version: 66.13
glider: 199
mission: 7
dive: 6
start: 9 21 118 10 48 6
data:
$ID,199
$MISSION,7
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,0.079999998
$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,53675
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.83926
$PRESSURE_SLOPE,0.00010895507
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.6
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5405934e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,210918,103601,7417.1113,-14633.5156,36,0.7,38,22.4,0.5,347.6,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-62.7
$GPS2,210918,104731,7417.1235,-14633.5117,8,0.7,8,22.4,0.0,354.1,11,10.0
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,NAV-SW
$TGT_LATLONG,7425.620,-14756.580
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,268.5,44198,-18.8,-10.000,-22.50,2245
$D_GRID,660
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.84,-146.0,193,2407,525,461,0.0,0.0,0,142,0.00,0.00,-131.07,0.002,16386,0.000,0.000,192,2406,2395,2430,2361,0,0,0,0,0,0,14.29,28.83,14.31
$PING,11.6,12.9,9000.0,0.00,0.00
$GC,145,-0.84,-146.0,193,2406,2432,2362,4.5,-7.9,13,194,9.23,2.92,-32.08,0.004,18724,0.474,0.257,1860,3776,3764,3806,3722,0,0,0,0,0,0,13.93,13.57,14.20
$PING,22.0,24.5,9000.0,0.00,0.00
$PING,32.2,35.3,35.4,1.09,1.00
$PING,42.9,45.3,45.5,1.00,1.00
$PING,64.3,6.1,9000.0,-1.04,0.70
$PING,74.4,6.2,9000.0,-1.33,0.90
$GC,420,-0.79,-146.0,1860,3777,3807,3725,74.4,-19.0,66,426,0.15,2.70,0.00,0.000,3206,0.302,0.171,1889,2395,3765,3806,3725,0,0,0,0,0,0,14.11,14.16,14.27
$PING,84.7,89.4,9000.0,4.10,0.75
$PING,95.6,100.7,9000.0,4.43,0.82
$GC,606,-0.83,-146.0,1889,2397,3807,3725,100.7,-12.9,85,612,0.00,2.95,0.00,0.000,388,0.000,0.240,1880,3776,3765,3806,3725,0,0,0,0,0,0,14.45,14.16,14.47
$PING,106.0,111.0,111.1,1.01,1.00
$PING,126.4,6.4,9000.0,-3.34,0.83
$GC,837,-0.88,-146.0,1880,3777,3807,3726,131.5,-12.5,131,842,0.00,2.65,0.00,0.000,1158,0.000,0.171,1880,2403,3765,3806,3725,0,0,0,0,0,0,14.38,14.27,14.40
$GC,1030,-0.96,-146.0,1881,2402,3807,3725,152.9,-10.9,151,1035,0.12,2.88,0.00,0.000,4484,0.155,0.233,1829,3772,3765,3806,3725,0,0,0,0,0,0,14.35,14.23,14.39
$PING,167.8,175.6,9000.0,1.49,0.30
$GC,1260,-0.96,-146.0,1830,3772,3807,3725,185.4,-13.8,197,1266,0.00,2.65,0.00,0.000,1030,0.000,0.170,1829,2397,3765,3806,3725,0,0,0,0,0,0,14.43,14.33,14.45
$GC,1454,-0.96,-146.0,1830,2397,3807,3725,209.8,-12.5,217,1460,0.00,2.88,0.00,0.000,260,0.000,0.234,1821,3775,3765,3806,3725,0,0,0,0,0,0,14.58,14.26,14.59
$GC,1686,-0.96,-146.0,1821,3772,3807,3725,241.1,-12.9,263,1691,0.00,2.65,0.00,0.000,1030,0.000,0.177,1821,2399,3764,3806,3722,0,0,0,0,0,0,14.47,14.35,14.50
