version: 66.13
glider: 228
mission: 14
dive: 118
start: 10 6 118 6 18 50
data:
$ID,228
$MISSION,14
$DIVE,118
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,061018,060701,7345.6499,-14707.7051,157,0.8,158,18.2,0.4,51.4,10,3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.11
$_SM_ANGLEo,-77.2
$GPS2,061018,061812,7345.6846,-14707.7744,3,0.8,5,18.2,0.5,31.2,10,4.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.1,53926,-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,-146.0,202,2409,464,533,0.0,0.0,0,73,0.00,0.00,-61.38,0.003,16386,0.000,0.000,201,2408,1749,1859,1639,0,0,0,0,0,0,14.50,28.83,14.52
$GC,76,-0.92,-146.0,202,2409,1861,1643,3.3,-10.9,6,126,9.98,4.70,-31.52,0.005,18692,0.477,0.094,2006,3949,3453,3575,3331,0,0,0,0,0,0,14.10,13.50,14.36
$GC,326,-0.92,-146.0,2006,3950,3566,3342,94.3,-24.6,55,333,0.00,4.47,0.00,0.000,1030,0.000,0.044,2023,2401,3453,3566,3341,0,0,0,0,0,0,14.45,14.39,14.46
$GC,511,-0.92,-146.0,2023,2400,3566,3341,132.8,-19.2,74,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2399,3453,3566,3341,0,0,0,0,0,0,14.60,14.62,14.62
$GC,691,-0.92,-146.0,2024,2400,3566,3342,168.7,-19.9,92,703,0.00,4.93,0.00,0.000,516,0.000,0.067,2029,709,3452,3564,3341,0,0,0,0,0,0,14.66,14.45,14.66
$GC,738,-0.92,-146.0,2028,709,3564,3342,178.0,-19.5,101,746,0.00,4.90,0.00,0.000,1030,0.000,0.057,2009,2394,3452,3564,3341,0,0,0,0,0,0,14.54,14.46,14.56
$GC,923,-0.92,-146.0,2009,2394,3564,3348,213.5,-19.0,120,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2394,3452,3563,3341,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1103,-0.92,-146.0,2010,2395,3565,3342,242.4,-14.9,138,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2394,3452,3564,3341,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1283,-0.92,-146.0,2009,2394,3564,3342,266.6,-13.4,150,1292,0.00,4.68,0.00,0.000,260,0.000,0.091,1990,3949,3452,3563,3342,0,0,0,0,0,0,14.71,14.51,14.73
$GC,1308,-0.92,-146.0,1989,3950,3560,3345,270.5,-15.4,155,1313,0.00,4.43,0.00,0.000,1030,0.000,0.044,2005,2397,3452,3560,3344,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1623,-0.92,-146.0,2005,2396,3561,3345,310.9,-12.5,173,1629,0.00,4.88,0.00,0.000,516,0.000,0.065,2011,704,3452,3560,3344,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1654,-0.92,-146.0,2012,705,3562,3346,315.1,-14.1,179,1666,0.17,4.85,0.00,0.000,3078,0.329,0.057,2026,2402,3452,3560,3344,0,0,0,0,0,0,14.42,14.57,14.62
$GC,1965,-0.92,-146.0,2025,2403,3560,3345,351.5,-11.5,196,1975,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,707,3452,3560,3344,0,0,0,0,0,0,14.78,14.59,14.80
$GC,1995,-0.92,-146.0,2029,707,3561,3345,355.2,-12.2,202,2006,0.00,4.88,0.00,0.000,1030,0.000,0.056,2009,2400,3450,3560,3341,0,0,0,0,0,0,14.67,14.59,14.69
$GC,2305,-0.92,-146.0,2010,2402,3561,3345,393.4,-12.3,219,2314,0.00,4.90,0.00,0.000,516,0.000,0.069,2012,709,3452,3560,3344,0,0,0,0,0,0,14.79,14.60,14.81
$GC,2325,-0.92,-146.0,2013,710,3561,3345,395.8,-12.5,223,2335,0.17,4.88,0.00,0.000,3078,0.321,0.057,2027,2405,3452,3560,3344,0,0,0,0,0,0,14.45,14.61,14.64
$GC,2645,-0.92,-146.0,2027,2405,3560,3345,432.2,-11.1,242,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2405,3450,3560,3341,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2945,-0.92,-146.0,2028,2406,3561,3345,465.3,-11.0,257,2951,0.00,4.90,0.00,0.000,516,0.000,0.070,2028,710,3452,3560,3344,0,0,0,0,0,0,14.83,14.62,14.84
