version: 66.13
glider: 199
mission: 7
dive: 77
start: 10 9 118 0 12 18
data:
$ID,199
$MISSION,7
$DIVE,77
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,70
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,0.0019
$HD_B,0.016000001
$HD_C,1.2e-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,525
$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,2070
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2943
$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,4
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,300
$LOITER_N_DIVE,1
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$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,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,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,49
$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
$GPS1,091018,000026,7410.8359,-14632.2100,38,0.8,38,22.4,0.0,0.0,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-65.9
$GPS2,091018,001140,7410.9287,-14632.1553,6,0.7,7,22.4,0.0,0.0,12,9.2
$SPEED_LIMITS,0.165,0.207
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,11.9,8354,-16.5,-9.524,-24.67,2361
$D_GRID,200
$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,11,-0.76,-146.0,191,2763,772,815,0.0,0.0,0,99,0.00,0.00,-87.40,0.003,16386,0.000,0.000,192,2763,2108,2135,2081,0,0,0,0,0,0,14.32,28.83,14.34
$GC,102,-0.76,-146.0,192,2764,2136,2084,4.2,-6.9,9,153,8.93,2.12,-36.78,0.004,18692,0.470,0.229,1809,3774,3539,3587,3492,0,0,0,0,0,0,13.90,13.27,14.19
$GC,378,-0.76,-146.0,1809,3776,3589,3495,81.0,-19.8,63,383,0.00,1.98,0.00,0.000,1030,0.000,0.155,1809,2745,3542,3589,3495,0,0,0,0,0,0,14.25,14.14,14.29
$GC,569,-0.76,-146.0,1810,2745,3590,3493,115.1,-16.8,83,573,0.00,2.08,0.00,0.000,260,0.000,0.202,1801,3768,3541,3589,3493,0,0,0,0,0,0,14.40,14.12,14.41
$GC,799,-0.76,-146.0,1802,3767,3589,3494,154.9,-16.6,129,804,0.00,1.95,0.00,0.000,1030,0.000,0.155,1802,2746,3541,3589,3494,0,0,0,0,0,0,14.32,14.21,14.34
$GC,990,-0.76,-146.0,1802,2747,3589,3495,183.3,-14.7,149,995,0.00,2.08,0.00,0.000,260,0.000,0.203,1794,3772,3541,3589,3494,0,0,0,0,0,0,14.46,14.19,14.47
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1106,-0.19,0.0,1795,2595,3589,3495,200.7,-15.9,171,1226,0.82,0.00,116.47,1.697,10246,0.285,0.000,2001,2594,2939,3028,2851,0,0,0,0,0,0,14.11,13.69,13.04
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin loiter
$GC,1402,-0.18,9.9,2001,2595,3026,2839,212.8,-2.5,201,1413,0.00,0.00,8.50,1.465,8230,0.000,0.000,2000,2594,2898,2993,2803,0,0,0,0,0,0,14.19,13.97,13.30
$MODEM_MSG,CACST,6,1,20181009001537.117695,18,8198,39,0240,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*04
$MODEM_MSG,CACST,6,1,20181009001642.239965,18,123,02,0090,0150,246,00,00,03,03,-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,6,1,20181009002036.977519,18,3078,34,0147,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03
$MODEM_MSG,CACST,6,1,20181009002845.039621,18,35,-2,0060,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*1E
$GC,1592,-0.12,9.9,2001,2594,2993,2801,216.8,-2.0,220,1593,0.12,0.00,0.00,0.000,2118,0.262,0.000,2029,2594,2896,2992,2800,0,0,0,0,0,0,14.07,14.23,14.21
$GC,1772,-0.06,9.9,2029,2595,2993,2798,220.1,-1.9,238,1773,0.00,0.00,0.00,0.000,70,0.000,0.000,2029,2594,2895,2992,2798,0,0,0,0,0,0,14.46,14.48,14.47
