version: 66.13
glider: 203
mission: 14
dive: 6
start: 9 6 117 23 8 20
data:
$ID,203
$MISSION,14
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,140
$D_NO_BLEED,50
$D_BOOST,50
$T_BOOST,4
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52314
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,588.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3362
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00113
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0.5
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.29401
$PRESSURE_SLOPE,0.00010878081
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043963501
$SEABIRD_T_H,0.00063669891
$SEABIRD_T_I,2.4874016e-05
$SEABIRD_T_J,2.9344606e-06
$SEABIRD_C_G,-10.04379
$SEABIRD_C_H,1.1655113
$SEABIRD_C_I,-0.0016799819
$SEABIRD_C_J,0.00021581368
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,060917,230242,4807.9497,-12223.9756,2,1.5,3,15.8,0.1,0.0,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.9
$GPS2,060917,230800,4807.9702,-12223.9971,2,1.4,4,15.8,0.1,0.0,9,7.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,130.3,2179,-17.5,-10.000,-21.04,2225
$D_GRID,105
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.93,-146.6,201,2584,996,926,0.0,0.0,0,128,0.00,0.00,-112.47,0.000,16386,0.000,0.000,200,2585,3797,3840,3755,0,0,0,0,0,0,26.70,28.83,26.77
$GC,130,-0.93,-146.6,201,2586,3842,3757,4.0,-6.7,11,146,7.47,2.17,-3.47,0.000,18980,0.220,1.224,2119,1230,3961,4005,3918,0,0,0,0,0,0,25.82,24.96,26.20
$GC,171,-0.84,-146.6,2120,1231,4006,3920,11.8,-10.6,19,176,0.12,2.15,0.00,0.000,3206,0.138,0.037,2153,2608,3962,4005,3919,0,0,0,0,0,0,26.11,26.40,26.21
$GC,481,-0.84,-146.6,2153,2608,4006,3922,37.5,-8.3,51,486,0.00,1.98,0.00,0.000,292,0.000,0.054,2147,3842,3964,4005,3923,0,0,0,0,0,0,26.95,26.41,27.01
$GC,536,-0.84,-146.6,2147,3843,4006,3925,42.3,-8.8,62,542,0.00,1.80,0.00,0.000,1062,0.000,0.024,2146,2599,3964,4005,3923,0,0,0,0,0,0,26.73,26.72,26.75
$GC,841,-0.84,-146.6,2147,2600,4006,3924,68.6,-8.8,79,846,0.00,2.00,0.00,0.000,292,0.000,0.054,2138,3845,3965,4005,3925,0,0,0,0,0,0,27.08,26.46,27.14
$GC,931,-0.84,-146.6,2137,3844,4006,3924,76.7,-9.1,97,937,0.00,1.80,0.00,0.000,1062,0.000,0.024,2138,2598,3964,4005,3924,0,0,0,0,0,0,26.83,26.81,26.84
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1264,-0.22,0.0,2137,2789,4007,3923,105.1,-8.5,113,1370,0.68,0.00,99.10,0.783,10246,0.117,0.000,2353,2789,3364,3413,3315,0,0,0,0,1,0,26.08,25.39,24.60
$STATE,1372,end apogee,CONTROL_FINISHED_OK
$STATE,1372,begin climb
$GC,1373,0.93,146.6,2354,2789,3428,3317,108.8,0.0,116,1518,1.05,2.12,135.82,0.501,10756,0.069,0.027,2736,1407,2755,2794,2716,0,0,0,0,0,0,25.58,25.27,24.96
$GC,1567,0.94,189.5,2737,1406,2786,2712,100.5,8.0,155,1614,0.00,2.25,40.50,0.491,9382,0.000,0.037,2736,2798,2582,2622,2543,0,0,0,0,0,0,25.96,25.84,25.10
$GC,1913,0.96,207.6,2737,2798,2607,2533,69.3,9.2,174,1934,0.00,1.73,16.55,0.503,8484,0.000,0.054,2736,3860,2509,2547,2471,0,0,0,0,0,0,26.69,26.13,25.57
$GC,2039,0.90,207.6,2736,3861,2540,2464,56.3,10.5,199,2043,0.00,1.55,0.00,0.000,1158,0.000,0.025,2745,2803,2501,2540,2463,0,0,0,0,0,0,26.49,26.48,26.51
$GC,2343,0.92,226.8,2745,2803,2540,2463,27.2,9.1,228,2356,0.00,1.67,7.18,0.187,8484,0.000,0.051,2745,3868,2441,2483,2399,0,0,0,0,0,0,26.91,26.10,25.93
$GC,2430,0.87,226.8,2745,3868,2496,2403,18.6,10.2,245,2438,0.00,1.58,0.00,0.000,1158,0.000,0.025,2752,2793,2449,2495,2403,0,0,0,0,0,0,26.70,26.68,26.72
$STATE,2634,end climb,SURFACE_DEPTH_REACHED
$STATE,2634,begin surface coast
$FINISH,0.1,1.018954
$STATE,2665,end surface coast,CONTROL_FINISHED_OK
$STATE,2665,begin surface
$SM_CCo,2679,145.60,0.138,0,0,958,588.97
$SM_GC,0.94,6.72,0.22,145.60,0.045,0.047,0.138,192,2577,958,-6.92,2.15,588.97,0,0,0,0,0,0,26.64,26.82,26.04
$IRIDIUM_FIX,4811.67,-12227.03,060917,221228
$TT8_MAMPS,0.05243,0.294357
$HUMID,56.73
$INTERNAL_PRESSURE,8.6906
$TCM_TEMP,19.60
$XPDR_PINGS,0
$PM_FREEKB_00,119949760
$PM_FREEKB_01,124830656
$PM_FREEKB_02,124831168
$PM_FREEKB_03,124830464
$PM_FREEKB_04,124830720
$PM_FREEKB_05,124830784
$PM_FREEKB_06,124829824
$PM_FREEKB_07,124829184
$PM_ACTIVECARD,0
$24V_AH,24.60,0.452
$10V_AH,10.08,0.443
$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,16.050,23.350,299.150,145.600,0.000,0.000,0.000,205.025,0.000,0.000,5.885,0.000,1755.765,535.188,786.174,81.558,0.000,1003.595,0.000,394.115,0.000,0.550,0.000
$DEVICE_MAMPS,220.320,1224.000,783.360,137.700,0.000,0.000,0.000,93.330,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2672.000,2677.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.464,44.087,0.000,0.000
$MEM,188312
$DATA_FILE_SIZE,6790,269
$CAP_FILE_SIZE,40981,0
$CFSIZE,1024393216,997113856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,327.62,1
$GPS,060917,235631,4807.823,-12223.841,2,1.0,29,15.8,0.1,0.0,8,2.2