version: 66.13
glider: 228
mission: 14
dive: 140
start: 10 8 118 18 46 8
data:
$ID,228
$MISSION,14
$DIVE,140
$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,35
$R_STBD_OVSHOOT,16
$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
$GPS1,081018,183639,7411.3208,-14623.2578,17,0.9,17,18.4,0.2,0.0,9,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.77
$_SM_ANGLEo,-76.4
$GPS2,081018,184527,7411.3228,-14623.3076,4,0.9,7,18.4,0.2,0.0,9,7.5
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7412.000,-14622.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,27.6,1417,-23.2,-10.000,-30.00,1611
$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,-0.90,-132.7,198,2395,456,541,0.0,0.0,0,83,0.00,0.00,-71.45,0.003,16386,0.000,0.000,197,2395,1915,2017,1813,0,0,0,0,0,0,14.46,28.83,14.47
$GC,86,-0.90,-132.7,198,2396,2018,1818,4.1,-11.5,7,132,9.80,4.97,-27.00,0.005,18948,0.465,0.077,2050,722,3398,3517,3279,0,0,0,0,0,0,14.07,13.45,14.33
$GC,322,-0.90,-132.7,2050,724,3517,3281,87.8,-21.8,53,334,0.00,4.93,0.00,0.000,1030,0.000,0.060,2031,2397,3398,3517,3280,0,0,0,0,0,0,14.42,14.34,14.43
$GC,512,-0.90,-132.7,2032,2398,3517,3281,129.2,-21.4,73,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2397,3398,3516,3280,0,0,0,0,0,0,14.58,14.60,14.60
$GC,692,-0.90,-132.7,2032,2395,3517,3281,165.5,-19.8,91,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2397,3398,3516,3280,0,0,0,0,0,0,14.62,14.64,14.64
$GC,872,-0.90,-132.7,2032,2398,3517,3282,200.3,-18.9,109,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2397,3398,3516,3281,0,0,0,0,0,0,14.65,14.67,14.66
$GC,1052,-0.90,-132.7,2031,2397,3516,3281,232.6,-17.6,127,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2397,3398,3516,3280,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1242,-0.90,-132.7,2032,2398,3517,3282,262.6,-14.9,142,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2397,3397,3515,3280,0,0,0,0,0,0,14.71,14.73,14.73
$GC,1542,-0.90,-132.7,2031,2398,3516,3281,299.0,-11.9,157,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2397,3398,3516,3280,0,0,0,0,0,0,14.74,14.77,14.76
$GC,1842,-0.90,-132.7,2030,2398,3515,3281,333.8,-11.5,172,1851,0.00,4.90,0.00,0.000,516,0.000,0.070,2040,715,3398,3515,3281,0,0,0,0,0,0,14.77,14.59,14.79
$GC,1912,-0.90,-132.7,2041,716,3515,3282,342.5,-12.5,186,1918,0.00,4.88,0.00,0.000,1030,0.000,0.057,2021,2404,3397,3514,3281,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2223,-0.90,-132.7,2021,2404,3509,3281,378.7,-11.6,203,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2404,3397,3514,3281,0,0,0,0,0,0,14.80,14.82,14.80
$GC,2523,-0.90,-132.7,2022,2405,3515,3282,412.7,-11.2,218,2529,0.00,4.90,0.00,0.000,516,0.000,0.067,2025,714,3397,3514,3281,0,0,0,0,0,0,14.81,14.62,14.83
$GC,2549,-0.90,-132.7,2024,714,3514,3281,415.9,-12.7,223,2559,0.12,4.85,0.00,0.000,3078,0.326,0.054,2030,2404,3397,3514,3281,0,0,0,0,0,0,14.45,14.63,14.67
$GC,2864,-0.90,-132.7,2030,2405,3514,3281,449.4,-10.4,241,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2404,3397,3514,3281,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3164,-0.90,-132.7,2031,2405,3515,3282,481.3,-10.7,256,3174,0.00,4.88,0.00,0.000,516,0.000,0.068,2041,722,3397,3513,3281,0,0,0,0,0,0,14.83,14.62,14.85
$GC,3214,-0.90,-132.7,2046,723,3515,3282,487.0,-11.5,266,3220,0.00,4.82,0.00,0.000,1030,0.000,0.057,2022,2404,3397,3514,3281,0,0,0,0,0,0,14.72,14.64,14.73