$GC,1952,0.00,9.9,2030,2593,2993,2796,223.7,-2.0,256,1953,0.15,0.00,0.00,0.000,2118,0.260,0.000,2067,2593,2894,2993,2796,0,0,0,0,0,0,14.26,14.42,14.40
$GC,2132,0.01,18.9,2067,2593,2993,2795,227.3,-2.3,274,2143,0.00,0.00,8.05,1.502,8230,0.000,0.000,2067,2593,2862,2960,2765,0,0,0,0,0,0,14.59,14.34,13.61
$GC,2322,0.06,18.9,2067,2593,2961,2764,230.7,-1.7,293,2323,0.00,0.00,0.00,0.000,70,0.000,0.000,2067,2594,2862,2960,2764,0,0,0,0,0,0,14.59,14.62,14.62
$GC,2502,0.10,18.9,2067,2593,2961,2763,233.6,-1.4,311,2503,0.12,0.00,0.00,0.000,2118,0.217,0.000,2099,2594,2861,2960,2763,0,0,0,0,0,0,14.38,14.53,14.50
$GC,2682,0.15,18.9,2099,2594,2960,2764,236.3,-1.5,329,2683,0.00,0.00,0.00,0.000,70,0.000,0.000,2100,2593,2861,2960,2763,0,0,0,0,0,0,14.69,14.70,14.70
$GC,2862,0.19,18.9,2100,2594,2960,2763,239.0,-1.4,347,2863,0.10,0.00,0.00,0.000,2118,0.225,0.000,2126,2593,2861,2960,2762,0,0,0,0,0,0,14.46,14.59,14.57
$GC,3042,0.22,18.9,2127,2594,2960,2763,240.9,-0.9,365,3043,0.00,0.00,0.00,0.000,70,0.000,0.000,2126,2593,2861,2960,2762,0,0,0,0,0,0,14.73,14.76,14.76
$GC,3222,0.24,18.9,2127,2593,2961,2761,242.2,-0.7,383,3223,0.00,0.00,0.00,0.000,70,0.000,0.000,2126,2593,2860,2960,2761,0,0,0,0,0,0,14.76,14.78,14.77
$GC,3402,0.26,18.9,2127,2593,2961,2761,243.6,-0.8,401,3403,0.00,0.00,0.00,0.000,70,0.000,0.000,2126,2593,2860,2960,2761,0,0,0,0,0,0,14.77,14.79,14.78
$GC,3582,0.29,18.9,2126,2594,2961,2763,245.0,-0.8,419,3583,0.12,0.00,0.00,0.000,2118,0.235,0.000,2163,2594,2860,2960,2761,0,0,0,0,0,0,14.53,14.67,14.64
$GC,3762,0.29,18.9,2164,2593,2961,2761,246.1,-0.4,437,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2593,2860,2960,2761,0,0,0,0,0,0,14.81,14.82,14.82
$GC,3942,0.29,18.9,2164,2593,2961,2761,246.2,0.1,455,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2593,2860,2960,2761,0,0,0,0,0,0,14.81,14.83,14.83
$GC,4122,0.29,18.9,2164,2594,2960,2762,246.5,-0.4,473,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2593,2860,2960,2761,0,0,0,0,0,0,14.83,14.84,14.84
$GC,4302,0.31,18.9,2164,2595,2960,2761,247.7,-0.7,491,4303,0.00,0.00,0.00,0.000,70,0.000,0.000,2163,2593,2860,2960,2760,0,0,0,0,0,0,14.83,14.85,14.85
$GC,4482,0.31,18.9,2164,2593,2961,2760,248.6,-0.4,509,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2593,2860,2960,2760,0,0,0,0,0,0,14.84,14.86,14.86
$GC,4662,0.31,18.9,2163,2595,2961,2761,249.3,-0.4,527,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2593,2860,2960,2760,0,0,0,0,0,0,14.85,14.87,14.86
$STATE,4819,end loiter,LOITER_COMPLETE
$STATE,4819,begin climb
$GC,4822,0.76,146.0,2163,2594,2960,2761,250.0,0.0,543,4932,0.45,2.55,102.18,1.759,10500,0.087,0.203,2331,3769,2342,2442,2242,0,0,0,0,0,0,14.66,13.76,13.21
$GC,5159,0.79,146.0,2331,3768,2443,2229,226.1,8.6,606,5165,0.00,2.25,0.00,0.000,1094,0.000,0.157,2339,2598,2335,2442,2229,0,0,0,0,0,0,14.25,14.14,14.28
$GC,5344,0.86,146.0,2338,2599,2442,2227,212.3,7.2,625,5349,0.00,2.40,0.00,0.000,324,0.000,0.205,2337,3774,2334,2442,2226,0,0,0,0,0,0,14.45,14.17,14.47
$GC,5564,0.90,146.0,2338,3774,2442,2224,194.1,8.1,669,5569,0.00,2.25,0.00,0.000,1094,0.000,0.159,2344,2593,2333,2442,2224,0,0,0,0,0,0,14.39,14.28,14.41
$GC,5755,0.99,146.0,2345,2594,2442,2224,181.2,6.6,689,5756,0.15,0.00,0.00,0.000,2118,0.133,0.000,2401,2593,2332,2442,2223,0,0,0,0,0,0,14.38,14.47,14.45
