version: 66.13
glider: 228
mission: 14
dive: 50
start: 9 28 118 8 11 39
data:
$ID,228
$MISSION,14
$DIVE,50
$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,23
$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
$GPS1,280918,080403,7347.6899,-14709.6670,15,1.4,40,18.2,0.2,0.0,6,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-72.5
$GPS2,280918,081057,7347.6987,-14709.6768,3,1.0,5,18.2,0.6,99.5,8,7.7
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.6,55326,-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,-146.0,204,2407,464,511,0.0,0.0,0,85,0.00,0.00,-73.43,0.003,16386,0.000,0.000,204,2407,1878,1990,1767,0,0,0,0,0,0,14.50,28.83,14.52
$GC,88,-0.87,-146.0,204,2407,1993,1767,2.9,-7.3,7,143,9.48,4.97,-35.67,0.005,18980,0.468,0.078,2002,709,3765,3849,3681,0,0,0,0,0,0,14.14,13.81,14.38
$GC,205,-0.87,-146.0,2002,710,3848,3683,54.5,-28.9,29,216,0.00,5.00,0.00,0.000,1030,0.000,0.065,1983,2400,3764,3847,3682,0,0,0,0,0,0,14.38,14.33,14.41
$GC,393,-0.87,-146.0,1983,2401,3845,3685,105.2,-24.5,49,404,0.00,4.70,0.00,0.000,260,0.000,0.094,1964,3945,3766,3844,3689,0,0,0,0,0,0,14.54,14.36,14.56
$GC,414,-0.87,-146.0,1964,3948,3836,3694,110.7,-26.2,53,420,0.00,4.47,0.00,0.000,1030,0.000,0.047,1973,2397,3764,3836,3693,0,0,0,0,0,0,14.46,14.40,14.47
$GC,605,-0.87,-146.0,1975,2397,3837,3694,156.7,-23.7,73,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2396,3764,3835,3693,0,0,0,0,0,0,14.58,14.59,14.60
$GC,785,-0.87,-146.0,1974,2396,3837,3694,197.6,-22.2,91,786,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2395,3764,3835,3694,0,0,0,0,0,0,14.60,14.62,14.62
$GC,965,-0.87,-146.0,1974,2402,3837,3694,233.6,-18.5,109,976,0.00,4.93,0.00,0.000,516,0.000,0.070,1974,709,3764,3835,3693,0,0,0,0,0,0,14.62,14.45,14.64
$GC,986,-0.87,-146.0,1973,709,3835,3694,237.6,-18.2,113,998,0.15,4.95,0.00,0.000,3078,0.327,0.060,1982,2403,3764,3835,3694,0,0,0,0,0,0,14.32,14.45,14.49
$GC,1186,-0.87,-146.0,1981,2403,3836,3693,270.2,-15.6,128,1196,0.00,5.00,0.00,0.000,516,0.000,0.073,1984,702,3765,3836,3694,0,0,0,0,0,0,14.63,14.46,14.65
$GC,1226,-0.87,-146.0,1985,702,3837,3694,277.0,-16.8,136,1236,0.00,4.97,0.00,0.000,1030,0.000,0.062,1965,2406,3765,3836,3694,0,0,0,0,0,0,14.54,14.47,14.56
$GC,1546,-0.87,-146.0,1966,2407,3837,3694,328.5,-16.0,155,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2406,3764,3835,3694,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1846,-0.87,-146.0,1965,2406,3836,3694,376.0,-15.8,170,1853,0.00,4.95,0.00,0.000,516,0.000,0.070,1962,704,3764,3835,3693,0,0,0,0,0,0,14.73,14.55,14.74
$GC,1883,-0.87,-146.0,1966,705,3836,3694,381.9,-16.3,177,1890,0.17,4.93,0.00,0.000,3078,0.321,0.061,1981,2401,3764,3836,3693,0,0,0,0,0,0,14.44,14.56,14.62
$GC,2188,-0.87,-146.0,1981,2402,3835,3694,425.7,-14.1,193,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2401,3764,3835,3693,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2488,-0.87,-146.0,1982,2402,3836,3694,467.5,-13.9,208,2498,0.00,4.95,0.00,0.000,516,0.000,0.076,1984,706,3764,3834,3694,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2513,-0.87,-146.0,1985,707,3836,3694,471.1,-14.9,213,2523,0.00,4.90,0.00,0.000,1030,0.000,0.061,1966,2400,3764,3835,3693,0,0,0,0,0,0,14.69,14.62,14.69
