version: 66.13
glider: 228
mission: 14
dive: 48
start: 9 28 118 2 8 15
data:
$ID,228
$MISSION,14
$DIVE,48
$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,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$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,2270
$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,29
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$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,2
$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
$GPS1,280918,014954,7345.1689,-14713.7344,12,0.9,15,18.2,0.4,334.7,9,7.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,-6.35
$_SM_ANGLEo,-73.7
$GPS2,280918,020739,7345.1538,-14713.6504,31,1.8,32,18.2,0.7,315.5,7,8.4
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,12.9,60444,-19.7,-10.000,-27.14,2242
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.87,-146.0,197,2403,453,524,0.0,0.0,0,83,0.00,0.00,-72.07,0.003,16386,0.000,0.000,196,2402,1874,1981,1767,0,0,0,0,0,0,14.45,28.83,14.47
$GC,86,-0.87,-146.0,197,2403,1984,1769,-3.2,-8.0,7,142,9.45,5.00,-35.40,0.005,18980,0.464,0.083,2000,718,3764,3841,3688,0,0,0,0,0,0,14.10,13.76,14.32
$GC,212,-0.87,-146.0,2001,719,3843,3691,47.2,-27.0,31,224,0.00,5.00,0.00,0.000,1030,0.000,0.067,1981,2401,3766,3842,3690,0,0,0,0,0,0,14.39,14.31,14.41
$GC,402,-0.87,-146.0,1982,2401,3840,3693,95.4,-24.6,51,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2401,3765,3838,3692,0,0,0,0,0,0,14.55,14.57,14.57
$GC,582,-0.87,-146.0,1982,2402,3838,3694,135.9,-22.4,69,589,0.00,4.95,0.00,0.000,516,0.000,0.074,1986,717,3764,3836,3692,0,0,0,0,0,0,14.61,14.42,14.62
$GC,614,-0.87,-146.0,1986,718,3841,3694,143.1,-23.5,75,625,0.00,4.93,0.00,0.000,1030,0.000,0.063,1968,2401,3765,3837,3693,0,0,0,0,0,0,14.51,14.44,14.53
$GC,804,-0.87,-146.0,1969,2402,3837,3694,184.6,-21.0,95,805,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3764,3836,3693,0,0,0,0,0,0,14.67,14.67,14.66
$GC,984,-0.87,-146.0,1968,2401,3836,3694,218.5,-17.5,113,985,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3767,3835,3700,0,0,0,0,0,0,14.68,14.70,14.69
$GC,1164,-0.87,-146.0,1969,2402,3837,3694,247.1,-15.4,131,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3764,3835,3694,0,0,0,0,0,0,14.71,14.72,14.71
$GC,1344,-0.87,-146.0,1968,2402,3835,3694,275.6,-15.6,141,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3764,3835,3693,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1644,-0.87,-146.0,1969,2402,3837,3694,321.3,-15.2,156,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3764,3835,3694,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1944,-0.87,-146.0,1969,2402,3836,3695,366.3,-14.8,171,1953,0.00,4.90,0.00,0.000,516,0.000,0.076,1968,714,3764,3835,3693,0,0,0,0,0,0,14.79,14.61,14.81
$GC,1969,-0.87,-146.0,1968,714,3835,3694,370.3,-16.4,176,1980,0.17,4.88,0.00,0.000,3078,0.317,0.062,1983,2401,3764,3835,3693,0,0,0,0,0,0,14.50,14.61,14.66
$GC,2285,-0.87,-146.0,1983,2402,3835,3694,413.1,-13.2,194,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2401,3763,3834,3693,0,0,0,0,0,0,14.82,14.84,14.83
$GC,2585,-0.87,-146.0,1982,2402,3834,3694,450.9,-12.8,209,2591,0.00,4.88,0.00,0.000,516,0.000,0.075,1984,717,3763,3834,3693,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2631,-0.87,-146.0,1984,717,3834,3694,456.8,-13.1,218,2641,0.00,4.85,0.00,0.000,1030,0.000,0.062,1966,2406,3761,3830,3693,0,0,0,0,0,0,14.73,14.65,14.74
