version: 66.13
glider: 228
mission: 14
dive: 96
start: 10 3 118 17 49 6
data:
$ID,228
$MISSION,14
$DIVE,96
$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,2330
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,031018,173908,7358.4629,-14647.4639,14,6.1,65,18.3,0.3,0.0,4,11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.08
$_SM_ANGLEo,-74.9
$GPS2,031018,174831,7358.5029,-14647.5703,5,1.0,31,18.3,0.2,36.0,9,7.7
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,177.5,43531,-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,-146.0,199,2409,464,532,0.0,0.0,0,83,0.00,0.00,-71.93,0.003,16386,0.000,0.000,198,2409,1909,2016,1802,0,0,0,0,0,0,14.47,28.83,14.49
$GC,86,-0.92,-146.0,199,2410,2017,1806,2.3,-9.6,7,136,9.75,5.03,-29.70,0.005,18948,0.466,0.073,2045,717,3453,3579,3327,0,0,0,0,0,0,14.09,13.50,14.34
$GC,306,-0.92,-146.0,2044,718,3578,3330,77.3,-23.6,50,313,0.00,4.93,0.00,0.000,1030,0.000,0.059,2026,2398,3454,3579,3329,0,0,0,0,0,0,14.40,14.33,14.45
$GC,491,-0.92,-146.0,2027,2398,3577,3330,118.5,-21.6,69,502,0.00,4.70,0.00,0.000,260,0.000,0.090,2007,3950,3452,3575,3330,0,0,0,0,0,0,14.57,14.35,14.59
$GC,547,-0.92,-146.0,2007,3950,3572,3335,131.4,-22.7,80,554,0.00,4.43,0.00,0.000,1030,0.000,0.046,2022,2412,3452,3571,3333,0,0,0,0,0,0,14.48,14.42,14.50
$GC,732,-0.92,-146.0,2024,2411,3573,3335,167.7,-18.6,99,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2410,3452,3571,3334,0,0,0,0,0,0,14.62,14.65,14.64
$GC,912,-0.92,-146.0,2024,2411,3572,3335,201.1,-18.1,117,924,0.00,4.95,0.00,0.000,516,0.000,0.067,2028,704,3452,3571,3334,0,0,0,0,0,0,14.66,14.48,14.67
$GC,969,-0.92,-146.0,2029,705,3572,3336,211.6,-18.2,128,976,0.00,4.93,0.00,0.000,1030,0.000,0.057,2009,2401,3453,3572,3335,0,0,0,0,0,0,14.55,14.50,14.57
$GC,1154,-0.92,-146.0,2008,2402,3568,3335,240.9,-14.6,147,1165,0.00,4.95,0.00,0.000,516,0.000,0.070,2012,706,3453,3571,3335,0,0,0,0,0,0,14.68,14.50,14.70
$GC,1190,-0.92,-146.0,2013,707,3570,3336,246.1,-15.6,154,1198,0.17,4.93,0.00,0.000,3078,0.333,0.057,2026,2405,3452,3570,3335,0,0,0,0,0,0,14.35,14.50,14.54
$GC,1385,-0.92,-146.0,2027,2406,3572,3336,270.8,-12.3,166,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2405,3453,3571,3335,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1685,-0.92,-146.0,2026,2406,3568,3336,305.7,-11.5,181,1696,0.00,4.93,0.00,0.000,516,0.000,0.070,2029,709,3452,3570,3334,0,0,0,0,0,0,14.75,14.56,14.76
$GC,1731,-0.92,-146.0,2028,709,3570,3336,311.2,-12.4,190,1737,0.00,4.90,0.00,0.000,1030,0.000,0.058,2009,2406,3452,3570,3335,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2047,-0.92,-146.0,2009,2406,3570,3336,349.5,-12.0,208,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2406,3452,3570,3335,0,0,0,0,0,0,14.78,14.80,14.79
$GC,2347,-0.92,-146.0,2010,2407,3570,3337,384.8,-11.8,223,2357,0.00,4.93,0.00,0.000,516,0.000,0.069,2012,702,3452,3569,3336,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2392,-0.92,-146.0,2012,702,3568,3336,390.5,-12.8,232,2402,0.17,4.90,0.00,0.000,3078,0.324,0.057,2027,2407,3452,3568,3336,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2707,-0.92,-146.0,2027,2407,3568,3337,424.5,-10.6,250,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2408,3452,3568,3336,0,0,0,0,0,0,14.81,14.83,14.83
