version: 66.13
glider: 228
mission: 14
dive: 103
start: 10 4 118 13 6 26
data:
$ID,228
$MISSION,14
$DIVE,103
$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,29
$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
$GPS1,041018,125537,7353.4531,-14654.9307,14,3.8,61,18.2,0.9,0.0,4,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.01
$_SM_ANGLEo,-73.9
$GPS2,041018,130540,7353.5220,-14654.9209,32,0.7,33,18.2,0.2,21.1,12,4.0
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.5,33573,-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,-146.0,199,2391,464,532,0.0,0.0,0,83,0.00,0.00,-71.50,0.003,16386,0.000,0.000,198,2390,1877,1981,1774,0,0,0,0,0,0,14.47,28.83,14.49
$GC,86,-0.92,-146.0,198,2391,1982,1776,2.1,-9.5,7,136,9.70,5.00,-30.67,0.005,18948,0.464,0.078,2047,713,3452,3577,3328,0,0,0,0,0,0,14.08,13.47,14.33
$GC,236,-0.92,-146.0,2047,714,3577,3331,60.7,-26.1,36,243,0.00,4.95,0.00,0.000,1030,0.000,0.060,2028,2396,3453,3577,3330,0,0,0,0,0,0,14.40,14.32,14.41
$GC,421,-0.92,-146.0,2029,2397,3577,3331,104.2,-20.7,55,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2396,3453,3576,3330,0,0,0,0,0,0,14.57,14.59,14.58
$GC,601,-0.92,-146.0,2028,2397,3576,3329,139.4,-19.3,73,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2396,3453,3576,3330,0,0,0,0,0,0,14.61,14.63,14.62
$GC,781,-0.92,-146.0,2028,2397,3576,3330,173.5,-19.0,91,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2396,3453,3576,3330,0,0,0,0,0,0,14.64,14.66,14.66
$GC,961,-0.92,-146.0,2028,2397,3576,3331,206.3,-18.0,109,967,0.00,4.93,0.00,0.000,516,0.000,0.070,2039,716,3453,3576,3330,0,0,0,0,0,0,14.66,14.46,14.69
$GC,997,-0.92,-146.0,2040,717,3577,3332,212.7,-17.0,116,1004,0.00,4.90,0.00,0.000,1030,0.000,0.058,2020,2402,3453,3575,3331,0,0,0,0,0,0,14.56,14.48,14.57
$GC,1182,-0.92,-146.0,2019,2403,3575,3331,241.8,-15.1,135,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2402,3453,3575,3331,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1362,-0.92,-146.0,2020,2403,3576,3332,266.4,-13.3,147,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2402,3454,3579,3330,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1662,-0.92,-146.0,2020,2403,3575,3331,302.9,-11.9,162,1672,0.00,4.90,0.00,0.000,516,0.000,0.070,2025,717,3452,3574,3331,0,0,0,0,0,0,14.74,14.56,14.76
$GC,1692,-0.92,-146.0,2024,718,3574,3332,306.7,-13.0,168,1704,0.00,4.85,0.00,0.000,1030,0.000,0.057,2005,2402,3452,3574,3331,0,0,0,0,0,0,14.65,14.57,14.66
$GC,2002,-0.92,-146.0,2005,2402,3574,3332,345.4,-12.4,185,2009,0.00,4.90,0.00,0.000,516,0.000,0.069,2008,713,3455,3580,3331,0,0,0,0,0,0,14.78,14.59,14.80
$GC,2034,-0.92,-146.0,2007,713,3573,3332,349.5,-13.6,191,2045,0.20,4.85,0.00,0.000,3078,0.322,0.056,2029,2401,3452,3574,3331,0,0,0,0,0,0,14.45,14.60,14.64
$GC,2344,-0.92,-146.0,2029,2402,3573,3332,384.2,-11.1,208,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2402,3452,3573,3331,0,0,0,0,0,0,14.80,14.82,14.81
$GC,2644,-0.92,-146.0,2030,2399,3574,3332,416.9,-10.7,223,2653,0.00,4.88,0.00,0.000,516,0.000,0.070,2038,716,3451,3572,3331,0,0,0,0,0,0,14.82,14.62,14.83
$GC,2699,-0.92,-146.0,2038,717,3572,3332,423.3,-11.5,234,2706,0.00,4.85,0.00,0.000,1030,0.000,0.058,2020,2412,3452,3572,3332,0,0,0,0,0,0,14.71,14.63,14.72
