version: 66.13
glider: 228
mission: 14
dive: 58
start: 9 29 118 7 30 1
data:
$ID,228
$MISSION,14
$DIVE,58
$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,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,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
$GPS1,290918,072010,7356.8271,-14657.0000,50,1.0,51,18.2,0.3,311.7,8,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.24
$_SM_ANGLEo,-74.1
$GPS2,290918,072924,7356.8701,-14657.1670,4,1.0,7,18.2,0.6,283.8,8,7.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.8,37267,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.92,-146.0,193,2395,460,535,0.0,0.0,0,83,0.00,0.00,-71.93,0.003,16386,0.000,0.000,192,2395,1896,2005,1787,0,0,0,0,0,0,14.47,28.83,14.49
$GC,86,-0.92,-146.0,193,2396,2006,1791,1.5,-8.3,7,136,9.23,5.03,-31.02,0.005,18948,0.455,0.080,1985,708,3455,3572,3338,0,0,0,0,0,0,14.09,13.57,14.33
$GC,261,-0.92,-146.0,1985,709,3572,3340,71.9,-27.3,41,268,0.00,4.97,0.00,0.000,1030,0.000,0.061,1967,2400,3456,3573,3339,0,0,0,0,0,0,14.40,14.33,14.42
$GC,453,-0.92,-146.0,1967,2401,3573,3341,116.6,-22.0,61,459,0.00,4.68,0.00,0.000,260,0.000,0.089,1947,3949,3455,3571,3339,0,0,0,0,0,0,14.57,14.38,14.59
$GC,606,-0.92,-146.0,1948,3950,3565,3346,155.5,-24.1,91,617,0.00,4.45,0.00,0.000,1030,0.000,0.045,1960,2395,3454,3563,3345,0,0,0,0,0,0,14.52,14.46,14.53
$GC,794,-0.92,-146.0,1961,2396,3564,3346,197.1,-20.6,111,795,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2395,3454,3563,3345,0,0,0,0,0,0,14.66,14.68,14.67
$GC,974,-0.92,-146.0,1961,2396,3564,3346,232.0,-18.5,129,975,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2395,3454,3563,3345,0,0,0,0,0,0,14.69,14.71,14.70
$GC,1154,-0.92,-146.0,1960,2395,3564,3345,259.9,-14.9,144,1165,0.00,4.88,0.00,0.000,516,0.000,0.067,1960,709,3454,3563,3345,0,0,0,0,0,0,14.71,14.52,14.71
$GC,1200,-0.92,-146.0,1960,709,3563,3347,267.1,-16.2,153,1206,0.15,4.90,0.00,0.000,3078,0.353,0.057,1967,2406,3454,3563,3345,0,0,0,0,0,0,14.39,14.53,14.58
$GC,1516,-0.92,-146.0,1968,2406,3564,3346,312.5,-13.9,171,1526,0.00,4.93,0.00,0.000,516,0.000,0.070,1986,711,3454,3563,3345,0,0,0,0,0,0,14.74,14.55,14.76
$GC,1551,-0.92,-146.0,1987,712,3564,3347,317.6,-15.0,178,1558,0.00,4.88,0.00,0.000,1030,0.000,0.058,1968,2401,3454,3563,3345,0,0,0,0,0,0,14.66,14.57,14.66
$GC,1858,-0.92,-146.0,1967,2401,3564,3347,359.8,-13.5,194,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2401,3454,3562,3346,0,0,0,0,0,0,14.74,14.76,14.76
$GC,2156,-0.92,-146.0,1968,2401,3562,3346,400.7,-13.4,209,2163,0.00,4.93,0.00,0.000,516,0.000,0.072,1974,710,3453,3562,3345,0,0,0,0,0,0,14.74,14.56,14.76
$GC,2208,-0.92,-146.0,1973,710,3561,3346,408.1,-14.5,219,2218,0.00,4.90,0.00,0.000,1030,0.000,0.059,1954,2406,3453,3561,3346,0,0,0,0,0,0,14.64,14.57,14.65
$GC,2518,-0.92,-146.0,1954,2407,3561,3346,451.1,-13.8,236,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2406,3453,3561,3346,0,0,0,0,0,0,14.73,14.76,14.75
$GC,2818,-0.92,-146.0,1957,2407,3562,3347,492.3,-13.6,251,2827,0.00,4.93,0.00,0.000,516,0.000,0.070,1957,711,3453,3561,3346,0,0,0,0,0,0,14.73,14.56,14.75
$GC,2858,-0.92,-146.0,1957,712,3561,3346,498.1,-15.0,259,2868,0.15,4.90,0.00,0.000,3078,0.347,0.058,1965,2407,3453,3560,3346,0,0,0,0,0,0,14.42,14.58,14.60
$GC,3178,-0.92,-146.0,1966,2407,3562,3346,540.3,-13.0,278,3188,0.00,4.95,0.00,0.000,516,0.000,0.070,1984,709,3453,3561,3346,0,0,0,0,0,0,14.73,14.55,14.78