$GC,3001,-0.92,-146.0,2028,709,3560,3345,472.1,-12.3,268,3008,0.00,4.85,0.00,0.000,1030,0.000,0.057,2009,2401,3452,3559,3345,0,0,0,0,0,0,14.71,14.64,14.73
$GC,3306,-0.92,-146.0,2009,2402,3561,3346,507.9,-11.7,284,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2401,3451,3559,3344,0,0,0,0,0,0,14.83,14.85,14.83
$GC,3606,-0.92,-146.0,2009,2402,3561,3345,542.6,-11.5,299,3616,0.00,4.88,0.00,0.000,516,0.000,0.068,2012,710,3452,3559,3345,0,0,0,0,0,0,14.85,14.65,14.89
$GC,3646,-0.92,-146.0,2012,711,3561,3346,547.5,-12.6,307,3656,0.17,4.85,0.00,0.000,3078,0.318,0.057,2028,2403,3450,3559,3341,0,0,0,0,0,0,14.51,14.66,14.71
$GC,3966,-0.92,-146.0,2028,2405,3561,3347,581.2,-10.4,326,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2404,3452,3559,3345,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4164,begin apogee
$GC,4169,-0.11,0.0,2028,2183,3561,3346,602.1,-10.4,336,4309,1.00,0.08,135.52,2.131,10246,0.281,0.160,2288,2214,2851,2921,2781,0,0,0,0,0,0,14.55,13.95,13.25
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4312,0.92,146.0,2289,2215,2920,2780,604.5,0.0,343,4456,1.15,0.00,140.48,2.028,10246,0.159,0.000,2624,2214,2257,2277,2237,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4746,0.92,146.0,2623,2214,2270,2217,526.0,20.9,365,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2213,2242,2269,2216,0,0,0,0,0,0,14.35,14.38,14.37
$GC,5046,0.92,146.0,2624,2215,2270,2215,463.8,20.6,380,5057,0.00,5.05,0.00,0.000,516,0.000,0.076,2644,522,2241,2269,2213,0,0,0,0,0,0,14.51,14.32,14.53
$GC,5087,0.92,146.0,2644,523,2268,2214,455.0,21.8,388,5098,0.00,4.90,0.00,0.000,1030,0.000,0.054,2632,2200,2239,2267,2212,0,0,0,0,0,0,14.42,14.35,14.44
$GC,5408,0.92,146.0,2632,2201,2268,2212,386.9,21.2,407,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,2239,2267,2211,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5708,0.92,146.0,2632,2201,2269,2211,324.9,20.3,422,5717,0.00,4.93,0.00,0.000,516,0.000,0.073,2651,518,2239,2268,2210,0,0,0,0,0,0,14.69,14.49,14.70
$GC,5722,0.92,146.0,2657,518,2264,2211,321.9,19.9,425,5730,0.00,4.88,0.00,0.000,1030,0.000,0.054,2649,2208,2239,2268,2210,0,0,0,0,0,0,14.57,14.50,14.59
$GC,6040,0.92,146.0,2649,2209,2268,2209,261.7,18.6,441,6046,0.00,4.93,0.00,0.000,516,0.000,0.072,2669,519,2240,2268,2212,0,0,0,0,0,0,14.69,14.52,14.71
$GC,6061,0.92,146.0,2670,521,2269,2210,255.6,17.9,445,6068,0.17,4.85,0.00,0.000,5126,0.352,0.053,2628,2210,2238,2268,2209,0,0,0,0,0,0,14.37,14.53,14.58
$GC,6373,0.92,146.0,2628,2210,2268,2207,213.1,10.3,477,6379,0.00,5.05,0.00,0.000,260,0.000,0.084,2625,3896,2237,2268,2206,0,0,0,0,0,0,14.69,14.46,14.70
$GC,6439,0.92,146.0,2625,3896,2267,2211,205.0,12.3,490,6446,0.00,4.82,0.00,0.000,1030,0.000,0.043,2645,2202,2238,2267,2210,0,0,0,0,0,0,14.57,14.52,14.60
$GC,6624,0.96,146.0,2645,2201,2269,2206,188.1,8.5,509,6631,0.00,4.90,0.00,0.000,580,0.000,0.067,2667,507,2236,2268,2205,0,0,0,0,0,0,14.67,14.49,14.70
$GC,6676,0.98,146.0,2667,510,2269,2206,183.3,9.5,519,6687,0.00,4.88,0.00,0.000,1094,0.000,0.050,2659,2211,2236,2268,2204,0,0,0,0,0,0,14.59,14.52,14.60
