version: 66.13
glider: 228
mission: 14
dive: 102
start: 10 4 118 10 18 57
data:
$ID,228
$MISSION,14
$DIVE,102
$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,16
$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
$GPS1,041018,100901,7354.1079,-14654.1191,107,0.6,108,18.3,0.4,23.7,12,2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.30
$_SM_ANGLEo,-74.6
$GPS2,041018,101817,7354.1401,-14654.0479,4,0.6,6,18.3,0.3,123.3,12,4.0
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.4,34798,-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,-146.0,197,2406,462,533,0.0,0.0,0,85,0.00,0.00,-72.80,0.003,16386,0.000,0.000,196,2407,1972,2072,1872,0,0,0,0,0,0,14.47,28.83,14.48
$GC,87,-0.92,-146.0,198,2408,2073,1876,3.6,-11.5,7,133,9.70,5.05,-27.08,0.005,18948,0.464,0.076,2044,700,3450,3574,3327,0,0,0,0,0,0,14.09,13.71,14.34
$GC,308,-0.92,-146.0,2045,701,3575,3330,81.1,-20.9,50,316,0.00,5.00,0.00,0.000,1030,0.000,0.061,2025,2398,3451,3574,3329,0,0,0,0,0,0,14.42,14.35,14.45
$GC,493,-0.92,-146.0,2025,2399,3574,3330,120.5,-19.6,69,505,0.00,4.97,0.00,0.000,516,0.000,0.068,2028,705,3451,3573,3329,0,0,0,0,0,0,14.57,14.40,14.59
$GC,529,-0.92,-146.0,2029,707,3574,3331,128.6,-22.7,76,536,0.00,4.97,0.00,0.000,1030,0.000,0.060,2009,2403,3451,3573,3330,0,0,0,0,0,0,14.49,14.40,14.50
$GC,715,-0.92,-146.0,2009,2404,3574,3331,167.7,-20.8,95,726,0.00,5.00,0.00,0.000,516,0.000,0.069,2014,694,3451,3573,3330,0,0,0,0,0,0,14.63,14.44,14.65
$GC,740,-0.92,-146.0,2015,695,3573,3331,173.2,-21.6,100,748,0.17,4.97,0.00,0.000,3078,0.338,0.057,2028,2404,3451,3572,3330,0,0,0,0,0,0,14.29,14.44,14.48
$GC,926,-0.92,-146.0,2028,2404,3571,3331,207.3,-17.9,119,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2404,3451,3572,3330,0,0,0,0,0,0,14.66,14.68,14.68
$GC,1106,-0.92,-146.0,2029,2405,3573,3331,236.2,-15.1,137,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2404,3451,3572,3330,0,0,0,0,0,0,14.69,14.70,14.70
$GC,1286,-0.92,-146.0,2028,2404,3572,3331,260.8,-13.1,151,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2404,3451,3572,3330,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1586,-0.92,-146.0,2029,2404,3573,3331,296.4,-11.8,166,1592,0.00,4.95,0.00,0.000,516,0.000,0.070,2029,704,3451,3572,3330,0,0,0,0,0,0,14.75,14.55,14.76
$GC,1637,-0.92,-146.0,2029,705,3573,3332,302.9,-12.8,176,1648,0.00,4.90,0.00,0.000,1030,0.000,0.057,2009,2402,3451,3571,3331,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1947,-0.92,-146.0,2010,2402,3572,3331,341.2,-12.5,193,1958,0.00,4.93,0.00,0.000,516,0.000,0.069,2012,704,3451,3571,3331,0,0,0,0,0,0,14.77,14.58,14.78
$GC,1968,-0.92,-146.0,2012,704,3572,3332,344.0,-13.8,197,1979,0.17,4.88,0.00,0.000,3078,0.324,0.057,2027,2401,3450,3570,3331,0,0,0,0,0,0,14.44,14.59,14.63
$GC,2289,-0.92,-146.0,2027,2401,3570,3333,380.6,-11.2,216,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2401,3450,3570,3331,0,0,0,0,0,0,14.80,14.81,14.81
$GC,2589,-0.92,-146.0,2026,2402,3570,3332,413.9,-11.1,231,2599,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,702,3450,3570,3331,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2634,-0.92,-146.0,2029,703,3571,3332,419.3,-12.1,240,2643,0.00,4.88,0.00,0.000,1030,0.000,0.058,2009,2402,3450,3570,3331,0,0,0,0,0,0,14.70,14.63,14.71
$GC,2949,-0.92,-146.0,2009,2402,3571,3332,456.2,-11.7,258,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2402,3450,3569,3331,0,0,0,0,0,0,14.83,14.84,14.84