$GC,2828,-0.87,-146.0,1966,2401,3836,3694,517.7,-14.7,231,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2400,3763,3834,3693,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3128,-0.87,-146.0,1965,2401,3835,3694,561.6,-14.6,246,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2400,3763,3834,3693,0,0,0,0,0,0,14.84,14.86,14.86
$STATE,3406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3406,begin apogee
$GC,3412,-0.11,0.0,1966,2186,3835,3694,602.5,-14.5,260,3551,1.02,0.05,133.62,2.135,10246,0.286,0.211,2225,2209,3165,3218,3112,0,0,0,0,0,0,14.57,13.93,13.27
$STATE,3552,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3554,0.87,146.0,2229,2209,3218,3112,608.0,0.0,267,3696,1.10,0.00,137.90,2.043,10246,0.174,0.000,2542,2208,2568,2589,2547,0,0,0,0,0,0,13.93,13.75,13.07
$GC,3988,0.87,146.0,2541,2208,2593,2532,568.2,11.4,289,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2558,2585,2532,0,0,0,0,0,0,14.40,14.42,14.41
$GC,4288,0.87,146.0,2542,2209,2586,2529,534.4,11.2,304,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2209,2557,2586,2528,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4588,0.87,146.0,2542,2209,2587,2528,501.0,11.0,319,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2556,2586,2527,0,0,0,0,0,0,14.64,14.66,14.66
$GC,4888,0.87,146.0,2541,2209,2586,2526,468.6,10.8,334,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2556,2586,2526,0,0,0,0,0,0,14.71,14.72,14.72
$GC,5188,0.87,146.0,2542,2209,2587,2526,436.1,10.9,349,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2555,2586,2525,0,0,0,0,0,0,14.73,14.77,14.76
$GC,5488,0.87,146.0,2542,2209,2587,2525,403.4,11.0,364,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2555,2586,2524,0,0,0,0,0,0,14.78,14.80,14.80
$GC,5788,0.87,146.0,2542,2209,2588,2525,371.1,10.6,379,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2555,2586,2524,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6088,0.87,146.0,2542,2209,2587,2524,340.1,10.4,394,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2208,2554,2586,2523,0,0,0,0,0,0,14.83,14.85,14.85
$GC,6388,0.87,146.0,2543,2209,2595,2524,310.3,9.6,409,6399,0.00,4.95,0.00,0.000,516,0.000,0.082,2562,517,2552,2582,2523,0,0,0,0,0,0,14.84,14.65,14.86
$GC,6429,0.87,146.0,2562,518,2582,2524,306.1,10.7,417,6440,0.00,4.80,0.00,0.000,1030,0.000,0.057,2561,2200,2553,2583,2523,0,0,0,0,0,0,14.73,14.67,14.76
$GC,6750,0.88,146.0,2562,2201,2584,2524,274.8,9.1,436,6751,0.00,0.00,0.00,0.000,70,0.000,0.000,2561,2200,2553,2583,2523,0,0,0,0,0,0,14.85,14.87,14.86
$GC,7050,0.92,146.0,2561,2201,2583,2524,249.5,8.2,451,7051,0.00,0.00,0.00,0.000,70,0.000,0.000,2561,2200,2553,2583,2523,0,0,0,0,0,0,14.86,14.88,14.88
$GC,7230,1.17,229.9,2561,2201,2584,2524,237.4,6.2,469,7311,0.28,0.00,74.00,1.716,10278,0.148,0.000,2642,2200,2225,2252,2198,0,0,0,0,0,0,14.63,14.32,13.72
$GC,7490,1.17,229.9,2643,2201,2249,2189,211.5,10.5,495,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2200,2217,2248,2187,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7670,1.20,229.9,2643,2201,2248,2186,194.9,8.6,513,7670,0.00,0.00,0.00,0.000,70,0.000,0.000,2643,2200,2216,2247,2185,0,0,0,0,0,0,14.63,14.65,14.65
