version: 66.13
glider: 203
mission: 14
dive: 7
start: 9 7 117 0 2 25
data:
$ID,203
$MISSION,14
$DIVE,7
$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,95
$R_STBD_OVSHOOT,24
$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
$GPS1,060917,235631,4807.8232,-12223.8408,2,1.0,29,15.8,0.1,0.0,8,2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-59.4
$GPS2,070917,000205,4807.8516,-12223.8486,2,1.0,3,15.8,0.2,0.0,11,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,130.9,1894,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.93,-146.6,193,2575,996,927,0.0,0.0,0,127,0.00,0.00,-111.60,0.000,16386,0.000,0.000,192,2576,3760,3802,3719,0,0,0,0,0,0,26.65,28.83,26.74
$GC,129,-0.93,-146.6,192,2575,3803,3719,3.8,-6.1,11,148,7.50,2.20,-4.40,0.000,18724,0.219,1.249,2112,3857,3960,4005,3915,0,0,0,0,0,0,25.80,24.92,25.99
$GC,218,-0.80,-146.6,2110,3857,4007,3918,15.5,-10.0,28,223,0.20,1.80,0.00,0.000,3206,0.149,0.025,2164,2603,3962,4006,3918,0,0,0,0,0,0,26.06,26.50,26.23
$GC,527,-0.80,-146.6,2164,2605,4007,3921,40.2,-8.0,60,533,0.00,2.03,0.00,0.000,292,0.000,0.054,2158,3856,3963,4006,3921,0,0,0,0,0,0,26.93,26.40,26.99
$GC,562,-0.80,-146.6,2158,3856,4007,3922,43.1,-8.6,67,569,0.00,1.83,0.00,0.000,1062,0.000,0.024,2158,2603,3963,4006,3921,0,0,0,0,0,0,26.72,26.69,26.73
$GC,887,-0.80,-146.6,2158,2604,4007,3923,70.6,-8.5,84,893,0.00,2.03,0.00,0.000,292,0.000,0.054,2149,3859,3964,4006,3922,0,0,0,0,0,0,27.05,26.46,27.12
$GC,972,-0.80,-146.6,2149,3860,4006,3924,78.3,-9.1,101,980,0.05,1.83,0.00,0.000,3110,0.147,0.024,2164,2607,3963,4005,3922,0,0,0,0,0,0,26.51,26.79,26.55
$GC,1277,-0.85,-146.6,2164,2608,4006,3923,101.7,-7.5,112,1283,0.00,2.03,0.00,0.000,420,0.000,0.055,2158,3863,3963,4004,3922,0,0,0,0,0,0,27.13,26.48,27.19
$GC,1312,-0.85,-146.6,2158,3863,4006,3922,104.5,-8.2,119,1318,0.00,1.85,0.00,0.000,1062,0.000,0.025,2158,2596,3963,4005,3922,0,0,0,0,0,0,26.85,26.83,26.87
$STATE,1320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1320,begin apogee
$GC,1324,-0.22,0.0,2157,2801,4006,3923,105.3,-8.3,121,1505,0.62,0.00,170.15,0.594,10246,0.112,0.000,2358,2800,3366,3418,3315,0,0,0,0,1,0,26.16,25.27,24.49
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1507,0.93,146.6,2360,2801,3426,3315,113.0,0.0,127,1653,1.05,0.00,138.18,0.500,10246,0.066,0.000,2728,2801,2754,2793,2715,0,0,0,0,0,0,25.50,25.36,24.91
$GC,1953,0.93,180.7,2728,2802,2784,2706,82.6,8.4,142,1994,0.00,1.75,33.62,0.487,8612,0.000,0.054,2728,3860,2616,2655,2577,0,0,0,0,0,0,26.64,25.95,25.41
$GC,2158,0.87,180.7,2728,3860,2649,2568,63.1,9.5,183,2165,0.00,1.58,0.00,0.000,1158,0.000,0.025,2736,2797,2607,2647,2568,0,0,0,0,0,0,26.46,26.44,26.48
$GC,2463,0.90,209.4,2736,2798,2647,2569,36.5,8.7,204,2480,0.00,1.73,10.65,0.205,8484,0.000,0.055,2735,3858,2515,2559,2471,0,0,0,0,0,0,26.88,26.28,25.89
$GC,2634,0.86,209.4,2735,3860,2572,2479,20.4,9.5,238,2640,0.00,1.55,2.10,0.166,9350,0.000,0.025,2743,2794,2506,2548,2464,0,0,0,0,0,0,26.71,26.69,25.96
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,0.6,1.019083
$STATE,2903,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2917,154.98,0.138,0,0,957,588.97
$SM_GC,0.97,6.80,0.22,154.98,0.053,0.047,0.138,202,2587,957,-6.91,2.18,588.97,0,0,0,0,0,0,26.57,26.82,26.01
$IRIDIUM_FIX,4807.51,-12223.57,060917,230443
$TT8_MAMPS,0.051681,0.292859
$HUMID,57.04
$INTERNAL_PRESSURE,8.6906
$TCM_TEMP,19.70
$XPDR_PINGS,0
$PM_FREEKB_00,119310400
$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,24.49,0.518
$10V_AH,10.07,0.498
$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,16.225,22.750,354.700,154.975,0.000,0.000,0.000,222.825,0.000,0.000,5.115,0.000,1890.569,644.877,805.201,83.118,0.000,1109.678,0.000,389.942,0.000,0.549,0.000
$DEVICE_MAMPS,218.790,1249.245,593.640,137.700,0.000,0.000,0.000,95.625,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2888.000,2895.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.361,31.120,0.000,0.000
$MEM,188336
$DATA_FILE_SIZE,6843,266
$CAP_FILE_SIZE,41808,0
$CFSIZE,1024393216,996999168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,3073.24,0x213b70,7,24
$CURRENT,0.038,335.08,1
$GPS,070917,005418,4807.720,-12223.616,2,1.2,4,15.8,0.2,351.3,7,8.5