version: 66.13
glider: 228
mission: 15
dive: 51
start: 10 18 118 6 8 27
data:
$ID,228
$MISSION,15
$DIVE,51
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,181018,041522,7431.5269,-14618.1318,0,9255.0,0,18.1,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-50.5
$GPS2,181018,041522,7431.5269,-14618.1318,181,99.0,181,18.1,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,138.2,181938,-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
$STATE,7,begin dive
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$GC,9092,-0.85,-146.0,2118,2303,3708,3600,702.9,-4.9,654,9101,0.00,4.93,0.00,0.000,548,0.000,0.070,2124,608,3654,3708,3600,0,0,0,0,0,0,14.83,14.62,14.85
$GC,9141,-0.85,-146.0,2124,609,3708,3600,705.8,-6.1,664,9148,0.00,4.82,0.00,0.000,1030,0.000,0.050,2104,2299,3653,3707,3600,0,0,0,0,0,0,14.71,14.65,14.73
$GC,9453,-0.85,-146.0,2105,2299,3708,3601,721.8,-5.2,681,9454,0.00,0.00,0.00,0.000,38,0.000,0.000,2105,2299,3654,3708,3600,0,0,0,0,0,0,14.85,14.87,14.87
$GC,9753,-0.85,-146.0,2106,2299,3709,3601,737.2,-5.1,696,9759,0.00,4.88,0.00,0.000,548,0.000,0.070,2107,615,3654,3708,3601,0,0,0,0,0,0,14.87,14.66,14.88
$GC,9789,-0.85,-146.0,2108,617,3709,3602,739.4,-6.2,703,9796,0.15,4.80,0.00,0.000,3078,0.311,0.050,2118,2299,3654,3708,3601,0,0,0,0,0,0,14.50,14.68,14.71
$GC,10095,-0.85,-146.0,2119,2301,3709,3603,754.1,-4.8,719,10095,0.00,0.00,0.00,0.000,38,0.000,0.000,2118,2297,3654,3707,3602,0,0,0,0,0,0,14.88,14.90,14.90
$GC,10395,-0.85,-146.0,2119,2301,3709,3603,767.6,-4.4,734,10395,0.00,0.00,0.00,0.000,38,0.000,0.000,2119,2299,3655,3708,3602,0,0,0,0,0,0,14.90,14.91,14.90
$GC,10695,-0.85,-146.0,2118,2300,3708,3602,780.6,-4.4,749,10704,0.00,4.85,0.00,0.000,548,0.000,0.070,2124,616,3655,3708,3603,0,0,0,0,0,0,14.90,14.68,14.91
$GC,10749,-0.85,-146.0,2123,616,3707,3603,783.4,-5.2,760,10757,0.00,4.80,0.00,0.000,1062,0.000,0.050,2106,2303,3659,3715,3603,0,0,0,0,0,0,14.78,14.71,14.80
$STATE,10812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10812,begin apogee
$GC,10818,-0.11,0.0,2106,2095,3710,3604,786.4,-4.7,764,11418,0.98,0.00,583.00,1.611,10246,0.277,0.000,2358,2092,3031,3073,2990,0,0,0,0,2,0,14.54,13.57,12.99
$STATE,11419,end apogee,CONTROL_FINISHED_OK
$STATE,11419,begin climb
$GC,11422,0.85,146.0,2359,2093,3074,2990,763.6,0.0,794,11677,1.02,5.45,243.20,1.800,10756,0.114,0.082,2690,423,2433,2452,2414,0,0,0,0,0,0,13.54,13.32,12.71
$GC,11712,0.85,146.0,2690,424,2446,2415,718.9,14.9,849,11719,0.00,5.25,0.00,0.000,1030,0.000,0.051,2690,2102,2428,2444,2412,0,0,0,0,0,0,13.58,13.52,13.60
$GC,12017,0.85,146.0,2690,2101,2445,2406,664.3,18.1,865,12027,0.00,5.28,0.00,0.000,260,0.000,0.086,2690,3792,2424,2444,2405,0,0,0,0,0,0,14.21,14.00,14.23
$GC,12037,0.85,146.0,2691,3793,2445,2402,660.5,18.6,869,12047,0.17,5.03,0.00,0.000,5126,0.277,0.048,2669,2110,2424,2443,2405,0,0,0,0,0,0,13.93,14.06,14.05
$GC,12359,0.85,146.0,2669,2111,2443,2402,608.6,16.2,888,12369,0.00,5.07,0.00,0.000,516,0.000,0.076,2689,411,2422,2443,2401,0,0,0,0,0,0,14.47,14.26,14.50
$GC,12414,0.85,146.0,2689,411,2441,2402,600.1,12.8,899,12422,0.00,4.95,0.00,0.000,1030,0.000,0.050,2689,2102,2421,2441,2401,0,0,0,0,0,0,14.38,14.32,14.40
