version: 66.13
glider: 228
mission: 14
dive: 49
start: 9 28 118 5 11 18
data:
$ID,228
$MISSION,14
$DIVE,49
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,280918,050339,7346.4609,-14711.5332,122,0.8,123,18.2,0.5,169.2,11,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-14.52
$_SM_ANGLEo,-71.5
$GPS2,280918,051039,7346.4531,-14711.5049,4,0.8,7,18.2,1.3,107.3,11,7.1
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.4,57807,-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,-146.0,202,2400,454,523,0.0,0.0,0,92,0.00,0.00,-81.18,0.003,16386,0.000,0.000,201,2400,2167,2266,2068,0,0,0,0,0,0,14.49,28.83,14.51
$GC,95,-0.87,-146.0,203,2401,2266,2075,3.2,-36.6,8,141,9.27,4.97,-26.55,0.005,18948,0.457,0.073,2002,700,3766,3853,3680,0,0,0,0,0,0,14.15,13.60,14.39
$GC,176,-0.87,-146.0,2002,701,3852,3682,44.2,-38.6,23,183,0.00,5.00,0.00,0.000,1030,0.000,0.061,1982,2398,3767,3852,3682,0,0,0,0,0,0,14.40,14.33,14.42
$GC,361,-0.87,-146.0,1983,2398,3848,3686,95.9,-25.3,42,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2397,3767,3848,3686,0,0,0,0,0,0,14.57,14.59,14.59
$GC,541,-0.87,-146.0,1982,2398,3847,3687,138.0,-23.2,60,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2397,3766,3846,3686,0,0,0,0,0,0,14.62,14.64,14.63
$GC,721,-0.87,-146.0,1983,2397,3847,3687,178.2,-20.9,78,732,0.00,4.97,0.00,0.000,516,0.000,0.074,1984,704,3766,3846,3687,0,0,0,0,0,0,14.65,14.45,14.66
$GC,747,-0.87,-146.0,1985,705,3847,3688,183.8,-21.0,83,755,0.00,4.95,0.00,0.000,1030,0.000,0.061,1966,2402,3766,3846,3687,0,0,0,0,0,0,14.54,14.47,14.56
$GC,933,-0.87,-146.0,1966,2403,3847,3688,222.4,-19.7,102,933,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2402,3766,3845,3688,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1112,-0.87,-146.0,1966,2403,3845,3688,254.7,-16.6,119,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2402,3766,3845,3688,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1412,-0.87,-146.0,1966,2403,3846,3688,303.3,-15.9,134,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2402,3766,3844,3688,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1712,-0.87,-146.0,1966,2403,3845,3689,350.2,-15.3,149,1722,0.00,4.93,0.00,0.000,516,0.000,0.073,1967,702,3766,3844,3688,0,0,0,0,0,0,14.78,14.59,14.81
$GC,1742,-0.87,-146.0,1967,706,3844,3689,354.8,-16.4,155,1749,0.17,4.90,0.00,0.000,3078,0.320,0.062,1982,2403,3766,3844,3688,0,0,0,0,0,0,14.48,14.60,14.64
$GC,2054,-0.87,-146.0,1981,2404,3844,3689,398.9,-14.0,172,2064,0.00,4.93,0.00,0.000,516,0.000,0.074,1985,707,3766,3844,3688,0,0,0,0,0,0,14.81,14.62,14.82
$GC,2074,-0.87,-146.0,1985,707,3844,3689,401.7,-13.9,176,2084,0.00,4.88,0.00,0.000,1030,0.000,0.060,1965,2401,3765,3843,3688,0,0,0,0,0,0,14.70,14.62,14.71
$GC,2394,-0.87,-146.0,1966,2402,3844,3689,449.5,-14.9,195,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2401,3765,3842,3689,0,0,0,0,0,0,14.83,14.85,14.84
$GC,2694,-0.87,-146.0,1966,2402,3844,3690,493.8,-14.9,210,2705,0.00,4.90,0.00,0.000,516,0.000,0.074,1967,707,3766,3843,3689,0,0,0,0,0,0,14.84,14.65,14.85
$GC,2725,-0.87,-146.0,1968,708,3844,3690,498.5,-16.1,216,2736,0.17,4.88,0.00,0.000,3078,0.320,0.060,1982,2406,3765,3842,3689,0,0,0,0,0,0,14.53,14.65,14.71
