version: 66.13
glider: 228
mission: 14
dive: 114
start: 10 5 118 19 9 17
data:
$ID,228
$MISSION,14
$DIVE,114
$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,27
$R_STBD_OVSHOOT,18
$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
$GPS1,051018,190109,7346.2173,-14707.0186,97,1.3,98,18.2,0.3,43.1,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.74
$_SM_ANGLEo,-75.5
$GPS2,051018,190838,7346.2573,-14707.1064,3,1.2,7,18.2,0.7,303.8,7,8.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,177.9,18717,-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,-146.0,201,2399,464,534,0.0,0.0,0,74,0.00,0.00,-61.40,0.003,16386,0.000,0.000,201,2399,1742,1847,1637,0,0,0,0,0,0,14.47,28.83,14.51
$GC,76,-0.92,-146.0,201,2399,1848,1641,1.3,-9.8,6,126,9.70,5.03,-32.58,0.005,18948,0.463,0.077,2045,709,3453,3574,3332,0,0,0,0,0,0,14.08,13.47,14.33
$GC,251,-0.92,-146.0,2046,710,3574,3336,62.9,-22.4,40,264,0.00,5.00,0.00,0.000,1030,0.000,0.060,2026,2402,3454,3573,3335,0,0,0,0,0,0,14.40,14.31,14.41
$GC,441,-0.92,-146.0,2026,2403,3574,3336,104.5,-21.4,60,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2402,3453,3572,3335,0,0,0,0,0,0,14.57,14.59,14.59
$GC,621,-0.92,-146.0,2026,2403,3573,3336,141.2,-19.6,78,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3453,3572,3335,0,0,0,0,0,0,14.62,14.63,14.63
$GC,801,-0.92,-146.0,2026,2403,3572,3336,175.9,-19.0,96,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2402,3453,3572,3335,0,0,0,0,0,0,14.64,14.66,14.66
$GC,981,-0.92,-146.0,2026,2403,3573,3336,207.4,-16.3,114,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2402,3453,3571,3335,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1161,-0.92,-146.0,2027,2404,3573,3337,234.6,-13.6,132,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2402,3453,3572,3335,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1341,-0.92,-146.0,2022,2403,3572,3336,257.6,-12.7,147,1351,0.00,4.95,0.00,0.000,516,0.000,0.070,2028,709,3453,3571,3335,0,0,0,0,0,0,14.72,14.52,14.73
$GC,1406,-0.92,-146.0,2029,710,3572,3337,265.9,-12.9,160,1417,0.00,4.93,0.00,0.000,1030,0.000,0.060,2009,2403,3453,3571,3336,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1722,-0.92,-146.0,2009,2403,3571,3336,305.1,-12.5,178,1732,0.00,4.93,0.00,0.000,516,0.000,0.069,2011,710,3453,3570,3336,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1747,-0.92,-146.0,2012,711,3571,3338,308.3,-13.5,183,1757,0.17,4.90,0.00,0.000,3078,0.319,0.058,2026,2404,3453,3570,3337,0,0,0,0,0,0,14.42,14.57,14.62
$GC,2062,-0.92,-146.0,2026,2404,3571,3337,344.4,-11.4,201,2068,0.00,4.93,0.00,0.000,516,0.000,0.070,2030,708,3453,3570,3337,0,0,0,0,0,0,14.78,14.58,14.79
$GC,2093,-0.92,-146.0,2026,708,3575,3338,348.3,-12.6,207,2104,0.00,4.88,0.00,0.000,1030,0.000,0.056,2009,2401,3453,3570,3337,0,0,0,0,0,0,14.68,14.60,14.69
$GC,2403,-0.92,-146.0,2009,2401,3571,3338,385.2,-11.8,224,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2401,3453,3570,3337,0,0,0,0,0,0,14.80,14.82,14.82
$GC,2703,-0.92,-146.0,2010,2403,3571,3338,419.8,-11.3,239,2713,0.00,4.88,0.00,0.000,516,0.000,0.070,2011,714,3453,3570,3337,0,0,0,0,0,0,14.82,14.62,14.83