$GC,12719,0.85,146.0,2690,2105,2443,2400,547.2,17.7,915,12725,0.00,5.15,0.00,0.000,260,0.000,0.086,2689,3792,2420,2441,2399,0,0,0,0,0,0,14.62,14.40,14.64
$GC,12745,0.85,146.0,2690,3793,2442,2401,542.3,18.8,920,12756,0.15,4.93,0.00,0.000,5126,0.264,0.049,2678,2098,2419,2440,2399,0,0,0,0,0,0,14.32,14.44,14.49
$GC,13061,0.85,146.0,2679,2098,2442,2398,490.2,16.7,938,13071,0.00,5.00,0.00,0.000,516,0.000,0.078,2698,407,2418,2440,2397,0,0,0,0,0,0,14.70,14.48,14.72
$GC,13111,0.85,146.0,2699,407,2440,2397,482.4,13.2,948,13122,0.00,4.93,0.00,0.000,1030,0.000,0.050,2698,2108,2417,2439,2396,0,0,0,0,0,0,14.59,14.52,14.62
$GC,13422,0.85,146.0,2698,2110,2440,2397,427.1,18.2,965,13431,0.00,5.03,0.00,0.000,260,0.000,0.085,2698,3787,2417,2439,2396,0,0,0,0,0,0,14.75,14.53,14.77
$GC,13451,0.85,146.0,2699,3788,2440,2397,421.6,18.1,971,13459,0.17,4.88,0.00,0.000,5126,0.256,0.049,2678,2092,2417,2439,2396,0,0,0,0,0,0,14.45,14.57,14.62
$GC,13764,0.85,146.0,2677,2093,2439,2396,371.3,16.1,988,13773,0.00,4.97,0.00,0.000,516,0.000,0.079,2698,403,2416,2438,2395,0,0,0,0,0,0,14.79,14.55,14.81
$GC,13813,0.85,146.0,2698,404,2439,2396,363.6,13.4,998,13826,0.00,4.88,0.00,0.000,1030,0.000,0.050,2698,2104,2416,2438,2395,0,0,0,0,0,0,14.67,14.60,14.69
$GC,14124,0.85,146.0,2698,2106,2440,2396,311.9,16.3,1015,14130,0.00,5.05,0.00,0.000,260,0.000,0.084,2698,3788,2416,2438,2395,0,0,0,0,0,0,14.82,14.57,14.84
$GC,14155,0.85,146.0,2699,3789,2439,2397,306.6,16.3,1021,14166,0.17,4.85,0.00,0.000,5126,0.252,0.048,2678,2098,2417,2438,2396,0,0,0,0,0,0,14.51,14.62,14.68
$GC,14465,0.85,146.0,2679,2099,2440,2396,265.0,12.6,1038,14476,0.00,4.95,0.00,0.000,516,0.000,0.078,2698,407,2416,2438,2395,0,0,0,0,0,0,14.82,14.62,14.85
$GC,14520,0.85,146.0,2699,408,2439,2396,258.6,9.9,1049,14527,0.00,4.82,0.00,0.000,1030,0.000,0.050,2698,2102,2416,2438,2395,0,0,0,0,0,0,14.71,14.65,14.73
$GC,14826,0.85,146.0,2698,2105,2441,2396,224.5,10.2,1076,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2104,2417,2439,2395,0,0,0,0,0,0,14.84,14.85,14.85
$GC,15006,0.85,146.0,2698,2104,2440,2396,206.4,10.0,1094,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2104,2417,2439,2395,0,0,0,0,0,0,14.84,14.86,14.85
$GC,15186,0.90,146.0,2698,2104,2440,2396,190.8,8.2,1112,15187,0.00,0.00,0.00,0.000,70,0.000,0.000,2698,2104,2417,2440,2395,0,0,0,0,0,0,14.84,14.87,14.86
$GC,15366,0.95,146.0,2698,2104,2440,2396,175.7,8.3,1130,15367,0.00,0.00,0.00,0.000,70,0.000,0.000,2698,2104,2417,2440,2395,0,0,0,0,0,0,14.85,14.87,14.87
$GC,15546,1.01,146.0,2698,2104,2441,2395,161.1,8.1,1148,15547,0.00,0.00,0.00,0.000,70,0.000,0.000,2698,2104,2417,2440,2395,0,0,0,0,0,0,14.85,14.87,14.87
$GC,15726,1.09,146.0,2698,2104,2440,2395,147.6,7.2,1166,15738,0.15,4.97,0.00,0.000,2628,0.151,0.080,2773,412,2415,2439,2391,0,0,0,0,0,0,14.64,14.62,14.69
$GC,15753,1.11,146.0,2774,412,2440,2395,145.2,9.4,1171,15761,0.00,4.85,0.00,0.000,1094,0.000,0.052,2773,2108,2416,2440,2392,0,0,0,0,0,0,14.70,14.63,14.72
$GC,15938,1.11,146.0,2774,2109,2441,2396,125.5,10.6,1190,15950,0.00,5.05,0.00,0.000,260,0.000,0.086,2773,3798,2418,2440,2396,0,0,0,0,0,0,14.85,14.62,14.87