$GC,2946,-0.87,-146.0,1966,2406,3835,3695,498.7,-13.8,236,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2406,3764,3834,3694,0,0,0,0,0,0,14.83,14.87,14.86
$GC,3246,-0.87,-146.0,1965,2406,3834,3694,539.5,-13.5,251,3256,0.00,4.90,0.00,0.000,516,0.000,0.075,1967,711,3763,3833,3694,0,0,0,0,0,0,14.86,14.66,14.88
$GC,3281,-0.87,-146.0,1968,712,3835,3694,544.5,-14.3,258,3288,0.17,4.85,0.00,0.000,3078,0.317,0.063,1983,2402,3764,3834,3694,0,0,0,0,0,0,14.55,14.67,14.73
$GC,3586,-0.87,-146.0,1983,2403,3833,3695,582.4,-12.4,274,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2402,3763,3833,3694,0,0,0,0,0,0,14.87,14.89,14.88
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3744,begin apogee
$GC,3749,-0.11,0.0,1985,2193,3834,3695,602.3,-12.5,282,3888,0.93,0.00,134.07,2.199,10246,0.278,0.000,2226,2191,3162,3214,3111,0,0,0,0,0,0,14.59,13.99,13.27
$STATE,3889,end apogee,CONTROL_FINISHED_OK
$STATE,3889,begin climb
$GC,3891,0.87,146.0,2229,2192,3215,3113,606.7,0.0,289,4032,1.10,0.00,138.18,2.102,10246,0.176,0.000,2541,2190,2569,2589,2549,0,0,0,0,0,0,13.93,13.76,13.06
$GC,4326,0.87,146.0,2541,2191,2585,2533,573.5,11.3,311,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2191,2558,2583,2533,0,0,0,0,0,0,14.40,14.42,14.42
$GC,4626,0.87,146.0,2541,2191,2584,2530,540.0,11.2,326,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2191,2556,2583,2529,0,0,0,0,0,0,14.55,14.58,14.57
$GC,4926,0.87,146.0,2541,2191,2585,2527,506.6,11.1,341,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2191,2555,2583,2528,0,0,0,0,0,0,14.65,14.66,14.66
$GC,5226,0.87,146.0,2541,2190,2585,2527,474.3,10.7,356,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2191,2554,2583,2526,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5526,0.87,146.0,2541,2192,2585,2526,442.4,10.6,371,5536,0.00,5.12,0.00,0.000,260,0.000,0.095,2541,3893,2554,2582,2526,0,0,0,0,0,0,14.75,14.54,14.77
$GC,5551,0.87,146.0,2541,3894,2580,2529,439.5,12.0,376,5561,0.00,4.82,0.00,0.000,1030,0.000,0.050,2561,2202,2554,2581,2527,0,0,0,0,0,0,14.64,14.58,14.66
$GC,5866,0.87,146.0,2561,2202,2581,2526,403.2,11.4,394,5872,0.00,4.90,0.00,0.000,516,0.000,0.074,2582,510,2553,2581,2525,0,0,0,0,0,0,14.78,14.59,14.80
$GC,5897,0.87,146.0,2583,509,2580,2526,399.5,12.2,400,5909,0.15,4.85,0.00,0.000,5126,0.343,0.056,2553,2208,2553,2580,2526,0,0,0,0,0,0,14.47,14.61,14.66
$GC,6207,0.87,146.0,2552,2208,2579,2525,365.4,10.8,417,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2208,2552,2579,2525,0,0,0,0,0,0,14.81,14.83,14.82
$GC,6507,0.87,146.0,2553,2209,2580,2526,333.6,10.5,432,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2208,2552,2579,2525,0,0,0,0,0,0,14.83,14.85,14.84
$GC,6807,0.87,146.0,2553,2208,2581,2524,302.8,10.0,447,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2208,2551,2579,2523,0,0,0,0,0,0,14.81,14.83,14.82
$GC,7108,0.88,146.0,2554,2208,2580,2524,274.1,9.3,462,7108,0.00,0.00,0.00,0.000,70,0.000,0.000,2552,2208,2551,2579,2524,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7408,0.91,146.0,2549,2208,2575,2525,247.8,8.4,478,7408,0.00,0.00,0.00,0.000,70,0.000,0.000,2553,2207,2551,2579,2524,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7588,1.08,202.1,2552,2208,2579,2524,233.6,7.4,496,7639,0.22,0.00,49.58,1.740,10278,0.155,0.000,2618,2208,2341,2368,2314,0,0,0,0,0,0,14.55,14.34,13.75
