version: 66.13
glider: 228
mission: 14
dive: 53
start: 9 28 118 17 2 5
data:
$ID,228
$MISSION,14
$DIVE,53
$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,0.0025631799
$HD_B,0.0154106
$HD_C,6.0999999e-05
$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,21
$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,2854
$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,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$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
$GPS1,280918,165419,7351.2725,-14704.6943,58,0.7,59,18.2,0.3,270.6,10,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.56
$_SM_ANGLEo,-74.6
$GPS2,280918,170126,7351.2778,-14704.7158,4,0.7,5,18.2,0.0,0.0,10,3.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.7,48257,-22.0,-10.000,-29.22,1661
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.92,-146.0,200,2395,464,519,0.0,0.0,0,82,0.00,0.00,-71.57,0.003,16386,0.000,0.000,199,2395,1870,1981,1760,0,0,0,0,0,0,14.48,28.83,14.50
$GC,85,-0.92,-146.0,199,2395,1981,1764,2.7,-8.4,7,135,9.23,5.05,-31.35,0.005,18948,0.458,0.081,1984,706,3454,3555,3353,0,0,0,0,0,0,14.13,13.59,14.38
$GC,340,-0.92,-146.0,1985,707,3556,3355,92.4,-22.5,57,352,0.00,5.00,0.00,0.000,1030,0.000,0.061,1966,2403,3453,3555,3352,0,0,0,0,0,0,14.42,14.35,14.42
$GC,530,-0.92,-146.0,1966,2404,3554,3355,136.7,-22.8,77,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2404,3454,3554,3354,0,0,0,0,0,0,14.60,14.62,14.62
$GC,710,-0.92,-146.0,1966,2405,3555,3355,178.4,-24.0,95,711,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2404,3454,3554,3354,0,0,0,0,0,0,14.64,14.66,14.65
$GC,890,-0.92,-146.0,1966,2404,3555,3355,216.5,-20.3,113,902,0.00,4.97,0.00,0.000,516,0.000,0.073,1970,705,3453,3553,3354,0,0,0,0,0,0,14.66,14.47,14.69
$GC,912,-0.92,-146.0,1966,705,3554,3355,221.2,-21.0,117,924,0.00,4.95,0.00,0.000,1030,0.000,0.061,1951,2405,3454,3554,3354,0,0,0,0,0,0,14.57,14.49,14.58
$GC,1102,-0.92,-146.0,1952,2405,3555,3354,254.8,-16.5,136,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2404,3454,3554,3354,0,0,0,0,0,0,14.69,14.72,14.71
$GC,1402,-0.92,-146.0,1952,2405,3555,3355,301.2,-14.8,151,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2405,3453,3553,3354,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1702,-0.92,-146.0,1952,2405,3553,3355,346.1,-14.9,166,1709,0.00,4.95,0.00,0.000,516,0.000,0.073,1958,706,3453,3553,3354,0,0,0,0,0,0,14.78,14.59,14.82
$GC,1724,-0.92,-146.0,1958,706,3554,3355,349.5,-15.4,170,1731,0.15,4.90,0.00,0.000,3078,0.367,0.060,1965,2402,3453,3553,3354,0,0,0,0,0,0,14.45,14.59,14.64
$GC,2046,-0.92,-146.0,1966,2403,3554,3355,395.1,-13.8,189,2057,0.00,4.93,0.00,0.000,516,0.000,0.073,1974,706,3453,3552,3354,0,0,0,0,0,0,14.79,14.61,14.81
$GC,2092,-0.92,-146.0,1974,707,3553,3355,401.8,-14.7,198,2098,0.00,4.90,0.00,0.000,1030,0.000,0.059,1954,2410,3453,3552,3354,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2408,-0.92,-146.0,1955,2410,3553,3355,446.3,-14.1,216,2418,0.00,4.93,0.00,0.000,516,0.000,0.071,1958,702,3453,3552,3354,0,0,0,0,0,0,14.81,14.63,14.82
$GC,2438,-0.92,-146.0,1959,703,3552,3355,450.8,-15.5,222,2445,0.15,4.88,0.00,0.000,3078,0.356,0.057,1966,2402,3453,3551,3355,0,0,0,0,0,0,14.50,14.64,14.68