$GC,3249,-0.92,-146.0,2008,2402,3569,3332,491.1,-11.6,273,3259,0.00,4.85,0.00,0.000,516,0.000,0.070,2012,701,3450,3569,3331,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3299,-0.92,-146.0,2011,702,3568,3333,497.4,-12.1,283,3310,0.17,4.85,0.00,0.000,3078,0.314,0.057,2029,2402,3450,3568,3332,0,0,0,0,0,0,14.51,14.65,14.71
$GC,3609,-0.92,-146.0,2028,2403,3568,3333,530.3,-10.4,300,3619,0.00,4.90,0.00,0.000,516,0.000,0.068,2028,704,3449,3567,3332,0,0,0,0,0,0,14.85,14.65,14.87
$GC,3634,-0.92,-146.0,2028,704,3568,3333,533.1,-11.6,305,3644,0.00,4.85,0.00,0.000,1030,0.000,0.055,2009,2407,3450,3568,3332,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3949,-0.92,-146.0,2008,2406,3568,3333,568.4,-11.3,323,3959,0.00,4.90,0.00,0.000,516,0.000,0.068,2011,700,3449,3566,3333,0,0,0,0,0,0,14.86,14.66,14.88
$GC,3974,-0.92,-146.0,2011,701,3567,3334,571.4,-12.5,328,3984,0.17,4.85,0.00,0.000,3078,0.319,0.055,2025,2405,3449,3567,3332,0,0,0,0,0,0,14.53,14.67,14.72
$STATE,4247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4253,-0.11,0.0,2029,2179,3568,3334,600.1,-10.2,344,4393,1.00,0.08,136.88,2.127,10246,0.276,0.164,2290,2210,2852,2929,2776,0,0,0,0,0,0,14.56,13.95,13.24
$STATE,4394,end apogee,CONTROL_FINISHED_OK
$STATE,4394,begin climb
$GC,4396,0.92,146.0,2290,2211,2926,2776,602.2,0.0,351,4541,1.12,0.00,140.48,2.030,10502,0.158,0.000,2618,2210,2255,2276,2234,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4829,0.92,146.0,2618,2210,2272,2217,525.2,20.6,376,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2210,2243,2271,2216,0,0,0,0,0,0,14.36,14.38,14.38
$GC,5129,0.92,146.0,2619,2211,2274,2213,464.2,20.2,391,5140,0.00,5.03,0.00,0.000,516,0.000,0.076,2640,520,2241,2271,2212,0,0,0,0,0,0,14.52,14.33,14.53
$GC,5165,0.92,146.0,2639,521,2269,2213,456.9,20.2,398,5172,0.00,4.88,0.00,0.000,1030,0.000,0.056,2621,2197,2240,2268,2212,0,0,0,0,0,0,14.42,14.35,14.44
$GC,5470,0.92,146.0,2621,2198,2268,2211,395.7,19.7,414,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2197,2239,2269,2210,0,0,0,0,0,0,14.62,14.66,14.63
$GC,5770,0.92,146.0,2622,2198,2266,2210,336.3,19.7,429,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2197,2238,2267,2209,0,0,0,0,0,0,14.68,14.70,14.69
$GC,6070,0.92,146.0,2620,2198,2268,2208,280.7,17.5,444,6076,0.00,4.95,0.00,0.000,516,0.000,0.074,2641,519,2238,2269,2207,0,0,0,0,0,0,14.69,14.51,14.71
$GC,6106,0.92,146.0,2641,516,2272,2208,274.1,18.8,451,6113,0.00,4.85,0.00,0.000,1030,0.000,0.054,2631,2203,2237,2268,2207,0,0,0,0,0,0,14.57,14.52,14.59
$GC,6413,0.92,146.0,2631,2205,2269,2206,227.6,12.4,475,6425,0.00,5.03,0.00,0.000,260,0.000,0.086,2632,3892,2237,2268,2207,0,0,0,0,0,0,14.68,14.49,14.69
$GC,6440,0.92,146.0,2632,3894,2268,2208,223.8,13.9,480,6448,0.00,4.80,0.00,0.000,1030,0.000,0.044,2651,2208,2237,2268,2207,0,0,0,0,0,0,14.59,14.53,14.61
$GC,6625,0.92,146.0,2652,2207,2270,2206,202.9,9.6,499,6637,0.00,4.93,0.00,0.000,516,0.000,0.067,2674,508,2236,2268,2205,0,0,0,0,0,0,14.67,14.50,14.69
$GC,6652,0.92,146.0,2674,508,2269,2205,200.2,10.3,504,6660,0.15,4.85,0.00,0.000,5126,0.358,0.050,2633,2210,2236,2268,2204,0,0,0,0,0,0,14.35,14.51,14.55
$GC,6839,0.97,146.0,2633,2210,2271,2204,183.8,8.2,523,6839,0.00,0.00,0.00,0.000,70,0.000,0.000,2632,2209,2236,2269,2203,0,0,0,0,0,0,14.67,14.69,14.69
$GC,7017,1.07,146.0,2632,2210,2270,2201,170.2,6.8,541,7018,0.12,0.00,0.00,0.000,2118,0.184,0.000,2666,2210,2235,2269,2202,0,0,0,0,0,0,14.47,14.58,14.57