$GC,6866,1.07,146.0,2660,2212,2270,2205,168.9,6.9,539,6867,0.00,0.00,0.00,0.000,70,0.000,0.000,2659,2211,2236,2268,2204,0,0,0,0,0,0,14.67,14.69,14.69
$GC,7046,1.17,146.0,2659,2211,2268,2204,156.3,6.5,557,7057,0.12,4.97,0.00,0.000,2628,0.187,0.069,2721,507,2236,2268,2204,0,0,0,0,0,0,14.47,14.50,14.54
$GC,7107,1.23,146.0,2720,508,2268,2204,151.5,8.1,569,7114,0.00,4.85,0.00,0.000,1094,0.000,0.050,2713,2201,2236,2268,2204,0,0,0,0,0,0,14.58,14.52,14.59
$GC,7299,1.34,146.0,2713,2202,2269,2204,137.8,6.4,589,7305,0.15,4.93,0.00,0.000,2628,0.182,0.066,2782,510,2235,2268,2203,0,0,0,0,0,0,14.43,14.50,14.52
$GC,7310,1.45,146.0,2782,511,2268,2204,137.0,6.2,591,7321,0.00,4.82,0.00,0.000,1094,0.000,0.047,2763,2203,2236,2268,2204,0,0,0,0,0,0,14.57,14.52,14.59
$GC,7501,1.65,213.3,2763,2203,2267,2204,124.6,5.8,611,7568,0.30,5.15,57.22,1.605,10532,0.161,0.081,2850,3888,1978,2006,1951,0,0,0,0,0,0,14.46,14.21,13.63
$GC,7663,1.65,213.3,2850,3888,2001,1953,103.4,16.8,642,7670,0.00,4.95,0.00,0.000,1030,0.000,0.044,2870,2194,1976,2001,1951,0,0,0,0,0,0,14.32,14.26,14.33
$GC,7848,1.65,213.3,2870,2194,2001,1946,81.5,9.8,661,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2192,1974,2002,1946,0,0,0,0,0,0,14.50,14.52,14.51
$GC,8028,2.02,336.3,2870,2194,2002,1943,74.6,2.4,679,8143,0.35,5.28,104.72,1.512,10532,0.153,0.078,2954,3886,1478,1501,1456,0,0,0,0,0,0,14.31,13.97,13.43
$MODEM_MSG,CACST,6,1,20181006081054.273629,18,601,27,0110,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*36
$GC,8273,2.04,336.3,2955,3887,1497,1452,47.2,9.4,723,8281,0.00,4.90,0.00,0.000,1094,0.000,0.041,2975,2197,1472,1496,1448,0,0,0,0,0,0,14.21,14.16,14.22
$GC,8459,2.49,487.3,2974,2196,1497,1441,46.1,0.7,742,8591,0.47,5.35,121.05,1.438,11044,0.138,0.079,3123,3885,861,853,869,0,0,0,0,0,0,14.21,13.90,13.38
$GC,8738,2.77,579.5,3123,3886,850,865,15.3,4.3,794,8820,0.22,4.95,72.88,1.375,11302,0.168,0.041,3210,2191,496,468,524,0,0,0,0,0,0,14.06,14.15,13.42
$STATE,8933,end climb,SURFACE_DEPTH_REACHED
$STATE,8933,begin surface coast
$FINISH,-0.4,1.020506
$STATE,8953,end surface coast,CONTROL_FINISHED_OK
$STATE,8953,begin surface
$SM_CCo,8973,-0.45,0.197,0,0,501,577.68
$SM_CCo,8977,26.62,0.283,0,0,503,577.44
$SM_CCo,9006,0.00,0.000,0,0,500,577.44
$SM_GC,3.30,10.98,0.62,0.00,0.218,0.067,0.000,203,2398,500,-6.61,-1.13,577.44,0,0,0,0,0,0,14.09,14.13,14.32
$RAFOS_CLK,191
$MODEM,2,1538813454,74.08334,-144.88333,54.274,78592.8
$RAFOS_FIX,7345.778320,-14712.286133,061018,080854,1,2,0.35
$IRIDIUM_FIX,7345.72,-14714.04,061018,060947
$TT8_MAMPS,0.042693,0.862848
$HUMID,46.49
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.70
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.9,8.5
$24V_AH,13.05,56.430
$10V_AH,13.23,0.000
$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,25.425,177.500,631.875,26.625,0.000,0.000,0.000,392.000,3.750,0.000,15.199,0.000,6601.674,852.981,2020.885,219.973,0.000,1939.823,0.000,1182.026,2205.000,2.514,0.000
$DEVICE_MAMPS,477.360,159.885,2130.525,283.050,0.000,0.000,0.000,179.775,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.930,0.000,0.000,0.000
$MEM,334692
$DATA_FILE_SIZE,30054,823
$CAP_FILE_SIZE,99905,0
$CFSIZE,2097872896,2074345472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$CURRENT,0.058,349.61,1
$GPS,061018,085010,7346.833,-14706.132,25,1.7,31,18.2,0.3,0.0,5,10.0