version: 66.13
glider: 228
mission: 14
dive: 52
start: 9 28 118 14 3 30
data:
$ID,228
$MISSION,14
$DIVE,52
$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,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
$GPS1,280918,135532,7350.0361,-14706.5967,162,0.6,163,18.2,0.7,211.5,12,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-78.4
$GPS2,280918,140249,7350.0337,-14706.6074,4,0.5,6,18.2,0.1,0.0,12,6.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.3,50749,-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,-146.0,200,2398,458,520,0.0,0.0,0,83,0.00,0.00,-71.90,0.003,16386,0.000,0.000,199,2398,1889,1998,1780,0,0,0,0,0,0,14.49,28.83,14.50
$GC,86,-0.87,-146.0,199,2398,1999,1784,3.2,-9.5,7,142,9.32,4.97,-34.72,0.005,18948,0.459,0.075,2004,702,3770,3858,3682,0,0,0,0,0,0,14.13,13.59,14.35
$GC,227,-0.87,-146.0,2004,703,3852,3685,61.1,-25.4,34,234,0.00,5.03,0.00,0.000,1030,0.000,0.064,1984,2403,3767,3851,3684,0,0,0,0,0,0,14.41,14.33,14.42
$GC,412,-0.87,-146.0,1984,2404,3849,3694,109.2,-24.2,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2403,3767,3847,3687,0,0,0,0,0,0,14.57,14.59,14.59
$GC,592,-0.87,-146.0,1983,2403,3846,3688,152.1,-23.6,71,603,0.00,5.00,0.00,0.000,516,0.000,0.073,1987,706,3766,3846,3687,0,0,0,0,0,0,14.62,14.45,14.64
$GC,633,-0.87,-146.0,1986,706,3846,3688,161.9,-23.1,79,644,0.00,4.97,0.00,0.000,1030,0.000,0.063,1968,2406,3766,3845,3688,0,0,0,0,0,0,14.53,14.45,14.54
$GC,823,-0.87,-146.0,1969,2407,3847,3689,205.5,-22.0,99,834,0.00,4.68,0.00,0.000,260,0.000,0.096,1948,3951,3767,3842,3692,0,0,0,0,0,0,14.66,14.46,14.68
$GC,839,-0.87,-146.0,1949,3952,3841,3695,208.9,-22.1,102,846,0.12,4.45,0.00,0.000,3078,0.340,0.046,1981,2392,3767,3839,3695,0,0,0,0,0,0,14.35,14.50,14.54
$GC,1024,-0.87,-146.0,1982,2393,3841,3696,243.7,-16.7,121,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2392,3766,3839,3694,0,0,0,0,0,0,14.68,14.71,14.71
$GC,1204,-0.87,-146.0,1982,2393,3840,3696,272.9,-15.9,132,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2392,3767,3839,3695,0,0,0,0,0,0,14.72,14.74,14.73
$GC,1504,-0.87,-146.0,1981,2393,3839,3695,318.6,-15.0,147,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2392,3766,3839,3694,0,0,0,0,0,0,14.76,14.78,14.76
$GC,1804,-0.87,-146.0,1982,2390,3840,3696,363.0,-14.6,162,1814,0.00,4.85,0.00,0.000,516,0.000,0.073,1984,711,3766,3839,3694,0,0,0,0,0,0,14.78,14.59,14.81
$GC,1864,-0.87,-146.0,1984,712,3839,3695,372.0,-14.6,174,1874,0.00,4.90,0.00,0.000,1030,0.000,0.062,1965,2403,3766,3839,3694,0,0,0,0,0,0,14.68,14.60,14.69
$GC,2184,-0.87,-146.0,1965,2404,3838,3695,421.6,-15.4,193,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2404,3765,3837,3694,0,0,0,0,0,0,14.80,14.82,14.82
$GC,2484,-0.87,-146.0,1966,2405,3838,3695,467.3,-15.0,208,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2404,3766,3839,3694,0,0,0,0,0,0,14.82,14.84,14.83
$GC,2784,-0.87,-146.0,1965,2404,3837,3695,511.9,-14.7,223,2794,0.00,4.93,0.00,0.000,516,0.000,0.075,1966,707,3766,3837,3695,0,0,0,0,0,0,14.84,14.65,14.86
$GC,2834,-0.87,-146.0,1965,707,3837,3695,519.6,-15.2,233,2841,0.17,4.88,0.00,0.000,3078,0.318,0.060,1981,2402,3766,3837,3695,0,0,0,0,0,0,14.53,14.66,14.71
$GC,3146,-0.87,-146.0,1982,2403,3839,3696,562.0,-13.4,250,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2402,3765,3837,3694,0,0,0,0,0,0,14.85,14.88,14.87