$GC,3007,-0.92,-146.0,2028,2409,3569,3337,456.6,-10.7,265,3018,0.00,4.93,0.00,0.000,516,0.000,0.071,2028,704,3452,3568,3336,0,0,0,0,0,0,14.83,14.64,14.84
$GC,3063,-0.92,-146.0,2028,704,3568,3337,463.0,-12.0,276,3070,0.00,4.88,0.00,0.000,1030,0.000,0.057,2009,2407,3451,3567,3336,0,0,0,0,0,0,14.71,14.64,14.73
$GC,3368,-0.92,-146.0,2009,2408,3569,3338,498.2,-11.5,292,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2407,3452,3567,3337,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3668,-0.92,-146.0,2009,2407,3567,3337,532.1,-11.3,307,3678,0.00,4.90,0.00,0.000,516,0.000,0.070,2011,705,3452,3567,3337,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3703,-0.92,-146.0,2011,706,3568,3339,536.4,-12.8,314,3710,0.17,4.85,0.00,0.000,3078,0.323,0.057,2026,2401,3452,3567,3338,0,0,0,0,0,0,14.52,14.66,14.71
$GC,4008,-0.92,-146.0,2027,2398,3568,3338,568.1,-10.1,330,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2401,3452,3567,3338,0,0,0,0,0,0,14.86,14.88,14.88
$GC,4308,-0.92,-146.0,2026,2402,3567,3338,598.2,-10.0,345,4318,0.00,4.88,0.00,0.000,516,0.000,0.070,2028,706,3456,3574,3338,0,0,0,0,0,0,14.88,14.68,14.89
$STATE,4326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4335,-0.11,0.0,2012,2208,3568,3339,600.4,-10.9,349,4476,1.10,0.00,137.30,2.134,10246,0.297,0.000,2289,2207,2853,2927,2779,0,0,0,0,0,0,14.56,13.98,13.24
$STATE,4477,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4479,0.92,146.0,2290,2208,2927,2778,603.0,0.0,356,4622,1.12,0.00,138.82,2.046,10502,0.153,0.000,2620,2206,2255,2276,2235,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4908,0.92,146.0,2621,2207,2271,2217,532.5,20.7,381,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2206,2243,2270,2216,0,0,0,0,0,0,14.35,14.38,14.38
$GC,5208,0.92,146.0,2621,2206,2271,2213,471.5,20.2,396,5218,0.00,5.07,0.00,0.000,516,0.000,0.076,2642,507,2241,2270,2212,0,0,0,0,0,0,14.52,14.33,14.54
$GC,5228,0.92,146.0,2640,508,2268,2213,467.2,20.9,400,5238,0.00,4.93,0.00,0.000,1030,0.000,0.055,2631,2201,2240,2268,2212,0,0,0,0,0,0,14.42,14.35,14.43
$GC,5548,0.92,146.0,2630,2202,2268,2211,400.4,20.8,419,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,2239,2268,2210,0,0,0,0,0,0,14.61,14.63,14.63
$GC,5848,0.92,146.0,2632,2202,2270,2210,339.3,20.0,434,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,2238,2268,2209,0,0,0,0,0,0,14.67,14.69,14.69
$GC,6148,0.92,146.0,2631,2202,2268,2208,281.8,18.9,449,6159,0.00,4.97,0.00,0.000,516,0.000,0.074,2651,501,2238,2268,2208,0,0,0,0,0,0,14.71,14.53,14.73
$GC,6184,0.92,146.0,2652,501,2269,2208,275.0,19.6,456,6190,0.00,4.88,0.00,0.000,1030,0.000,0.055,2648,2201,2237,2268,2207,0,0,0,0,0,0,14.62,14.54,14.63
$GC,6491,0.92,146.0,2649,2202,2270,2206,224.9,13.8,480,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,2237,2269,2205,0,0,0,0,0,0,14.74,14.76,14.76
$GC,6669,0.94,146.0,2648,2202,2270,2206,205.0,9.3,498,6670,0.00,0.00,0.00,0.000,70,0.000,0.000,2648,2201,2237,2269,2205,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6849,0.98,146.0,2648,2202,2269,2205,189.1,8.5,516,6860,0.00,4.95,0.00,0.000,580,0.000,0.073,2668,508,2236,2268,2204,0,0,0,0,0,0,14.76,14.58,14.78