$GC,5935,1.04,146.0,2401,2593,2443,2222,167.2,7.7,707,5936,0.00,0.00,0.00,0.000,70,0.000,0.000,2401,2594,2330,2438,2222,0,0,0,0,0,0,14.58,14.60,14.59
$GC,6115,1.10,146.0,2401,2594,2442,2223,153.2,7.7,725,6116,0.00,0.00,0.00,0.000,70,0.000,0.000,2401,2593,2332,2442,2222,0,0,0,0,0,0,14.60,14.62,14.62
$GC,6295,1.17,146.0,2401,2594,2442,2222,139.8,7.1,743,6300,0.12,2.62,0.00,0.000,2628,0.149,0.148,2459,1187,2331,2441,2221,0,0,0,0,0,0,14.42,14.33,14.47
$GC,6316,1.24,146.0,2459,1187,2442,2222,138.3,7.2,747,6321,0.00,2.75,0.00,0.000,1094,0.000,0.167,2459,2607,2331,2442,2221,0,0,0,0,0,0,14.46,14.32,14.49
$GC,6506,1.32,146.0,2460,2606,2443,2219,124.0,6.9,767,6507,0.12,0.00,0.00,0.000,2118,0.152,0.000,2505,2607,2331,2442,2220,0,0,0,0,0,0,14.45,14.54,14.52
$GC,6686,1.37,146.0,2505,2608,2442,2221,109.5,7.8,785,6691,0.00,2.67,0.00,0.000,580,0.000,0.148,2516,1186,2331,2442,2220,0,0,0,0,0,0,14.62,14.36,14.64
$GC,6732,1.44,146.0,2516,1187,2443,2220,106.3,7.1,794,6738,0.00,2.75,0.00,0.000,1094,0.000,0.166,2516,2604,2331,2442,2220,0,0,0,0,0,0,14.50,14.34,14.52
$GC,6917,1.54,239.5,2517,2604,2443,2219,95.1,5.5,813,6995,0.12,2.50,72.88,1.549,10532,0.156,0.203,2563,3777,1962,2085,1839,0,0,0,0,0,0,14.38,13.81,13.32
$GC,7222,1.61,239.5,2565,3777,2086,1824,63.2,7.1,872,7229,0.00,2.28,0.00,0.000,1094,0.000,0.158,2573,2601,1954,2085,1824,0,0,0,0,0,0,14.23,14.12,14.25
$GC,7405,1.76,387.3,2574,2601,2086,1821,55.1,3.1,891,7528,0.15,2.50,114.53,1.433,10532,0.136,0.197,2629,3776,1357,1400,1315,0,0,0,0,0,0,14.22,13.61,13.14
$GC,7756,1.83,387.3,2628,3775,1392,1310,19.4,7.2,958,7762,0.00,2.30,0.00,0.000,1094,0.000,0.153,2638,2592,1348,1391,1306,0,0,0,0,0,0,14.09,13.99,14.12
$GC,7941,1.92,481.5,2638,2592,1392,1306,9.4,5.4,977,8023,0.12,0.00,76.53,1.375,10534,0.145,0.000,2689,2592,974,996,953,0,0,0,0,0,0,14.14,13.76,13.21
$STATE,8028,end climb,SURFACE_DEPTH_REACHED
$STATE,8028,begin surface coast
$FINISH,0.0,1.020635
$STATE,8038,end surface coast,CONTROL_FINISHED_OK
$STATE,8040,begin surface
$SM_CCo,8058,72.00,0.217,0,0,802,525.19
$SM_GC,0.88,7.80,0.38,72.00,0.088,0.216,0.217,193,2750,802,-5.82,-0.34,525.19,0,0,0,0,0,0,13.86,13.76,13.82
$RAFOS_CLK,355
$MODEM,5,1539044925,76.93333,-143.66667,225.040,326738.1
$MODEM,4,1539044436,76.58334,-140.05000,36.978,53688.2
$MODEM,3,1539044137,75.50000,-144.13333,37.118,53891.7
$RAFOS_FIX,7503.460938,-14456.383789,091018,000037,1,2,475.68
$IRIDIUM_FIX,7411.60,-14711.14,081018,171124
$TT8_MAMPS,0.041944,0.925015
$HUMID,49.52
$INTERNAL_PRESSURE,9.46163
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,21.0
$24V_AH,13.04,39.907
$10V_AH,13.16,0.000
$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,19.425,42.700,499.125,72.000,0.000,0.000,0.000,464.475,0.250,0.000,16.882,0.000,5526.961,583.453,2443.604,262.792,0.000,1878.206,0.000,1418.712,1402.000,2.540,0.000
$DEVICE_MAMPS,470.475,228.735,1758.735,217.260,0.000,0.000,0.000,195.075,420.000,0.000,21.720,0.000,2.310,11.470,30.200,36.190,0.000,9.500,0.000,7.490,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4491.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.556,0.000,0.000,0.000
$MEM,334492
$DATA_FILE_SIZE,33380,993
$CAP_FILE_SIZE,105068,0
$CFSIZE,2097872896,2076639232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1441.7
$CURRENT,0.140,5.05,1
$GPS,091018,022859,7411.531,-14631.776,17,0.7,19,22.4,0.3,34.7,12,9.1