version: 66.13
glider: 228
mission: 14
dive: 129
start: 10 7 118 12 45 42
data:
$ID,228
$MISSION,14
$DIVE,129
$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,38
$R_STBD_OVSHOOT,15
$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
$GPS1,071018,123137,7358.6357,-14645.1592,160,0.9,161,18.3,1.9,351.0,9,5.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.22
$_SM_ANGLEo,-75.8
$GPS2,071018,124503,7358.8516,-14644.9033,4,0.9,7,18.3,0.5,35.9,9,6.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,22.5,26951,-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,-146.0,200,2399,464,535,0.0,0.0,0,75,0.00,0.00,-61.97,0.003,16386,0.000,0.000,199,2398,1722,1833,1611,0,0,0,0,0,0,14.40,28.83,14.42
$GC,77,-0.92,-146.0,201,2399,1836,1616,0.2,-8.5,6,129,9.82,4.78,-34.00,0.005,18692,0.467,0.098,2006,3951,3454,3577,3332,0,0,0,0,0,0,14.04,13.42,14.30
$GC,354,-0.92,-146.0,2007,3952,3567,3344,93.6,-23.6,60,360,0.00,4.50,0.00,0.000,1030,0.000,0.050,2021,2410,3454,3565,3343,0,0,0,0,0,0,14.44,14.37,14.45
$GC,545,-0.92,-146.0,2022,2411,3566,3344,133.1,-20.4,80,556,0.00,4.70,0.00,0.000,260,0.000,0.087,2003,3954,3453,3564,3343,0,0,0,0,0,0,14.59,14.38,14.61
$GC,726,-0.92,-146.0,2005,3953,3562,3347,174.5,-22.2,116,731,0.00,4.50,0.00,0.000,1030,0.000,0.044,2021,2392,3453,3561,3346,0,0,0,0,0,0,14.52,14.45,14.54
$GC,916,-0.92,-146.0,2022,2392,3562,3347,210.5,-17.8,136,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2391,3453,3561,3346,0,0,0,0,0,0,14.65,14.67,14.66
$GC,1096,-0.92,-146.0,2021,2392,3562,3347,239.3,-14.6,154,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2391,3453,3561,3346,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1276,-0.92,-146.0,2021,2392,3561,3351,263.5,-13.1,167,1286,0.00,4.88,0.00,0.000,516,0.000,0.065,2021,706,3453,3561,3346,0,0,0,0,0,0,14.71,14.51,14.72
$GC,1336,-0.92,-146.0,2022,707,3562,3347,271.9,-14.2,179,1347,0.12,4.93,0.00,0.000,3078,0.329,0.056,2025,2403,3453,3560,3347,0,0,0,0,0,0,14.37,14.52,14.57
$GC,1657,-0.92,-146.0,2025,2403,3561,3347,310.4,-11.8,198,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2403,3453,3560,3346,0,0,0,0,0,0,14.74,14.76,14.76
$GC,1957,-0.92,-146.0,2026,2404,3561,3347,345.0,-11.5,213,1967,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,709,3452,3559,3346,0,0,0,0,0,0,14.77,14.57,14.78
$GC,2012,-0.92,-146.0,2029,710,3562,3347,351.8,-12.3,224,2019,0.00,4.90,0.00,0.000,1030,0.000,0.057,2009,2405,3453,3560,3346,0,0,0,0,0,0,14.63,14.56,14.65
$GC,2317,-0.92,-146.0,2009,2406,3560,3347,388.4,-11.9,240,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2405,3453,3560,3346,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2617,-0.92,-146.0,2010,2406,3561,3347,424.2,-12.0,255,2627,0.00,4.90,0.00,0.000,516,0.000,0.067,2014,704,3453,3560,3346,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2667,-0.92,-146.0,2014,704,3559,3347,430.6,-12.8,265,2679,0.15,4.88,0.00,0.000,3078,0.310,0.054,2025,2403,3453,3560,3346,0,0,0,0,0,0,14.48,14.62,14.67
$GC,2977,-0.92,-146.0,2026,2403,3561,3347,465.3,-11.1,282,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2403,3454,3559,3349,0,0,0,0,0,0,14.81,14.83,14.83
