version: 66.13
glider: 228
mission: 14
dive: 51
start: 9 28 118 11 8 7
data:
$ID,228
$MISSION,14
$DIVE,51
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,280918,110031,7348.8491,-14707.8945,26,0.7,27,18.2,0.2,231.5,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-72.4
$GPS2,280918,110727,7348.8550,-14707.9053,4,0.7,5,18.2,0.1,0.0,10,5.1
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,9.7,53007,-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,-146.0,205,2401,459,519,0.0,0.0,0,82,0.00,0.00,-71.07,0.003,16386,0.000,0.000,204,2401,1864,1975,1753,0,0,0,0,0,0,14.49,28.83,14.50
$GC,85,-0.87,-146.0,204,2401,1976,1757,3.2,-8.5,7,141,9.25,5.03,-35.72,0.005,18948,0.456,0.084,2000,710,3765,3848,3682,0,0,0,0,0,0,14.14,13.79,14.38
$GC,256,-0.87,-146.0,2000,710,3848,3684,67.4,-22.3,40,263,0.00,5.00,0.00,0.000,1030,0.000,0.065,1981,2402,3766,3848,3684,0,0,0,0,0,0,14.42,14.34,14.43
$GC,441,-0.87,-146.0,1982,2403,3844,3687,114.2,-24.8,59,452,0.00,4.70,0.00,0.000,260,0.000,0.095,1962,3948,3766,3841,3691,0,0,0,0,0,0,14.58,14.36,14.60
$GC,492,-0.87,-146.0,1963,3950,3833,3699,128.0,-27.1,69,499,0.00,4.47,0.00,0.000,1030,0.000,0.050,1971,2398,3764,3832,3697,0,0,0,0,0,0,14.50,14.44,14.52
$GC,684,-0.87,-146.0,1971,2398,3833,3699,173.8,-22.9,89,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2398,3765,3832,3698,0,0,0,0,0,0,14.64,14.66,14.66
$GC,864,-0.87,-146.0,1971,2398,3832,3698,213.6,-20.7,107,864,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2398,3764,3831,3698,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1044,-0.87,-146.0,1971,2399,3833,3699,247.3,-17.5,125,1050,0.00,4.93,0.00,0.000,516,0.000,0.071,1970,707,3764,3831,3698,0,0,0,0,0,0,14.69,14.52,14.71
$GC,1085,-0.87,-146.0,1971,708,3833,3699,255.0,-17.8,133,1092,0.15,4.93,0.00,0.000,3078,0.330,0.060,1981,2406,3765,3832,3698,0,0,0,0,0,0,14.39,14.52,14.57
$GC,1407,-0.87,-146.0,1982,2408,3832,3699,304.6,-15.1,152,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2407,3764,3831,3698,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1707,-0.87,-146.0,1982,2408,3833,3698,348.7,-14.6,167,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2407,3764,3831,3698,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2008,-0.87,-146.0,1982,2408,3833,3699,392.0,-14.3,182,2017,0.00,4.90,0.00,0.000,516,0.000,0.071,1984,706,3764,3831,3698,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2047,-0.87,-146.0,1984,707,3832,3699,398.0,-14.9,190,2057,0.00,4.90,0.00,0.000,1030,0.000,0.061,1965,2405,3764,3831,3698,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2367,-0.87,-146.0,1965,2405,3833,3699,446.3,-15.0,209,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2405,3764,3831,3698,0,0,0,0,0,0,14.82,14.83,14.83
$GC,2667,-0.87,-146.0,1965,2406,3832,3699,490.7,-14.7,224,2678,0.00,4.90,0.00,0.000,516,0.000,0.070,1965,704,3767,3831,3704,0,0,0,0,0,0,14.83,14.65,14.85
$GC,2698,-0.87,-146.0,1964,704,3832,3698,495.5,-15.7,230,2709,0.17,4.90,0.00,0.000,3078,0.325,0.060,1981,2408,3764,3831,3698,0,0,0,0,0,0,14.52,14.65,14.70
$GC,3008,-0.87,-146.0,1982,2408,3833,3699,538.0,-13.6,247,3018,0.00,4.90,0.00,0.000,516,0.000,0.070,1983,707,3764,3832,3697,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3028,-0.87,-146.0,1983,707,3831,3698,540.9,-14.7,251,3037,0.00,4.85,0.00,0.000,1030,0.000,0.058,1965,2399,3764,3831,3698,0,0,0,0,0,0,14.74,14.66,14.76
