version: 66.13
glider: 228
mission: 14
dive: 67
start: 9 30 118 9 9 13
data:
$ID,228
$MISSION,14
$DIVE,67
$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,34
$R_STBD_OVSHOOT,17
$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
$GPS1,300918,090156,7405.8760,-14641.3760,16,1.8,17,18.3,0.5,0.0,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-75.4
$GPS2,300918,090832,7405.9316,-14641.4922,4,1.8,6,18.3,0.6,2.9,4,10.0
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,35.7,18729,-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,-146.0,203,2402,467,532,0.0,0.0,0,83,0.00,0.00,-72.12,0.003,16386,0.000,0.000,202,2402,1910,2014,1806,0,0,0,0,0,0,14.45,28.83,14.47
$GC,86,-0.92,-146.0,203,2403,2016,1810,3.5,-9.1,7,136,9.35,4.72,-30.33,0.005,18692,0.462,0.093,1950,3946,3452,3574,3330,0,0,0,0,0,0,14.09,13.53,14.31
$GC,311,-0.92,-146.0,1950,3948,3564,3341,95.5,-29.9,51,317,0.00,4.43,0.00,0.000,1030,0.000,0.046,1966,2412,3452,3563,3341,0,0,0,0,0,0,14.39,14.33,14.40
$GC,502,-0.92,-146.0,1966,2411,3563,3341,142.5,-23.5,71,512,0.00,4.65,0.00,0.000,260,0.000,0.087,1949,3944,3451,3562,3341,0,0,0,0,0,0,14.58,14.39,14.59
$GC,522,-0.92,-146.0,1950,3945,3562,3343,147.6,-24.5,75,528,0.00,4.45,0.00,0.000,1030,0.000,0.044,1965,2394,3451,3560,3342,0,0,0,0,0,0,14.50,14.43,14.51
$GC,713,-0.92,-146.0,1965,2394,3560,3343,191.3,-22.1,95,714,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2396,3451,3560,3342,0,0,0,0,0,0,14.62,14.64,14.64
$GC,893,-0.92,-146.0,1965,2393,3561,3343,230.4,-20.1,113,899,0.00,4.90,0.00,0.000,516,0.000,0.068,1974,708,3451,3560,3342,0,0,0,0,0,0,14.65,14.48,14.67
$GC,914,-0.92,-146.0,1973,708,3560,3343,234.5,-19.9,117,921,0.00,4.90,0.00,0.000,1030,0.000,0.057,1955,2399,3451,3560,3342,0,0,0,0,0,0,14.55,14.47,14.56
$GC,1106,-0.92,-146.0,1955,2401,3561,3344,267.0,-16.3,132,1116,0.00,4.65,0.00,0.000,260,0.000,0.090,1935,3951,3451,3559,3343,0,0,0,0,0,0,14.69,14.49,14.71
$GC,1176,-0.92,-146.0,1936,3952,3557,3347,280.7,-19.1,146,1182,0.00,4.43,0.00,0.000,1030,0.000,0.044,1951,2390,3451,3556,3346,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1487,-0.92,-146.0,1952,2390,3557,3347,328.5,-14.7,163,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2389,3450,3555,3346,0,0,0,0,0,0,14.73,14.76,14.76
$GC,1787,-0.92,-146.0,1952,2390,3557,3347,372.8,-14.7,178,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2389,3451,3556,3346,0,0,0,0,0,0,14.77,14.79,14.79
$GC,2087,-0.92,-146.0,1951,2390,3556,3346,416.6,-14.4,193,2093,0.00,4.82,0.00,0.000,516,0.000,0.068,1957,709,3451,3556,3346,0,0,0,0,0,0,14.79,14.59,14.81
$GC,2128,-0.92,-146.0,1957,710,3557,3347,423.1,-15.9,201,2135,0.15,4.88,0.00,0.000,3078,0.359,0.059,1965,2404,3450,3554,3346,0,0,0,0,0,0,14.46,14.61,14.66
$GC,2450,-0.92,-146.0,1965,2404,3555,3343,468.6,-13.8,220,2461,0.00,4.88,0.00,0.000,516,0.000,0.070,1974,716,3450,3555,3346,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2481,-0.92,-146.0,1974,717,3556,3346,473.0,-14.7,226,2492,0.00,4.85,0.00,0.000,1030,0.000,0.057,1955,2407,3450,3555,3346,0,0,0,0,0,0,14.71,14.63,14.72
$GC,2791,-0.92,-146.0,1954,2408,3555,3345,517.1,-14.2,243,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2408,3450,3555,3346,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3091,-0.92,-146.0,1955,2408,3556,3347,559.0,-13.8,258,3100,0.00,4.88,0.00,0.000,516,0.000,0.070,1960,712,3450,3555,3346,0,0,0,0,0,0,14.85,14.65,14.86