$GC,3208,-0.92,-146.0,1984,709,3562,3347,544.4,-14.2,284,3219,0.00,4.88,0.00,0.000,1030,0.000,0.058,1966,2400,3453,3560,3346,0,0,0,0,0,0,14.64,14.56,14.65
$GC,3518,-0.92,-146.0,1965,2406,3560,3347,584.7,-12.9,301,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2400,3451,3560,3343,0,0,0,0,0,0,14.73,14.76,14.76
$STATE,3635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3641,-0.11,0.0,1966,2185,3561,3347,600.1,-12.8,307,3783,1.05,0.05,137.43,2.138,10246,0.308,0.206,2226,2207,2852,2918,2786,0,0,0,0,0,0,14.45,13.83,13.19
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3786,0.92,146.0,2227,2208,2919,2786,605.2,0.0,314,3942,1.20,5.40,139.88,2.046,10500,0.206,0.092,2538,3889,2254,2279,2229,0,0,0,0,0,0,13.82,13.69,13.03
$GC,3957,0.92,146.0,2537,3889,2276,2230,588.7,14.0,343,3964,0.00,5.07,0.00,0.000,1030,0.000,0.049,2556,2209,2252,2276,2228,0,0,0,0,0,0,13.88,13.81,13.90
$MODEM_MSG,CACST,6,1,20180929081545.981262,18,462,26,0130,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3A
$GC,4262,0.92,146.0,2558,2208,2277,2216,546.0,14.1,359,4272,0.00,5.10,0.00,0.000,516,0.000,0.074,2578,504,2244,2275,2214,0,0,0,0,0,0,14.42,14.21,14.41
$GC,4317,0.92,146.0,2579,505,2271,2215,537.9,14.3,370,4324,0.00,4.97,0.00,0.000,1030,0.000,0.055,2578,2198,2242,2271,2213,0,0,0,0,0,0,14.32,14.25,14.34
$GC,4622,0.92,146.0,2579,2200,2273,2212,491.5,15.4,386,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2199,2241,2272,2211,0,0,0,0,0,0,14.56,14.58,14.57
$GC,4922,0.92,146.0,2578,2199,2271,2210,445.9,15.1,401,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2199,2240,2272,2209,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5222,0.92,146.0,2578,2199,2272,2209,400.6,15.1,416,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2199,2240,2272,2208,0,0,0,0,0,0,14.69,14.72,14.71
$GC,5522,0.92,146.0,2578,2199,2272,2208,356.0,14.8,431,5532,0.00,5.00,0.00,0.000,516,0.000,0.077,2599,505,2240,2272,2208,0,0,0,0,0,0,14.73,14.54,14.76
$GC,5537,0.92,146.0,2600,506,2271,2208,353.9,14.8,434,5544,0.15,4.88,0.00,0.000,5126,0.330,0.057,2571,2199,2239,2271,2208,0,0,0,0,0,0,14.42,14.54,14.61
$GC,5842,0.92,146.0,2571,2201,2273,2207,311.2,13.4,450,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2201,2239,2272,2206,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6142,0.92,146.0,2571,2201,2273,2206,272.7,12.6,465,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2200,2238,2272,2205,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6442,0.92,146.0,2571,2200,2273,2205,238.5,10.6,485,6448,0.00,4.97,0.00,0.000,516,0.000,0.079,2590,506,2238,2272,2205,0,0,0,0,0,0,14.80,14.62,14.82
$GC,6473,0.92,146.0,2590,507,2271,2205,235.1,10.9,491,6484,0.00,4.85,0.00,0.000,1030,0.000,0.057,2590,2203,2237,2272,2203,0,0,0,0,0,0,14.71,14.64,14.72
$GC,6663,0.95,146.0,2590,2203,2274,2204,217.3,8.9,511,6664,0.00,0.00,0.00,0.000,70,0.000,0.000,2590,2203,2237,2272,2203,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6843,1.03,146.0,2591,2203,2274,2204,203.1,7.3,529,6849,0.00,4.97,0.00,0.000,580,0.000,0.074,2611,500,2238,2273,2203,0,0,0,0,0,0,14.81,14.62,14.83
$GC,6870,1.10,146.0,2612,500,2273,2204,201.0,7.8,534,6876,0.00,4.85,0.00,0.000,1094,0.000,0.054,2611,2204,2237,2272,2203,0,0,0,0,0,0,14.71,14.64,14.73