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3450,-0.11,0.0,1983,2185,3837,3695,601.7,-13.3,265,3588,0.93,0.05,134.18,2.132,10246,0.279,0.208,2226,2207,3165,3221,3109,0,0,0,0,0,0,14.58,13.93,13.28
$STATE,3589,end apogee,CONTROL_FINISHED_OK
$STATE,3589,begin climb
$GC,3592,0.87,146.0,2227,2207,3220,3109,606.7,0.0,272,3733,1.10,0.00,138.23,2.041,10246,0.174,0.000,2540,2206,2568,2591,2546,0,0,0,0,0,0,13.93,13.76,13.08
$GC,4026,0.87,146.0,2541,2207,2588,2531,569.9,10.6,294,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2206,2558,2587,2530,0,0,0,0,0,0,14.39,14.42,14.41
$GC,4326,0.87,146.0,2540,2207,2588,2529,538.5,10.3,309,4332,0.00,5.05,0.00,0.000,516,0.000,0.081,2561,518,2557,2587,2527,0,0,0,0,0,0,14.55,14.35,14.57
$GC,4347,0.87,146.0,2561,518,2584,2529,536.2,10.5,313,4354,0.00,4.90,0.00,0.000,1030,0.000,0.056,2561,2200,2556,2584,2528,0,0,0,0,0,0,14.45,14.38,14.47
$GC,4669,0.87,146.0,2562,2201,2586,2528,499.8,11.3,332,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,2555,2584,2527,0,0,0,0,0,0,14.65,14.66,14.66
$GC,4969,0.87,146.0,2561,2201,2585,2526,466.3,11.1,347,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,2555,2585,2526,0,0,0,0,0,0,14.70,14.71,14.71
$GC,5269,0.87,146.0,2561,2201,2584,2526,433.6,10.8,362,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,2555,2584,2526,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5569,0.87,146.0,2561,2206,2586,2526,401.5,10.7,377,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2200,2555,2585,2525,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5869,0.87,146.0,2561,2201,2586,2525,369.8,10.5,392,5879,0.00,5.05,0.00,0.000,260,0.000,0.094,2561,3891,2555,2584,2526,0,0,0,0,0,0,14.80,14.60,14.81
$GC,5899,0.87,146.0,2561,3892,2583,2528,366.1,12.5,398,5911,0.15,4.78,0.00,0.000,5126,0.353,0.048,2554,2206,2554,2583,2526,0,0,0,0,0,0,14.50,14.64,14.68
$GC,6209,0.87,146.0,2554,2204,2583,2525,334.4,9.8,415,6219,0.00,4.90,0.00,0.000,516,0.000,0.073,2574,510,2554,2583,2525,0,0,0,0,0,0,14.82,14.64,14.84
$GC,6264,0.87,146.0,2573,510,2581,2525,328.5,10.7,426,6271,0.00,4.82,0.00,0.000,1030,0.000,0.054,2574,2205,2553,2581,2525,0,0,0,0,0,0,14.71,14.65,14.73
$GC,6570,0.87,146.0,2574,2206,2583,2524,297.4,10.1,442,6579,0.00,5.03,0.00,0.000,260,0.000,0.093,2574,3890,2553,2581,2525,0,0,0,0,0,0,14.84,14.64,14.85
$GC,6609,0.87,146.0,2574,3891,2582,2529,292.3,13.9,450,6620,0.20,4.80,0.00,0.000,5126,0.362,0.048,2555,2194,2554,2582,2526,0,0,0,0,0,0,14.52,14.67,14.71
$GC,6931,0.90,146.0,2556,2195,2582,2525,261.5,8.3,469,6932,0.00,0.00,0.00,0.000,70,0.000,0.000,2555,2194,2553,2582,2524,0,0,0,0,0,0,14.85,14.87,14.87
$GC,7230,1.12,219.4,2555,2195,2582,2525,239.1,6.6,491,7302,0.25,0.00,65.12,1.717,10278,0.148,0.000,2630,2194,2267,2295,2240,0,0,0,0,0,0,14.61,14.21,13.73
$GC,7481,1.12,219.4,2631,2195,2293,2232,214.0,9.8,516,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2194,2261,2291,2231,0,0,0,0,0,0,14.53,14.55,14.55
$GC,7660,1.15,219.4,2630,2194,2292,2229,198.3,8.3,534,7661,0.00,0.00,0.00,0.000,70,0.000,0.000,2631,2194,2259,2291,2228,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7840,1.32,275.3,2630,2195,2292,2227,184.7,7.4,552,7892,0.20,0.00,49.80,1.639,10278,0.156,0.000,2690,2194,2040,2068,2012,0,0,0,0,0,0,14.42,14.23,13.65