$GC,7850,1.36,282.8,2643,2201,2247,2184,180.4,7.6,531,7901,0.20,0.00,46.53,1.635,10278,0.161,0.000,2702,2200,2010,2038,1982,0,0,0,0,0,0,14.45,14.28,13.71
$GC,8081,1.36,282.8,2703,2201,2035,1973,156.3,11.4,554,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2200,2002,2033,1972,0,0,0,0,0,0,14.54,14.56,14.56
$GC,8260,1.36,282.8,2702,2200,2032,1970,137.4,10.3,572,8271,0.00,5.03,0.00,0.000,516,0.000,0.080,2725,514,2000,2030,1971,0,0,0,0,0,0,14.61,14.42,14.63
$GC,8280,1.36,282.8,2724,515,2029,1970,135.1,9.9,576,8291,0.00,4.90,0.00,0.000,1030,0.000,0.056,2723,2205,1999,2029,1969,0,0,0,0,0,0,14.51,14.44,14.52
$GC,8471,1.38,282.8,2724,2206,2030,1970,116.3,8.9,596,8471,0.00,0.00,0.00,0.000,70,0.000,0.000,2723,2205,1998,2029,1968,0,0,0,0,0,0,14.64,14.66,14.66
$GC,8651,1.52,330.8,2724,2206,2030,1967,101.2,7.8,614,8694,0.10,0.00,40.88,1.569,10534,0.205,0.000,2752,2205,1815,1845,1785,0,0,0,0,0,0,14.45,14.33,13.76
$GC,8872,1.55,330.8,2752,2206,1839,1775,80.9,8.7,637,8873,0.00,0.00,0.00,0.000,70,0.000,0.000,2752,2205,1806,1839,1774,0,0,0,0,0,0,14.54,14.56,14.56
$GC,9051,1.89,444.4,2753,2210,1839,1772,69.0,4.8,655,9152,0.38,0.00,94.82,1.508,10534,0.139,0.000,2872,2205,1350,1371,1329,0,0,0,0,0,0,14.38,13.97,13.54
$GC,9331,2.10,513.3,2872,2205,1364,1318,44.6,6.8,691,9399,0.20,5.28,56.28,1.451,10532,0.159,0.093,2937,3892,1068,1075,1061,0,0,0,0,0,0,14.21,14.03,13.57
$GC,9474,2.10,513.3,2937,3892,1071,1059,29.5,10.3,718,9482,0.00,4.97,0.00,0.000,1030,0.000,0.050,2959,2202,1064,1071,1057,0,0,0,0,0,0,14.23,14.17,14.25
$GC,9659,2.75,729.7,2958,2202,1071,1050,27.2,0.1,737,9786,0.57,5.18,112.40,1.421,10788,0.119,0.072,3166,505,496,468,524,0,0,0,0,0,0,14.21,13.94,13.45
$GC,9863,2.75,729.7,3167,506,466,522,16.0,11.9,774,9870,0.00,5.05,0.00,0.000,1030,0.000,0.056,3166,2202,492,465,519,0,0,0,0,0,0,14.15,14.09,14.17
$STATE,9975,end climb,SURFACE_DEPTH_REACHED
$STATE,9975,begin surface coast
$FINISH,-0.9,1.021054
$STATE,9986,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10065,0.00,0.000,0,0,490,656.42
$SM_GC,-0.09,9.75,0.60,0.00,0.142,0.083,0.000,205,2398,490,-6.42,-0.90,656.42,0,0,0,0,0,0,14.16,14.20,14.26
$RAFOS_CLK,629
$RAFOS_FIX,7348.663574,-14710.260742,280918,101001,0,1,0.18
$IRIDIUM_FIX,7346.83,-14720.51,280918,050624
$TT8_MAMPS,0.041944,0.678594
$HUMID,47.16
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,20.0,5.8
$24V_AH,13.07,27.070
$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,23.400,100.125,696.425,0.000,0.000,0.000,0.000,261.325,4.750,0.000,15.340,0.000,7622.846,847.334,1814.949,209.418,0.000,1767.739,0.000,1131.068,0.000,2.512,0.000
$DEVICE_MAMPS,468.180,211.140,2135.115,0.000,0.000,0.000,0.000,179.775,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.135,0.000,0.000,0.000
$MEM,334488
$DATA_FILE_SIZE,26684,787
$CAP_FILE_SIZE,91753,0
$CFSIZE,2097872896,2085650432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9480.92,0x21471c,1,24
$SOUNDSPEED,1448.3
$CURRENT,0.034,1.29,1
$GPS,280918,110031,7348.849,-14707.895,26,0.7,27,18.2,0.2,231.5,10,3.2