version: 66.13
glider: 228
mission: 14
dive: 109
start: 10 5 118 5 31 22
data:
$ID,228
$MISSION,14
$DIVE,109
$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,33
$R_STBD_OVSHOOT,19
$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
$GPS1,051018,052104,7349.4512,-14701.3955,114,0.7,116,18.2,0.8,126.7,12,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.13
$_SM_ANGLEo,-74.7
$GPS2,051018,053043,7349.5161,-14701.4785,5,0.7,6,18.2,0.6,173.6,12,4.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.6,25418,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-0.92,-146.0,198,2402,466,532,0.0,0.0,0,83,0.00,0.00,-71.15,0.003,16386,0.000,0.000,198,2402,1913,2020,1807,0,0,0,0,0,0,14.47,28.83,14.50
$GC,86,-0.92,-146.0,199,2403,2022,1810,1.4,-11.1,7,132,9.52,4.95,-28.62,0.005,18948,0.455,0.070,2045,721,3451,3576,3327,0,0,0,0,0,0,14.08,13.70,14.33
$GC,182,-0.92,-146.0,2046,722,3577,3331,45.3,-31.0,25,194,0.00,4.93,0.00,0.000,1030,0.000,0.057,2026,2393,3452,3575,3329,0,0,0,0,0,0,14.38,14.31,14.40
$GC,372,-0.92,-146.0,2026,2394,3575,3330,92.6,-20.9,45,384,0.00,4.93,0.00,0.000,516,0.000,0.063,2029,708,3452,3575,3329,0,0,0,0,0,0,14.55,14.35,14.57
$GC,399,-0.92,-146.0,2029,709,3574,3331,98.0,-20.7,50,406,0.00,4.97,0.00,0.000,1030,0.000,0.057,2010,2407,3452,3575,3330,0,0,0,0,0,0,14.45,14.38,14.47
$GC,584,-0.92,-146.0,2009,2408,3575,3330,136.8,-20.6,69,595,0.00,4.68,0.00,0.000,260,0.000,0.088,1990,3952,3451,3572,3331,0,0,0,0,0,0,14.64,14.40,14.63
$GC,665,-0.92,-146.0,1990,3952,3569,3336,156.3,-22.9,85,671,0.00,4.45,0.00,0.000,1030,0.000,0.044,2010,2407,3451,3568,3335,0,0,0,0,0,0,14.52,14.46,14.54
$GC,857,-0.92,-146.0,2007,2406,3568,3336,194.3,-18.0,105,868,0.00,4.90,0.00,0.000,516,0.000,0.064,2014,709,3452,3568,3336,0,0,0,0,0,0,14.65,14.46,14.66
$GC,883,-0.92,-146.0,2014,709,3568,3337,199.5,-19.1,110,891,0.17,4.93,0.00,0.000,3078,0.340,0.055,2028,2404,3452,3568,3336,0,0,0,0,0,0,14.32,14.48,14.52
$GC,1068,-0.92,-146.0,2029,2405,3570,3334,227.6,-14.0,129,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2405,3452,3568,3336,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1258,-0.92,-146.0,2028,2406,3568,3336,252.6,-12.1,147,1268,0.00,4.90,0.00,0.000,516,0.000,0.064,2028,709,3451,3567,3336,0,0,0,0,0,0,14.70,14.51,14.71
$GC,1328,-0.92,-146.0,2029,714,3567,3337,262.1,-13.2,161,1340,0.00,4.90,0.00,0.000,1030,0.000,0.054,2009,2406,3451,3567,3336,0,0,0,0,0,0,14.60,14.53,14.62
$GC,1638,-0.92,-146.0,2010,2407,3568,3337,300.2,-12.5,178,1645,0.00,4.62,0.00,0.000,260,0.000,0.090,1990,3949,3451,3566,3336,0,0,0,0,0,0,14.74,14.53,14.76
$GC,1685,-0.92,-146.0,1990,3950,3564,3340,307.5,-15.3,187,1690,0.00,4.43,0.00,0.000,1030,0.000,0.043,2007,2396,3451,3563,3339,0,0,0,0,0,0,14.64,14.57,14.66
$GC,2000,-0.92,-146.0,2007,2396,3563,3338,345.2,-11.7,205,2011,0.00,4.88,0.00,0.000,516,0.000,0.067,2009,704,3451,3563,3339,0,0,0,0,0,0,14.78,14.58,14.80
$GC,2041,-0.92,-146.0,2008,705,3562,3340,351.9,-15.9,213,2052,0.20,4.90,0.00,0.000,3078,0.329,0.056,2029,2407,3450,3562,3339,0,0,0,0,0,0,14.40,14.54,14.59
$GC,2362,-0.92,-146.0,2030,2408,3564,3340,386.7,-10.1,232,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2407,3451,3563,3339,0,0,0,0,0,0,14.80,14.82,14.81