$GC,2758,-0.92,-146.0,2011,714,3569,3338,426.5,-12.5,250,2765,0.17,4.85,0.00,0.000,3078,0.309,0.057,2027,2402,3453,3569,3338,0,0,0,0,0,0,14.49,14.63,14.68
$GC,3063,-0.92,-146.0,2027,2403,3569,3337,459.3,-10.7,266,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2402,3453,3568,3338,0,0,0,0,0,0,14.80,14.81,14.81
$GC,3364,-0.92,-146.0,2026,2403,3569,3337,491.1,-10.6,281,3370,0.00,4.90,0.00,0.000,516,0.000,0.069,2028,711,3451,3566,3337,0,0,0,0,0,0,14.79,14.59,14.80
$GC,3400,-0.92,-146.0,2028,710,3568,3339,495.3,-12.1,288,3406,0.00,4.88,0.00,0.000,1030,0.000,0.057,2009,2407,3453,3568,3338,0,0,0,0,0,0,14.67,14.59,14.69
$GC,3705,-0.92,-146.0,2009,2408,3569,3339,530.0,-11.2,304,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2407,3452,3568,3336,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4005,-0.92,-146.0,2008,2408,3568,3339,563.7,-11.3,319,4014,0.00,4.90,0.00,0.000,516,0.000,0.067,2011,707,3453,3568,3339,0,0,0,0,0,0,14.76,14.57,14.78
$GC,4054,-0.92,-146.0,2011,711,3568,3339,569.9,-12.9,329,4062,0.17,4.88,0.00,0.000,3078,0.312,0.055,2026,2402,3453,3567,3339,0,0,0,0,0,0,14.44,14.58,14.63
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4350,-0.11,0.0,2029,2193,3568,3341,600.5,-10.4,345,4491,1.00,0.00,138.00,2.133,10246,0.279,0.000,2286,2191,2853,2926,2780,0,0,0,0,0,0,14.45,13.93,13.17
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4495,0.92,146.0,2286,2191,2925,2779,602.8,0.0,352,4637,1.15,0.00,139.45,2.047,10246,0.158,0.000,2620,2191,2257,2277,2237,0,0,0,0,0,0,13.88,13.71,13.01
$GC,4927,0.92,146.0,2621,2192,2270,2218,526.6,20.5,374,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2191,2242,2269,2216,0,0,0,0,0,0,14.29,14.31,14.31
$GC,5227,0.92,146.0,2620,2191,2270,2213,465.9,20.2,389,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2191,2240,2269,2212,0,0,0,0,0,0,14.44,14.46,14.46
$GC,5527,0.92,146.0,2620,2191,2270,2211,406.0,19.9,404,5538,0.00,4.95,0.00,0.000,516,0.000,0.076,2641,519,2240,2270,2210,0,0,0,0,0,0,14.58,14.38,14.59
$GC,5558,0.92,146.0,2642,520,2270,2211,399.7,21.8,410,5569,0.00,4.93,0.00,0.000,1030,0.000,0.057,2633,2209,2239,2268,2210,0,0,0,0,0,0,14.47,14.40,14.51
$GC,5868,0.92,146.0,2632,2209,2268,2209,336.6,20.1,427,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2208,2238,2268,2208,0,0,0,0,0,0,14.65,14.68,14.67
$GC,6168,0.92,146.0,2632,2209,2268,2209,279.1,18.5,442,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2208,2238,2268,2208,0,0,0,0,0,0,14.71,14.73,14.72
$GC,6468,0.92,146.0,2632,2209,2268,2207,229.1,14.6,463,6479,0.00,4.95,0.00,0.000,516,0.000,0.072,2652,522,2236,2268,2204,0,0,0,0,0,0,14.73,14.54,14.75
$GC,6554,0.92,146.0,2652,523,2268,2208,216.8,13.1,480,6560,0.00,4.82,0.00,0.000,1030,0.000,0.053,2649,2205,2236,2268,2205,0,0,0,0,0,0,14.59,14.54,14.61
$GC,6739,0.92,146.0,2649,2205,2268,2205,196.7,9.7,499,6750,0.00,5.05,0.00,0.000,260,0.000,0.086,2649,3896,2237,2268,2207,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6795,0.92,146.0,2650,3897,2267,2210,190.2,11.7,510,6802,0.20,4.82,0.00,0.000,5126,0.360,0.047,2631,2203,2238,2267,2210,0,0,0,0,0,0,14.39,14.60,14.60