$GC,7055,1.19,146.0,2612,2206,2274,2204,186.9,7.0,553,7061,0.12,5.03,0.00,0.000,2372,0.184,0.088,2647,3897,2238,2273,2203,0,0,0,0,0,0,14.61,14.62,14.69
$GC,7096,1.21,146.0,2647,3898,2269,2208,183.2,9.1,561,7103,0.00,4.80,0.00,0.000,1094,0.000,0.045,2668,2193,2237,2269,2206,0,0,0,0,0,0,14.71,14.64,14.72
$GC,7288,1.31,146.0,2669,2192,2274,2203,169.3,6.8,581,7289,0.00,0.00,0.00,0.000,70,0.000,0.000,2669,2192,2238,2273,2203,0,0,0,0,0,0,14.81,14.83,14.83
$GC,7468,1.42,146.0,2669,2193,2274,2204,157.2,6.2,599,7479,0.15,5.05,0.00,0.000,2372,0.180,0.085,2717,3895,2236,2268,2205,0,0,0,0,0,0,14.60,14.61,14.67
$GC,7564,1.42,146.0,2717,3894,2269,2208,148.0,10.4,618,7571,0.00,4.80,0.00,0.000,1030,0.000,0.045,2737,2196,2237,2268,2207,0,0,0,0,0,0,14.71,14.65,14.73
$GC,7750,1.52,146.0,2738,2195,2269,2204,134.4,6.7,637,7756,0.00,4.85,0.00,0.000,580,0.000,0.067,2760,510,2236,2270,2203,0,0,0,0,0,0,14.81,14.64,14.83
$GC,7921,1.64,146.0,2760,505,2270,2204,122.1,6.2,671,7932,0.12,4.85,0.00,0.000,3142,0.210,0.052,2788,2212,2236,2269,2203,0,0,0,0,0,0,14.59,14.66,14.71
$GC,8113,1.92,238.2,2788,2213,2269,2203,113.8,4.3,691,8203,0.28,5.15,77.93,1.603,10532,0.168,0.087,2871,3882,1878,1907,1850,0,0,0,0,0,0,14.58,14.23,13.69
$GC,8277,1.92,238.2,2871,3883,1899,1849,93.0,17.7,722,8284,0.00,4.88,0.00,0.000,1030,0.000,0.048,2890,2203,1874,1901,1847,0,0,0,0,0,0,14.38,14.31,14.39
$GC,8463,1.98,238.2,2891,2203,1902,1840,73.1,7.8,741,8469,0.00,5.10,0.00,0.000,324,0.000,0.083,2878,3890,1869,1900,1839,0,0,0,0,0,0,14.54,14.36,14.56
$GC,8695,2.51,413.4,2879,3891,1898,1841,66.5,-0.8,787,8851,0.55,4.85,144.85,1.494,11302,0.164,0.041,3068,2179,1164,1172,1156,0,0,0,0,0,0,14.38,14.46,13.44
$GC,9026,2.54,413.4,3069,2180,1168,1142,28.7,8.9,833,9033,0.00,5.25,0.00,0.000,324,0.000,0.082,3059,3890,1153,1166,1141,0,0,0,0,0,0,14.35,14.16,14.37
$GC,9258,3.03,576.8,3060,3890,1164,1142,25.2,-0.1,879,9403,0.50,4.82,130.12,1.421,11302,0.154,0.040,3233,2197,497,464,530,0,0,0,0,0,0,14.26,14.32,13.42
$STATE,9516,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,-0.2,1.021116
$STATE,9526,end surface coast,CONTROL_FINISHED_OK
$STATE,9526,begin surface
$SM_CCo,9548,-0.45,0.197,0,0,500,577.68
$SM_CCo,9551,0.00,0.000,0,0,500,577.44
$SM_CCo,9554,0.00,0.000,0,0,500,577.44
$SM_GC,0.69,11.57,0.60,0.00,0.253,0.068,0.000,201,2398,500,-6.43,-1.13,577.44,0,0,0,0,0,0,14.10,14.14,14.33
$RAFOS_CLK,487
$MODEM,3,1538208945,75.50000,-144.13333,45.981,66554.3
$RAFOS_FIX,7457.267578,-14507.668945,290918,080845,1,2,44.63
$IRIDIUM_FIX,7359.57,-14701.84,290918,072246
$TT8_MAMPS,0.041195,0.872585
$HUMID,46.69
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,23
$ALTIM_TOP_PING,18.8,5.8
$24V_AH,13.03,30.609
$10V_AH,13.01,0.000
$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,25.225,178.925,630.200,0.000,0.000,0.000,0.000,341.750,6.000,0.000,16.602,0.000,6967.921,806.885,2128.264,222.988,0.000,1917.884,0.000,1317.065,2205.000,2.513,0.000
$DEVICE_MAMPS,455.175,205.785,2138.175,0.000,0.000,0.000,0.000,179.775,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9544.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.116,0.000,0.000,0.000
$MEM,334596
$DATA_FILE_SIZE,33383,918
$CAP_FILE_SIZE,105144,0
$CFSIZE,2097872896,2084274176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.045,310.64,1
$GPS,290918,101050,7357.822,-14655.725,52,0.9,52,18.2,0.4,278.5,9,3.7