$GC,3350,-0.87,-146.0,1964,2404,3832,3698,587.8,-14.6,270,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2400,3764,3831,3698,0,0,0,0,0,0,14.81,14.83,14.81
$STATE,3445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3446,begin apogee
$GC,3451,-0.11,0.0,1965,2183,3831,3698,602.3,-14.4,275,3590,1.02,0.08,134.10,2.134,10246,0.284,0.163,2228,2215,3164,3216,3112,0,0,0,0,0,0,14.53,13.91,13.24
$STATE,3591,end apogee,CONTROL_FINISHED_OK
$STATE,3591,begin climb
$GC,3594,0.87,146.0,2228,2216,3215,3113,607.8,0.0,282,3736,1.10,0.00,137.43,2.043,10758,0.174,0.000,2540,2215,2567,2589,2546,0,0,0,0,0,0,13.89,13.73,13.07
$GC,4050,0.87,146.0,2540,2216,2587,2532,567.0,10.9,317,4057,0.00,5.12,0.00,0.000,516,0.000,0.081,2561,523,2558,2585,2532,0,0,0,0,0,0,14.36,14.19,14.38
$GC,4077,0.87,146.0,2561,524,2583,2533,563.9,11.4,322,4087,0.00,4.93,0.00,0.000,1030,0.000,0.056,2556,2193,2557,2582,2532,0,0,0,0,0,0,14.28,14.21,14.30
$GC,4392,0.87,146.0,2557,2194,2583,2530,527.1,11.7,340,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2193,2556,2582,2530,0,0,0,0,0,0,14.50,14.52,14.52
$GC,4692,0.87,146.0,2557,2194,2583,2530,492.2,11.6,355,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2193,2555,2581,2529,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4992,0.87,146.0,2556,2194,2582,2529,457.6,11.4,370,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2194,2555,2582,2528,0,0,0,0,0,0,14.61,14.64,14.63
$GC,5292,0.87,146.0,2557,2194,2582,2528,424.1,11.0,385,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2194,2554,2582,2527,0,0,0,0,0,0,14.64,14.66,14.69
$GC,5592,0.87,146.0,2557,2194,2582,2527,391.2,11.1,400,5603,0.00,5.10,0.00,0.000,260,0.000,0.093,2557,3900,2557,2587,2528,0,0,0,0,0,0,14.72,14.52,14.74
$GC,5623,0.87,146.0,2558,3895,2581,2530,387.4,12.7,406,5634,0.00,4.80,0.00,0.000,1030,0.000,0.048,2576,2211,2554,2581,2528,0,0,0,0,0,0,14.63,14.57,14.64
$GC,5933,0.87,146.0,2576,2212,2581,2527,349.8,11.9,423,5943,0.00,4.95,0.00,0.000,516,0.000,0.073,2597,506,2553,2580,2526,0,0,0,0,0,0,14.76,14.57,14.78
$GC,5983,0.87,146.0,2597,507,2578,2527,343.7,12.1,433,5990,0.20,4.88,0.00,0.000,5126,0.339,0.056,2553,2209,2552,2579,2526,0,0,0,0,0,0,14.45,14.59,14.64
$GC,6295,0.87,146.0,2553,2209,2581,2527,311.2,10.0,450,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2209,2553,2580,2526,0,0,0,0,0,0,14.80,14.81,14.81
$GC,6595,0.88,146.0,2553,2209,2581,2526,282.4,9.2,465,6596,0.00,0.00,0.00,0.000,70,0.000,0.000,2553,2209,2552,2580,2525,0,0,0,0,0,0,14.82,14.84,14.83
$GC,6895,0.92,146.0,2553,2209,2581,2527,256.5,8.1,480,6896,0.00,0.00,0.00,0.000,70,0.000,0.000,2553,2209,2552,2579,2526,0,0,0,0,0,0,14.83,14.85,14.85
$GC,7197,1.19,234.7,2553,2210,2581,2526,235.9,5.9,505,7277,0.32,0.00,78.40,1.707,10278,0.142,0.000,2652,2208,2209,2234,2184,0,0,0,0,0,0,14.63,14.28,13.69
$GC,7455,1.19,234.7,2651,2209,2227,2173,209.6,10.1,531,7466,0.00,5.15,0.00,0.000,260,0.000,0.093,2651,3895,2198,2224,2173,0,0,0,0,0,0,14.54,14.33,14.56
$GC,7491,1.19,234.7,2651,3894,2223,2175,205.3,11.9,538,7498,0.00,4.90,0.00,0.000,1030,0.000,0.049,2673,2198,2198,2223,2173,0,0,0,0,0,0,14.46,14.40,14.48
$GC,7676,1.21,234.7,2674,2198,2225,2170,187.3,8.9,557,7683,0.00,4.95,0.00,0.000,580,0.000,0.073,2694,507,2196,2223,2169,0,0,0,0,0,0,14.62,14.43,14.64