$GC,3526,-0.90,-132.7,2022,2404,3515,3282,520.9,-10.9,283,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2404,3397,3514,3281,0,0,0,0,0,0,14.85,14.87,14.87
$GC,3825,-0.90,-132.7,2022,2405,3515,3282,552.5,-10.4,298,3831,0.00,4.88,0.00,0.000,516,0.000,0.069,2027,722,3397,3514,3281,0,0,0,0,0,0,14.86,14.63,14.88
$GC,3866,-0.90,-132.7,2027,721,3514,3283,557.1,-11.4,306,3873,0.12,4.80,0.00,0.000,3078,0.324,0.055,2030,2402,3398,3514,3282,0,0,0,0,0,0,14.52,14.66,14.71
$GC,4188,-0.90,-132.7,2030,2402,3514,3283,589.1,-9.8,325,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2402,3397,3513,3282,0,0,0,0,0,0,14.87,14.89,14.88
$STATE,4306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4306,begin apogee
$GC,4311,-0.11,0.0,2033,2198,3514,3283,600.8,-9.7,331,4438,0.98,0.00,123.25,2.141,10246,0.278,0.000,2286,2198,2851,2929,2774,0,0,0,0,0,0,14.54,13.92,13.27
$STATE,4439,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4442,0.90,132.7,2287,2198,2929,2772,602.9,0.0,337,4571,1.12,0.00,126.28,2.042,10502,0.159,0.000,2615,2197,2313,2338,2289,0,0,0,0,0,0,13.95,13.74,13.05
$GC,4868,0.90,132.7,2616,2198,2330,2268,528.8,20.0,362,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2197,2297,2328,2267,0,0,0,0,0,0,14.32,14.34,14.34
$GC,5168,0.90,132.7,2616,2198,2330,2265,469.8,19.7,377,5179,0.00,5.03,0.00,0.000,516,0.000,0.075,2637,521,2295,2328,2263,0,0,0,0,0,0,14.46,14.28,14.48
$GC,5193,0.90,132.7,2637,522,2327,2265,464.6,20.0,382,5200,0.00,4.93,0.00,0.000,1030,0.000,0.056,2632,2203,2294,2325,2263,0,0,0,0,0,0,14.37,14.30,14.38
$GC,5510,0.90,132.7,2632,2204,2327,2263,399.9,20.5,400,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2203,2294,2326,2262,0,0,0,0,0,0,14.54,14.57,14.56
$GC,5810,0.90,132.7,2632,2203,2325,2261,341.0,19.2,415,5820,0.00,5.00,0.00,0.000,516,0.000,0.073,2652,518,2293,2326,2261,0,0,0,0,0,0,14.59,14.41,14.61
$GC,5845,0.90,132.7,2652,518,2325,2262,333.8,20.9,422,5852,0.00,4.88,0.00,0.000,1030,0.000,0.054,2650,2202,2292,2324,2261,0,0,0,0,0,0,14.48,14.42,14.51
$GC,6150,0.90,132.7,2646,2202,2324,2261,277.9,17.1,438,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,2292,2324,2260,0,0,0,0,0,0,14.63,14.66,14.65
$GC,6450,0.90,132.7,2647,2203,2325,2261,237.8,10.6,458,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,2293,2324,2263,0,0,0,0,0,0,14.64,14.66,14.66
$MODEM_MSG,CACST,6,1,20181008200538.098353,18,302,24,0174,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*32
$MODEM_MSG,CACST,6,1,20181008201033.699197,18,333,25,0047,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*31
$MODEM_MSG,CACST,6,1,20181008201533.298324,18,542,27,0068,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*30
$MODEM_MSG,CACST,6,1,20181008202033.886198,18,104,14,0057,0150,246,00,00,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3D
$GC,6634,0.94,132.7,2645,2202,2324,2260,220.4,8.7,476,6645,0.00,4.93,0.00,0.000,580,0.000,0.071,2666,521,2291,2323,2259,0,0,0,0,0,0,14.66,14.46,14.69
$GC,6650,0.99,132.7,2667,522,2324,2261,218.8,8.3,479,6657,0.00,4.82,0.00,0.000,1094,0.000,0.050,2662,2206,2291,2323,2260,0,0,0,0,0,0,14.56,14.50,14.58
$GC,6835,1.07,132.7,2663,2208,2325,2260,204.1,7.4,498,6836,0.00,0.00,0.00,0.000,70,0.000,0.000,2662,2207,2291,2324,2259,0,0,0,0,0,0,14.70,14.72,14.71
$GC,7015,1.18,132.7,2662,2207,2324,2260,191.9,6.5,516,7026,0.15,5.00,0.00,0.000,2372,0.178,0.082,2700,3889,2292,2323,2261,0,0,0,0,0,0,14.49,14.49,14.55
$GC,7071,1.21,132.7,2700,3890,2322,2262,187.2,8.7,527,7078,0.00,4.78,0.00,0.000,1094,0.000,0.042,2720,2204,2291,2322,2261,0,0,0,0,0,0,14.61,14.55,14.62
