version: 66.13
glider: 228
mission: 14
dive: 108
start: 10 5 118 2 44 4
data:
$ID,228
$MISSION,14
$DIVE,108
$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,22
$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
$GPS1,051018,023408,7350.2002,-14700.1377,56,1.0,56,18.2,0.7,331.0,7,7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.25
$_SM_ANGLEo,-74.6
$GPS2,051018,024329,7350.2480,-14700.1758,3,1.0,5,18.2,0.5,130.5,7,8.6
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,181.8,26934,-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,-146.0,188,2405,463,534,0.0,0.0,0,83,0.00,0.00,-71.62,0.003,16386,0.000,0.000,187,2405,1908,2015,1802,0,0,0,0,0,0,14.45,28.83,14.48
$GC,86,-0.92,-146.0,188,2406,2016,1806,2.4,-10.3,7,132,9.52,5.05,-28.67,0.005,18948,0.452,0.070,2045,703,3450,3575,3325,0,0,0,0,0,0,14.07,13.48,14.32
$GC,232,-0.92,-146.0,2046,704,3576,3328,61.7,-24.6,35,243,0.00,5.00,0.00,0.000,1030,0.000,0.060,2026,2397,3449,3571,3327,0,0,0,0,0,0,14.39,14.31,14.41
$GC,422,-0.92,-146.0,2028,2397,3574,3328,105.1,-19.0,55,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2397,3450,3574,3327,0,0,0,0,0,0,14.56,14.57,14.57
$GC,602,-0.92,-146.0,2026,2397,3574,3328,141.4,-20.2,73,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2396,3452,3573,3332,0,0,0,0,0,0,14.62,14.62,14.62
$GC,782,-0.92,-146.0,2027,2397,3575,3328,175.4,-19.2,91,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2397,3450,3574,3327,0,0,0,0,0,0,14.63,14.65,14.65
$GC,962,-0.92,-146.0,2026,2397,3574,3328,208.5,-17.7,109,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2397,3449,3573,3325,0,0,0,0,0,0,14.66,14.68,14.68
$GC,1142,-0.92,-146.0,2026,2397,3573,3328,236.8,-15.5,127,1153,0.00,4.95,0.00,0.000,516,0.000,0.072,2028,706,3450,3573,3328,0,0,0,0,0,0,14.68,14.50,14.70
$GC,1188,-0.92,-146.0,2028,707,3572,3328,244.1,-15.7,136,1195,0.00,4.93,0.00,0.000,1030,0.000,0.058,2008,2402,3450,3572,3328,0,0,0,0,0,0,14.59,14.51,14.60
$GC,1373,-0.92,-146.0,2009,2402,3575,3329,268.9,-13.1,148,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2402,3450,3572,3328,0,0,0,0,0,0,14.72,14.73,14.73
$GC,1673,-0.92,-146.0,2008,2402,3572,3328,307.5,-12.5,163,1683,0.00,4.93,0.00,0.000,516,0.000,0.067,2011,704,3450,3572,3328,0,0,0,0,0,0,14.75,14.56,14.77
$GC,1718,-0.92,-146.0,2011,705,3571,3330,313.5,-13.7,172,1724,0.17,4.93,0.00,0.000,3078,0.325,0.057,2026,2401,3450,3571,3329,0,0,0,0,0,0,14.42,14.57,14.62
$GC,2034,-0.92,-146.0,2026,2405,3571,3329,350.6,-11.5,190,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2404,3449,3571,3328,0,0,0,0,0,0,14.78,14.81,14.80
$GC,2334,-0.92,-146.0,2026,2405,3572,3330,384.8,-11.4,205,2345,0.00,4.90,0.00,0.000,516,0.000,0.070,2026,712,3449,3570,3329,0,0,0,0,0,0,14.80,14.60,14.81
$GC,2395,-0.92,-146.0,2027,712,3571,3330,392.3,-12.3,217,2405,0.00,4.88,0.00,0.000,1030,0.000,0.057,2007,2414,3449,3570,3329,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2715,-0.92,-146.0,2006,2409,3570,3337,431.2,-12.0,236,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2408,3450,3570,3330,0,0,0,0,0,0,14.81,14.83,14.83
$GC,3016,-0.92,-146.0,2008,2408,3571,3330,466.7,-11.8,251,3025,0.00,4.90,0.00,0.000,516,0.000,0.068,2011,711,3449,3570,3329,0,0,0,0,0,0,14.83,14.64,14.84