$GC,1887,-1.00,-146.0,1821,2399,3807,3725,264.4,-11.3,276,1892,0.00,2.85,0.00,0.000,388,0.000,0.238,1811,3772,3765,3806,3725,0,0,0,0,0,0,14.59,14.31,14.63
$GC,2117,-1.00,-146.0,1811,3772,3807,3724,291.3,-11.0,322,2123,0.00,2.65,0.00,0.000,1030,0.000,0.177,1811,2399,3765,3806,3725,0,0,0,0,0,0,14.52,14.40,14.54
$GC,2430,-1.06,-146.0,1811,2398,3807,3726,321.9,-9.8,334,2435,0.00,2.88,0.00,0.000,420,0.000,0.242,1801,3772,3765,3806,3724,0,0,0,0,0,0,14.67,14.36,14.69
$GC,2660,-1.06,-146.0,1800,3773,3807,3725,347.3,-10.4,380,2666,0.00,2.62,0.00,0.000,1030,0.000,0.171,1801,2399,3765,3806,3724,0,0,0,0,0,0,14.57,14.45,14.59
$GC,2973,-1.11,-146.0,1800,2399,3807,3723,377.6,-9.4,392,2978,0.00,2.85,0.00,0.000,420,0.000,0.237,1791,3772,3762,3802,3723,0,0,0,0,0,0,14.70,14.40,14.71
$GC,3203,-1.11,-146.0,1791,3772,3807,3722,402.1,-10.7,438,3209,0.00,2.60,0.00,0.000,1030,0.000,0.169,1791,2399,3764,3806,3723,0,0,0,0,0,0,14.54,14.45,14.57
$GC,3516,-1.15,-146.0,1792,2400,3807,3723,432.8,-9.9,450,3521,0.00,2.83,0.00,0.000,420,0.000,0.233,1781,3772,3764,3806,3723,0,0,0,0,0,0,14.73,14.42,14.74
$GC,3746,-1.15,-146.0,1781,3771,3807,3722,458.8,-11.2,496,3752,0.00,2.60,0.00,0.000,1030,0.000,0.166,1781,2395,3762,3806,3718,0,0,0,0,0,0,14.60,14.50,14.62
$GC,4057,-1.15,-146.0,1781,2396,3807,3724,490.7,-10.2,508,4062,0.00,2.85,0.00,0.000,260,0.000,0.236,1771,3776,3764,3806,3722,0,0,0,0,0,0,14.74,14.43,14.76
$GC,4295,-1.15,-146.0,1772,3776,3808,3722,518.1,-12.1,554,4301,0.00,2.58,0.00,0.000,1030,0.000,0.164,1771,2403,3764,3806,3722,0,0,0,0,0,0,14.55,14.48,14.58
$GC,4606,-1.15,-146.0,1771,2403,3808,3724,551.4,-10.6,566,4612,0.00,2.80,0.00,0.000,260,0.000,0.232,1761,3768,3764,3806,3722,0,0,0,0,0,0,14.66,14.36,14.69
$GC,4837,-1.15,-146.0,1761,3769,3807,3724,579.0,-12.0,612,4842,0.00,2.60,0.00,0.000,1030,0.000,0.162,1761,2394,3764,3806,3722,0,0,0,0,0,0,14.53,14.43,14.55
$GC,5148,-1.15,-146.0,1761,2395,3807,3724,612.7,-10.8,624,5153,0.00,2.85,0.00,0.000,260,0.000,0.231,1751,3772,3764,3806,3722,0,0,0,0,0,0,14.63,14.34,14.64
$GC,5363,-1.15,-146.0,1752,3772,3807,3722,638.7,-12.1,667,5368,0.00,2.62,0.00,0.000,1030,0.000,0.164,1751,2394,3764,3806,3722,0,0,0,0,0,0,14.48,14.37,14.50
$STATE,5566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5566,begin apogee
$PING,662.7,17.7,9000.0,-0.12,0.15
$GC,5572,-0.19,0.0,1752,2395,3807,3723,661.6,-11.1,678,5707,1.27,0.00,132.07,2.222,10246,0.272,0.000,2083,2394,3165,3233,3098,0,0,0,0,0,0,14.31,13.48,12.73
$STATE,5708,end apogee,CONTROL_FINISHED_OK
$STATE,5708,begin climb
$GC,5711,0.84,146.0,2084,2394,3230,3094,664.4,0.0,682,5855,1.08,3.15,130.88,2.150,11012,0.108,0.221,2422,3770,2563,2644,2482,0,0,1,0,0,0,13.50,13.29,12.65
