version: 66.13
glider: 228
mission: 15
dive: 37
start: 10 16 118 10 20 33
data:
$ID,228
$MISSION,15
$DIVE,37
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,11400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$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,0.003
$HD_B,0.0125
$HD_C,3.8918901e-07
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,567.43622
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,25200
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3810
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,40
$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,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3034
$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,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.09409
$PRESSURE_SLOPE,0.00010809835
$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
$GPS1,161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,0.4
$GPS2,161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,227.7,180822,-18.8,-10.000,-22.85,2249
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.85,-146.0,2844,2304,1253,1275,0.0,0.0,0,152,0.00,0.00,-140.62,0.002,16386,0.000,0.000,2843,2303,3457,3568,3346,0,0,0,0,0,0,14.27,28.83,14.29
$GC,155,-0.85,-146.0,2844,2304,3571,3348,3.5,-6.0,14,172,2.33,5.10,-7.18,0.014,21028,0.151,0.081,2146,608,3630,3732,3529,0,0,0,0,0,0,14.14,13.32,14.25
$GC,367,-0.85,-146.0,2147,609,3733,3547,74.0,-24.7,56,378,0.00,5.00,0.00,0.000,1030,0.000,0.057,2128,2301,3639,3732,3546,0,0,0,0,0,0,14.35,14.27,14.36
$GC,557,-0.85,-146.0,2127,2307,3732,3549,107.9,-13.8,76,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2301,3640,3732,3548,0,0,0,0,0,0,14.53,14.55,14.55
$GC,737,-0.85,-146.0,2128,2301,3732,3550,128.3,-10.6,94,743,0.00,5.03,0.00,0.000,516,0.000,0.071,2146,605,3641,3732,3550,0,0,0,0,0,0,14.59,14.40,14.61
$GC,768,-0.85,-146.0,2146,601,3732,3551,132.0,-12.4,100,779,0.00,4.95,0.00,0.000,1030,0.000,0.051,2127,2307,3641,3732,3551,0,0,0,0,0,0,14.50,14.42,14.51
$GC,958,-0.85,-146.0,2127,2308,3732,3552,152.6,-10.2,120,969,0.00,4.93,0.00,0.000,260,0.000,0.080,2106,3945,3640,3729,3551,0,0,0,0,0,0,14.65,14.44,14.66
$GC,1114,-0.85,-146.0,2107,3946,3727,3559,172.3,-13.1,151,1121,0.00,4.75,0.00,0.000,1030,0.000,0.042,2124,2289,3642,3726,3558,0,0,0,0,0,0,14.57,14.50,14.58
$GC,1299,-0.85,-146.0,2126,2290,3728,3559,191.7,-9.9,170,1306,0.00,4.90,0.00,0.000,516,0.000,0.067,2146,604,3642,3726,3558,0,0,0,0,0,0,14.71,14.51,14.72
$GC,1415,-0.85,-146.0,2147,606,3728,3561,204.9,-10.8,193,1422,0.00,4.88,0.00,0.000,1030,0.000,0.050,2127,2302,3642,3726,3559,0,0,0,0,0,0,14.59,14.52,14.60
$GC,1601,-0.85,-146.0,2128,2303,3728,3560,221.0,-8.0,212,1612,0.00,4.95,0.00,0.000,516,0.000,0.069,2146,612,3642,3726,3559,0,0,0,0,0,0,14.73,14.49,14.74
$GC,1776,-0.85,-146.0,2146,613,3727,3561,235.0,-6.1,247,1783,0.00,4.85,0.00,0.000,1030,0.000,0.050,2126,2307,3643,3726,3560,0,0,0,0,0,0,14.63,14.57,14.65