$GC,7197,1.16,146.0,2667,2210,2271,2203,157.6,6.9,559,7198,0.12,0.00,0.00,0.000,2118,0.194,0.000,2702,2212,2236,2270,2203,0,0,0,0,0,0,14.46,14.59,14.57
$GC,7377,1.25,146.0,2702,2211,2271,2203,144.8,6.8,577,7388,0.00,4.95,0.00,0.000,580,0.000,0.070,2723,513,2235,2268,2203,0,0,0,0,0,0,14.68,14.48,14.69
$GC,7553,1.36,146.0,2724,513,2269,2208,132.8,6.4,612,7561,0.17,4.82,0.00,0.000,3142,0.181,0.050,2763,2202,2235,2268,2203,0,0,0,0,0,0,14.46,14.51,14.57
$GC,7740,1.62,232.9,2763,2204,2269,2203,122.4,4.6,631,7819,0.28,0.00,74.18,1.613,10534,0.158,0.000,2845,2203,1900,1930,1871,0,0,0,0,0,0,14.47,14.19,13.58
$GC,7998,1.62,232.9,2845,2203,1924,1860,88.3,14.2,658,8009,0.00,5.07,0.00,0.000,516,0.000,0.071,2866,508,1891,1922,1861,0,0,0,0,0,0,14.42,14.26,14.45
$GC,8069,1.62,232.9,2870,508,1920,1864,79.7,10.5,672,8076,0.00,4.93,0.00,0.000,1030,0.000,0.050,2866,2202,1890,1919,1861,0,0,0,0,0,0,14.34,14.29,14.37
$MODEM_MSG,CACST,6,1,20181004120548.046863,18,442,20,0151,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$MODEM_MSG,CACST,6,1,20181004121047.060405,18,335,19,0148,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F
$GC,8264,1.91,327.9,2867,2203,1921,1859,69.9,4.1,692,8354,0.22,5.12,79.93,1.516,10788,0.158,0.070,2960,512,1512,1538,1487,0,0,0,0,0,0,14.31,14.04,13.49
$GC,8469,1.96,327.9,2960,513,1525,1485,51.8,8.3,731,8476,0.00,4.95,0.00,0.000,1094,0.000,0.050,2959,2203,1504,1524,1485,0,0,0,0,0,0,14.26,14.20,14.27
$GC,8654,2.41,477.4,2959,2204,1524,1481,47.1,0.8,750,8788,0.43,5.32,120.82,1.455,10532,0.138,0.083,3082,3888,902,892,912,0,0,0,0,0,0,14.26,13.88,13.38
$GC,8920,2.51,477.4,3082,3889,889,908,20.7,6.6,800,8927,0.12,4.95,0.00,0.000,3142,0.187,0.041,3135,2193,897,888,906,0,0,0,0,0,0,14.09,14.16,14.20
$GC,9114,2.93,616.7,3134,2192,888,902,16.9,1.4,820,9203,0.40,5.30,80.38,1.408,10532,0.142,0.080,3259,3891,495,464,527,0,0,0,0,0,0,14.20,13.96,13.45
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9256,begin surface coast
$FINISH,-0.4,1.020922
$STATE,9267,end surface coast,CONTROL_FINISHED_OK
$STATE,9267,begin surface
$SM_CCo,9290,-0.45,0.196,0,0,500,577.68
$SM_CCo,9294,0.00,0.000,0,0,500,577.44
$SM_CCo,9297,0.00,0.000,0,0,500,577.44
$SM_GC,-0.58,10.70,4.43,0.00,0.182,0.041,0.000,198,2392,500,-6.62,1.13,577.44,0,0,0,0,0,0,14.09,14.13,14.29
$RAFOS_CLK,206
$MODEM,2,1538655047,74.08334,-144.88333,47.060,68127.8
$MODEM,1,1538654748,74.43333,-147.95000,48.047,69555.8
$RAFOS_FIX,7352.903320,-14657.316406,041018,121247,2,255,0.42
$IRIDIUM_FIX,7356.72,-14648.79,041018,101142
$TT8_MAMPS,0.041195,0.629909
$HUMID,46.77
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.70
$XPDR_PINGS,18
$ALTIM_TOP_PING,20.0,5.7
$24V_AH,13.05,49.549
$10V_AH,13.37,0.000
$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,25.250,178.475,632.650,0.000,0.000,0.000,0.000,341.750,4.750,0.000,16.862,0.000,6771.387,854.617,2019.832,225.774,0.000,1909.536,0.000,1218.679,2216.000,2.511,0.000
$DEVICE_MAMPS,464.355,163.710,2127.465,0.000,0.000,0.000,0.000,181.305,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.190,0.000,0.000,0.000
$MEM,334572
$DATA_FILE_SIZE,30049,849
$CAP_FILE_SIZE,102059,0
$CFSIZE,2097872896,2076966912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$CURRENT,0.056,353.87,1
$GPS,041018,125537,7353.453,-14654.931,14,3.8,61,18.2,0.9,0.0,4,8.9