version: 66.13
glider: 228
mission: 14
dive: 121
start: 10 6 118 14 33 20
data:
$ID,228
$MISSION,14
$DIVE,121
$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,31
$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
$GPS1,061018,142039,7349.2666,-14701.3672,93,1.0,93,18.2,0.8,68.1,8,6.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.93
$_SM_ANGLEo,-77.0
$GPS2,061018,143243,7349.3462,-14701.0684,6,1.1,7,18.2,0.3,76.8,8,9.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,11.9,46350,-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,-146.0,204,2402,465,532,0.0,0.0,0,75,0.00,0.00,-62.40,0.003,16386,0.000,0.000,203,2401,1784,1895,1673,0,0,0,0,0,0,14.48,28.83,14.50
$GC,77,-0.92,-146.0,204,2402,1897,1676,2.9,-10.9,6,127,9.50,4.72,-30.38,0.005,18692,0.454,0.092,2008,3948,3453,3571,3336,0,0,0,0,0,0,14.10,13.47,14.34
$GC,352,-0.92,-146.0,2004,3949,3560,3345,99.5,-23.9,60,358,0.00,4.45,0.00,0.000,1030,0.000,0.044,2025,2409,3453,3562,3345,0,0,0,0,0,0,14.45,14.38,14.46
$GC,543,-0.92,-146.0,2026,2409,3563,3346,139.0,-19.9,80,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2408,3452,3560,3345,0,0,0,0,0,0,14.61,14.63,14.62
$GC,723,-0.92,-146.0,2028,2409,3563,3345,174.5,-20.0,98,734,0.00,4.65,0.00,0.000,260,0.000,0.088,2008,3942,3453,3561,3345,0,0,0,0,0,0,14.64,14.45,14.66
$GC,744,-0.92,-146.0,2007,3943,3563,3345,178.8,-20.3,102,749,0.00,4.45,0.00,0.000,1030,0.000,0.043,2025,2393,3453,3561,3346,0,0,0,0,0,0,14.54,14.48,14.56
$GC,934,-0.92,-146.0,2025,2393,3562,3346,213.0,-16.3,122,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2393,3452,3560,3345,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1114,-0.92,-146.0,2025,2396,3561,3346,239.8,-13.3,140,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2392,3452,3560,3345,0,0,0,0,0,0,14.69,14.72,14.71
$GC,1305,-0.92,-146.0,2026,2393,3562,3346,263.9,-12.4,154,1314,0.00,4.85,0.00,0.000,516,0.000,0.065,2029,709,3452,3560,3345,0,0,0,0,0,0,14.72,14.52,14.73
$GC,1354,-0.92,-146.0,2030,710,3561,3347,270.4,-13.0,164,1367,0.00,4.90,0.00,0.000,1030,0.000,0.057,2010,2401,3452,3560,3345,0,0,0,0,0,0,14.62,14.54,14.63
$GC,1664,-0.92,-146.0,2010,2402,3560,3346,309.7,-12.8,181,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2401,3452,3560,3345,0,0,0,0,0,0,14.76,14.78,14.77
$GC,1964,-0.92,-146.0,2010,2402,3559,3349,346.5,-12.2,196,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2401,3452,3560,3345,0,0,0,0,0,0,14.78,14.80,14.80
$GC,2264,-0.92,-146.0,2009,2402,3560,3346,383.2,-12.3,211,2274,0.00,4.90,0.00,0.000,516,0.000,0.065,2012,704,3452,3559,3345,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2319,-0.92,-146.0,2014,704,3559,3346,390.5,-13.6,222,2326,0.15,4.90,0.00,0.000,3078,0.311,0.055,2025,2409,3452,3560,3345,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2624,-0.92,-146.0,2026,2409,3561,3346,425.5,-11.4,238,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2409,3452,3559,3345,0,0,0,0,0,0,14.82,14.83,14.83