$GC,1962,-0.85,-146.0,2126,2306,3727,3561,244.1,-5.1,266,1968,0.00,4.97,0.00,0.000,548,0.000,0.069,2146,606,3643,3726,3560,0,0,0,0,0,0,14.76,14.54,14.77
$GC,2033,-0.85,-146.0,2146,607,3728,3562,248.1,-5.6,280,2044,0.00,4.85,0.00,0.000,1062,0.000,0.050,2127,2298,3644,3727,3561,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2223,-0.85,-146.0,2126,2299,3727,3561,254.8,-2.9,293,2234,0.00,4.90,0.00,0.000,292,0.000,0.081,2105,3945,3643,3725,3561,0,0,0,0,0,0,14.78,14.57,14.79
$GC,2459,-0.85,-146.0,2106,3946,3725,3570,259.6,-2.0,340,2466,0.00,4.68,0.00,0.000,1062,0.000,0.039,2124,2283,3643,3723,3564,0,0,0,0,0,0,14.68,14.63,14.69
$GC,2764,-0.85,-146.0,2124,2283,3724,3564,263.4,-1.0,356,2774,0.00,4.80,0.00,0.000,548,0.000,0.064,2144,616,3644,3724,3565,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2999,-0.85,-146.0,2145,616,3726,3566,266.7,-1.8,403,3006,0.00,4.80,0.00,0.000,1062,0.000,0.050,2125,2306,3644,3724,3565,0,0,0,0,0,0,14.71,14.64,14.71
$GC,3304,-0.85,-146.0,2126,2307,3726,3566,270.7,-0.8,419,3314,0.00,4.90,0.00,0.000,548,0.000,0.069,2143,612,3644,3724,3565,0,0,0,0,0,0,14.83,14.63,14.85
$GC,3539,-0.85,-146.0,2145,613,3726,3567,272.3,-1.0,466,3547,0.00,4.80,0.00,0.000,1062,0.000,0.050,2125,2304,3644,3724,3565,0,0,0,0,0,0,14.72,14.66,14.73
$STATE,3662,end dive,NO_VERTICAL_VELOCITY
$STATE,3662,begin apogee
$GC,3668,-0.11,0.0,2126,2105,3724,3566,273.4,0.0,473,4097,0.93,0.00,426.40,1.473,10246,0.306,0.000,2354,2104,3034,3085,2984,0,0,0,0,0,0,14.47,13.77,13.21
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4103,0.85,146.0,2355,2105,3082,2980,257.4,0.0,494,4321,1.08,5.55,204.15,1.501,10500,0.174,0.082,2660,3786,2432,2445,2419,0,0,0,0,0,0,13.70,13.52,12.98
$GC,4546,0.87,146.0,2660,3787,2434,2418,223.3,9.2,578,4557,0.00,5.05,0.00,0.000,1094,0.000,0.041,2661,2092,2423,2430,2416,0,0,0,0,0,0,14.00,13.96,14.02
$GC,4736,0.92,146.0,2661,2092,2435,2412,207.7,8.4,598,4747,0.12,5.25,0.00,0.000,2372,0.182,0.079,2675,3787,2422,2433,2412,0,0,0,0,0,0,14.05,14.10,14.16
$GC,4938,0.94,146.0,2674,3787,2432,2412,190.6,9.1,638,4944,0.00,4.95,0.00,0.000,1094,0.000,0.042,2675,2095,2422,2433,2411,0,0,0,0,0,0,14.31,14.26,14.33
$GC,5129,0.99,146.0,2675,2091,2433,2410,174.7,8.5,658,5135,0.15,5.03,0.00,0.000,2628,0.181,0.073,2719,406,2421,2433,2409,0,0,0,0,0,0,14.21,14.31,14.29
$GC,5150,1.04,146.0,2718,407,2433,2408,172.9,8.4,662,5157,0.00,4.90,0.00,0.000,1094,0.000,0.045,2717,2109,2420,2433,2407,0,0,0,0,0,0,14.40,14.35,14.42
$GC,5342,1.12,146.0,2717,2112,2435,2413,159.0,7.1,682,5343,0.15,0.00,0.00,0.000,2118,0.214,0.000,2751,2111,2420,2434,2406,0,0,0,0,0,0,14.31,14.47,14.45
$GC,5522,1.23,146.0,2756,2112,2434,2406,147.2,6.5,700,5529,0.12,5.07,0.00,0.000,2628,0.155,0.076,2818,405,2417,2430,2405,0,0,0,0,0,0,14.42,14.42,14.50
$GC,5569,1.23,146.0,2818,408,2436,2406,143.1,9.5,709,5576,0.00,4.88,0.00,0.000,1030,0.000,0.050,2818,2092,2419,2435,2404,0,0,0,0,0,0,14.52,14.45,14.54