$GC,3035,-0.87,-146.0,1983,2407,3844,3690,540.5,-13.4,233,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2406,3765,3842,3689,0,0,0,0,0,0,14.85,14.88,14.87
$GC,3335,-0.87,-146.0,1983,2407,3844,3690,580.1,-13.0,248,3344,0.00,4.93,0.00,0.000,516,0.000,0.073,1984,696,3766,3842,3690,0,0,0,0,0,0,14.87,14.68,14.88
$GC,3379,-0.87,-146.0,1984,697,3843,3689,586.2,-13.5,257,3389,0.00,4.90,0.00,0.000,1030,0.000,0.061,1965,2406,3766,3842,3690,0,0,0,0,0,0,14.76,14.68,14.78
$STATE,3492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3492,begin apogee
$GC,3498,-0.11,0.0,1965,2185,3842,3690,602.4,-14.2,265,3638,1.02,0.03,134.35,2.154,10246,0.285,0.131,2230,2204,3163,3220,3107,0,0,0,0,0,0,14.58,13.86,13.27
$STATE,3639,end apogee,CONTROL_FINISHED_OK
$STATE,3639,begin climb
$GC,3641,0.87,146.0,2231,2205,3220,3107,607.4,0.0,272,3791,1.08,5.25,136.30,2.062,10756,0.174,0.078,2562,521,2567,2589,2545,0,0,0,0,0,0,13.93,13.75,13.08
$GC,3826,0.87,146.0,2562,522,2581,2544,596.9,11.4,307,3834,0.00,5.05,0.00,0.000,1030,0.000,0.054,2562,2196,2561,2581,2542,0,0,0,0,0,0,13.98,13.92,14.00
$GC,4131,0.87,146.0,2562,2199,2582,2533,560.9,11.8,323,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2199,2557,2582,2533,0,0,0,0,0,0,14.43,14.45,14.45
$GC,4431,0.87,146.0,2562,2200,2582,2533,525.6,11.6,338,4442,0.00,5.15,0.00,0.000,260,0.000,0.093,2562,3898,2556,2581,2532,0,0,0,0,0,0,14.57,14.37,14.59
$GC,4461,0.87,146.0,2563,3899,2581,2534,521.5,14.4,344,4473,0.15,4.85,0.00,0.000,5126,0.358,0.047,2556,2210,2556,2580,2532,0,0,0,0,0,0,14.27,14.42,14.45
$GC,4772,0.87,146.0,2557,2211,2582,2531,486.3,11.0,361,4781,0.00,4.95,0.00,0.000,516,0.000,0.071,2575,514,2555,2580,2530,0,0,0,0,0,0,14.66,14.47,14.67
$GC,4811,0.87,146.0,2576,515,2580,2531,481.3,13.2,369,4821,0.00,4.88,0.00,0.000,1030,0.000,0.054,2575,2210,2552,2578,2526,0,0,0,0,0,0,14.57,14.50,14.58
$GC,5132,0.87,146.0,2576,2211,2579,2530,442.7,12.1,388,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2210,2554,2579,2529,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5432,0.87,146.0,2575,2211,2579,2529,406.4,12.0,403,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2210,2554,2579,2529,0,0,0,0,0,0,14.75,14.77,14.77
$GC,5732,0.87,146.0,2575,2210,2580,2529,370.9,11.9,418,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2210,2553,2579,2528,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6032,0.87,146.0,2576,2211,2581,2528,336.1,11.4,433,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2211,2553,2578,2528,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6332,0.87,146.0,2574,2211,2579,2528,303.2,10.5,448,6342,0.00,4.97,0.00,0.000,516,0.000,0.078,2596,505,2552,2578,2527,0,0,0,0,0,0,14.83,14.63,14.85
$GC,6362,0.87,146.0,2597,506,2579,2528,299.7,11.9,454,6374,0.17,4.85,0.00,0.000,5126,0.331,0.057,2556,2206,2552,2578,2527,0,0,0,0,0,0,14.52,14.65,14.70
$GC,6672,0.87,146.0,2557,2207,2580,2526,270.5,9.6,471,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2206,2553,2579,2527,0,0,0,0,0,0,14.85,14.86,14.86
$GC,6972,1.03,200.0,2557,2207,2580,2527,245.5,7.5,489,7024,0.15,0.00,47.45,1.735,10534,0.174,0.000,2597,2206,2347,2376,2319,0,0,0,0,0,0,14.64,14.45,13.83
