version: 66.13
glider: 228
mission: 14
dive: 138
start: 10 8 118 13 21 37
data:
$ID,228
$MISSION,14
$DIVE,138
$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,32
$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,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
$GPS1,081018,131402,7409.3101,-14627.1816,3,1.2,7,18.4,0.7,32.7,5,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-77.2
$GPS2,081018,132058,7409.3457,-14627.0547,4,0.8,6,18.4,0.5,65.6,12,5.1
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,30.1,5537,-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,-146.0,203,2399,452,542,0.0,0.0,0,73,0.00,0.00,-61.42,0.003,16386,0.000,0.000,201,2398,1715,1815,1616,0,0,0,0,0,0,14.43,28.83,14.45
$GC,76,-0.92,-146.0,203,2399,1816,1621,3.4,-9.4,6,126,9.68,5.03,-33.88,0.005,18948,0.460,0.078,2043,715,3453,3576,3330,0,0,0,0,0,0,14.04,13.42,14.31
$GC,316,-0.92,-146.0,2043,715,3576,3333,84.7,-22.7,53,323,0.00,4.97,0.00,0.000,1030,0.000,0.061,2025,2395,3454,3576,3332,0,0,0,0,0,0,14.40,14.32,14.41
$GC,501,-0.92,-146.0,2024,2396,3576,3333,126.9,-22.0,72,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2395,3453,3575,3332,0,0,0,0,0,0,14.56,14.59,14.59
$GC,682,-0.92,-146.0,2024,2396,3576,3333,165.5,-20.8,90,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2396,3454,3575,3333,0,0,0,0,0,0,14.61,14.63,14.63
$GC,862,-0.92,-146.0,2024,2396,3575,3333,201.7,-19.8,108,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2396,3454,3575,3333,0,0,0,0,0,0,14.64,14.66,14.66
$GC,1041,-0.92,-146.0,2026,2396,3574,3333,234.9,-17.6,126,1052,0.00,4.70,0.00,0.000,260,0.000,0.091,2005,3952,3453,3572,3335,0,0,0,0,0,0,14.66,14.47,14.69
$GC,1057,-0.92,-146.0,2006,3953,3572,3338,237.7,-17.7,129,1064,0.00,4.43,0.00,0.000,1030,0.000,0.044,2014,2407,3454,3571,3337,0,0,0,0,0,0,14.54,14.48,14.56
$GC,1252,-0.92,-146.0,2014,2407,3571,3337,269.2,-15.3,143,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2407,3454,3571,3337,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1553,-0.92,-146.0,2015,2408,3572,3338,308.9,-12.7,158,1562,0.00,4.90,0.00,0.000,516,0.000,0.064,2016,703,3454,3571,3337,0,0,0,0,0,0,14.73,14.54,14.76
$GC,1642,-0.92,-146.0,2014,704,3571,3338,321.6,-13.9,176,1649,0.17,4.93,0.00,0.000,3078,0.321,0.056,2029,2408,3454,3571,3338,0,0,0,0,0,0,14.40,14.56,14.61
$GC,1954,-0.92,-146.0,2030,2408,3571,3339,358.2,-11.6,193,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2405,3454,3570,3338,0,0,0,0,0,0,14.78,14.79,14.79
$GC,2254,-0.92,-146.0,2030,2405,3570,3338,392.7,-11.3,208,2260,0.00,4.93,0.00,0.000,516,0.000,0.070,2042,709,3454,3570,3338,0,0,0,0,0,0,14.80,14.59,14.82
$GC,2275,-0.92,-146.0,2042,709,3570,3338,395.3,-12.6,212,2281,0.00,4.88,0.00,0.000,1030,0.000,0.056,2022,2403,3454,3570,3338,0,0,0,0,0,0,14.69,14.61,14.70
$GC,2596,-0.92,-146.0,2023,2401,3571,3338,432.3,-11.4,231,2607,0.00,4.90,0.00,0.000,516,0.000,0.069,2028,710,3454,3570,3338,0,0,0,0,0,0,14.81,14.59,14.83
$GC,2621,-0.92,-146.0,2029,710,3571,3338,435.4,-12.4,236,2628,0.00,4.88,0.00,0.000,1030,0.000,0.057,2009,2403,3453,3569,3338,0,0,0,0,0,0,14.70,14.62,14.74
$GC,2938,-0.92,-146.0,2008,2403,3569,3339,473.5,-12.1,254,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2403,3453,3569,3338,0,0,0,0,0,0,14.82,14.83,14.83