$GC,3045,-0.92,-146.0,2012,712,3571,3331,470.4,-13.2,257,3058,0.17,4.82,0.00,0.000,3078,0.318,0.055,2027,2399,3449,3569,3330,0,0,0,0,0,0,14.50,14.64,14.69
$GC,3355,-0.92,-146.0,2027,2400,3571,3331,503.3,-10.4,274,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2399,3449,3569,3330,0,0,0,0,0,0,14.84,14.85,14.85
$GC,3655,-0.92,-146.0,2026,2399,3569,3331,534.0,-10.2,289,3666,0.00,4.88,0.00,0.000,516,0.000,0.070,2028,707,3450,3569,3331,0,0,0,0,0,0,14.83,14.66,14.88
$GC,3701,-0.92,-146.0,2028,707,3569,3331,539.1,-11.3,298,3707,0.00,4.85,0.00,0.000,1030,0.000,0.056,2008,2405,3449,3569,3330,0,0,0,0,0,0,14.74,14.66,14.76
$GC,4017,-0.92,-146.0,2008,2406,3569,3331,573.7,-10.9,316,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2405,3449,3568,3331,0,0,0,0,0,0,14.89,14.88,14.88
$STATE,4275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4275,begin apogee
$GC,4280,-0.11,0.0,2010,2188,3570,3331,602.0,-10.9,329,4420,1.08,0.00,136.70,2.137,10246,0.288,0.000,2286,2185,2853,2930,2776,0,0,0,0,0,0,14.56,13.99,13.24
$STATE,4421,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4423,0.92,146.0,2286,2185,2926,2775,604.2,0.0,336,4567,1.15,0.00,140.18,2.042,10502,0.161,0.000,2622,2185,2258,2280,2237,0,0,0,0,0,0,13.93,13.62,13.04
$GC,4857,0.92,146.0,2621,2185,2275,2218,528.6,20.2,361,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2185,2245,2274,2217,0,0,0,0,0,0,14.31,14.33,14.33
$GC,5157,0.92,146.0,2619,2184,2275,2214,468.8,19.9,376,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2185,2243,2274,2213,0,0,0,0,0,0,14.45,14.47,14.47
$GC,5457,0.92,146.0,2620,2185,2276,2212,410.2,19.5,391,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2185,2242,2274,2211,0,0,0,0,0,0,14.54,14.55,14.55
$GC,5757,0.92,146.0,2619,2186,2283,2210,352.4,19.2,406,5764,0.00,4.95,0.00,0.000,516,0.000,0.076,2641,515,2241,2273,2209,0,0,0,0,0,0,14.59,14.38,14.61
$GC,5783,0.92,146.0,2641,516,2273,2210,347.1,19.6,411,5794,0.00,4.93,0.00,0.000,1030,0.000,0.055,2628,2210,2241,2273,2209,0,0,0,0,0,0,14.49,14.42,14.51
$GC,6099,0.92,146.0,2632,2210,2273,2208,287.7,18.4,429,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2209,2241,2274,2208,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6399,0.92,146.0,2631,2210,2274,2208,237.5,14.7,448,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2210,2240,2274,2207,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6579,0.92,146.0,2632,2211,2275,2207,216.0,11.2,466,6585,0.00,4.97,0.00,0.000,516,0.000,0.071,2652,517,2239,2274,2205,0,0,0,0,0,0,14.65,14.47,14.66
$GC,6640,0.92,146.0,2651,518,2272,2207,208.7,12.0,478,6647,0.00,4.88,0.00,0.000,1030,0.000,0.054,2649,2207,2239,2272,2206,0,0,0,0,0,0,14.54,14.48,14.55
$MODEM_MSG,CACST,6,1,20181005041050.876444,18,87,07,0051,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E
$GC,6833,0.93,146.0,2649,2208,2273,2205,188.6,9.4,498,6834,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2207,2239,2273,2205,0,0,0,0,0,0,14.68,14.70,14.70
$GC,7012,1.01,146.0,2650,2208,2275,2206,174.2,7.6,516,7023,0.00,4.95,0.00,0.000,580,0.000,0.071,2669,508,2238,2272,2205,0,0,0,0,0,0,14.71,14.52,14.73