$GC,7256,1.31,132.7,2720,2204,2323,2260,174.0,6.8,546,7263,0.00,5.05,0.00,0.000,324,0.000,0.080,2700,3894,2291,2323,2259,0,0,0,0,0,0,14.73,14.54,14.75
$GC,7333,1.35,132.7,2701,3896,2323,2262,167.7,8.7,561,7340,0.15,4.80,0.00,0.000,3142,0.202,0.041,2761,2195,2291,2321,2261,0,0,0,0,0,0,14.50,14.58,14.62
$GC,7518,1.55,200.3,2762,2195,2320,2260,155.8,5.7,580,7580,0.22,0.00,58.22,1.649,10278,0.168,0.000,2828,2194,2034,2066,2003,0,0,0,0,0,0,14.52,14.30,13.65
$GC,7759,1.55,200.3,2828,2194,2061,1993,127.4,13.7,604,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2194,2027,2061,1993,0,0,0,0,0,0,14.55,14.57,14.57
$GC,7938,1.55,200.3,2829,2195,2062,1991,106.8,10.2,622,7944,0.00,5.12,0.00,0.000,260,0.000,0.080,2826,3892,2024,2060,1989,0,0,0,0,0,0,14.59,14.40,14.61
$GC,7969,1.55,200.3,2826,3893,2058,1993,103.5,11.1,628,7980,0.00,4.85,0.00,0.000,1030,0.000,0.041,2847,2199,2024,2058,1991,0,0,0,0,0,0,14.48,14.42,14.50
$GC,8159,1.74,264.3,2848,2199,2059,1990,88.7,5.9,648,8223,0.15,5.20,55.53,1.558,10532,0.177,0.079,2878,3890,1771,1804,1738,0,0,0,0,0,0,14.37,14.18,13.59
$GC,8294,1.74,264.3,2879,3891,1800,1738,74.3,14.4,672,8305,0.00,4.95,0.00,0.000,1030,0.000,0.043,2896,2196,1767,1799,1736,0,0,0,0,0,0,14.34,14.28,14.36
$GC,8484,2.20,415.6,2897,2197,1800,1729,65.6,0.3,692,8621,0.40,5.07,125.53,1.485,10788,0.143,0.065,3047,514,1152,1164,1141,0,0,0,0,0,0,14.28,13.85,13.38
$GC,8848,2.44,497.2,3047,514,1142,1142,32.7,4.8,762,8922,0.22,4.95,65.30,1.421,11302,0.155,0.047,3108,2210,824,807,842,0,0,0,0,0,0,14.17,14.22,13.44
$GC,9107,2.50,497.2,3108,2211,804,830,12.8,8.0,794,9108,0.00,0.00,0.00,0.000,70,0.000,0.000,3108,2210,816,803,829,0,0,0,0,0,0,14.35,14.37,14.37
$GC,9287,2.86,617.6,3109,2211,805,827,7.9,2.3,812,9362,0.45,5.20,66.22,1.401,10532,0.129,0.082,3245,3886,494,464,524,0,0,0,0,0,0,14.24,13.97,13.52
$STATE,9370,end climb,SURFACE_DEPTH_REACHED
$STATE,9370,begin surface coast
$FINISH,-0.6,1.020840
$STATE,9382,end surface coast,CONTROL_FINISHED_OK
$STATE,9382,begin surface
$SM_CCo,9405,-0.43,0.207,0,0,500,577.68
$SM_CCo,9409,0.00,0.000,0,0,500,577.44
$SM_CCo,9412,0.00,0.000,0,0,500,577.68
$SM_GC,0.12,10.20,4.45,0.00,0.148,0.044,0.000,198,2395,500,-6.62,0.94,577.68,0,0,0,0,0,0,14.09,14.12,14.30
$RAFOS_CLK,312
$MODEM,4,1539030033,76.58334,-140.05000,33.886,49035.8
$MODEM,3,1539029733,75.50000,-144.13333,33.298,48185.1
$MODEM,2,1539029433,74.08334,-144.88333,33.699,48765.2
$MODEM,1,1539029138,74.43333,-147.95000,38.098,55131.1
$RAFOS_FIX,7438.265625,-14433.479492,081018,202033,3,255,13.62
$IRIDIUM_FIX,7411.13,-14625.16,081018,183926
$TT8_MAMPS,0.041944,0.905541
$HUMID,47.28
$INTERNAL_PRESSURE,8.87058
$TCM_TEMP,14.40
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.6,9.0
$24V_AH,13.05,65.902
$10V_AH,13.06,0.000
$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,24.100,138.350,620.325,0.000,0.000,0.000,0.000,306.050,3.500,0.000,17.557,0.000,7024.059,728.083,1996.862,221.094,0.000,1763.917,0.000,1187.987,2205.000,2.515,0.000
$DEVICE_MAMPS,465.120,81.855,2141.235,0.000,0.000,0.000,0.000,188.955,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.070,0.000,0.000,0.000
$MEM,334624
$DATA_FILE_SIZE,30076,827
$CAP_FILE_SIZE,97495,0
$CFSIZE,2097872896,2070773760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$CURRENT,0.078,322.47,1
$GPS,081018,212439,7412.334,-14621.809,46,1.0,47,18.4,0.5,340.3,8,5.9