version: 66.13
glider: 228
mission: 14
dive: 128
start: 10 7 118 9 55 50
data:
$ID,228
$MISSION,14
$DIVE,128
$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,22
$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,3
$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
$GPS1,071018,094501,7357.3125,-14647.7021,37,1.1,38,18.3,0.7,218.7,8,7.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.44
$_SM_ANGLEo,-71.9
$GPS2,071018,095510,7357.4585,-14647.7822,5,0.8,7,18.3,1.0,185.8,9,3.2
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,28.8,29904,-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,-146.0,203,2404,462,535,0.0,0.0,0,75,0.00,0.00,-62.12,0.003,16386,0.000,0.000,201,2403,1729,1835,1624,0,0,0,0,0,0,14.45,28.83,14.47
$GC,77,-0.92,-146.0,202,2404,1838,1627,3.6,-9.0,6,128,9.77,4.70,-33.58,0.005,18692,0.467,0.094,2006,3938,3453,3575,3331,0,0,0,0,0,0,14.07,13.45,14.32
$GC,353,-0.92,-146.0,2006,3939,3565,3343,100.1,-24.9,60,359,0.00,4.45,0.00,0.000,1030,0.000,0.044,2023,2402,3453,3565,3342,0,0,0,0,0,0,14.42,14.36,14.44
$GC,544,-0.92,-146.0,2022,2401,3566,3342,140.4,-20.0,80,550,0.00,4.68,0.00,0.000,260,0.000,0.085,2005,3942,3453,3565,3342,0,0,0,0,0,0,14.61,14.40,14.62
$GC,586,-0.92,-146.0,2005,3943,3563,3344,149.7,-22.5,88,592,0.00,4.45,0.00,0.000,1030,0.000,0.043,2022,2393,3450,3558,3343,0,0,0,0,0,0,14.50,14.45,14.52
$GC,777,-0.92,-146.0,2023,2393,3564,3344,189.0,-19.5,108,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2392,3453,3562,3344,0,0,0,0,0,0,14.64,14.66,14.66
$GC,957,-0.92,-146.0,2023,2394,3563,3344,223.2,-18.7,126,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2392,3453,3563,3344,0,0,0,0,0,0,14.66,14.69,14.68
$GC,1137,-0.92,-146.0,2022,2393,3563,3345,251.4,-14.7,144,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2392,3453,3563,3343,0,0,0,0,0,0,14.69,14.71,14.70
$GC,1437,-0.92,-146.0,2023,2393,3564,3344,291.1,-12.8,159,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2392,3453,3562,3344,0,0,0,0,0,0,14.73,14.75,14.74
$GC,1737,-0.92,-146.0,2022,2393,3563,3344,327.3,-11.9,174,1746,0.00,4.85,0.00,0.000,516,0.000,0.065,2024,710,3452,3561,3343,0,0,0,0,0,0,14.76,14.57,14.78
$GC,1772,-0.92,-146.0,2024,710,3561,3344,331.6,-12.8,181,1779,0.00,4.85,0.00,0.000,1030,0.000,0.056,2006,2393,3452,3561,3344,0,0,0,0,0,0,14.65,14.57,14.67
$GC,2077,-0.92,-146.0,2006,2394,3562,3346,369.9,-12.4,197,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2393,3452,3561,3344,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2377,-0.92,-146.0,2007,2394,3562,3345,407.1,-12.5,212,2383,0.00,4.90,0.00,0.000,516,0.000,0.070,2008,706,3452,3561,3344,0,0,0,0,0,0,14.81,14.61,14.82
$GC,2413,-0.92,-146.0,2008,706,3561,3345,412.0,-13.8,219,2420,0.17,4.88,0.00,0.000,3078,0.317,0.057,2025,2400,3452,3561,3344,0,0,0,0,0,0,14.47,14.62,14.66
$GC,2718,-0.92,-146.0,2025,2401,3561,3344,447.2,-11.4,235,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2400,3452,3561,3344,0,0,0,0,0,0,14.82,14.84,14.84
$GC,3018,-0.92,-146.0,2025,2400,3561,3344,480.7,-11.0,250,3028,0.00,4.90,0.00,0.000,516,0.000,0.069,2028,705,3452,3561,3344,0,0,0,0,0,0,14.83,14.63,14.85
$GC,3088,-0.92,-146.0,2028,705,3561,3345,489.2,-12.1,264,3094,0.00,4.88,0.00,0.000,1030,0.000,0.057,2009,2401,3452,3560,3344,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3399,-0.92,-146.0,2009,2401,3562,3345,526.0,-11.9,281,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2400,3452,3560,3344,0,0,0,0,0,0,14.85,14.85,14.86