$GC,3141,-0.92,-146.0,1960,713,3555,3348,566.4,-14.9,268,3153,0.15,4.82,0.00,0.000,3078,0.359,0.058,1968,2401,3450,3555,3346,0,0,0,0,0,0,14.52,14.66,14.71
$STATE,3408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3408,begin apogee
$GC,3414,-0.11,0.0,1970,2185,3555,3347,601.5,-12.8,283,3553,1.02,0.05,135.40,2.127,10246,0.306,0.211,2228,2208,2853,2920,2787,0,0,0,0,0,0,14.54,13.91,13.25
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3557,0.92,146.0,2229,2209,2920,2787,606.5,0.0,290,3701,1.20,0.00,140.18,2.032,10502,0.210,0.000,2557,2208,2256,2283,2229,0,0,0,0,0,0,13.89,13.75,13.06
$GC,3991,0.92,146.0,2557,2208,2280,2213,558.9,12.2,315,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2208,2245,2278,2212,0,0,0,0,0,0,14.38,14.40,14.40
$GC,4291,0.92,146.0,2558,2209,2281,2208,523.0,11.8,330,4301,0.00,5.03,0.00,0.000,516,0.000,0.078,2578,520,2242,2278,2207,0,0,0,0,0,0,14.54,14.34,14.55
$GC,4321,0.92,146.0,2577,521,2276,2208,519.3,12.3,336,4332,0.00,4.88,0.00,0.000,1030,0.000,0.054,2578,2200,2242,2277,2207,0,0,0,0,0,0,14.44,14.37,14.46
$GC,4631,0.92,146.0,2578,2201,2277,2205,478.7,13.2,353,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2241,2277,2205,0,0,0,0,0,0,14.63,14.65,14.65
$GC,4931,0.92,146.0,2578,2201,2279,2205,439.6,13.0,368,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2240,2277,2204,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5231,0.92,146.0,2578,2202,2279,2203,400.8,12.9,383,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2240,2277,2204,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5531,0.92,146.0,2578,2201,2279,2203,362.5,12.7,398,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2240,2277,2203,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5831,0.92,146.0,2578,2201,2278,2203,325.6,12.1,413,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2239,2277,2202,0,0,0,0,0,0,14.79,14.81,14.81
$GC,6131,0.92,146.0,2577,2201,2277,2203,290.3,11.3,428,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,2239,2277,2202,0,0,0,0,0,0,14.82,14.83,14.83
$GC,6431,0.93,146.0,2578,2201,2278,2202,259.0,9.5,443,6441,0.00,4.85,0.00,0.000,580,0.000,0.073,2598,525,2239,2277,2202,0,0,0,0,0,0,14.83,14.63,14.85
$GC,6456,0.93,146.0,2599,526,2277,2202,256.6,9.7,448,6466,0.00,4.78,0.00,0.000,1030,0.000,0.054,2598,2208,2238,2276,2201,0,0,0,0,0,0,14.72,14.66,14.74
$GC,6771,1.00,146.0,2598,2208,2277,2202,229.4,7.9,478,6782,0.00,4.97,0.00,0.000,324,0.000,0.093,2598,3885,2238,2275,2202,0,0,0,0,0,0,14.82,14.62,14.84
$GC,6972,1.04,146.0,2599,3887,2274,2206,210.4,8.4,518,6983,0.00,4.75,0.00,0.000,1094,0.000,0.047,2620,2204,2239,2275,2203,0,0,0,0,0,0,14.72,14.66,14.74
$GC,7162,1.24,211.2,2620,2205,2276,2202,198.6,6.0,538,7228,0.15,5.00,56.47,1.683,10788,0.168,0.073,2692,512,1989,2024,1955,0,0,0,0,0,0,14.59,14.35,13.76
$GC,7273,1.24,211.2,2691,512,2019,1955,188.7,10.8,559,7280,0.00,4.88,0.00,0.000,1030,0.000,0.050,2692,2200,1986,2020,1952,0,0,0,0,0,0,14.44,14.37,14.45
$GC,7458,1.24,211.2,2691,2201,2021,1946,170.0,9.7,578,7469,0.00,5.10,0.00,0.000,260,0.000,0.090,2692,3897,1981,2016,1947,0,0,0,0,0,0,14.62,14.40,14.62