$GC,3238,-0.92,-146.0,2009,2403,3570,3339,509.4,-11.7,269,3247,0.00,4.90,0.00,0.000,516,0.000,0.070,2012,706,3453,3569,3338,0,0,0,0,0,0,14.84,14.64,14.85
$GC,3273,-0.92,-146.0,2012,707,3569,3339,513.9,-13.0,276,3281,0.17,4.85,0.00,0.000,3078,0.313,0.056,2028,2402,3454,3569,3339,0,0,0,0,0,0,14.49,14.65,14.69
$GC,3578,-0.92,-146.0,2029,2403,3570,3340,547.1,-10.6,292,3584,0.00,4.90,0.00,0.000,516,0.000,0.068,2029,704,3453,3569,3338,0,0,0,0,0,0,14.85,14.65,14.86
$GC,3619,-0.92,-146.0,2028,708,3568,3339,551.9,-11.8,300,3625,0.00,4.85,0.00,0.000,1030,0.000,0.055,2009,2404,3453,3568,3339,0,0,0,0,0,0,14.72,14.65,14.73
$GC,3940,-0.92,-146.0,2010,2405,3569,3340,588.1,-11.2,319,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2404,3454,3569,3339,0,0,0,0,0,0,14.86,14.88,14.88
$STATE,4057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4057,begin apogee
$GC,4063,-0.11,0.0,2011,2183,3569,3340,601.6,-11.2,325,4202,1.08,0.08,135.25,2.131,10246,0.284,0.161,2287,2215,2851,2926,2777,0,0,0,0,0,0,14.55,13.95,13.24
$STATE,4203,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4206,0.92,146.0,2287,2215,2926,2777,604.0,0.0,332,4348,1.15,0.00,138.55,2.035,10246,0.160,0.000,2621,2214,2256,2278,2234,0,0,0,0,0,0,13.93,13.75,13.05
$GC,4640,0.92,146.0,2622,2215,2274,2217,524.1,21.3,354,4650,0.00,5.10,0.00,0.000,516,0.000,0.075,2643,524,2247,2279,2215,0,0,0,0,0,0,14.35,14.16,14.37
$GC,4670,0.92,146.0,2642,524,2268,2215,517.5,22.2,360,4681,0.00,4.93,0.00,0.000,1030,0.000,0.054,2642,2193,2240,2268,2212,0,0,0,0,0,0,14.26,14.19,14.28
$GC,4980,0.92,146.0,2643,2194,2268,2212,449.8,21.7,377,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2193,2240,2268,2212,0,0,0,0,0,0,14.52,14.54,14.54
$GC,5280,0.92,146.0,2642,2193,2269,2211,384.5,21.8,392,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2191,2239,2268,2210,0,0,0,0,0,0,14.62,14.64,14.63
$GC,5580,0.92,146.0,2642,2193,2268,2210,321.5,20.4,407,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2193,2238,2268,2209,0,0,0,0,0,0,14.68,14.70,14.69
$GC,5880,0.92,146.0,2642,2194,2268,2209,267.4,16.6,422,5890,0.00,4.93,0.00,0.000,516,0.000,0.073,2662,522,2238,2269,2208,0,0,0,0,0,0,14.72,14.53,14.75
$GC,5940,0.92,146.0,2663,522,2269,2209,257.7,15.8,434,5950,0.15,4.82,0.00,0.000,5126,0.331,0.054,2633,2202,2237,2268,2207,0,0,0,0,0,0,14.39,14.55,14.59
$GC,6250,0.95,146.0,2632,2202,2269,2206,222.6,8.9,465,6256,0.00,5.05,0.00,0.000,324,0.000,0.084,2633,3894,2237,2268,2206,0,0,0,0,0,0,14.74,14.54,14.76
$GC,6296,0.95,146.0,2634,3894,2269,2210,217.6,11.3,474,6303,0.00,4.80,0.00,0.000,1030,0.000,0.043,2653,2206,2238,2268,2209,0,0,0,0,0,0,14.60,14.55,14.62
$GC,6482,0.98,146.0,2653,2205,2268,2206,200.4,9.0,493,6488,0.00,4.90,0.00,0.000,580,0.000,0.066,2675,510,2236,2268,2205,0,0,0,0,0,0,14.75,14.54,14.77
$GC,6538,0.98,146.0,2676,510,2269,2206,194.6,10.0,504,6545,0.00,4.82,0.00,0.000,1030,0.000,0.049,2673,2203,2236,2268,2205,0,0,0,0,0,0,14.63,14.57,14.65
$GC,6723,1.05,146.0,2674,2205,2270,2205,180.0,7.5,523,6724,0.00,0.00,0.00,0.000,70,0.000,0.000,2673,2204,2236,2268,2204,0,0,0,0,0,0,14.75,14.75,14.77