$GC,6885,0.98,146.0,2668,508,2268,2205,185.9,9.5,523,6892,0.00,4.85,0.00,0.000,1030,0.000,0.053,2660,2211,2236,2268,2204,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7070,1.05,146.0,2660,2212,2268,2204,170.6,7.8,542,7077,0.00,4.97,0.00,0.000,580,0.000,0.070,2680,502,2236,2269,2203,0,0,0,0,0,0,14.76,14.58,14.78
$GC,7117,1.10,146.0,2680,503,2268,2204,166.8,8.3,551,7123,0.00,4.82,0.00,0.000,1094,0.000,0.051,2676,2202,2235,2268,2203,0,0,0,0,0,0,14.66,14.60,14.69
$GC,7302,1.20,146.0,2677,2202,2270,2204,153.6,6.8,570,7308,0.12,5.00,0.00,0.000,2372,0.194,0.083,2692,3891,2235,2268,2203,0,0,0,0,0,0,14.56,14.57,14.65
$GC,7363,1.22,146.0,2692,3892,2267,2208,147.9,9.3,582,7370,0.00,4.80,0.00,0.000,1094,0.000,0.043,2712,2193,2237,2267,2207,0,0,0,0,0,0,14.68,14.63,14.69
$GC,7555,1.43,217.1,2713,2192,2269,2205,135.7,5.6,602,7623,0.22,5.18,59.90,1.625,10532,0.167,0.083,2784,3894,1965,1994,1936,0,0,0,0,0,0,14.55,14.21,13.71
$GC,7638,1.43,217.1,2784,3893,1993,1939,128.1,12.9,617,7645,0.00,4.90,0.00,0.000,1030,0.000,0.044,2804,2200,1964,1992,1936,0,0,0,0,0,0,14.40,14.34,14.41
$GC,7826,1.43,217.1,2804,2200,1990,1930,103.3,10.8,636,7837,0.00,4.88,0.00,0.000,516,0.000,0.067,2826,510,1958,1987,1929,0,0,0,0,0,0,14.54,14.34,14.55
$GC,7917,1.43,217.1,2827,512,1985,1930,93.1,10.7,654,7924,0.15,4.88,0.00,0.000,5126,0.379,0.050,2796,2206,1956,1984,1928,0,0,0,0,0,0,14.22,14.39,14.43
$GC,8111,1.75,324.8,2797,2207,1985,1924,83.5,3.3,674,8213,0.30,5.25,91.25,1.530,10532,0.159,0.083,2878,3889,1524,1552,1497,0,0,0,0,0,0,14.34,14.02,13.48
$GC,8440,2.11,444.0,2878,3889,1545,1492,52.8,2.6,738,8547,0.35,4.93,97.68,1.460,11302,0.152,0.044,3001,2187,1039,1049,1029,0,0,0,0,0,0,14.16,14.26,13.39
$GC,8732,2.19,444.0,3000,2187,1043,1016,29.8,7.6,776,8743,0.00,5.25,0.00,0.000,324,0.000,0.084,2999,3889,1028,1041,1015,0,0,0,0,0,0,14.30,14.12,14.32
$GC,8968,2.66,600.8,3001,3890,1040,1016,25.6,0.3,823,9086,0.52,4.88,106.15,1.421,11302,0.141,0.041,3180,2198,496,469,523,0,0,0,0,0,0,14.22,14.28,13.39
$STATE,9179,end climb,SURFACE_DEPTH_REACHED
$STATE,9179,begin surface coast
$FINISH,0.1,1.021098
$STATE,9189,end surface coast,CONTROL_FINISHED_OK
$STATE,9189,begin surface
$SM_CCo,9210,-0.50,0.177,0,0,499,577.68
$SM_CCo,9213,0.00,0.000,0,0,499,577.68
$SM_CCo,9216,0.00,0.000,0,0,500,577.44
$SM_GC,1.06,10.95,0.62,0.00,0.221,0.065,0.000,203,2405,500,-6.61,-0.80,577.44,0,0,0,0,0,0,14.06,14.09,14.26
$RAFOS_CLK,91
$RAFOS_FIX,7357.565430,-14647.426758,031018,202013,0,1,0.19
$IRIDIUM_FIX,7354.11,-14443.96,031018,174151
$TT8_MAMPS,0.077896,0.652379
$HUMID,46.25
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.70
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.4,5.8
$24V_AH,13.05,46.986
$10V_AH,13.17,0.000
$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,25.125,177.200,631.100,0.000,0.000,0.000,0.000,318.750,4.750,0.000,41.636,0.000,6714.978,830.111,2023.852,223.421,0.000,1867.622,0.000,1227.426,2214.000,2.519,0.000
$DEVICE_MAMPS,465.885,89.505,2134.350,0.000,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9205.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.068,0.000,0.000,0.000
$MEM,334576
$DATA_FILE_SIZE,29995,855
$CAP_FILE_SIZE,100486,0
$CFSIZE,2097872896,2077949952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1695.77,0x21471c,0,24
$SOUNDSPEED,1447.0
$CURRENT,0.050,328.59,1
$GPS,031018,202501,7357.781,-14648.525,95,0.8,96,18.3,0.3,297.5,11,3.2