.01,132.7,2652,523,2324,2264,221.7,8.7,494,6606,0.00,4.80,0.00,0.000,1094,0.000,0.049,2649,2207,2291,2322,2260,0,0,0,0,0,0,14.66,14.60,14.68
$GC,6784,1.08,132.7,2650,2208,2325,2261,207.2,7.6,513,6795,0.00,4.97,0.00,0.000,324,0.000,0.083,2649,3885,2292,2323,2261,0,0,0,0,0,0,14.75,14.59,14.78
$GC,6880,1.08,132.7,2649,3882,2322,2263,198.1,9.5,532,6887,0.00,4.75,0.00,0.000,1030,0.000,0.043,2669,2209,2292,2322,2262,0,0,0,0,0,0,14.67,14.61,14.69
$GC,7066,1.19,132.7,2669,2209,2323,2260,185.0,6.4,551,7067,0.15,0.00,0.00,0.000,2118,0.181,0.000,2712,2208,2291,2323,2260,0,0,0,0,0,0,14.54,14.67,14.66
$GC,7246,1.29,132.7,2712,2209,2324,2261,172.8,6.5,569,7246,0.00,0.00,0.00,0.000,70,0.000,0.000,2712,2209,2291,2322,2260,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7426,1.51,203.8,2712,2209,2323,2260,162.3,5.5,587,7489,0.32,0.00,60.97,1.654,10534,0.154,0.000,2811,2208,2023,2054,1992,0,0,0,0,0,0,14.56,14.33,13.68
$GC,7665,1.51,203.8,2812,2208,2047,1981,133.8,13.8,614,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2208,2013,2045,1981,0,0,0,0,0,0,14.57,14.58,14.59
$GC,7846,1.51,203.8,2810,2209,2045,1979,112.9,10.3,632,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2208,2011,2045,1978,0,0,0,0,0,0,14.61,14.63,14.63
$GC,8026,1.56,203.8,2810,2208,2045,1976,96.5,8.3,650,8027,0.00,0.00,0.00,0.000,70,0.000,0.000,2811,2208,2009,2044,1975,0,0,0,0,0,0,14.63,14.65,14.65
$GC,8206,1.88,310.3,2811,2209,2044,1974,86.9,3.2,668,8307,0.35,5.22,90.68,1.544,10532,0.149,0.083,2905,3889,1586,1617,1555,0,0,0,0,0,0,14.40,14.09,13.52
$GC,8367,1.88,310.3,2905,3889,1612,1554,68.7,16.0,698,8374,0.00,4.97,0.00,0.000,1030,0.000,0.044,2925,2199,1581,1612,1551,0,0,0,0,0,0,14.23,14.18,14.25
$GC,8559,2.24,431.0,2926,2199,1612,1543,57.8,2.3,718,8671,0.38,5.28,99.38,1.469,10532,0.144,0.080,3041,3889,1090,1099,1081,0,0,0,0,0,0,14.24,13.90,13.42
$GC,8914,2.73,595.4,3042,3889,1095,1074,29.2,-0.5,783,9043,0.47,4.95,118.28,1.408,11302,0.138,0.039,3205,2178,496,468,524,0,0,0,0,0,0,14.18,14.25,13.37
$STATE,9178,end climb,SURFACE_DEPTH_REACHED
$STATE,9178,begin surface coast
$FINISH,-0.3,1.020802
$STATE,9188,end surface coast,CONTROL_FINISHED_OK
$STATE,9188,begin surface
$SM_CCo,9209,-0.57,0.154,0,0,500,577.68
$SM_CCo,9212,0.00,0.000,0,0,501,577.44
$SM_CCo,9215,0.17,0.938,0,0,500,577.44
$SM_GC,1.74,11.05,0.68,0.17,0.221,0.063,0.938,198,2401,500,-6.63,-0.99,577.44,0,0,0,0,0,0,14.06,14.10,13.99
$RAFOS_CLK,27
$RAFOS_FIX,7411.477051,-14622.077148,091018,000004,0,1,0.18
$IRIDIUM_FIX,7409.98,-14618.60,081018,184128
$TT8_MAMPS,0.077896,0.397719
$HUMID,47.40
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,11
$ALTIM_TOP_PING,18.3,22.1
$24V_AH,13.07,66.321
$10V_AH,13.08,0.000
$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,25.100,118.225,617.500,0.175,0.000,0.000,0.000,265.175,3.000,0.000,17.416,0.000,6826.378,723.943,1896.788,213.312,0.000,1680.557,0.000,1180.862,2156.000,2.535,0.000
$DEVICE_MAMPS,467.415,160.650,2135.880,937.890,0.000,0.000,0.000,185.130,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9211.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.506,0.000,0.000,0.000
$MEM,334572
$DATA_FILE_SIZE,30075,822
$CAP_FILE_SIZE,93755,0
$CFSIZE,2097872896,2070609920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.075,327.32,1
$GPS,091018,000801,7411.793,-14621.920,74,0.8,75,18.4,0.5,35.0,12,2.9