$GC,7743,1.21,234.7,2695,508,2221,2171,180.9,9.8,570,7750,0.15,4.90,0.00,0.000,5126,0.337,0.054,2661,2204,2194,2220,2168,0,0,0,0,0,0,14.33,14.47,14.52
$GC,7928,1.35,283.1,2661,2205,2221,2167,166.1,7.8,589,7982,0.15,5.12,42.40,1.625,10532,0.177,0.090,2702,3889,2007,2033,1981,0,0,0,0,0,0,14.46,14.21,13.73
$GC,8034,1.35,283.1,2703,3889,2030,1983,155.1,12.6,607,8044,0.00,4.88,0.00,0.000,1030,0.000,0.048,2724,2198,2004,2029,1980,0,0,0,0,0,0,14.37,14.33,14.40
$GC,8222,1.35,283.1,2725,2199,2028,1974,133.9,11.1,627,8233,0.00,4.97,0.00,0.000,516,0.000,0.072,2746,502,1999,2026,1973,0,0,0,0,0,0,14.57,14.39,14.58
$GC,8288,1.35,283.1,2746,503,2023,1974,126.4,11.3,640,8295,0.17,4.93,0.00,0.000,5126,0.343,0.054,2709,2205,1998,2024,1973,0,0,0,0,0,0,14.28,14.43,14.48
$GC,8473,1.49,328.4,2710,2205,2026,1971,110.6,7.9,659,8523,0.12,5.07,39.05,1.571,10788,0.190,0.077,2770,506,1822,1847,1797,0,0,0,0,0,0,14.43,14.21,13.74
$GC,8575,1.49,328.4,2770,507,1842,1797,99.9,12.4,678,8582,0.00,4.97,0.00,0.000,1030,0.000,0.057,2769,2204,1819,1843,1795,0,0,0,0,0,0,14.35,14.28,14.36
$GC,8758,1.51,328.4,2769,2205,1844,1789,82.2,8.7,697,8759,0.00,0.00,0.00,0.000,70,0.000,0.000,2769,2205,1815,1843,1788,0,0,0,0,0,0,14.55,14.57,14.57
$GC,8938,1.78,417.1,2768,2205,1843,1786,70.0,5.9,715,9023,0.20,5.18,74.53,1.515,10788,0.161,0.080,2860,507,1461,1483,1439,0,0,0,0,0,0,14.39,14.08,13.60
$GC,9040,1.80,417.1,2854,507,1475,1442,61.5,9.1,733,9046,0.00,5.03,0.00,0.000,1094,0.000,0.056,2855,2204,1458,1475,1441,0,0,0,0,0,0,14.19,14.14,14.21
$GC,9231,2.15,535.1,2854,2205,1476,1432,47.1,4.6,753,9337,0.30,5.30,96.07,1.452,10532,0.142,0.090,2950,3891,980,977,983,0,0,0,0,0,0,14.26,13.95,13.47
$GC,9398,2.15,535.1,2950,3893,975,981,31.3,11.1,784,9405,0.00,5.03,0.00,0.000,1030,0.000,0.048,2971,2196,977,974,980,0,0,0,0,0,0,14.16,14.10,14.17
$GC,9583,2.77,741.6,2972,2196,975,973,27.3,0.5,803,9691,0.55,5.32,95.40,1.416,11044,0.117,0.083,3152,3894,496,471,522,0,0,0,0,0,0,14.21,13.94,13.45
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,1.0,1.021094
$STATE,9759,end surface coast,CONTROL_FINISHED_OK
$STATE,9759,begin surface
$SM_CCo,9843,0.00,0.000,0,0,492,655.93
$SM_GC,13.32,11.02,4.47,0.00,0.230,0.048,0.000,201,2400,492,-6.43,1.04,655.93,0,0,0,0,0,0,14.07,14.11,14.16
$RAFOS_CLK,421
$RAFOS_FIX,7349.789062,-14708.415039,280918,131333,0,1,0.18
$IRIDIUM_FIX,7348.06,-14659.21,280918,080645
$TT8_MAMPS,0.041195,0.886816
$HUMID,46.81
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.60
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.7,5.8
$24V_AH,13.07,27.533
$10V_AH,13.34,0.000
$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,24.900,169.000,697.375,0.000,0.000,0.000,0.000,265.775,3.750,0.000,15.361,0.000,7266.913,870.545,1911.522,225.457,0.000,1858.081,0.000,1200.359,2208.000,2.512,0.000
$DEVICE_MAMPS,455.940,162.945,2134.350,0.000,0.000,0.000,0.000,182.070,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.815,0.000,0.000,0.000
$MEM,334552
$DATA_FILE_SIZE,30023,836
$CAP_FILE_SIZE,99455,0
$CFSIZE,2097872896,2085453824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9336.10,0x214724,1,24
$SOUNDSPEED,1448.6
$CURRENT,0.047,343.98,1
$GPS,280918,135532,7350.036,-14706.597,162,0.6,163,18.2,0.7,211.5,12,2.3