$GC,8071,1.32,275.3,2690,2195,2064,2002,161.6,10.1,575,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2194,2033,2065,2002,0,0,0,0,0,0,14.47,14.50,14.49
$GC,8250,1.33,275.3,2691,2195,2065,1999,143.7,9.5,593,8251,0.00,0.00,0.00,0.000,70,0.000,0.000,2689,2194,2030,2063,1998,0,0,0,0,0,0,14.52,14.54,14.54
$GC,8430,1.36,275.3,2689,2195,2062,1997,127.2,8.6,611,8441,0.00,5.00,0.00,0.000,580,0.000,0.075,2712,508,2028,2060,1997,0,0,0,0,0,0,14.57,14.40,14.58
$GC,8486,1.36,275.3,2712,510,2060,2000,121.9,9.6,622,8492,0.00,4.93,0.00,0.000,1030,0.000,0.055,2711,2205,2028,2059,1998,0,0,0,0,0,0,14.49,14.42,14.50
$GC,8671,1.40,275.3,2711,2205,2059,1995,106.1,8.2,641,8677,0.00,5.10,0.00,0.000,324,0.000,0.091,2711,3891,2027,2059,1995,0,0,0,0,0,0,14.59,14.41,14.61
$GC,8742,1.40,275.3,2710,3893,2056,1996,98.9,9.6,655,8753,0.00,4.90,0.00,0.000,1030,0.000,0.047,2734,2192,2026,2056,1997,0,0,0,0,0,0,14.50,14.44,14.51
$GC,8932,1.67,366.5,2734,2193,2057,1997,86.0,5.8,675,9021,0.20,5.07,77.07,1.548,10788,0.163,0.073,2820,510,1667,1693,1641,0,0,0,0,0,0,14.39,14.10,13.59
$GC,9076,1.67,366.5,2820,510,1683,1642,73.1,10.6,702,9082,0.00,5.00,0.00,0.000,1030,0.000,0.054,2820,2203,1661,1684,1639,0,0,0,0,0,0,14.23,14.17,14.25
$MODEM_MSG,CACST,6,1,20180928161050.586046,18,272,24,0109,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$GC,9263,1.97,467.5,2820,2204,1686,1631,59.0,5.4,721,9358,0.25,5.32,83.25,1.480,10532,0.148,0.090,2898,3889,1255,1269,1242,0,0,0,0,0,0,14.24,13.97,13.49
$GC,9408,1.97,467.5,2898,3890,1266,1241,45.9,11.4,748,9415,0.00,5.00,0.00,0.000,1030,0.000,0.049,2920,2199,1252,1265,1239,0,0,0,0,0,0,14.16,14.10,14.17
$GC,9594,2.36,595.8,2919,2198,1265,1231,33.1,4.1,767,9706,0.32,5.18,103.00,1.427,10788,0.139,0.075,3045,511,731,719,744,0,0,0,0,0,0,14.21,13.91,13.43
$GC,9931,2.64,689.0,3046,512,709,743,14.9,5.7,832,9987,0.22,4.97,46.50,1.397,11302,0.150,0.054,3110,2206,497,474,520,0,0,0,0,0,0,14.18,14.22,13.54
$STATE,10061,end climb,SURFACE_DEPTH_REACHED
$STATE,10061,begin surface coast
$FINISH,0.5,1.021071
$STATE,10070,end surface coast,CONTROL_FINISHED_OK
$STATE,10070,begin surface
$SM_CCo,10150,0.00,0.000,0,0,492,655.93
$SM_GC,-1.01,10.57,0.57,0.00,0.216,0.083,0.000,200,2394,492,-6.44,-1.08,655.93,0,0,0,0,0,0,14.12,14.15,14.21
$RAFOS_CLK,201
$MODEM,2,1538151050,74.08334,-144.88333,50.586,73277.6
$RAFOS_FIX,7350.737305,-14707.007812,280918,161650,1,2,0.17
$IRIDIUM_FIX,7349.19,-14705.69,280918,110309
$TT8_MAMPS,0.041944,0.582722
$HUMID,46.57
$INTERNAL_PRESSURE,8.86082
$TCM_TEMP,14.60
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.8,5.8
$24V_AH,13.08,28.002
$10V_AH,13.24,0.000
$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,24.025,139.675,697.150,0.000,0.000,0.000,0.000,285.400,5.500,0.000,15.981,0.000,7560.373,864.782,1961.194,218.546,0.000,1861.878,0.000,1221.781,2203.000,2.512,0.000
$DEVICE_MAMPS,459.000,208.080,2132.055,0.000,0.000,0.000,0.000,181.305,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10077.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.287,0.000,0.000,0.000
$MEM,334544
$DATA_FILE_SIZE,30054,851
$CAP_FILE_SIZE,98433,0
$CFSIZE,2097872896,2085289984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,0.059,357.69,1
$GPS,280918,165419,7351.272,-14704.694,58,0.7,59,18.2,0.3,270.6,10,2.8