$GC,3277,-0.92,-146.0,2025,2403,3560,3347,498.1,-10.8,297,3287,0.00,4.93,0.00,0.000,516,0.000,0.070,2028,708,3453,3560,3347,0,0,0,0,0,0,14.83,14.64,14.85
$GC,3322,-0.92,-146.0,2029,702,3561,3347,503.3,-11.8,306,3328,0.00,4.90,0.00,0.000,1030,0.000,0.057,2009,2406,3453,3559,3348,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3639,-0.92,-146.0,2008,2407,3560,3347,539.6,-11.4,324,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2406,3453,3559,3347,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3939,-0.92,-146.0,2009,2407,3561,3348,573.3,-11.2,339,3948,0.00,4.90,0.00,0.000,516,0.000,0.068,2012,707,3453,3559,3347,0,0,0,0,0,0,14.86,14.65,14.88
$GC,3979,-0.92,-146.0,2014,708,3561,3349,578.2,-12.3,347,3989,0.15,4.88,0.00,0.000,3078,0.314,0.057,2027,2408,3453,3559,3348,0,0,0,0,0,0,14.51,14.66,14.64
$STATE,4196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4196,begin apogee
$GC,4202,-0.11,0.0,2029,2184,3560,3348,601.2,-10.2,361,4341,1.00,0.00,135.35,2.156,10246,0.280,0.000,2288,2185,2852,2921,2784,0,0,0,0,0,0,14.54,13.99,13.22
$STATE,4342,end apogee,CONTROL_FINISHED_OK
$STATE,4342,begin climb
$GC,4344,0.92,146.0,2288,2186,2921,2783,603.6,0.0,368,4486,1.15,0.00,138.48,2.060,10246,0.161,0.000,2623,2185,2256,2278,2235,0,0,0,0,0,0,13.93,13.74,13.03
$GC,4779,0.92,146.0,2624,2186,2273,2217,527.0,20.3,390,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2185,2245,2273,2217,0,0,0,0,0,0,14.35,14.37,14.37
$GC,5079,0.92,146.0,2623,2186,2274,2214,466.7,20.0,405,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2185,2243,2273,2213,0,0,0,0,0,0,14.51,14.53,14.52
$GC,5379,0.92,146.0,2623,2186,2273,2212,408.1,19.5,420,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2185,2241,2273,2210,0,0,0,0,0,0,14.61,14.62,14.64
$GC,5679,0.92,146.0,2624,2186,2275,2211,350.6,19.0,435,5689,0.00,4.90,0.00,0.000,516,0.000,0.076,2644,524,2241,2273,2209,0,0,0,0,0,0,14.67,14.47,14.69
$GC,5704,0.92,146.0,2644,525,2272,2211,345.7,19.5,440,5714,0.00,4.88,0.00,0.000,1030,0.000,0.054,2632,2208,2238,2266,2210,0,0,0,0,0,0,14.57,14.49,14.58
$GC,6019,0.92,146.0,2632,2209,2272,2209,286.8,18.0,458,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2208,2240,2272,2208,0,0,0,0,0,0,14.71,14.73,14.73
$GC,6319,0.92,146.0,2632,2209,2272,2209,238.5,14.9,476,6330,0.00,4.93,0.00,0.000,516,0.000,0.072,2652,519,2239,2271,2208,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6340,0.92,146.0,2652,519,2270,2208,235.5,14.7,480,6351,0.00,4.82,0.00,0.000,1030,0.000,0.054,2649,2201,2239,2271,2207,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6530,0.92,146.0,2649,2201,2272,2207,212.4,10.3,500,6541,0.00,5.07,0.00,0.000,260,0.000,0.084,2649,3897,2238,2269,2208,0,0,0,0,0,0,14.75,14.54,14.77
$GC,6566,0.92,146.0,2649,3898,2268,2211,207.9,13.9,507,6573,0.20,4.80,0.00,0.000,5126,0.365,0.043,2630,2207,2239,2268,2210,0,0,0,0,0,0,14.38,14.55,14.60
$GC,6753,0.98,146.0,2630,2206,2272,2206,191.3,7.8,526,6759,0.00,4.93,0.00,0.000,580,0.000,0.067,2651,505,2238,2272,2205,0,0,0,0,0,0,14.75,14.57,14.77
$GC,6769,1.06,146.0,2651,506,2272,2206,189.9,7.5,529,6776,0.00,4.85,0.00,0.000,1094,0.000,0.050,2649,2207,2238,2271,2205,0,0,0,0,0,0,14.66,14.59,14.67
