version: 66.13
glider: 228
mission: 14
dive: 87
start: 10 2 118 17 13 53
data:
$ID,228
$MISSION,14
$DIVE,87
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,021018,170640,7405.2734,-14637.7178,35,0.7,38,18.3,0.6,328.1,12,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.57
$_SM_ANGLEo,-71.5
$GPS2,021018,171313,7405.2949,-14637.7500,4,0.8,6,18.3,0.2,344.8,12,6.3
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,163.0,57083,-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,-146.0,202,2398,449,538,0.0,0.0,0,93,0.00,0.00,-81.53,0.003,16386,0.000,0.000,201,2398,2073,2162,1984,0,0,0,0,0,0,14.45,28.83,14.46
$GC,96,-0.92,-146.0,203,2397,2164,1990,3.5,-11.1,8,138,9.35,5.03,-25.33,0.005,18948,0.461,0.072,1986,711,3452,3573,3332,0,0,0,0,0,0,14.06,13.50,14.31
$GC,148,-0.92,-146.0,1987,712,3573,3334,31.5,-55.7,17,160,0.00,4.97,0.00,0.000,1030,0.000,0.059,1968,2399,3453,3573,3334,0,0,0,0,0,0,14.37,14.29,14.38
$GC,338,-0.92,-146.0,1969,2400,3574,3336,100.2,-26.9,37,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2399,3454,3573,3335,0,0,0,0,0,0,14.52,14.54,14.54
$GC,518,-0.92,-146.0,1968,2399,3573,3336,144.6,-23.6,55,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2399,3454,3572,3336,0,0,0,0,0,0,14.58,14.60,14.60
$GC,698,-0.92,-146.0,1968,2399,3572,3336,186.3,-21.4,73,699,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2399,3454,3573,3335,0,0,0,0,0,0,14.62,14.64,14.64
$GC,878,-0.92,-146.0,1968,2399,3573,3336,223.6,-18.8,91,879,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2399,3453,3572,3335,0,0,0,0,0,0,14.65,14.66,14.66
$GC,1068,-0.92,-146.0,1968,2400,3573,3335,256.4,-15.5,108,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2399,3453,3572,3335,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1368,-0.92,-146.0,1969,2400,3573,3336,300.3,-14.3,123,1378,0.00,4.90,0.00,0.000,516,0.000,0.071,1973,711,3453,3572,3335,0,0,0,0,0,0,14.73,14.53,14.75
$GC,1393,-0.92,-146.0,1974,712,3573,3337,304.0,-14.8,128,1399,0.00,4.88,0.00,0.000,1030,0.000,0.057,1954,2402,3453,3571,3336,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1709,-0.92,-146.0,1955,2403,3572,3337,350.7,-14.4,146,1715,0.00,4.90,0.00,0.000,516,0.000,0.069,1957,713,3453,3571,3336,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1730,-0.92,-146.0,1957,713,3571,3338,354.0,-15.6,150,1738,0.15,4.88,0.00,0.000,3078,0.352,0.057,1965,2407,3453,3570,3337,0,0,0,0,0,0,14.42,14.57,14.62
$GC,2053,-0.92,-146.0,1965,2408,3570,3338,399.4,-14.0,169,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2407,3453,3570,3337,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2353,-0.92,-146.0,1966,2408,3571,3338,441.1,-14.0,184,2362,0.00,4.90,0.00,0.000,516,0.000,0.067,1974,706,3453,3570,3337,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2402,-0.92,-146.0,1974,706,3569,3338,448.6,-15.0,194,2409,0.00,4.88,0.00,0.000,1030,0.000,0.056,1954,2406,3453,3569,3338,0,0,0,0,0,0,14.66,14.62,14.70