$GC,7053,1.05,146.0,2669,509,2272,2206,170.8,8.4,524,7064,0.00,4.85,0.00,0.000,1094,0.000,0.050,2663,2208,2238,2272,2205,0,0,0,0,0,0,14.61,14.54,14.63
$GC,7243,1.16,146.0,2664,2209,2274,2205,157.2,6.6,544,7254,0.12,4.97,0.00,0.000,2372,0.200,0.081,2675,3886,2238,2269,2207,0,0,0,0,0,0,14.50,14.52,14.59
$GC,7309,1.18,146.0,2676,3886,2268,2209,151.5,9.1,557,7316,0.00,4.80,0.00,0.000,1094,0.000,0.045,2695,2200,2238,2268,2208,0,0,0,0,0,0,14.62,14.57,14.64
$GC,7494,1.28,146.0,2695,2200,2271,2206,138.2,6.7,576,7505,0.15,5.05,0.00,0.000,2372,0.186,0.082,2741,3892,2238,2268,2208,0,0,0,0,0,0,14.50,14.54,14.57
$GC,7580,1.28,146.0,2740,3893,2268,2210,130.2,9.6,593,7587,0.00,4.82,0.00,0.000,1030,0.000,0.043,2762,2193,2238,2268,2209,0,0,0,0,0,0,14.63,14.57,14.64
$GC,7766,1.53,228.7,2761,2192,2269,2207,119.2,4.9,612,7839,0.20,0.00,71.00,1.608,10278,0.174,0.000,2819,2192,1921,1949,1894,0,0,0,0,0,0,14.50,14.25,13.64
$GC,8017,1.53,228.7,2820,2193,1944,1878,90.7,13.3,637,8029,0.00,5.15,0.00,0.000,260,0.000,0.082,2798,3889,1909,1941,1877,0,0,0,0,0,0,14.50,14.31,14.52
$GC,8124,1.53,228.7,2799,3889,1941,1879,76.8,12.6,658,8132,0.00,4.90,0.00,0.000,1030,0.000,0.044,2819,2195,1908,1939,1877,0,0,0,0,0,0,14.45,14.39,14.46
$GC,8309,1.86,336.7,2819,2195,1941,1874,66.7,3.3,677,8410,0.35,5.05,91.30,1.511,10788,0.146,0.067,2946,509,1476,1504,1448,0,0,0,0,0,0,14.37,14.05,13.49
$GC,8480,1.86,336.7,2946,510,1491,1451,54.7,9.9,708,8491,0.00,4.97,0.00,0.000,1030,0.000,0.048,2935,2205,1468,1489,1448,0,0,0,0,0,0,14.21,14.16,14.23
$GC,8670,2.32,493.0,2935,2206,1490,1442,46.3,0.3,728,8807,0.43,5.28,125.38,1.449,10532,0.140,0.084,3067,3888,838,825,851,0,0,0,0,0,0,14.23,13.83,13.36
$GC,9034,2.67,607.7,3067,3888,821,846,20.9,2.9,798,9111,0.32,4.95,68.18,1.402,11302,0.153,0.041,3181,2183,496,468,524,0,0,0,0,0,0,14.15,14.22,13.45
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9224,begin surface coast
$FINISH,-0.3,1.020810
$STATE,9234,end surface coast,CONTROL_FINISHED_OK
$STATE,9234,begin surface
$SM_CCo,9254,-0.50,0.177,0,0,500,577.68
$SM_CCo,9258,0.10,1.453,0,0,500,577.44
$SM_CCo,9261,0.00,0.000,0,0,500,577.68
$SM_GC,1.28,11.18,0.65,0.00,0.238,0.061,0.000,200,2400,500,-6.62,-0.99,577.68,0,0,0,0,0,0,14.10,14.16,14.33
$RAFOS_CLK,294
$MODEM,2,1538712650,74.08334,-144.88333,50.876,73645.9
$RAFOS_FIX,7349.153809,-14704.431641,051018,040450,1,2,0.57
$IRIDIUM_FIX,7349.80,-14655.01,051018,023654
$TT8_MAMPS,0.041944,0.742259
$HUMID,46.96
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,20.0,5.8
$24V_AH,13.04,52.121
$10V_AH,13.12,0.000
$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,24.850,139.725,632.725,0.100,0.000,0.000,0.000,340.100,5.000,0.000,15.428,0.000,6854.522,756.681,2006.579,215.829,0.000,1830.910,0.000,1183.871,2200.000,2.519,0.000
$DEVICE_MAMPS,452.115,84.150,2137.410,1452.735,0.000,0.000,0.000,184.365,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9245.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.118,0.000,0.000,0.000
$MEM,334472
$DATA_FILE_SIZE,30061,824
$CAP_FILE_SIZE,96509,0
$CFSIZE,2097872896,2076016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.043,335.29,1
$GPS,051018,052104,7349.451,-14701.396,114,0.7,116,18.2,0.8,126.7,12,5.3