version: 66.13
glider: 203
mission: 14
dive: 31
start: 9 7 117 20 43 29
data:
$ID,203
$MISSION,14
$DIVE,31
$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,0.0034
$HD_B,0.014
$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,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,25
$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
$GPS1,070917,203734,4806.3457,-12222.2090,1,1.1,2,15.8,0.0,0.0,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.7
$GPS2,070917,204309,4806.3521,-12222.2129,3,0.9,15,15.8,0.1,0.0,10,2.0
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,303.8,1545,-20.2,-10.000,-24.20,2229
$D_GRID,108
$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,11,begin dive
$GC,13,-1.04,-146.6,201,2600,997,926,0.0,0.0,0,127,0.00,0.00,-111.72,0.000,16386,0.000,0.000,201,2600,3764,3805,3723,0,0,0,0,0,0,26.60,28.83,26.68
$GC,129,-1.04,-146.6,201,2599,3806,3722,4.0,-6.5,11,145,7.30,2.22,-4.30,0.000,18724,0.216,1.248,2077,3857,3962,4005,3919,0,0,0,0,0,0,25.73,24.59,26.09
$GC,310,-0.94,-146.6,2077,3857,4006,3924,28.1,-11.4,47,315,0.12,1.85,0.00,0.000,3206,0.143,0.024,2116,2607,3964,4005,3923,0,0,0,0,0,0,26.09,26.55,26.19
$GC,630,-0.94,-146.6,2116,2607,4006,3925,59.5,-10.1,74,635,0.00,2.03,0.00,0.000,260,0.000,0.055,2109,3856,3965,4005,3925,0,0,0,0,0,0,26.95,26.43,27.00
$GC,710,-0.94,-146.6,2109,3856,4006,3925,68.0,-10.9,90,715,0.00,1.85,0.00,0.000,1030,0.000,0.024,2109,2589,3964,4003,3925,0,0,0,0,0,0,26.75,26.72,26.75
$GC,1020,-0.94,-146.6,2109,2590,4006,3925,99.1,-9.7,102,1025,0.00,2.05,0.00,0.000,260,0.000,0.055,2100,3859,3965,4005,3925,0,0,0,0,0,0,27.05,26.49,27.11
$GC,1059,-0.94,-146.6,2100,3859,4005,3925,103.1,-10.2,110,1065,0.05,1.85,0.00,0.000,3078,0.168,0.024,2115,2601,3964,4004,3925,0,0,0,0,0,0,26.48,26.80,26.52
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1142,-0.22,0.0,2116,3010,4005,3925,110.5,-9.2,116,1250,0.75,0.00,100.53,0.801,10246,0.116,0.000,2357,3009,3361,3406,3317,0,0,0,0,1,0,26.15,25.33,24.53
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1253,1.04,146.6,2357,3011,3422,3318,114.3,0.0,119,1405,1.12,1.45,140.48,0.501,10500,0.067,0.054,2757,3860,2753,2792,2714,0,0,0,0,0,0,25.48,25.37,24.89
$GC,1564,0.98,146.6,2757,3859,2786,2705,92.6,10.0,181,1571,0.00,1.30,0.00,0.000,1158,0.000,0.025,2762,2973,2745,2784,2706,0,0,0,0,0,0,26.17,26.17,26.20
$GC,1885,1.01,172.1,2763,2973,2783,2705,63.7,8.8,195,1917,0.00,0.00,26.70,0.480,8230,0.000,0.000,2762,2973,2652,2690,2615,0,0,0,0,0,0,26.75,25.89,25.58
$GC,2215,1.04,197.1,2762,2973,2683,2608,32.9,8.9,218,2231,0.00,1.45,9.62,0.197,8484,0.000,0.054,2763,3857,2561,2602,2521,0,0,0,0,0,0,26.81,26.20,25.82
$GC,2315,1.04,197.1,2762,3857,2617,2525,23.0,9.7,238,2321,0.00,1.23,0.00,0.000,1030,0.000,0.026,2769,2999,2571,2617,2525,0,0,0,0,0,0,26.63,26.61,26.65
$GC,2626,1.32,341.5,2769,2999,2618,2525,2.4,3.4,270,2643,0.22,0.00,14.98,0.142,10914,0.062,0.000,2872,2999,2421,2460,2382,0,0,0,0,0,0,26.70,28.83,26.75
$STATE,2643,end climb,SURFACE_DEPTH_REACHED
$STATE,2643,begin surface coast
$FINISH,0.2,1.018700
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2720,148.07,0.134,0,0,958,588.97
$SM_GC,0.94,7.20,0.50,148.07,0.056,0.034,0.134,194,2615,958,-6.91,2.74,588.97,0,0,0,0,0,0,26.62,26.72,25.94
$IRIDIUM_FIX,4806.65,-12226.29,070917,194658
$TT8_MAMPS,0.051681,0.315329
$HUMID,55.27
$INTERNAL_PRESSURE,8.7092
$TCM_TEMP,19.90
$XPDR_PINGS,0
$PM_FREEKB_00,109285696
$PM_FREEKB_01,119063744
$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,1
$24V_AH,24.53,1.997
$10V_AH,10.06,1.738
$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,16.775,18.450,292.300,148.075,0.000,0.000,0.000,211.550,0.000,0.000,16.952,0.000,1776.404,538.238,824.482,82.350,0.000,1013.792,0.000,409.803,0.000,0.550,0.000
$DEVICE_MAMPS,216.495,1247.715,800.955,133.875,0.000,0.000,0.000,94.095,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2712.000,2719.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.546,42.842,0.000,0.000
$MEM,188264
$DATA_FILE_SIZE,10150,280
$CAP_FILE_SIZE,40625,0
$CFSIZE,1024393216,994263040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.027,323.26,1
$GPS,070917,213158,4806.578,-12222.470,2,1.1,4,15.8,0.0,0.0,8,5.2