$GC,2750,-0.92,-146.0,1967,2403,3552,3355,492.7,-13.2,239,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2402,3453,3551,3355,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3050,-0.92,-146.0,1967,2403,3552,3356,532.5,-13.2,254,3057,0.00,4.90,0.00,0.000,516,0.000,0.073,1974,706,3452,3551,3354,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3102,-0.92,-146.0,1974,707,3551,3355,539.8,-14.2,264,3112,0.00,4.88,0.00,0.000,1030,0.000,0.060,1954,2404,3453,3551,3355,0,0,0,0,0,0,14.74,14.67,14.76
$GC,3412,-0.92,-146.0,1954,2405,3551,3355,581.7,-13.4,281,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2405,3452,3550,3355,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,3549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3549,begin apogee
$GC,3555,-0.11,0.0,1955,2186,3550,3355,600.5,-13.4,288,3694,1.10,0.00,135.95,2.133,10246,0.318,0.000,2227,2185,2852,2909,2796,0,0,0,0,0,0,14.56,13.99,13.27
$STATE,3695,end apogee,CONTROL_FINISHED_OK
$STATE,3695,begin climb
$GC,3698,0.92,146.0,2228,2185,2909,2797,605.5,0.0,295,3842,1.23,0.00,139.75,2.039,10502,0.211,0.000,2558,2184,2255,2279,2232,0,0,0,0,0,0,13.90,13.75,13.07
$GC,4152,0.92,146.0,2560,2185,2276,2215,554.1,12.5,327,4162,0.00,5.28,0.00,0.000,260,0.000,0.094,2559,3889,2244,2274,2215,0,0,0,0,0,0,14.40,14.20,14.42
$GC,4187,0.92,146.0,2559,3889,2272,2217,549.3,14.3,334,4195,0.00,4.93,0.00,0.000,1030,0.000,0.050,2579,2213,2243,2271,2216,0,0,0,0,0,0,14.32,14.26,14.34
$GC,4493,0.92,146.0,2579,2212,2272,2212,507.5,13.7,350,4499,0.00,5.03,0.00,0.000,516,0.000,0.075,2600,510,2241,2272,2211,0,0,0,0,0,0,14.57,14.38,14.58
$GC,4554,0.92,146.0,2601,510,2269,2212,498.9,13.6,362,4560,0.15,4.90,0.00,0.000,5126,0.299,0.056,2571,2210,2239,2268,2211,0,0,0,0,0,0,14.28,14.40,14.47
$GC,4875,0.92,146.0,2572,2210,2270,2210,457.0,12.9,381,4886,0.00,5.07,0.00,0.000,260,0.000,0.090,2568,3893,2239,2268,2210,0,0,0,0,0,0,14.66,14.46,14.68
$GC,4906,0.92,146.0,2568,3894,2268,2212,452.7,14.9,387,4917,0.00,4.88,0.00,0.000,1030,0.000,0.047,2588,2193,2239,2268,2210,0,0,0,0,0,0,14.56,14.50,14.57
$GC,5216,0.92,146.0,2588,2194,2270,2208,409.2,14.1,404,5226,0.00,4.90,0.00,0.000,516,0.000,0.074,2609,507,2238,2269,2207,0,0,0,0,0,0,14.71,14.52,14.75
$GC,5271,0.92,146.0,2610,508,2269,2209,401.1,14.2,415,5278,0.17,4.88,0.00,0.000,5126,0.300,0.057,2572,2202,2237,2267,2208,0,0,0,0,0,0,14.42,14.54,14.60
$GC,5576,0.92,146.0,2572,2203,2270,2207,361.9,12.7,431,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2203,2235,2264,2206,0,0,0,0,0,0,14.75,14.77,14.77
$GC,5876,0.92,146.0,2572,2203,2270,2206,324.6,12.3,446,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,2237,2269,2205,0,0,0,0,0,0,14.78,14.80,14.80
$GC,6176,0.92,146.0,2571,2203,2269,2205,289.1,11.6,461,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2203,2237,2269,2205,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6476,0.92,146.0,2572,2199,2269,2205,256.8,10.1,476,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,2236,2269,2204,0,0,0,0,0,0,14.82,14.84,14.84
$GC,6778,0.97,146.0,2572,2203,2269,2204,229.5,8.3,502,6779,0.00,0.00,0.00,0.000,70,0.000,0.000,2572,2202,2236,2269,2204,0,0,0,0,0,0,14.83,14.85,14.85
$GC,6956,1.07,146.0,2572,2203,2269,2204,216.9,6.5,520,6957,0.15,0.00,0.00,0.000,2118,0.163,0.000,2616,2202,2236,2269,2203,0,0,0,0,0,0,14.64,14.74,14.72
$GC,7136,1.15,146.0,2616,2203,2270,2204,203.5,7.4,538,7142,0.00,4.95,0.00,0.000,580,0.000,0.080,2638,509,2236,2269,2203,0,0,0,0,0,0,14.83,14.63,14.84