$GC,7819,1.08,202.1,2618,2208,2363,2305,210.2,9.8,519,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2207,2333,2363,2304,0,0,0,0,0,0,14.56,14.58,14.57
$GC,7998,1.22,250.1,2617,2208,2363,2302,194.6,7.8,537,8048,0.15,0.00,43.75,1.668,10278,0.176,0.000,2661,2207,2143,2172,2115,0,0,0,0,0,0,14.39,14.25,13.67
$GC,8229,1.24,250.1,2661,2208,2166,2106,172.5,9.0,560,8230,0.00,0.00,0.00,0.000,70,0.000,0.000,2661,2208,2136,2168,2105,0,0,0,0,0,0,14.49,14.51,14.50
$GC,8408,1.27,250.1,2661,2208,2169,2103,156.4,8.8,578,8408,0.00,0.00,0.00,0.000,70,0.000,0.000,2661,2208,2135,2168,2103,0,0,0,0,0,0,14.54,14.57,14.57
$GC,8588,1.31,250.1,2661,2212,2168,2102,141.8,8.0,596,8598,0.00,5.03,0.00,0.000,580,0.000,0.078,2683,509,2132,2163,2102,0,0,0,0,0,0,14.57,14.40,14.60
$GC,8629,1.32,250.1,2683,510,2163,2104,138.1,9.2,604,8639,0.00,4.90,0.00,0.000,1094,0.000,0.054,2681,2204,2131,2162,2101,0,0,0,0,0,0,14.50,14.43,14.51
$GC,8819,1.52,316.3,2682,2205,2163,2101,123.9,7.0,624,8880,0.22,0.00,57.17,1.605,10790,0.161,0.000,2753,2204,1874,1904,1845,0,0,0,0,0,0,14.40,14.21,13.65
$GC,9058,1.52,316.3,2751,2204,1901,1836,96.8,11.8,650,9065,0.00,5.07,0.00,0.000,516,0.000,0.078,2775,510,1866,1898,1835,0,0,0,0,0,0,14.48,14.28,14.50
$GC,9100,1.52,316.3,2774,509,1894,1837,91.6,12.9,658,9106,0.00,4.95,0.00,0.000,1030,0.000,0.056,2773,2204,1865,1895,1836,0,0,0,0,0,0,14.40,14.34,14.42
$GC,9292,1.55,316.3,2774,2205,1897,1833,72.6,8.7,678,9292,0.00,0.00,0.00,0.000,70,0.000,0.000,2773,2204,1863,1895,1831,0,0,0,0,0,0,14.57,14.59,14.58
$GC,9471,1.81,403.3,2772,2204,1895,1830,59.5,6.0,696,9552,0.25,0.00,73.62,1.525,10278,0.153,0.000,2847,2204,1517,1545,1490,0,0,0,0,0,0,14.40,14.15,13.62
$GC,9733,2.17,525.5,2847,2204,1542,1487,40.2,4.4,722,9844,0.35,5.22,99.22,1.458,10788,0.141,0.080,2982,511,1017,1016,1018,0,0,0,0,0,0,14.23,13.95,13.46
$GC,9863,2.17,525.5,2981,512,1008,1023,28.9,11.9,746,9870,0.00,5.07,0.00,0.000,1030,0.000,0.057,2980,2204,1014,1008,1021,0,0,0,0,0,0,14.08,14.01,14.09
$GC,10057,2.97,789.7,2980,2205,1008,1011,16.6,-2.1,766,10173,0.73,5.25,102.30,1.414,10532,0.112,0.085,3212,3894,495,463,528,0,0,0,0,0,0,14.17,13.87,13.45
$STATE,10267,end climb,SURFACE_DEPTH_REACHED
$STATE,10267,begin surface coast
$FINISH,-0.2,1.021073
$STATE,10277,end surface coast,CONTROL_FINISHED_OK
$STATE,10277,begin surface
$SM_CCo,10362,0.00,0.000,0,0,491,656.18
$SM_GC,-2.46,11.57,4.45,0.00,0.253,0.047,0.000,204,2401,491,-6.43,1.04,656.18,0,0,0,0,0,0,14.09,14.14,14.19
$RAFOS_CLK,236
$RAFOS_FIX,7346.083008,-14714.262695,280918,040424,0,1,0.17
$IRIDIUM_FIX,7344.60,-14707.58,270918,235751
$TT8_MAMPS,0.040446,0.866593
$HUMID,47.20
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,85
$ALTIM_TOP_PING,19.3,5.8
$24V_AH,13.06,26.163
$10V_AH,13.39,0.000
$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,25.475,109.350,697.900,0.000,0.000,0.000,0.000,877.350,21.500,0.000,41.271,0.000,7855.067,849.144,2483.728,254.853,0.000,2397.624,0.000,1161.048,2200.000,2.510,0.000
$DEVICE_MAMPS,464.355,94.860,2198.610,0.000,0.000,0.000,0.000,185.130,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10277.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.837,0.000,0.000,0.000
$MEM,334504
$DATA_FILE_SIZE,26696,808
$CAP_FILE_SIZE,98541,0
$CFSIZE,2097872896,2085945344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$CURRENT,0.068,13.31,1
$GPS,280918,050339,7346.461,-14711.533,122,0.8,123,18.2,0.5,169.2,11,5.5