$GC,2662,-0.92,-146.0,2030,2408,3564,3340,418.9,-10.7,247,2672,0.00,4.90,0.00,0.000,516,0.000,0.067,2040,710,3450,3562,3339,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2712,-0.92,-146.0,2040,710,3562,3340,425.6,-9.7,257,2724,0.00,4.88,0.00,0.000,1030,0.000,0.056,2020,2408,3450,3562,3339,0,0,0,0,0,0,14.70,14.62,14.71
$GC,3022,-0.92,-146.0,2021,2409,3563,3339,459.1,-10.2,274,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2408,3454,3570,3339,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3322,-0.92,-146.0,2020,2409,3562,3340,491.7,-11.8,289,3333,0.00,4.88,0.00,0.000,516,0.000,0.064,2025,711,3450,3562,3339,0,0,0,0,0,0,14.83,14.64,14.88
$GC,3363,-0.92,-146.0,2024,711,3567,3340,497.9,-11.3,297,3374,0.00,4.85,0.00,0.000,1030,0.000,0.053,2005,2408,3450,3562,3339,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3684,-0.92,-146.0,2006,2409,3563,3340,533.6,-10.9,316,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2407,3450,3562,3339,0,0,0,0,0,0,14.85,14.87,14.86
$GC,3984,-0.92,-146.0,2005,2409,3562,3339,567.1,-11.1,331,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2408,3450,3561,3340,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4287,-0.11,0.0,2007,2180,3563,3341,601.7,-11.0,346,4427,1.10,0.08,136.68,2.149,10246,0.288,0.161,2288,2214,2853,2926,2780,0,0,0,0,0,0,14.55,13.95,13.24
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4431,0.92,146.0,2289,2214,2925,2779,605.5,0.0,353,4583,1.08,5.32,140.05,2.050,10500,0.158,0.085,2608,3880,2253,2274,2233,0,0,0,0,0,0,13.93,13.63,13.04
$GC,4593,0.92,146.0,2608,3881,2272,2235,586.8,18.9,383,4604,0.00,5.03,0.00,0.000,1030,0.000,0.045,2628,2216,2251,2270,2233,0,0,0,0,0,0,13.88,13.82,13.90
$GC,4903,0.92,146.0,2629,2216,2269,2221,521.0,21.2,400,4913,0.00,5.10,0.00,0.000,516,0.000,0.070,2650,497,2242,2268,2217,0,0,0,0,0,0,14.38,14.19,14.40
$GC,4943,0.92,146.0,2649,497,2265,2218,511.1,24.8,408,4953,0.00,4.97,0.00,0.000,1030,0.000,0.052,2646,2197,2241,2265,2217,0,0,0,0,0,0,14.30,14.23,14.31
$GC,5263,0.92,146.0,2647,2193,2267,2216,440.9,21.9,427,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2190,2240,2266,2214,0,0,0,0,0,0,14.54,14.57,14.56
$GC,5563,0.92,146.0,2647,2193,2267,2214,377.0,19.1,442,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2192,2239,2266,2213,0,0,0,0,0,0,14.63,14.65,14.64
$GC,5863,0.92,146.0,2644,2193,2271,2212,314.0,20.5,457,5873,0.00,4.95,0.00,0.000,516,0.000,0.072,2666,504,2238,2266,2211,0,0,0,0,0,0,14.69,14.49,14.71
$GC,5888,0.92,146.0,2666,505,2266,2219,309.4,16.5,462,5896,0.15,4.88,0.00,0.000,5126,0.353,0.054,2633,2198,2238,2265,2211,0,0,0,0,0,0,14.35,14.50,14.56
$GC,6206,0.92,146.0,2633,2199,2267,2210,250.9,17.4,480,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2199,2237,2266,2209,0,0,0,0,0,0,14.73,14.75,14.75
$GC,6507,0.92,146.0,2633,2196,2267,2209,209.2,10.5,509,6519,0.00,4.93,0.00,0.000,516,0.000,0.073,2653,509,2237,2267,2208,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6564,0.92,146.0,2653,509,2262,2206,203.4,11.7,520,6571,0.00,4.85,0.00,0.000,1030,0.000,0.052,2649,2205,2236,2266,2207,0,0,0,0,0,0,14.64,14.58,14.66
$GC,6749,0.94,146.0,2649,2205,2268,2206,185.5,9.1,539,6750,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2205,2236,2267,2206,0,0,0,0,0,0,14.75,14.77,14.77
