version: 66.13
glider: 228
mission: 14
dive: 63
start: 9 29 118 21 45 44
data:
$ID,228
$MISSION,14
$DIVE,63
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,290918,213739,7401.8306,-14649.1152,17,1.3,18,18.3,0.4,320.6,7,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-76.0
$GPS2,290918,214505,7401.8740,-14649.1660,6,1.4,7,18.3,0.2,0.0,7,9.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,28.7,27176,-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,-146.0,193,2410,444,544,0.0,0.0,0,93,0.00,0.00,-81.70,0.003,16386,0.000,0.000,192,2410,2141,2228,2054,0,0,0,0,0,0,14.43,28.83,14.45
$GC,96,-0.92,-146.0,194,2411,2229,2059,5.4,-12.9,8,136,9.30,4.65,-23.52,0.005,18692,0.456,0.095,1949,3934,3451,3571,3332,0,0,0,0,0,0,14.08,13.74,14.31
$GC,361,-0.92,-146.0,1948,3934,3561,3343,105.0,-28.2,60,367,0.00,4.45,0.00,0.000,1030,0.000,0.049,1960,2396,3452,3561,3343,0,0,0,0,0,0,14.42,14.35,14.42
$GC,552,-0.92,-146.0,1961,2396,3562,3343,150.3,-22.8,80,562,0.00,4.65,0.00,0.000,260,0.000,0.087,1943,3934,3451,3560,3343,0,0,0,0,0,0,14.61,14.38,14.60
$GC,762,-0.92,-146.0,1944,3936,3558,3348,204.2,-24.3,122,769,0.00,4.40,0.00,0.000,1030,0.000,0.046,1959,2398,3451,3557,3346,0,0,0,0,0,0,14.54,14.47,14.55
$GC,954,-0.92,-146.0,1960,2399,3557,3347,241.1,-16.6,142,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2398,3451,3557,3346,0,0,0,0,0,0,14.66,14.68,14.68
$GC,1134,-0.92,-146.0,1960,2405,3558,3347,269.3,-15.1,154,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2398,3451,3557,3346,0,0,0,0,0,0,14.70,14.72,14.71
$GC,1434,-0.92,-146.0,1959,2399,3557,3347,312.9,-14.5,169,1444,0.00,4.88,0.00,0.000,516,0.000,0.067,1960,705,3451,3556,3346,0,0,0,0,0,0,14.74,14.55,14.76
$GC,1499,-0.92,-146.0,1960,706,3557,3347,323.3,-16.3,182,1506,0.15,4.88,0.00,0.000,3078,0.351,0.060,1968,2395,3451,3555,3347,0,0,0,0,0,0,14.41,14.56,14.60
$GC,1816,-0.92,-146.0,1969,2395,3556,3347,369.0,-14.3,200,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2394,3450,3556,3344,0,0,0,0,0,0,14.77,14.79,14.79
$GC,2116,-0.92,-146.0,1968,2395,3557,3347,410.6,-13.6,215,2126,0.00,4.88,0.00,0.000,516,0.000,0.069,1987,704,3451,3555,3347,0,0,0,0,0,0,14.79,14.61,14.81
$GC,2151,-0.92,-146.0,1987,704,3556,3348,415.6,-14.4,222,2159,0.00,4.88,0.00,0.000,1030,0.000,0.059,1969,2403,3451,3555,3347,0,0,0,0,0,0,14.67,14.60,14.69
$GC,2456,-0.92,-146.0,1970,2404,3556,3348,457.0,-13.4,238,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2404,3451,3555,3347,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2756,-0.92,-146.0,1968,2404,3555,3348,496.4,-12.9,253,2766,0.00,4.88,0.00,0.000,516,0.000,0.069,1973,709,3451,3555,3347,0,0,0,0,0,0,14.83,14.62,14.84
$GC,2801,-0.92,-146.0,1975,710,3556,3348,502.7,-14.1,262,2808,0.00,4.85,0.00,0.000,1030,0.000,0.058,1955,2403,3451,3555,3347,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3118,-0.92,-146.0,1955,2404,3555,3348,545.8,-13.5,280,3128,0.00,4.88,0.00,0.000,516,0.000,0.067,1960,702,3451,3555,3347,0,0,0,0,0,0,14.84,14.66,14.86
$GC,3143,-0.92,-146.0,1960,703,3554,3348,549.4,-14.7,285,3154,0.15,4.85,0.00,0.000,3078,0.351,0.056,1968,2404,3451,3555,3347,0,0,0,0,0,0,14.52,14.66,14.71