$GC,3699,-0.92,-146.0,2008,2400,3560,3345,561.5,-11.7,296,3705,0.00,4.90,0.00,0.000,516,0.000,0.069,2011,703,3452,3560,3344,0,0,0,0,0,0,14.86,14.66,14.88
$GC,3735,-0.92,-146.0,2011,703,3560,3346,566.1,-13.1,303,3742,0.17,4.85,0.00,0.000,3078,0.319,0.056,2027,2401,3452,3560,3345,0,0,0,0,0,0,14.51,14.66,14.71
$GC,4040,-0.92,-146.0,2027,2401,3561,3346,599.3,-10.7,319,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2401,3452,3560,3345,0,0,0,0,0,0,14.86,14.89,14.88
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4064,-0.11,0.0,2030,2181,3562,3346,601.5,-10.7,320,4203,1.00,0.08,136.62,2.124,10246,0.280,0.161,2288,2213,2853,2924,2782,0,0,0,0,0,0,14.54,13.95,13.24
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4205,begin climb
$GC,4207,0.92,146.0,2289,2214,2922,2781,604.0,0.0,327,4350,1.15,0.00,139.68,2.029,10246,0.161,0.000,2623,2213,2257,2279,2235,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4640,0.92,146.0,2630,2214,2273,2217,527.1,20.4,349,4650,0.00,5.10,0.00,0.000,516,0.000,0.076,2645,524,2242,2270,2215,0,0,0,0,0,0,14.35,14.15,14.37
$GC,4655,0.92,146.0,2644,524,2268,2216,524.0,20.7,352,4663,0.00,4.95,0.00,0.000,1030,0.000,0.054,2634,2197,2241,2268,2215,0,0,0,0,0,0,14.25,14.19,14.27
$GC,4960,0.92,146.0,2635,2199,2270,2213,459.9,20.9,368,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2198,2240,2268,2212,0,0,0,0,0,0,14.51,14.53,14.53
$GC,5260,0.92,146.0,2634,2198,2268,2211,398.2,20.6,383,5271,0.00,4.95,0.00,0.000,516,0.000,0.072,2654,519,2239,2269,2210,0,0,0,0,0,0,14.61,14.41,14.66
$GC,5275,0.92,146.0,2655,520,2269,2211,395.1,20.7,386,5283,0.00,4.90,0.00,0.000,1030,0.000,0.054,2649,2201,2239,2268,2210,0,0,0,0,0,0,14.50,14.43,14.52
$GC,5581,0.92,146.0,2649,2201,2268,2209,330.7,20.6,402,5591,0.00,4.93,0.00,0.000,516,0.000,0.071,2668,519,2238,2268,2208,0,0,0,0,0,0,14.67,14.47,14.69
$GC,5601,0.92,146.0,2668,519,2269,2209,326.5,20.9,406,5611,0.17,4.88,0.00,0.000,5126,0.353,0.054,2628,2205,2238,2268,2208,0,0,0,0,0,0,14.33,14.50,14.54
$GC,5921,0.92,146.0,2628,2205,2269,2207,268.4,16.5,425,5931,0.00,5.05,0.00,0.000,260,0.000,0.086,2619,3895,2238,2268,2208,0,0,0,0,0,0,14.72,14.51,14.74
$GC,5946,0.92,146.0,2619,3896,2269,2211,264.1,17.8,430,5956,0.00,4.82,0.00,0.000,1030,0.000,0.044,2638,2205,2238,2268,2208,0,0,0,0,0,0,14.62,14.55,14.64
$GC,6261,0.92,146.0,2639,2205,2270,2206,220.4,11.6,459,6273,0.00,4.93,0.00,0.000,516,0.000,0.069,2660,508,2236,2268,2205,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6308,0.92,146.0,2661,508,2270,2206,215.2,10.9,468,6316,0.15,4.85,0.00,0.000,5126,0.340,0.050,2631,2208,2236,2269,2204,0,0,0,0,0,0,14.40,14.56,14.60
$GC,6495,0.97,146.0,2631,2209,2271,2204,198.8,8.3,487,6506,0.00,4.93,0.00,0.000,580,0.000,0.069,2652,510,2235,2268,2203,0,0,0,0,0,0,14.74,14.56,14.76
$GC,6521,1.00,146.0,2652,511,2270,2204,196.4,9.0,492,6529,0.00,4.82,0.00,0.000,1094,0.000,0.049,2649,2202,2236,2269,2203,0,0,0,0,0,0,14.64,14.58,14.66
$GC,6706,1.08,146.0,2649,2203,2269,2203,181.8,7.2,511,6718,0.00,5.00,0.00,0.000,324,0.000,0.083,2649,3888,2237,2268,2206,0,0,0,0,0,0,14.76,14.55,14.77
$GC,6825,1.11,146.0,2649,3888,2267,2209,171.8,8.9,534,6832,0.00,4.82,0.00,0.000,1094,0.000,0.045,2669,2192,2237,2267,2207,0,0,0,0,0,0,14.66,14.60,14.68