$GC,6982,1.00,146.0,2631,2202,2269,2206,175.8,7.1,529,6983,0.00,0.00,0.00,0.000,70,0.000,0.000,2630,2201,2236,2268,2205,0,0,0,0,0,0,14.75,14.77,14.77
$GC,7160,1.10,146.0,2630,2201,2268,2205,163.6,6.9,547,7161,0.17,0.00,0.00,0.000,2118,0.165,0.000,2680,2201,2236,2268,2205,0,0,0,0,0,0,14.54,14.66,14.64
$GC,7340,1.19,146.0,2680,2201,2268,2205,150.6,7.0,565,7341,0.00,0.00,0.00,0.000,70,0.000,0.000,2676,2201,2236,2268,2205,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7520,1.30,146.0,2685,2201,2268,2205,138.6,6.3,583,7532,0.17,5.03,0.00,0.000,2372,0.174,0.083,2729,3890,2237,2267,2207,0,0,0,0,0,0,14.54,14.57,14.62
$GC,7542,1.37,146.0,2730,3891,2267,2208,137.1,7.6,587,7553,0.00,4.78,0.00,0.000,1094,0.000,0.041,2750,2194,2236,2267,2206,0,0,0,0,0,0,14.68,14.62,14.69
$GC,7732,1.58,217.2,2750,2194,2268,2206,124.8,5.6,607,7800,0.25,4.95,59.65,1.613,11044,0.157,0.066,2852,510,1964,1993,1935,0,0,0,0,0,0,14.56,14.32,13.71
$GC,7845,1.58,217.2,2853,511,1987,1936,113.1,14.4,624,7857,0.00,4.93,0.00,0.000,1030,0.000,0.049,2840,2206,1959,1986,1932,0,0,0,0,0,0,14.39,14.33,14.40
$GC,8035,1.58,217.2,2841,2207,1987,1928,88.4,11.2,644,8047,0.00,5.10,0.00,0.000,260,0.000,0.083,2837,3895,1955,1983,1928,0,0,0,0,0,0,14.57,14.36,14.58
$GC,8087,1.58,217.2,2836,3895,1982,1929,81.9,12.8,654,8098,0.00,4.90,0.00,0.000,1030,0.000,0.044,2857,2197,1955,1983,1928,0,0,0,0,0,0,14.49,14.43,14.51
$GC,8277,1.88,317.2,2857,2197,1984,1925,70.2,3.8,674,8372,0.22,5.30,83.97,1.519,10532,0.164,0.080,2918,3890,1556,1585,1528,0,0,0,0,0,0,14.39,14.09,13.54
$GC,8598,2.30,456.0,2919,3891,1579,1524,45.1,1.4,736,8723,0.38,4.85,112.15,1.447,11302,0.133,0.039,3060,2189,991,996,986,0,0,0,0,0,0,14.22,14.29,13.40
$GC,8909,2.72,595.5,3061,2190,993,973,22.6,1.4,778,9020,0.43,5.05,96.97,1.395,11044,0.132,0.067,3216,527,494,464,525,0,0,0,0,0,0,14.12,13.90,13.39
$STATE,9130,end climb,SURFACE_DEPTH_REACHED
$STATE,9130,begin surface coast
$FINISH,0.9,1.020493
$STATE,9140,end surface coast,CONTROL_FINISHED_OK
$STATE,9140,begin surface
$SM_CCo,9166,-0.40,0.221,0,0,500,577.68
$SM_CCo,9170,0.00,0.000,0,0,500,577.44
$SM_CCo,9173,0.00,0.000,0,0,500,577.44
$SM_GC,2.41,11.02,5.62,0.00,0.222,0.050,0.000,203,2403,500,-6.61,-0.71,577.44,0,0,0,0,0,0,14.09,14.12,14.31
$RAFOS_CLK,382
$RAFOS_FIX,7345.308105,-14706.862305,051018,212134,0,1,0.19
$IRIDIUM_FIX,7346.33,-14703.41,051018,162102
$TT8_MAMPS,0.042693,0.604443
$HUMID,46.85
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,15
$ALTIM_TOP_PING,20.0,5.8
$24V_AH,13.01,54.701
$10V_AH,13.26,0.000
$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,25.225,149.400,630.200,0.000,0.000,0.000,0.000,286.825,4.000,0.000,17.405,0.000,6683.981,814.465,1920.232,221.288,0.000,1791.387,0.000,1180.900,2202.000,4.215,0.000
$DEVICE_MAMPS,462.825,85.680,2132.820,0.000,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9153.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.857,0.000,0.000,0.000
$MEM,334476
$DATA_FILE_SIZE,30036,822
$CAP_FILE_SIZE,96428,0
$CFSIZE,2097872896,2075033600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7756.97,0x2355a6,1,24
$SOUNDSPEED,1447.8
$CURRENT,0.067,343.91,1
$GPS,051018,214601,7345.637,-14708.172,187,0.8,188,18.2,0.5,19.3,10,2.9