$GC,7484,1.24,211.2,2692,3898,2016,1949,167.0,11.4,583,7491,0.20,4.85,0.00,0.000,5126,0.339,0.046,2673,2206,1981,2015,1948,0,0,0,0,0,0,14.31,14.45,14.50
$GC,7671,1.28,211.2,2673,2205,2017,1946,150.6,8.5,602,7681,0.00,4.93,0.00,0.000,580,0.000,0.072,2693,507,1979,2015,1944,0,0,0,0,0,0,14.66,14.47,14.67
$GC,7706,1.28,211.2,2692,508,2014,1946,147.1,9.6,609,7714,0.00,4.88,0.00,0.000,1030,0.000,0.051,2693,2208,1979,2014,1944,0,0,0,0,0,0,14.57,14.50,14.58
$GC,7891,1.35,211.2,2693,2209,2015,1944,131.7,7.8,628,7892,0.00,0.00,0.00,0.000,70,0.000,0.000,2693,2208,1979,2015,1943,0,0,0,0,0,0,14.69,14.71,14.71
$GC,8071,1.45,211.2,2694,2208,2016,1942,118.7,6.8,646,8073,0.12,0.00,0.00,0.000,2118,0.180,0.000,2729,2208,1978,2015,1942,0,0,0,0,0,0,14.52,14.63,14.62
$GC,8251,1.53,211.2,2729,2208,2015,1941,105.3,7.3,664,8263,0.00,5.03,0.00,0.000,324,0.000,0.090,2730,3891,1978,2013,1943,0,0,0,0,0,0,14.72,14.52,14.74
$GC,8293,1.55,211.2,2729,3891,2011,1946,101.8,9.3,672,8305,0.00,4.82,0.00,0.000,1094,0.000,0.044,2751,2189,1977,2011,1944,0,0,0,0,0,0,14.60,14.54,14.62
$GC,8483,1.79,290.3,2750,2189,2014,1943,89.1,5.1,692,8562,0.28,4.97,67.47,1.567,10788,0.158,0.070,2860,508,1665,1695,1636,0,0,0,0,0,0,14.49,14.23,13.69
$GC,8612,1.79,290.3,2859,509,1688,1638,76.9,11.1,716,8624,0.00,4.95,0.00,0.000,1030,0.000,0.053,2859,2205,1664,1695,1634,0,0,0,0,0,0,14.33,14.27,14.35
$GC,8803,2.08,387.6,2860,2206,1690,1628,65.0,4.0,736,8892,0.22,5.22,81.12,1.499,10532,0.167,0.086,2922,3895,1268,1286,1251,0,0,0,0,0,0,14.29,13.99,13.53
$GC,9119,2.34,474.3,2922,3896,1280,1248,39.9,4.6,797,9201,0.25,4.93,70.03,1.447,11302,0.167,0.044,3014,2188,915,917,914,0,0,0,0,0,0,14.21,14.27,13.51
$GC,9376,2.69,592.7,3015,2189,915,904,26.2,2.7,830,9473,0.35,5.38,82.47,1.410,10532,0.140,0.086,3125,3889,495,467,523,0,0,0,0,0,0,14.16,13.95,13.46
$GC,9540,2.69,592.7,3126,3887,465,527,7.5,17.2,860,9552,0.00,5.00,0.00,0.000,1030,0.000,0.050,3147,2205,489,463,516,0,0,0,0,0,0,14.16,14.10,14.18
$STATE,9578,end climb,SURFACE_DEPTH_REACHED
$STATE,9578,begin surface coast
$FINISH,-0.4,1.021164
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9608,-0.50,0.177,0,0,500,577.68
$SM_CCo,9611,0.05,2.433,0,0,500,577.44
$SM_CCo,9614,0.00,0.000,0,0,500,577.44
$SM_GC,1.43,10.60,0.60,0.00,0.212,0.073,0.000,203,2401,500,-6.42,-0.90,577.44,0,0,0,0,0,0,14.12,14.15,14.33
$RAFOS_CLK,596
$RAFOS_FIX,7406.643555,-14642.531250,300918,111158,0,1,0.15
$IRIDIUM_FIX,7404.77,-14649.04,300918,061508
$TT8_MAMPS,0.041195,0.842625
$HUMID,47.28
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.50
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.3,5.8
$24V_AH,13.06,34.485
$10V_AH,13.06,0.000
$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,24.050,166.650,633.150,0.050,0.000,0.000,0.000,246.600,4.000,0.000,16.134,0.000,7034.027,838.835,1938.323,220.734,0.000,1816.745,0.000,1243.410,0.000,2.519,0.000
$DEVICE_MAMPS,462.060,211.140,2127.465,2432.700,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9606.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.443,0.000,0.000,0.000
$MEM,334572
$DATA_FILE_SIZE,30000,866
$CAP_FILE_SIZE,100605,0
$CFSIZE,2097872896,2082799616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$CURRENT,0.089,307.66,1
$GPS,300918,115109,7406.929,-14639.433,59,1.1,59,18.3,0.3,348.1,9,5.4