$GC,7009,1.23,146.0,2668,2191,2268,2205,159.1,6.3,553,7020,0.15,4.82,0.00,0.000,2628,0.180,0.066,2740,514,2235,2268,2203,0,0,0,0,0,0,14.53,14.58,14.61
$GC,7045,1.30,146.0,2740,514,2268,2204,156.5,7.6,560,7053,0.00,4.80,0.00,0.000,1094,0.000,0.047,2727,2202,2235,2268,2203,0,0,0,0,0,0,14.66,14.60,14.68
$GC,7230,1.40,146.0,2726,2203,2268,2204,144.1,6.4,579,7242,0.15,5.00,0.00,0.000,2372,0.181,0.080,2772,3891,2236,2266,2207,0,0,0,0,0,0,14.54,14.57,14.61
$GC,7307,1.46,146.0,2773,3893,2266,2209,138.1,8.2,594,7314,0.00,4.80,0.00,0.000,1094,0.000,0.040,2792,2196,2239,2271,2208,0,0,0,0,0,0,14.64,14.59,14.65
$GC,7502,1.67,216.7,2793,2195,2269,2205,126.3,5.6,613,7569,0.20,5.25,58.78,1.616,10532,0.173,0.079,2851,3895,1966,1994,1939,0,0,0,0,0,0,14.49,14.27,13.67
$GC,7649,1.67,216.7,2851,3896,1990,1940,108.4,17.1,641,7660,0.00,4.93,0.00,0.000,1030,0.000,0.044,2870,2199,1962,1988,1937,0,0,0,0,0,0,14.36,14.31,14.38
$GC,7839,1.67,216.7,2871,2199,1989,1931,86.1,9.6,661,7850,0.00,5.12,0.00,0.000,260,0.000,0.080,2864,3890,1959,1987,1931,0,0,0,0,0,0,14.52,14.33,14.53
$GC,8075,2.14,372.0,2863,3888,1985,1931,75.3,0.4,708,8215,0.43,4.85,129.48,1.506,11302,0.155,0.038,3011,2187,1333,1354,1313,0,0,0,0,0,0,14.34,14.41,13.39
$GC,8391,2.18,372.0,3011,2187,1347,1299,43.8,8.5,751,8391,0.00,0.00,0.00,0.000,70,0.000,0.000,3011,2187,1325,1353,1298,0,0,0,0,0,0,14.31,14.33,14.33
$GC,8571,2.63,522.1,3012,2188,1346,1294,39.0,0.7,769,8702,0.50,5.07,119.50,1.427,10788,0.136,0.067,3192,523,720,699,741,0,0,0,0,0,0,14.20,13.88,13.36
$GC,8764,2.63,522.1,3189,524,692,742,16.9,20.8,805,8774,0.00,4.97,0.00,0.000,1030,0.000,0.049,3184,2200,715,690,740,0,0,0,0,0,0,14.04,14.00,14.06
$GC,8954,3.09,675.5,3185,2201,691,734,10.5,0.5,825,9008,0.43,5.10,45.15,1.392,10788,0.135,0.069,3337,523,495,462,528,0,0,0,0,0,0,14.12,13.94,13.49
$GC,9023,3.18,675.5,3337,524,460,531,7.5,7.2,836,9031,0.00,5.03,0.00,0.000,1094,0.000,0.048,3317,2207,493,458,529,0,0,0,0,0,0,14.09,14.04,14.11
$STATE,9076,end climb,SURFACE_DEPTH_REACHED
$STATE,9076,begin surface coast
$FINISH,-0.5,1.020586
$STATE,9086,end surface coast,CONTROL_FINISHED_OK
$STATE,9086,begin surface
$SM_CCo,9108,-0.45,0.196,0,0,501,577.44
$SM_CCo,9111,28.73,0.284,0,0,502,577.44
$SM_CCo,9143,0.17,0.958,0,0,501,577.44
$SM_GC,3.98,11.90,0.57,0.17,0.250,0.077,0.958,205,2396,501,-6.61,-0.99,577.44,0,0,0,0,0,0,14.07,14.11,13.99
$RAFOS_CLK,113
$RAFOS_FIX,7358.097656,-14648.578125,071018,121253,0,1,0.14
$IRIDIUM_FIX,7357.85,-14655.30,071018,094748
$TT8_MAMPS,0.078645,0.908537
$HUMID,46.02
$INTERNAL_PRESSURE,8.89012
$TCM_TEMP,14.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,5.8
$24V_AH,13.05,60.745
$10V_AH,13.21,0.000
$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,26.350,187.200,629.200,28.900,0.000,0.000,0.000,386.650,5.000,0.000,19.043,0.000,6607.718,869.829,2064.308,227.506,0.000,1969.460,0.000,1210.439,2210.000,2.510,0.000
$DEVICE_MAMPS,466.650,161.415,2124.405,957.780,0.000,0.000,0.000,184.365,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9098.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.444,0.000,0.000,0.000
$MEM,334668
$DATA_FILE_SIZE,30011,843
$CAP_FILE_SIZE,102624,0
$CFSIZE,2097872896,2072707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.7
$CURRENT,0.107,358.82,1
$GPS,071018,123137,7358.636,-14645.159,160,0.9,161,18.3,1.9,351.0,9,5.2