$GC,3459,-0.92,-146.0,1969,2405,3556,3348,589.9,-12.7,303,3469,0.00,4.85,0.00,0.000,516,0.000,0.066,1987,706,3450,3554,3347,0,0,0,0,0,0,14.85,14.66,14.88
$GC,3479,-0.92,-146.0,1987,706,3555,3348,592.5,-13.4,307,3489,0.00,4.82,0.00,0.000,1030,0.000,0.054,1968,2406,3450,3554,3347,0,0,0,0,0,0,14.75,14.68,14.76
$STATE,3537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3537,begin apogee
$GC,3543,-0.11,0.0,1970,2179,3554,3348,600.4,-13.0,313,3682,1.02,0.10,136.30,2.124,10246,0.304,0.138,2228,2221,2853,2918,2788,0,0,0,0,0,0,14.55,13.95,13.26
$STATE,3683,end apogee,CONTROL_FINISHED_OK
$STATE,3683,begin climb
$GC,3686,0.92,146.0,2227,2222,2916,2787,605.2,0.0,320,3830,1.23,0.00,140.85,2.030,10246,0.204,0.000,2560,2221,2256,2283,2230,0,0,0,0,0,0,13.90,13.75,13.07
$GC,4119,0.92,146.0,2560,2222,2278,2212,556.9,12.4,342,4125,0.00,5.07,0.00,0.000,516,0.000,0.076,2581,530,2244,2278,2210,0,0,0,0,0,0,14.38,14.19,14.40
$GC,4155,0.92,146.0,2582,530,2275,2212,552.2,13.1,349,4162,0.00,4.88,0.00,0.000,1030,0.000,0.053,2581,2197,2242,2274,2211,0,0,0,0,0,0,14.30,14.23,14.31
$GC,4460,0.92,146.0,2581,2197,2275,2208,510.1,14.0,365,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2242,2276,2208,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4760,0.92,146.0,2582,2198,2276,2207,468.6,13.6,380,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2240,2275,2206,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5060,0.92,146.0,2581,2198,2275,2205,427.8,13.5,395,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2240,2275,2205,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5360,0.92,146.0,2581,2198,2275,2205,387.6,13.2,410,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2239,2275,2204,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5660,0.92,146.0,2581,2198,2275,2204,348.9,12.8,425,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2239,2275,2203,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5960,0.92,146.0,2582,2197,2276,2204,311.1,12.3,440,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2197,2239,2275,2203,0,0,0,0,0,0,14.80,14.82,14.82
$GC,6260,0.92,146.0,2582,2198,2276,2204,275.8,11.3,455,6270,0.00,4.88,0.00,0.000,516,0.000,0.076,2602,523,2238,2274,2202,0,0,0,0,0,0,14.82,14.62,14.84
$GC,6285,0.92,146.0,2602,524,2274,2202,273.1,11.3,460,6295,0.15,4.78,0.00,0.000,5126,0.282,0.055,2571,2205,2238,2274,2202,0,0,0,0,0,0,14.53,14.64,14.69
$GC,6602,0.97,146.0,2571,2206,2275,2201,243.3,8.3,481,6603,0.00,0.00,0.00,0.000,70,0.000,0.000,2571,2205,2238,2275,2201,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6781,1.04,146.0,2572,2207,2276,2202,229.1,7.6,499,6781,0.00,0.00,0.00,0.000,70,0.000,0.000,2571,2206,2238,2275,2201,0,0,0,0,0,0,14.82,14.85,14.84
$GC,6961,1.25,217.5,2572,2206,2276,2202,217.6,5.6,517,7035,0.30,5.10,62.38,1.691,10532,0.127,0.093,2672,3887,1963,1996,1930,0,0,0,0,0,0,14.60,14.25,13.74
$GC,7080,1.25,217.5,2673,3888,1995,1931,204.9,13.4,540,7087,0.00,4.85,0.00,0.000,1030,0.000,0.050,2693,2215,1961,1994,1929,0,0,0,0,0,0,14.43,14.37,14.45
$GC,7265,1.25,217.5,2694,2214,1994,1929,183.1,11.0,559,7277,0.00,5.03,0.00,0.000,516,0.000,0.076,2715,503,1956,1989,1923,0,0,0,0,0,0,14.60,14.39,14.62