$GC,2924,-0.92,-146.0,2026,2409,3560,3346,458.6,-11.0,253,2930,0.00,4.88,0.00,0.000,516,0.000,0.063,2029,708,3452,3559,3346,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2970,-0.92,-146.0,2028,709,3559,3346,464.1,-12.0,262,2980,0.00,4.85,0.00,0.000,1030,0.000,0.054,2009,2404,3452,3559,3346,0,0,0,0,0,0,14.70,14.63,14.71
$GC,3286,-0.92,-146.0,2010,2405,3560,3346,500.8,-11.6,280,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2404,3452,3559,3346,0,0,0,0,0,0,14.84,14.85,14.85
$GC,3586,-0.92,-146.0,2010,2405,3560,3347,535.1,-11.4,295,3595,0.00,4.88,0.00,0.000,516,0.000,0.063,2014,704,3452,3559,3346,0,0,0,0,0,0,14.85,14.66,14.88
$GC,3615,-0.92,-146.0,2014,704,3559,3347,538.8,-12.8,301,3622,0.15,4.85,0.00,0.000,3078,0.309,0.054,2025,2402,3452,3559,3346,0,0,0,0,0,0,14.52,14.66,14.71
$GC,3927,-0.92,-146.0,2025,2403,3559,3347,571.6,-10.3,318,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2402,3453,3559,3347,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4205,begin apogee
$GC,4210,-0.11,0.0,2028,2173,3560,3347,600.3,-10.1,332,4349,1.00,0.10,135.38,2.133,10246,0.276,0.135,2289,2218,2851,2920,2782,0,0,0,0,0,0,14.55,13.98,13.25
$STATE,4350,end apogee,CONTROL_FINISHED_OK
$STATE,4350,begin climb
$GC,4353,0.92,146.0,2290,2220,2920,2782,602.3,0.0,339,4496,1.12,0.00,137.65,2.036,10502,0.159,0.000,2623,2218,2259,2280,2239,0,0,0,0,0,0,13.93,13.74,13.05
$GC,4787,0.92,146.0,2624,2219,2274,2219,523.4,21.0,379,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2218,2245,2273,2218,0,0,0,0,0,0,14.35,14.38,14.38
$GC,5087,0.92,146.0,2623,2219,2273,2215,461.6,20.4,394,5097,0.00,5.03,0.00,0.000,516,0.000,0.072,2644,526,2243,2273,2214,0,0,0,0,0,0,14.51,14.32,14.53
$GC,5122,0.92,146.0,2644,527,2269,2215,454.2,22.0,401,5129,0.00,4.85,0.00,0.000,1030,0.000,0.052,2633,2193,2241,2269,2214,0,0,0,0,0,0,14.42,14.35,14.44
$GC,5429,0.92,146.0,2633,2194,2270,2213,390.8,20.7,417,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2193,2241,2270,2212,0,0,0,0,0,0,14.57,14.58,14.58
$GC,5727,0.92,146.0,2634,2194,2272,2213,329.7,20.1,432,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2196,2240,2270,2211,0,0,0,0,0,0,14.61,14.63,14.63
$GC,6027,0.92,146.0,2633,2193,2271,2211,272.7,18.6,447,6037,0.00,4.88,0.00,0.000,516,0.000,0.070,2653,531,2240,2271,2210,0,0,0,0,0,0,14.64,14.45,14.65
$GC,6041,0.92,146.0,2653,533,2271,2212,270.1,18.0,450,6048,0.00,4.82,0.00,0.000,1030,0.000,0.050,2650,2206,2239,2269,2210,0,0,0,0,0,0,14.53,14.47,14.54
$GC,6349,0.92,146.0,2650,2207,2268,2210,220.5,13.6,475,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,2240,2271,2210,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6527,0.92,146.0,2652,2206,2271,2209,199.6,10.8,493,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2206,2240,2271,2209,0,0,0,0,0,0,14.65,14.66,14.66
$GC,6707,0.97,146.0,2649,2206,2271,2209,183.3,8.3,511,6708,0.00,0.00,0.00,0.000,70,0.000,0.000,2649,2206,2240,2271,2209,0,0,0,0,0,0,14.65,14.68,14.67
$GC,6887,1.06,146.0,2649,2208,2271,2210,170.1,7.0,529,6893,0.00,4.93,0.00,0.000,580,0.000,0.067,2669,522,2240,2271,2209,0,0,0,0,0,0,14.66,14.49,14.68
$GC,6934,1.13,146.0,2669,522,2270,2209,166.7,7.6,538,6940,0.00,4.80,0.00,0.000,1094,0.000,0.047,2666,2205,2239,2270,2208,0,0,0,0,0,0,14.53,14.48,14.54