$GC,5754,1.23,146.0,2819,2096,2437,2404,121.3,12.2,728,5760,0.00,5.15,0.00,0.000,260,0.000,0.085,2817,3793,2419,2435,2403,0,0,0,0,0,0,14.66,14.42,14.68
$GC,5795,1.23,146.0,2817,3793,2433,2405,115.7,13.4,736,5803,0.17,4.93,0.00,0.000,5126,0.293,0.049,2801,2099,2418,2433,2404,0,0,0,0,0,0,14.33,14.48,14.53
$GC,5990,1.26,146.0,2804,2099,2435,2403,96.4,9.1,756,5996,0.00,5.03,0.00,0.000,580,0.000,0.078,2822,409,2418,2435,2402,0,0,0,0,0,0,14.63,14.42,14.65
$GC,6046,1.28,146.0,2821,410,2435,2402,91.1,9.3,767,6053,0.00,4.88,0.00,0.000,1094,0.000,0.050,2822,2101,2418,2435,2401,0,0,0,0,0,0,14.54,14.47,14.56
$GC,6231,1.40,146.0,2823,2103,2436,2399,77.0,6.0,786,6242,0.00,5.03,0.00,0.000,580,0.000,0.077,2843,407,2418,2436,2401,0,0,0,0,0,0,14.63,14.42,14.65
$GC,6272,1.51,146.0,2843,408,2435,2400,74.2,6.3,794,6284,0.12,4.90,0.00,0.000,3142,0.177,0.048,2879,2110,2418,2436,2400,0,0,0,0,0,0,14.43,14.48,14.54
$GC,6464,1.91,281.7,2879,2111,2436,2400,65.3,3.8,814,6608,0.40,5.25,131.15,1.457,10532,0.128,0.082,3011,3789,1878,1886,1870,0,0,0,0,0,0,14.40,14.00,13.47
$GC,6708,1.96,281.7,3011,3790,1877,1864,46.1,8.4,860,6714,0.00,5.03,0.00,0.000,1094,0.000,0.046,3036,2092,1868,1875,1861,0,0,0,0,0,0,14.21,14.14,14.22
$GC,6900,2.45,445.5,3034,2092,1875,1856,35.3,2.5,880,7175,0.45,5.25,264.58,1.261,10788,0.119,0.076,3201,405,1220,1211,1229,0,0,0,0,0,0,14.22,13.72,13.34
$FREEZE,9.68,-1.197,-1.440,2,7,0
$FREEZE,9.03,-1.229,-1.439,2,7,0
$FREEZE,8.33,-1.229,-1.438,2,7,0
$FREEZE,7.68,-1.238,-1.437,2,7,0
$FREEZE,6.98,-1.238,-1.437,2,7,0
$FREEZE,6.35,-1.283,-1.435,2,7,0
$FREEZE,5.66,-1.283,-1.435,2,7,0
$FREEZE,5.04,-1.300,-1.434,2,7,0
$FREEZE,4.28,-1.300,-1.433,2,7,0
$FREEZE,3.68,-1.310,-1.432,2,7,0
$FREEZE,3.04,-1.310,-1.432,2,7,0
$FREEZE,2.37,-1.318,-1.431,2,7,0
$FREEZE,1.55,-1.318,-1.430,2,7,0
$STATE,7258,end climb,SURFACE_DEPTH_REACHED
$STATE,7258,begin surface coast
$FREEZE,0.85,-1.314,-1.430,2,7,0
$FINISH,0.8,1.021088
$STATE,7263,end surface coast,CONTROL_FINISHED_OK
$STATE,7263,begin surface
$SM_CCo,7288,404.67,1.142,2,0,720,567.62
$SM_GC,1.79,9.75,5.72,404.67,0.118,0.046,1.142,201,2301,720,-6.83,-0.85,567.62,0,0,0,0,2,0,13.97,13.99,13.12
$RAFOS_CLK,117
$RAFOS_FIX,7430.601562,-14620.511719,161018,121218,0,1,0.08
$IRIDIUM_FIX,7422.60,-14645.18,141018,010831
$TT8_MAMPS,0.080892,0.838131
$HUMID,40.94
$INTERNAL_PRESSURE,9.24169
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,8.3
$24V_AH,12.98,88.224
$10V_AH,12.84,0.000
$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,15.775,186.075,1026.275,404.675,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,4272.247,1585.183,1817.013,157.329,0.000,2401.249,0.000,1357.047,2212.000,2.519,0.000
$DEVICE_MAMPS,306.000,84.915,1500.930,1142.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.925,0.000,0.000,0.000
$MEM,326644
$DATA_FILE_SIZE,33379,948
$CAP_FILE_SIZE,99011,0
$CFSIZE,2097872896,2088665088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1442.6
$CURRENT,0.174,89.98,1
$GPS,161018,122118,7430.602,-14620.512,0,1001.0,0,18.1,0.0,0.0,0,0.0