$GC,7203,1.04,200.0,2598,2207,2374,2311,224.5,9.2,514,7204,0.00,0.00,0.00,0.000,70,0.000,0.000,2597,2206,2341,2372,2310,0,0,0,0,0,0,14.64,14.67,14.66
$GC,7382,1.22,260.0,2598,2207,2373,2310,210.2,7.2,532,7447,0.20,5.12,54.42,1.667,10788,0.160,0.081,2680,511,2100,2127,2074,0,0,0,0,0,0,14.47,14.24,13.67
$GC,7462,1.22,260.0,2679,512,2124,2075,202.9,10.0,544,7469,0.00,4.97,0.00,0.000,1030,0.000,0.057,2679,2205,2098,2124,2073,0,0,0,0,0,0,14.31,14.25,14.32
$GC,7647,1.22,260.0,2679,2206,2125,2065,182.8,10.6,563,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2205,2094,2124,2064,0,0,0,0,0,0,14.54,14.57,14.57
$GC,7827,1.22,260.0,2679,2205,2125,2062,164.8,9.9,581,7838,0.00,5.00,0.00,0.000,516,0.000,0.079,2699,513,2091,2120,2062,0,0,0,0,0,0,14.60,14.42,14.62
$GC,7848,1.22,260.0,2699,514,2120,2065,162.6,10.3,585,7859,0.15,4.93,0.00,0.000,5126,0.336,0.056,2667,2207,2091,2120,2062,0,0,0,0,0,0,14.31,14.45,14.50
$GC,8040,1.38,313.3,2668,2208,2121,2061,146.8,7.6,605,8090,0.15,0.00,46.22,1.604,10278,0.176,0.000,2708,2207,1884,1915,1854,0,0,0,0,0,0,14.45,14.27,13.71
$GC,8270,1.38,313.3,2708,2207,1910,1845,124.0,10.1,628,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2207,1877,1910,1845,0,0,0,0,0,0,14.53,14.55,14.54
$GC,8448,1.40,313.3,2709,2208,1911,1842,106.3,9.4,646,8449,0.00,0.00,0.00,0.000,70,0.000,0.000,2709,2207,1875,1909,1841,0,0,0,0,0,0,14.58,14.60,14.60
$GC,8628,1.43,313.3,2709,2208,1910,1841,90.3,8.3,664,8629,0.00,0.00,0.00,0.000,70,0.000,0.000,2709,2207,1873,1909,1838,0,0,0,0,0,0,14.62,14.66,14.62
$GC,8808,1.68,396.3,2709,2208,1910,1840,78.2,6.2,682,8880,0.32,0.00,69.90,1.539,10278,0.138,0.000,2810,2207,1549,1579,1519,0,0,0,0,0,0,14.44,14.19,13.65
$GC,9060,1.84,451.8,2809,2208,1569,1506,55.2,7.5,707,9111,0.17,0.00,46.28,1.482,10278,0.163,0.000,2861,2207,1320,1344,1296,0,0,0,0,0,0,14.27,14.13,13.60
$GC,9290,2.08,531.4,2861,2208,1339,1287,37.6,6.4,730,9368,0.22,5.20,64.90,1.450,10788,0.148,0.082,2956,511,994,995,993,0,0,0,0,0,0,14.24,13.98,13.54
$GC,9438,2.12,531.4,2957,512,986,996,25.3,8.1,758,9450,0.00,5.00,0.00,0.000,1094,0.000,0.056,2957,2205,988,985,992,0,0,0,0,0,0,14.18,14.14,14.20
$FREEZE,22.84,-0.079,-1.475,0,1,0
$STATE,9626,end climb,NO_VERTICAL_VELOCITY
$STATE,9626,begin surface
$SM_CCo,9629,99.00,1.426,0,0,499,653.97
$SM_GC,-2.42,9.02,0.60,0.00,0.152,0.081,0.000,206,2406,489,-6.42,-0.57,656.67,0,0,0,0,0,0,14.35,14.39,14.45
$RAFOS_CLK,5
$RAFOS_FIX,7347.410645,-14712.066406,280918,070721,0,1,0.19
$IRIDIUM_FIX,7343.38,-14718.19,280918,015242
$TT8_MAMPS,0.077896,0.540778
$HUMID,49.56
$INTERNAL_PRESSURE,8.86082
$TCM_TEMP,14.50
$XPDR_PINGS,16
$24V_AH,13.08,26.627
$10V_AH,13.10,0.000
$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,22.450,130.525,599.825,99.000,0.000,0.000,0.000,261.225,4.000,0.000,16.863,0.000,7798.122,883.544,1821.084,211.544,0.000,1816.681,0.000,1118.213,2003.000,0.998,0.000
$DEVICE_MAMPS,457.470,130.815,2154.240,1425.960,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.679,0.000,0.000,0.000
$MEM,334584
$DATA_FILE_SIZE,26758,778
$CAP_FILE_SIZE,96106,0
$CFSIZE,2097872896,2085814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$CURRENT,0.051,8.96,1
$GPS,280918,080403,7347.690,-14709.667,15,1.4,40,18.2,0.2,0.0,6,3.6