$GC,2714,-0.92,-146.0,1954,2406,3569,3338,493.2,-14.2,211,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2405,3453,3569,3338,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3014,-0.92,-146.0,1954,2406,3569,3338,535.4,-13.9,226,3020,0.00,4.88,0.00,0.000,516,0.000,0.065,1957,706,3454,3569,3339,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3075,-0.92,-146.0,1958,707,3569,3340,544.7,-15.2,238,3082,0.15,4.85,0.00,0.000,3078,0.347,0.053,1965,2409,3453,3567,3339,0,0,0,0,0,0,14.50,14.65,14.70
$GC,3397,-0.92,-146.0,1965,2409,3569,3340,588.2,-13.3,257,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2408,3452,3567,3338,0,0,0,0,0,0,14.85,14.87,14.86
$STATE,3495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3495,begin apogee
$GC,3501,-0.11,0.0,1968,2181,3569,3340,601.5,-13.2,262,3641,1.02,0.08,136.85,2.136,10246,0.311,0.161,2225,2214,2853,2927,2780,0,0,0,0,0,0,14.54,13.94,13.23
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3642,begin climb
$GC,3644,0.92,146.0,2226,2215,2927,2779,607.1,0.0,269,3796,1.20,5.35,139.65,2.046,10500,0.210,0.088,2552,3881,2254,2281,2227,0,0,0,0,0,0,13.88,13.72,13.05
$GC,3801,0.92,146.0,2554,3882,2280,2229,591.7,14.3,298,3808,0.00,5.03,0.00,0.000,1030,0.000,0.046,2572,2218,2253,2278,2228,0,0,0,0,0,0,13.87,13.81,13.88
$GC,4118,0.92,146.0,2573,2218,2277,2213,538.6,16.6,316,4128,0.00,5.12,0.00,0.000,516,0.000,0.073,2594,499,2243,2275,2212,0,0,0,0,0,0,14.39,14.19,14.40
$GC,4173,0.92,146.0,2595,500,2273,2213,529.0,17.5,327,4180,0.00,4.95,0.00,0.000,1030,0.000,0.052,2600,2191,2244,2271,2217,0,0,0,0,0,0,14.31,14.24,14.33
$GC,4478,0.92,146.0,2594,2192,2274,2211,474.7,17.8,343,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2192,2240,2272,2209,0,0,0,0,0,0,14.55,14.57,14.57
$GC,4778,0.92,146.0,2594,2192,2273,2208,421.3,17.7,358,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2192,2239,2272,2207,0,0,0,0,0,0,14.64,14.66,14.65
$GC,5078,0.92,146.0,2595,2193,2274,2207,368.7,17.5,373,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2192,2239,2272,2206,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5378,0.92,146.0,2594,2192,2274,2205,317.8,16.7,388,5388,0.00,4.95,0.00,0.000,516,0.000,0.072,2615,503,2239,2273,2205,0,0,0,0,0,0,14.73,14.54,14.75
$GC,5398,0.92,146.0,2615,502,2272,2205,314.4,16.7,392,5409,0.20,4.85,0.00,0.000,5126,0.327,0.050,2570,2202,2238,2272,2204,0,0,0,0,0,0,14.42,14.56,14.61
$GC,5719,0.92,146.0,2570,2203,2273,2204,268.8,13.0,411,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2203,2238,2273,2203,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6019,0.92,146.0,2571,2203,2275,2203,233.7,10.3,433,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2203,2237,2273,2202,0,0,0,0,0,0,14.78,14.80,14.80
$GC,6199,0.99,146.0,2570,2203,2274,2202,218.2,7.6,451,6210,0.00,5.00,0.00,0.000,324,0.000,0.086,2568,3894,2237,2272,2203,0,0,0,0,0,0,14.78,14.55,14.81
$GC,6265,1.02,146.0,2569,3894,2269,2206,212.1,9.0,464,6272,0.00,4.82,0.00,0.000,1094,0.000,0.046,2587,2191,2238,2270,2206,0,0,0,0,0,0,14.66,14.60,14.67
$GC,6450,1.12,146.0,2588,2190,2275,2202,199.1,6.6,483,6461,0.12,4.82,0.00,0.000,2628,0.182,0.068,2651,509,2236,2272,2201,0,0,0,0,0,0,14.54,14.58,14.61
$GC,6541,1.16,146.0,2651,510,2272,2202,191.2,8.6,501,6553,0.00,4.80,0.00,0.000,1094,0.000,0.048,2649,2210,2236,2272,2201,0,0,0,0,0,0,14.68,14.62,14.69