$GC,7157,1.20,146.0,2637,509,2268,2204,201.7,8.4,542,7163,0.00,4.82,0.00,0.000,1094,0.000,0.055,2635,2202,2236,2269,2203,0,0,0,0,0,0,14.72,14.65,14.75
$GC,7349,1.31,146.0,2636,2203,2269,2204,188.4,6.4,562,7350,0.17,0.00,0.00,0.000,2118,0.164,0.000,2686,2202,2236,2269,2203,0,0,0,0,0,0,14.62,14.73,14.72
$GC,7529,1.38,146.0,2686,2202,2269,2203,174.8,7.4,580,7539,0.00,5.03,0.00,0.000,324,0.000,0.092,2686,3893,2236,2268,2204,0,0,0,0,0,0,14.83,14.62,14.85
$GC,7574,1.38,146.0,2686,3894,2268,2207,170.3,10.8,589,7581,0.00,4.80,0.00,0.000,1030,0.000,0.047,2708,2196,2237,2268,2206,0,0,0,0,0,0,14.73,14.67,14.75
$GC,7760,1.43,146.0,2708,2195,2269,2204,154.2,8.4,608,7771,0.00,4.85,0.00,0.000,580,0.000,0.070,2730,506,2236,2268,2204,0,0,0,0,0,0,14.83,14.64,14.85
$GC,7892,1.48,146.0,2731,507,2269,2204,142.8,8.4,634,7899,0.00,4.82,0.00,0.000,1094,0.000,0.054,2731,2200,2236,2268,2204,0,0,0,0,0,0,14.73,14.66,14.74
$GC,8084,1.57,146.0,2731,2201,2269,2211,128.8,6.9,654,8091,0.12,5.00,0.00,0.000,2372,0.197,0.086,2769,3893,2235,2268,2203,0,0,0,0,0,0,14.59,14.64,14.66
$GC,8221,1.64,146.0,2770,3894,2267,2208,117.1,7.9,681,8228,0.00,4.80,0.00,0.000,1094,0.000,0.043,2790,2187,2236,2266,2207,0,0,0,0,0,0,14.72,14.66,14.73
$GC,8406,1.94,247.4,2790,2186,2268,2205,108.4,3.7,700,8501,0.30,5.22,84.85,1.593,10532,0.168,0.085,2882,3890,1841,1868,1814,0,0,0,0,0,0,14.59,14.22,13.69
$GC,8606,1.94,247.4,2882,3890,1861,1813,80.6,19.8,738,8613,0.00,4.90,0.00,0.000,1030,0.000,0.046,2901,2201,1836,1861,1811,0,0,0,0,0,0,14.38,14.32,14.39
$GC,8798,2.15,318.0,2901,2200,1861,1804,61.1,5.6,758,8867,0.17,5.22,59.45,1.499,10532,0.183,0.083,2953,3896,1553,1582,1525,0,0,0,0,0,0,14.33,14.12,13.62
$GC,8908,2.17,318.0,2953,3893,1577,1525,55.2,9.3,778,8915,0.00,4.97,0.00,0.000,1094,0.000,0.044,2973,2195,1550,1577,1524,0,0,0,0,0,0,14.24,14.19,14.26
$GC,9100,2.44,406.8,2973,2195,1577,1514,43.7,4.5,798,9184,0.22,5.12,72.57,1.457,10788,0.175,0.071,3064,513,1190,1201,1179,0,0,0,0,0,0,14.26,14.04,13.54
$GC,9319,2.98,587.7,3064,514,1185,1181,25.6,-1.2,840,9467,0.50,4.93,135.55,1.405,11302,0.131,0.051,3217,2205,495,457,533,0,0,0,0,0,0,14.15,14.21,13.38
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,-1.6,1.021085
$STATE,9630,end surface coast,CONTROL_FINISHED_OK
$STATE,9630,begin surface
$SM_CCo,9649,-0.57,0.155,0,0,499,577.68
$SM_CCo,9652,0.00,0.000,0,0,500,577.44
$SM_CCo,9655,0.00,0.000,0,0,501,577.44
$SM_GC,0.73,9.57,0.57,0.00,0.109,0.078,0.000,205,2397,501,-6.42,-1.04,577.44,0,0,0,0,0,0,14.12,14.15,14.34
$RAFOS_CLK,599
$RAFOS_FIX,7352.258789,-14705.326172,280918,191932,0,1,0.19
$IRIDIUM_FIX,7350.31,-14712.17,280918,135811
$TT8_MAMPS,0.042693,0.888314
$HUMID,47.44
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.3,5.8
$24V_AH,13.07,28.413
$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,23.400,169.700,628.125,0.000,0.000,0.000,0.000,272.900,4.750,0.000,14.739,0.000,7082.380,805.688,1991.069,218.600,0.000,1817.384,0.000,1267.165,0.000,2.512,0.000
$DEVICE_MAMPS,458.235,94.095,2132.820,0.000,0.000,0.000,0.000,182.835,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9638.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.500,0.000,0.000,0.000
$MEM,334496
$DATA_FILE_SIZE,30017,883
$CAP_FILE_SIZE,101568,0
$CFSIZE,2097872896,2085126144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,0.015,336.17,1
$GPS,280918,194435,7352.333,-14702.904,4,0.8,53,18.2,0.3,233.1,10,4.8