$GC,3004,-0.92,-146.0,2019,2406,3572,3332,457.7,-11.2,250,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2406,3452,3572,3332,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3304,-0.92,-146.0,2020,2407,3573,3333,491.0,-10.9,265,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2406,3451,3572,3331,0,0,0,0,0,0,14.84,14.85,14.85
$GC,3604,-0.92,-146.0,2020,2407,3572,3333,523.9,-11.1,280,3614,0.00,4.90,0.00,0.000,516,0.000,0.070,2024,712,3452,3572,3332,0,0,0,0,0,0,14.85,14.65,14.87
$GC,3664,-0.92,-146.0,2024,712,3572,3333,531.1,-11.7,292,3674,0.00,4.82,0.00,0.000,1030,0.000,0.057,2005,2397,3452,3571,3333,0,0,0,0,0,0,14.74,14.66,14.76
$GC,3984,-0.92,-146.0,2005,2398,3571,3333,567.4,-11.3,311,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2397,3452,3571,3333,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4288,-0.11,0.0,2006,2193,3572,3334,601.2,-11.2,326,4428,1.10,0.00,137.23,2.136,10246,0.288,0.000,2289,2191,2853,2930,2776,0,0,0,0,0,0,14.56,13.99,13.24
$STATE,4429,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4432,0.92,146.0,2290,2192,2928,2776,603.6,0.0,333,4584,1.10,5.47,139.20,2.038,10500,0.158,0.086,2605,3897,2254,2275,2234,0,0,0,0,0,0,13.92,13.74,13.04
$GC,4589,0.92,146.0,2605,3898,2273,2235,583.3,18.8,362,4596,0.00,5.10,0.00,0.000,1030,0.000,0.049,2625,2215,2253,2273,2234,0,0,0,0,0,0,13.88,13.81,13.89
$GC,4911,0.92,146.0,2625,2214,2270,2225,515.6,20.9,381,4922,0.00,5.07,0.00,0.000,516,0.000,0.073,2646,509,2242,2268,2217,0,0,0,0,0,0,14.39,14.20,14.40
$GC,4952,0.92,146.0,2646,511,2266,2218,506.6,22.2,389,4963,0.00,4.97,0.00,0.000,1030,0.000,0.054,2642,2205,2242,2267,2217,0,0,0,0,0,0,14.31,14.23,14.33
$GC,5273,0.92,146.0,2643,2207,2268,2215,436.4,21.8,408,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,2240,2267,2214,0,0,0,0,0,0,14.55,14.57,14.57
$GC,5573,0.92,146.0,2642,2206,2268,2213,372.0,21.3,423,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2206,2240,2267,2213,0,0,0,0,0,0,14.63,14.66,14.65
$GC,5873,0.92,146.0,2642,2206,2268,2213,309.7,20.3,438,5879,0.00,5.00,0.00,0.000,516,0.000,0.073,2662,506,2239,2267,2212,0,0,0,0,0,0,14.69,14.47,14.71
$GC,5909,0.92,146.0,2663,507,2267,2213,301.9,21.6,445,5916,0.15,4.88,0.00,0.000,5126,0.348,0.054,2630,2202,2238,2266,2211,0,0,0,0,0,0,14.35,14.52,14.57
$GC,6214,0.92,146.0,2631,2203,2268,2211,247.3,16.3,461,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2202,2239,2268,2210,0,0,0,0,0,0,14.73,14.76,14.75
$GC,6394,0.92,146.0,2630,2203,2268,2209,222.8,12.1,479,6405,0.00,4.97,0.00,0.000,516,0.000,0.073,2651,505,2238,2268,2208,0,0,0,0,0,0,14.73,14.55,14.76
$GC,6440,0.92,146.0,2651,506,2269,2210,216.9,13.0,488,6447,0.00,4.88,0.00,0.000,1030,0.000,0.054,2649,2208,2237,2267,2208,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6626,0.94,146.0,2649,2209,2269,2207,197.4,9.2,507,6626,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2209,2237,2268,2206,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6805,0.99,146.0,2649,2209,2268,2207,181.5,8.5,525,6817,0.00,4.95,0.00,0.000,580,0.000,0.071,2669,504,2237,2268,2206,0,0,0,0,0,0,14.76,14.57,14.78