$GC,6929,1.02,146.0,2650,2206,2268,2206,170.8,7.5,557,6930,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2205,2236,2267,2205,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7109,1.12,146.0,2649,2205,2268,2206,158.4,6.6,575,7111,0.15,0.00,0.00,0.000,2118,0.176,0.000,2691,2205,2236,2268,2205,0,0,0,0,0,0,14.55,14.68,14.66
$GC,7289,1.21,146.0,2690,2210,2268,2206,145.5,7.3,593,7301,0.00,5.00,0.00,0.000,324,0.000,0.086,2676,3893,2236,2265,2208,0,0,0,0,0,0,14.77,14.57,14.79
$GC,7351,1.26,146.0,2676,3894,2266,2210,140.4,8.3,605,7364,0.12,4.82,0.00,0.000,3142,0.201,0.043,2729,2185,2236,2266,2207,0,0,0,0,0,0,14.52,14.59,14.63
$GC,7543,1.35,146.0,2729,2186,2267,2207,127.8,6.8,625,7555,0.12,5.05,0.00,0.000,2372,0.200,0.079,2769,3889,2236,2265,2208,0,0,0,0,0,0,14.55,14.58,14.62
$GC,7647,1.44,146.0,2769,3889,2265,2211,119.6,7.2,645,7659,0.00,4.75,0.00,0.000,1094,0.000,0.040,2788,2196,2236,2264,2208,0,0,0,0,0,0,14.62,14.59,14.64
$GC,7835,1.66,219.7,2789,2196,2267,2207,109.1,5.4,665,7899,0.20,0.00,62.33,1.602,10534,0.168,0.000,2852,2196,1957,1986,1929,0,0,0,0,0,0,14.54,14.31,13.69
$GC,8075,1.66,219.7,2851,2196,1980,1917,85.1,11.8,690,8082,0.00,5.15,0.00,0.000,260,0.000,0.081,2851,3891,1948,1979,1917,0,0,0,0,0,0,14.54,14.35,14.56
$GC,8307,2.02,339.9,2850,3892,1974,1920,66.5,2.6,736,8418,0.32,4.82,101.97,1.510,11302,0.158,0.040,2973,2192,1464,1490,1439,0,0,0,0,0,0,14.36,14.44,13.48
$GC,8595,2.32,441.3,2972,2192,1484,1427,43.5,3.7,774,8680,0.30,0.00,82.90,1.446,10534,0.148,0.000,3068,2192,1054,1062,1046,0,0,0,0,0,0,14.18,13.99,13.43
$GC,8855,2.77,591.9,3069,2193,1054,1033,26.7,0.7,803,8975,0.47,5.12,110.05,1.405,10788,0.131,0.067,3239,525,496,464,529,0,0,0,0,0,0,14.14,13.80,13.35
$GC,9050,2.77,591.9,3239,525,456,528,11.9,14.8,842,9058,0.00,5.00,0.00,0.000,1030,0.000,0.051,3231,2200,491,456,526,0,0,0,0,0,0,14.07,14.00,14.09
$STATE,9123,end climb,SURFACE_DEPTH_REACHED
$STATE,9123,begin surface coast
$FINISH,-0.9,1.020870
$STATE,9133,end surface coast,CONTROL_FINISHED_OK
$STATE,9133,begin surface
$SM_CCo,9154,-0.52,0.169,0,0,499,577.44
$SM_CCo,9158,0.00,0.000,0,0,499,577.68
$SM_CCo,9161,0.00,0.000,0,0,499,577.68
$SM_GC,0.25,11.43,0.60,0.00,0.240,0.070,0.000,202,2401,499,-6.61,-0.90,577.68,0,0,0,0,0,0,14.08,14.11,14.28
$RAFOS_CLK,24
$RAFOS_FIX,7348.492188,-14701.185547,051018,080832,0,1,0.21
$IRIDIUM_FIX,7352.64,-14707.98,051018,052346
$TT8_MAMPS,0.078645,0.848617
$HUMID,47.08
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.04,52.560
$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,25.350,167.875,633.975,0.000,0.000,0.000,0.000,360.550,5.500,0.000,17.549,0.000,6682.244,753.138,2100.895,221.477,0.000,1917.437,0.000,1221.653,2214.000,2.511,0.000
$DEVICE_MAMPS,455.175,160.650,2148.885,0.000,0.000,0.000,0.000,177.480,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9154.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.228,0.000,0.000,0.000
$MEM,334532
$DATA_FILE_SIZE,30080,851
$CAP_FILE_SIZE,100827,0
$CFSIZE,2097872896,2075820032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$CURRENT,0.069,326.99,1
$GPS,051018,080631,7348.782,-14703.060,105,0.8,106,18.2,0.2,1.9,10,3.1