$GC,6954,1.13,146.0,2649,2209,2272,2205,175.4,7.5,548,6955,0.15,0.00,0.00,0.000,2118,0.183,0.000,2690,2207,2237,2271,2204,0,0,0,0,0,0,14.54,14.67,14.65
$GC,7134,1.22,146.0,2690,2209,2273,2205,161.6,7.3,566,7135,0.00,0.00,0.00,0.000,70,0.000,0.000,2690,2208,2237,2271,2204,0,0,0,0,0,0,14.76,14.79,14.79
$GC,7314,1.33,146.0,2690,2209,2272,2205,149.3,6.2,584,7315,0.20,0.00,0.00,0.000,2118,0.168,0.000,2750,2208,2236,2271,2202,0,0,0,0,0,0,14.56,14.69,14.66
$GC,7494,1.42,146.0,2750,2209,2272,2205,136.9,7.0,602,7501,0.12,5.03,0.00,0.000,2372,0.196,0.083,2783,3897,2237,2271,2204,0,0,0,0,0,0,14.56,14.58,14.66
$GC,7531,1.46,146.0,2783,3898,2268,2209,133.9,8.8,609,7538,0.00,4.85,0.00,0.000,1094,0.000,0.046,2803,2192,2238,2268,2208,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7716,1.68,219.8,2804,2191,2270,2206,122.0,5.4,628,7788,0.17,5.25,61.92,1.620,10532,0.178,0.083,2853,3890,1953,1982,1925,0,0,0,0,0,0,14.54,14.28,13.69
$GC,7810,1.68,219.8,2853,3891,1980,1927,113.4,14.5,645,7817,0.00,4.95,0.00,0.000,1030,0.000,0.047,2868,2198,1951,1979,1924,0,0,0,0,0,0,14.37,14.31,14.38
$GC,7993,1.68,219.8,2873,2198,1979,1917,88.5,12.2,664,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2197,1947,1978,1916,0,0,0,0,0,0,14.54,14.57,14.57
$GC,8174,1.92,300.8,2872,2198,1977,1915,74.0,5.0,682,8250,0.25,5.25,68.88,1.528,10532,0.161,0.083,2932,3895,1623,1653,1593,0,0,0,0,0,0,14.39,14.05,13.56
$GC,8475,2.40,461.1,2933,3896,1646,1587,52.9,0.1,738,8618,0.47,4.93,128.95,1.462,11302,0.145,0.039,3096,2179,969,969,969,0,0,0,0,0,0,14.23,14.31,13.37
$GC,8793,2.65,544.2,3095,2179,965,960,21.5,4.9,781,8868,0.25,5.35,66.30,1.398,10532,0.147,0.079,3168,3889,630,609,652,0,0,0,0,0,0,14.12,13.94,13.43
$GC,8933,2.65,544.2,3167,3889,606,651,11.7,10.9,807,8944,0.00,4.97,0.00,0.000,1030,0.000,0.048,3187,2218,628,606,650,0,0,0,0,0,0,14.12,14.08,14.14
$STATE,9071,end climb,SURFACE_DEPTH_REACHED
$STATE,9071,begin surface coast
$FINISH,0.3,1.020620
$STATE,9091,end surface coast,CONTROL_FINISHED_OK
$STATE,9091,begin surface
$SM_CCo,9113,71.95,0.715,1,0,498,577.44
$SM_CCo,9193,-0.15,0.583,0,0,499,577.68
$SM_CCo,9197,0.00,0.000,0,0,499,577.68
$SM_GC,-0.07,10.88,0.57,0.00,0.221,0.073,0.000,201,2403,499,-6.63,-0.75,577.68,0,0,0,0,0,0,14.16,14.21,14.31
$RAFOS_CLK,574
$RAFOS_FIX,7359.543945,-14645.578125,071018,151500,0,1,0.15
$IRIDIUM_FIX,7358.45,-14644.52,071018,123632
$TT8_MAMPS,0.041195,0.744506
$HUMID,46.57
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.60
$XPDR_PINGS,35
$ALTIM_TOP_PING,20.0,5.8
$24V_AH,13.03,61.173
$10V_AH,13.18,0.000
$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,25.100,148.400,599.875,71.950,0.000,0.000,0.000,524.225,9.000,0.000,16.828,0.000,6799.502,848.883,2137.848,235.842,0.000,2058.423,0.000,1183.652,0.000,2.520,0.000
$DEVICE_MAMPS,466.650,97.920,2155.770,714.510,0.000,0.000,0.000,195.840,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.687,0.000,0.000,0.000
$MEM,334628
$DATA_FILE_SIZE,30021,824
$CAP_FILE_SIZE,99522,0
$CFSIZE,2097872896,2072543232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.3
$CURRENT,0.082,12.74,1
$GPS,071018,152137,7359.946,-14642.290,113,1.0,114,18.3,1.0,18.0,8,7.2