$GC,6852,0.99,146.0,2669,504,2268,2207,177.1,9.6,534,6860,0.00,4.85,0.00,0.000,1030,0.000,0.051,2668,2208,2237,2268,2206,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7038,1.07,146.0,2668,2209,2269,2206,162.8,7.3,553,7049,0.00,4.97,0.00,0.000,324,0.000,0.083,2663,3890,2237,2267,2208,0,0,0,0,0,0,14.76,14.56,14.78
$GC,7090,1.09,146.0,2663,3890,2266,2210,158.2,9.4,563,7101,0.00,4.82,0.00,0.000,1094,0.000,0.046,2683,2189,2237,2267,2208,0,0,0,0,0,0,14.67,14.61,14.69
$GC,7280,1.17,146.0,2683,2189,2269,2207,143.7,7.2,583,7290,0.00,5.05,0.00,0.000,324,0.000,0.083,2675,3889,2237,2267,2208,0,0,0,0,0,0,14.77,14.57,14.78
$GC,7301,1.24,146.0,2674,3889,2266,2209,142.1,7.8,587,7312,0.00,4.80,0.00,0.000,1094,0.000,0.046,2695,2195,2237,2267,2207,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7491,1.47,222.9,2694,2195,2268,2206,130.3,5.2,607,7562,0.35,0.00,65.38,1.616,10278,0.152,0.000,2802,2194,1942,1972,1913,0,0,0,0,0,0,14.56,14.19,13.69
$GC,7742,1.47,222.9,2802,2195,1969,1905,100.1,12.5,632,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2194,1935,1967,1903,0,0,0,0,0,0,14.54,14.55,14.55
$GC,7921,1.51,222.9,2801,2195,1965,1901,80.9,8.5,650,7927,0.00,5.15,0.00,0.000,324,0.000,0.081,2800,3895,1932,1965,1900,0,0,0,0,0,0,14.58,14.38,14.60
$GC,8032,1.71,288.2,2801,3896,1963,1904,72.8,6.0,672,8096,0.17,4.88,56.08,1.531,11302,0.175,0.041,2873,2189,1677,1710,1645,0,0,0,0,0,0,14.36,14.44,13.62
$GC,8281,2.06,407.1,2874,2189,1703,1633,59.3,2.6,702,8389,0.35,5.32,98.32,1.477,10532,0.146,0.081,2967,3890,1189,1205,1174,0,0,0,0,0,0,14.26,13.96,13.43
$GC,8459,2.06,407.1,2968,3890,1202,1173,44.3,13.0,735,8466,0.00,5.00,0.00,0.000,1030,0.000,0.044,2988,2203,1185,1200,1171,0,0,0,0,0,0,14.17,14.11,14.19
$GC,8644,2.32,491.0,2987,2202,1200,1162,30.8,4.8,754,8716,0.25,0.00,67.15,1.427,10790,0.151,0.000,3068,2202,849,848,851,0,0,0,0,0,0,14.19,14.02,13.47
$GC,8894,2.54,566.7,3068,2203,845,842,14.4,5.3,780,8968,0.25,5.18,61.85,1.398,10788,0.149,0.071,3161,511,539,515,563,0,0,0,0,0,0,14.15,13.98,13.48
$STATE,9022,end climb,SURFACE_DEPTH_REACHED
$STATE,9023,begin surface coast
$FINISH,-0.2,1.020877
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9057,53.45,0.462,1,0,499,577.44
$SM_CCo,9118,-0.15,0.584,0,0,500,577.68
$SM_CCo,9122,0.00,0.000,0,0,500,577.44
$SM_GC,-0.80,10.90,5.65,0.00,0.226,0.050,0.000,202,2397,500,-6.62,-0.99,577.44,0,0,0,0,0,0,14.08,14.12,14.29
$RAFOS_CLK,567
$RAFOS_FIX,7352.518555,-14654.619141,041018,151544,0,1,0.21
$IRIDIUM_FIX,7357.85,-14655.30,041018,125821
$TT8_MAMPS,0.042693,0.684586
$HUMID,46.53
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.70
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.7,5.7
$24V_AH,13.04,49.970
$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,24.525,160.250,625.200,53.450,0.000,0.000,0.000,356.575,6.000,0.000,44.376,0.000,6678.861,874.389,1973.746,221.103,0.000,1913.243,0.000,1150.877,0.000,2.512,0.000
$DEVICE_MAMPS,463.590,86.445,2135.880,462.060,0.000,0.000,0.000,187.425,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.135,0.000,0.000,0.000
$MEM,334524
$DATA_FILE_SIZE,26719,801
$CAP_FILE_SIZE,98171,0
$CFSIZE,2097872896,2076835840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7289.78,0x214724,1,24
$SOUNDSPEED,1448.0
$CURRENT,0.048,355.52,1
$GPS,041018,153917,7352.755,-14655.960,3,1.3,5,18.2,0.1,0.0,5,8.8