$GC,7119,1.24,146.0,2664,2205,2271,2208,154.6,6.3,557,7120,0.20,0.00,0.00,0.000,2118,0.164,0.000,2723,2206,2239,2271,2207,0,0,0,0,0,0,14.42,14.54,14.52
$GC,7299,1.34,146.0,2724,2207,2273,2208,142.4,6.5,575,7310,0.12,4.97,0.00,0.000,2372,0.195,0.078,2754,3886,2238,2268,2209,0,0,0,0,0,0,14.42,14.46,14.51
$MODEM_MSG,CACST,6,1,20181006160549.699028,18,93,07,0081,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*02
$GC,7445,1.39,146.0,2755,3887,2269,2213,129.6,8.6,604,7452,0.00,4.75,0.00,0.000,1094,0.000,0.039,2775,2208,2239,2268,2211,0,0,0,0,0,0,14.58,14.52,14.59
$GC,7630,1.59,214.0,2775,2207,2269,2209,117.7,5.8,623,7698,0.17,4.97,57.58,1.597,10788,0.175,0.064,2852,517,1976,2004,1948,0,0,0,0,0,0,14.45,14.24,13.64
$GC,7793,1.59,214.0,2854,518,2006,1946,99.2,13.7,654,7799,0.00,4.88,0.00,0.000,1030,0.000,0.047,2843,2203,1970,1997,1944,0,0,0,0,0,0,14.40,14.33,14.41
$GC,7978,1.66,214.0,2843,2204,1997,1939,81.5,7.6,673,7984,0.00,5.10,0.00,0.000,324,0.000,0.080,2837,3895,1967,1996,1939,0,0,0,0,0,0,14.55,14.36,14.57
$GC,7999,1.75,214.0,2837,3895,1995,1943,79.9,7.1,677,8006,0.00,4.85,0.00,0.000,1094,0.000,0.039,2857,2201,1967,1994,1941,0,0,0,0,0,0,14.43,14.38,14.45
$GC,8191,2.08,325.2,2857,2200,1995,1939,70.1,3.1,697,8295,0.43,5.25,93.45,1.509,10532,0.149,0.080,2971,3894,1522,1547,1498,0,0,0,0,0,0,14.38,14.06,13.49
$GC,8440,2.31,403.0,2972,3895,1541,1496,48.4,5.2,744,8514,0.28,4.93,63.80,1.445,11302,0.168,0.039,3069,2189,1206,1221,1191,0,0,0,0,0,0,14.14,14.21,13.45
$GC,8690,2.43,403.0,3070,2190,1217,1179,31.5,6.1,775,8701,0.12,5.18,0.00,0.000,2372,0.194,0.076,3084,3887,1197,1215,1179,0,0,0,0,0,0,14.14,14.16,14.23
$GC,8926,2.85,543.9,3085,3889,1212,1180,27.5,1.3,822,9050,0.45,4.88,112.30,1.415,11302,0.152,0.040,3238,2194,630,608,652,0,0,0,0,0,0,14.26,14.33,13.42
$STATE,9184,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$FINISH,0.8,1.020560
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9215,71.40,0.703,1,0,499,577.44
$SM_CCo,9294,-0.15,0.582,0,0,499,577.68
$SM_CCo,9298,0.00,0.000,0,0,501,577.44
$SM_GC,4.04,11.12,0.62,0.00,0.223,0.067,0.000,199,2402,501,-6.63,-0.94,577.44,0,0,0,0,0,0,14.12,14.16,14.27
$RAFOS_CLK,258
$MODEM,1,1538841949,74.43333,-147.95000,49.699,71919.2
$RAFOS_FIX,7349.601562,-14701.023438,061018,161649,1,2,0.08
$IRIDIUM_FIX,7349.19,-14705.69,061018,142332
$TT8_MAMPS,0.042693,0.874832
$HUMID,46.14
$INTERNAL_PRESSURE,8.89988
$TCM_TEMP,14.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.9,5.8
$24V_AH,13.05,57.719
$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,24.825,137.650,600.150,71.400,0.000,0.000,0.000,437.450,6.250,0.000,16.723,0.000,6886.178,804.491,2123.771,217.755,0.000,1956.639,0.000,1233.298,2216.000,2.512,0.000
$DEVICE_MAMPS,454.410,134.640,2132.820,703.035,0.000,0.000,0.000,182.070,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.430,0.000,0.000,0.000
$MEM,334644
$DATA_FILE_SIZE,30016,859
$CAP_FILE_SIZE,99130,0
$CFSIZE,2097872896,2073853952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.5
$WARN,PPS timeout
$CURRENT,0.049,6.97,1
$GPS,061018,171009,7350.419,-14659.260,67,1.2,67,18.2,0.3,121.0,7,7.2