$GC,6031,0.63,146.0,2418,3770,2645,2470,624.5,17.7,745,6037,0.32,2.70,0.00,0.000,5254,0.302,0.157,2358,2395,2556,2644,2469,0,0,0,0,0,0,13.81,13.89,13.99
$GC,6350,0.56,146.0,2359,2395,2645,2464,584.9,12.2,758,6355,0.00,2.70,0.00,0.000,644,0.000,0.162,2368,990,2554,2644,2464,0,0,0,0,0,0,14.32,14.09,14.34
$GC,6385,0.50,146.0,2368,992,2645,2464,580.2,12.3,765,6392,0.22,2.80,0.00,0.000,5254,0.288,0.179,2318,2403,2554,2644,2464,0,0,0,0,0,0,14.06,14.08,14.22
$GC,6712,0.50,146.0,2318,2402,2645,2462,546.0,10.3,780,6717,0.00,2.80,0.00,0.000,260,0.000,0.221,2317,3769,2553,2644,2462,0,0,0,0,0,0,14.49,14.20,14.53
$GC,6802,0.44,146.0,2317,3768,2645,2462,535.2,12.1,798,6808,0.15,2.60,0.00,0.000,5254,0.280,0.161,2294,2400,2553,2644,2462,0,0,0,0,0,0,14.22,14.28,14.39
$GC,7136,0.45,158.9,2295,2400,2645,2460,503.7,9.4,814,7150,0.00,2.75,10.45,1.825,8740,0.000,0.167,2303,994,2514,2613,2415,0,0,0,0,0,0,14.59,14.23,13.57
$GC,7166,0.47,179.5,2304,994,2614,2415,500.6,9.1,820,7191,0.00,2.78,19.60,1.917,9254,0.000,0.183,2304,2401,2431,2534,2329,0,0,0,0,0,0,14.37,14.22,13.40
$GC,7499,0.47,179.5,2304,2402,2535,2326,467.0,10.2,836,7504,0.00,2.83,0.00,0.000,260,0.000,0.226,2303,3769,2427,2534,2320,0,0,0,0,0,0,14.48,14.21,14.50
$GC,7574,0.47,179.5,2304,3769,2535,2320,457.9,11.9,851,7579,0.00,2.62,0.00,0.000,1030,0.000,0.160,2311,2394,2427,2534,2320,0,0,0,0,0,0,14.36,14.26,14.38
$GC,7890,0.47,179.5,2312,2394,2535,2317,425.1,10.3,864,7895,0.00,2.83,0.00,0.000,260,0.000,0.221,2311,3771,2426,2534,2318,0,0,0,0,0,0,14.59,14.31,14.62
$STATE,7908,end climb,POWER_ERROR_DETECTED
$SM_CCo,7920,407.67,1.828,0,0,501,653.97
$SM_GC,0.70,6.38,2.62,0.00,0.117,0.167,0.000,197,2397,496,-6.07,0.54,655.20,0,0,0,0,0,0,14.69,14.66,14.76
$RAFOS_CLK,326
$RAFOS_FIX,7416.653320,-14631.031250,210918,101038,0,1,0.09
$IRIDIUM_FIX,7416.86,-14640.60,210918,070316
$TT8_MAMPS,0.041195,0.357273
$HUMID,55.43
$INTERNAL_PRESSURE,9.42257
$TCM_TEMP,13.00
$XPDR_PINGS,61
$24V_AH,12.65,4.335
$10V_AH,12.68,0.000
$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,18.925,93.625,293.000,407.675,0.000,0.000,0.000,501.650,35.750,0.000,17.600,0.000,8992.208,901.252,2328.592,260.156,0.000,2137.958,0.000,1242.827,2215.000,146.047,0.000
$DEVICE_MAMPS,473.535,257.040,2222.325,1827.585,0.000,0.000,0.000,173.655,420.000,0.000,21.720,0.000,2.310,11.470,30.200,36.190,0.000,9.500,0.000,7.490,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7944.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.125,0.000,0.000,0.000
$MEM,334620
$DATA_FILE_SIZE,30027,868
$CAP_FILE_SIZE,115285,1
$CFSIZE,2097872896,2092498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$EOP_CODE,POWER_ERROR_DETECTED
$RECOV_CODE,CURRENT_CUTOFF_10V
$GPS,210918,140602,7417.641,-14635.820,40,0.8,42,22.4,0.3,253.2,10,8.8