$GC,6903,1.16,146.0,2674,2205,2269,2204,167.9,6.4,541,6904,0.00,0.00,0.00,0.000,70,0.000,0.000,2673,2204,2236,2269,2203,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7083,1.36,212.8,2674,2205,2270,2204,157.1,5.9,559,7151,0.28,5.12,56.55,1.639,10532,0.151,0.083,2755,3890,1985,2016,1954,0,0,0,0,0,0,14.55,14.29,13.69
$GC,7177,1.36,212.8,2755,3890,2013,1954,147.5,12.8,576,7184,0.00,4.93,0.00,0.000,1030,0.000,0.047,2774,2197,1983,2013,1953,0,0,0,0,0,0,14.39,14.33,14.40
$GC,7361,1.36,212.8,2776,2197,2012,1947,122.9,12.8,595,7372,0.00,4.97,0.00,0.000,516,0.000,0.072,2796,510,1977,2007,1947,0,0,0,0,0,0,14.58,14.39,14.60
$GC,7442,1.36,212.8,2796,511,2005,1947,112.6,12.2,611,7453,0.00,4.90,0.00,0.000,1030,0.000,0.051,2797,2206,1977,2009,1946,0,0,0,0,0,0,14.47,14.41,14.49
$GC,7632,1.41,212.8,2796,2206,2005,1943,94.6,8.4,631,7643,0.00,5.05,0.00,0.000,324,0.000,0.081,2796,3891,1974,2004,1945,0,0,0,0,0,0,14.62,14.40,14.64
$GC,7693,1.44,212.8,2796,3891,2003,1947,89.3,8.8,643,7704,0.00,4.88,0.00,0.000,1094,0.000,0.045,2819,2190,1973,2003,1944,0,0,0,0,0,0,14.51,14.45,14.52
$GC,7883,1.82,339.1,2819,2190,2003,1943,82.0,2.2,663,8001,0.28,5.10,107.43,1.526,10788,0.148,0.071,2929,518,1466,1493,1440,0,0,0,0,0,0,14.42,14.02,13.47
$GC,8021,1.82,339.1,2930,518,1487,1442,69.1,18.6,687,8028,0.00,5.00,0.00,0.000,1030,0.000,0.050,2925,2204,1462,1485,1440,0,0,0,0,0,0,14.18,14.12,14.20
$GC,8206,2.07,421.7,2925,2205,1483,1432,52.8,4.9,706,8283,0.20,5.25,67.72,1.457,10532,0.157,0.080,2987,3895,1129,1141,1117,0,0,0,0,0,0,14.20,14.02,13.47
$GC,8300,2.18,421.7,2987,3895,1140,1118,48.7,6.5,723,8307,0.00,4.97,0.00,0.000,1094,0.000,0.045,3007,2203,1128,1140,1116,0,0,0,0,0,0,14.14,14.08,14.15
$GC,8483,2.26,421.7,3007,2203,1140,1106,33.2,7.3,742,8495,0.12,5.15,0.00,0.000,2372,0.178,0.078,3045,3890,1121,1136,1107,0,0,0,0,0,0,14.18,14.19,14.25
$GC,8705,2.72,575.2,3046,3891,1136,1108,30.5,0.5,786,8842,0.43,4.93,124.20,1.421,11302,0.144,0.043,3197,2186,504,476,533,0,0,0,0,0,0,14.28,14.35,13.41
$STATE,8965,end climb,SURFACE_DEPTH_REACHED
$STATE,8965,begin surface coast
$FINISH,0.2,1.020714
$STATE,8975,end surface coast,CONTROL_FINISHED_OK
$STATE,8975,begin surface
$SM_CCo,8996,-0.12,0.705,0,0,499,577.68
$SM_CCo,8999,0.00,0.000,0,0,500,577.68
$SM_CCo,9002,0.00,0.000,0,0,500,577.44
$SM_GC,1.64,10.88,0.68,0.00,0.216,0.071,0.000,204,2405,500,-6.61,-0.66,577.44,0,0,0,0,0,0,14.12,14.15,14.33
$RAFOS_CLK,560
$RAFOS_FIX,7410.007324,-14627.845703,081018,151550,0,1,0.14
$IRIDIUM_FIX,7408.26,-14622.96,081018,103856
$TT8_MAMPS,0.042693,0.869589
$HUMID,46.92
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.60
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.6,23.9
$24V_AH,13.05,65.045
$10V_AH,13.24,0.000
$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,24.575,168.975,629.700,0.000,0.000,0.000,0.000,253.175,2.750,0.000,15.606,0.000,6526.437,811.166,1875.771,220.169,0.000,1759.584,0.000,1183.550,0.000,2.544,0.000
$DEVICE_MAMPS,459.765,161.415,2130.525,0.000,0.000,0.000,0.000,185.895,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8987.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.513,0.000,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,29997,824
$CAP_FILE_SIZE,97071,0
$CFSIZE,2097872896,2071101440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.9
$CURRENT,0.071,338.89,1
$GPS,081018,155339,7410.335,-14624.992,77,0.9,77,18.4,0.6,147.5,8,7.9