$GC,15975,1.11,146.0,2774,3799,2440,2397,121.4,10.7,1197,15982,0.15,4.85,0.00,0.000,5126,0.278,0.047,2762,2096,2417,2439,2395,0,0,0,0,0,0,14.52,14.66,14.71
$GC,16162,1.19,146.0,2761,2099,2440,2396,106.7,7.4,1216,16173,0.00,4.93,0.00,0.000,580,0.000,0.077,2781,409,2417,2440,2395,0,0,0,0,0,0,14.83,14.58,14.85
$GC,16213,1.25,146.0,2782,410,2441,2396,102.5,8.2,1226,16225,0.00,4.82,0.00,0.000,1094,0.000,0.050,2781,2108,2417,2440,2395,0,0,0,0,0,0,14.68,14.61,14.69
$GC,16405,1.34,146.0,2782,2109,2441,2396,88.6,6.8,1246,16406,0.15,0.00,0.00,0.000,2118,0.149,0.000,2830,2108,2417,2440,2395,0,0,0,0,0,0,14.62,14.73,14.71
$GC,16583,1.43,146.0,2830,2109,2440,2395,74.9,7.1,1264,16594,0.00,5.00,0.00,0.000,324,0.000,0.083,2831,3787,2417,2440,2395,0,0,0,0,0,0,14.81,14.56,14.83
$GC,16604,1.50,146.0,2831,3788,2441,2396,73.3,7.5,1268,16615,0.00,4.82,0.00,0.000,1094,0.000,0.046,2851,2094,2417,2440,2395,0,0,0,0,0,0,14.70,14.62,14.72
$GC,16794,1.92,285.3,2852,2096,2441,2395,64.3,3.6,1288,16940,0.50,5.30,132.60,1.450,10532,0.116,0.082,3015,3792,1862,1874,1850,0,0,0,0,0,0,14.59,14.11,13.57
$GC,16980,1.92,285.3,3014,3792,1868,1845,47.6,12.4,1320,16991,0.00,4.97,0.00,0.000,1030,0.000,0.046,3037,2102,1855,1868,1843,0,0,0,0,0,0,14.28,14.21,14.30
$GC,17170,2.37,435.2,3038,2103,1867,1835,37.4,3.2,1340,17342,0.35,5.32,159.95,1.317,10532,0.121,0.082,3154,3793,1262,1252,1272,0,0,0,0,0,0,14.30,13.94,13.49
$GC,17409,2.42,435.2,3153,3788,1253,1286,20.0,8.2,1384,17420,0.00,5.00,2.78,0.636,9286,0.000,0.046,3175,2098,1257,1244,1271,0,0,0,0,0,0,14.14,14.11,13.54
$FREEZE,9.60,-1.390,-1.411,2,21,0
$STATE,17545,end climb,FINISH_DEPTH_REACHED
$STATE,17545,begin subsurface finish
$FINISH1,9.6,1.020723,0
$GC,17553,0.00,0.0,3176,2098,1246,1274,9.6,7.7,1399,17614,2.67,5.07,-48.50,0.004,20996,0.201,0.079,2425,407,3043,3117,2969,0,0,0,0,0,0,14.15,13.37,14.31
$FINISH2,15.4
$STATE,17615,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17615,begin surface
$RAFOS_CLK,682
$MODEM,3,1539850522,75.46388,-145.63686,22.427,32338.3
$MODEM,2,1539850222,74.08163,-144.87579,22.393,32290.3
$MODEM,1,1539849922,74.42723,-147.94939,22.412,32318.0
$MODEM,0,1539849688,73.00043,-148.33627,88.542,127674.6
$RAFOS_FIX,7431.274902,-14618.461914,181018,080822,8,255,0.03
$IRIDIUM_FIX,7418.52,-14704.90,151018,101839
$TT8_MAMPS,0.042693,0.493591
$HUMID,44.95
$INTERNAL_PRESSURE,9.30029
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,5.7
$24V_AH,12.71,96.711
$10V_AH,12.99,0.000
$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,17.600,350.675,1121.525,0.000,0.000,0.000,0.000,121.550,0.250,0.000,182.253,0.000,13270.831,1548.124,3051.340,448.227,0.000,2877.876,0.000,2017.782,2209.000,2.513,0.000
$DEVICE_MAMPS,442.170,86.445,1800.045,0.000,0.000,0.000,0.000,70.380,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17645.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.486,0.000,0.000,0.000
$MEM,326604
$DATA_FILE_SIZE,49893,1410
$CAP_FILE_SIZE,175119,0
$CFSIZE,2097872896,2086076416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1452.4
$CURRENT,0.397,331.74,1
$GPS,181018,081522,7431.275,-14618.462,0,9255.0,0,18.1,0.0,0.0,0,0.0