$GC,7327,1.25,217.5,2715,503,1987,1920,176.1,11.3,571,7338,0.17,4.88,0.00,0.000,5126,0.289,0.051,2678,2202,1954,1988,1921,0,0,0,0,0,0,14.32,14.42,14.49
$GC,7518,1.29,217.5,2678,2202,1988,1919,158.1,8.7,591,7519,0.00,0.00,0.00,0.000,70,0.000,0.000,2678,2202,1953,1988,1918,0,0,0,0,0,0,14.66,14.68,14.67
$GC,7697,1.34,217.5,2678,2202,1988,1917,142.6,8.5,609,7708,0.00,4.95,0.00,0.000,580,0.000,0.071,2698,504,1952,1987,1917,0,0,0,0,0,0,14.69,14.49,14.71
$GC,7718,1.39,217.5,2698,505,1987,1918,140.7,8.4,613,7730,0.00,4.85,0.00,0.000,1094,0.000,0.049,2698,2206,1951,1987,1916,0,0,0,0,0,0,14.59,14.52,14.61
$GC,7908,1.46,217.5,2699,2208,1989,1917,125.0,7.6,633,7909,0.12,0.00,0.00,0.000,2118,0.174,0.000,2735,2206,1951,1987,1915,0,0,0,0,0,0,14.51,14.62,14.60
$GC,8093,1.53,217.5,2735,2207,1988,1915,110.2,7.4,651,8093,0.00,0.00,0.00,0.000,70,0.000,0.000,2736,2206,1951,1987,1915,0,0,0,0,0,0,14.69,14.71,14.71
$GC,8271,1.62,217.5,2735,2206,1988,1915,97.4,7.1,669,8272,0.17,0.00,0.00,0.000,2118,0.160,0.000,2787,2206,1950,1987,1914,0,0,0,0,0,0,14.47,14.58,14.56
$GC,8451,1.87,299.4,2787,2207,1989,1914,86.3,4.9,687,8523,0.25,0.00,69.88,1.555,10534,0.151,0.000,2863,2206,1631,1665,1598,0,0,0,0,0,0,14.46,14.19,13.64
$GC,8701,1.98,299.4,2863,2206,1661,1592,66.2,6.1,716,8712,0.15,5.10,0.00,0.000,2372,0.169,0.088,2906,3888,1622,1657,1587,0,0,0,0,0,0,14.25,14.26,14.32
$GC,8937,2.44,453.4,2907,3889,1655,1588,57.9,0.5,763,9076,0.40,4.88,127.03,1.480,11302,0.158,0.044,3048,2181,1001,1001,1002,0,0,0,0,0,0,14.29,14.37,13.40
$GC,9251,2.48,453.4,3048,2181,994,988,25.5,8.8,806,9258,0.00,5.28,0.00,0.000,324,0.000,0.086,3048,3891,991,996,987,0,0,0,0,0,0,14.31,14.13,14.33
$GC,9358,3.10,660.7,3048,3891,993,989,26.2,-2.8,827,9467,0.62,4.90,98.78,1.417,11302,0.140,0.044,3258,2194,497,462,533,0,0,0,0,0,0,14.18,14.23,13.42
$STATE,9569,end climb,SURFACE_DEPTH_REACHED
$STATE,9569,begin surface coast
$FINISH,-0.9,1.021128
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9580,begin surface
$SM_CCo,9599,-0.50,0.177,0,0,499,577.68
$SM_CCo,9603,0.00,0.000,0,0,499,577.68
$SM_CCo,9606,0.00,0.000,0,0,499,577.68
$SM_GC,0.89,10.05,0.65,0.00,0.136,0.074,0.000,198,2406,499,-6.42,-0.71,577.68,0,0,0,0,0,0,14.09,14.09,14.28
$RAFOS_CLK,101
$RAFOS_FIX,7402.607422,-14650.080078,300918,000020,0,1,0.15
$IRIDIUM_FIX,7404.77,-14649.04,290918,184850
$TT8_MAMPS,0.080143,0.880824
$HUMID,46.37
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.5,5.7
$24V_AH,13.07,32.778
$10V_AH,13.35,0.000
$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,24.250,137.525,635.200,0.000,0.000,0.000,0.000,288.350,5.000,0.000,16.775,0.000,7068.478,803.513,1974.060,223.122,0.000,1801.500,0.000,1233.500,2151.000,2.512,0.000
$DEVICE_MAMPS,455.940,138.465,2123.640,0.000,0.000,0.000,0.000,179.010,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9587.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.761,0.000,0.000,0.000
$MEM,334584
$DATA_FILE_SIZE,30078,859
$CAP_FILE_SIZE,99444,0
$CFSIZE,2097872896,2083487744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9585.35,0x21471c,7,24
$SOUNDSPEED,1447.5
$CURRENT,0.075,298.99,1
$GPS,300918,002801,7402.797,-14647.324,87,0.7,88,18.3,0.3,11.9,12,2.7