$GC,6731,1.25,146.0,2650,2211,2274,2201,177.1,7.0,521,6732,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2211,2236,2272,2201,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6911,1.36,146.0,2649,2211,2273,2201,164.6,6.5,539,6913,0.20,0.00,0.00,0.000,2118,0.168,0.000,2706,2210,2236,2272,2201,0,0,0,0,0,0,14.57,14.71,14.69
$GC,7091,1.47,146.0,2706,2212,2272,2202,152.7,6.2,557,7103,0.12,4.90,0.00,0.000,2628,0.198,0.065,2762,508,2236,2271,2201,0,0,0,0,0,0,14.57,14.61,14.66
$GC,7195,1.54,146.0,2762,508,2271,2202,144.9,7.6,577,7207,0.00,4.80,0.00,0.000,1094,0.000,0.049,2756,2203,2236,2271,2201,0,0,0,0,0,0,14.66,14.60,14.67
$GC,7383,1.78,225.2,2755,2204,2273,2202,133.7,5.1,597,7460,0.28,5.03,66.97,1.630,10788,0.169,0.069,2856,505,1931,1962,1901,0,0,0,0,0,0,14.59,14.29,13.70
$GC,7515,1.78,225.2,2856,506,1955,1901,119.5,15.1,619,7522,0.00,4.90,0.00,0.000,1030,0.000,0.050,2850,2199,1926,1955,1898,0,0,0,0,0,0,14.37,14.31,14.38
$GC,7700,1.78,225.2,2850,2200,1956,1892,94.6,11.2,638,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2199,1923,1955,1891,0,0,0,0,0,0,14.57,14.59,14.59
$GC,7880,1.89,225.2,2851,2200,1957,1889,80.8,6.2,656,7891,0.00,5.05,0.00,0.000,324,0.000,0.083,2850,3891,1920,1950,1891,0,0,0,0,0,0,14.61,14.40,14.62
$GC,7921,2.01,225.2,2851,3892,1951,1892,78.6,6.1,664,7932,0.15,4.85,0.00,0.000,3142,0.200,0.041,2909,2186,1920,1951,1890,0,0,0,0,0,0,14.37,14.45,14.49
$GC,8113,2.50,388.9,2910,2187,1953,1890,74.6,-0.1,684,8262,0.50,5.32,136.43,1.515,10532,0.155,0.082,3056,3890,1262,1274,1251,0,0,0,0,0,0,14.41,13.96,13.43
$GC,8487,2.94,533.0,3056,3891,1268,1245,37.7,1.1,756,8614,0.43,4.90,115.00,1.424,11302,0.160,0.041,3204,2191,676,653,700,0,0,0,0,0,0,14.19,14.25,13.40
$STATE,8798,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$FINISH,0.4,1.021302
$STATE,8809,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8830,80.10,0.778,1,0,500,577.44
$SM_CCo,8918,-0.20,0.439,0,0,500,577.68
$SM_CCo,8921,0.00,0.000,0,0,500,577.44
$SM_GC,-1.56,11.40,0.65,0.00,0.250,0.068,0.000,199,2406,500,-6.44,-0.71,577.44,0,0,0,0,0,0,14.14,14.19,14.26
$RAFOS_CLK,556
$RAFOS_FIX,7404.345215,-14637.811523,021018,191939,0,1,0.20
$IRIDIUM_FIX,7405.36,-14638.18,021018,143200
$TT8_MAMPS,0.041944,0.886816
$HUMID,46.22
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.60
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.4,5.7
$24V_AH,13.05,43.099
$10V_AH,13.04,0.000
$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,25.275,139.825,594.900,80.100,0.000,0.000,0.000,238.700,3.500,0.000,16.531,0.000,6480.219,831.365,1813.452,207.309,0.000,1752.313,0.000,1148.104,0.000,2.510,0.000
$DEVICE_MAMPS,461.295,160.650,2135.880,778.005,0.000,0.000,0.000,188.955,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8827.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.817,0.000,0.000,0.000
$MEM,334548
$DATA_FILE_SIZE,26713,799
$CAP_FILE_SIZE,95413,0
$CFSIZE,2097872896,2079457280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1448.0
$CURRENT,0.072,297.72,1
$GPS,021018,194339,7404.506,-14638.667,22,1.0,22,18.3,0.6,205.3,9,5.8