version: 66.13
glider: 204
mission: 20
dive: 48
start: 9 8 117 11 45 22
data:
$ID,204
$MISSION,20
$DIVE,48
$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,52283
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0099999998
$HD_C,2.53195e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,588.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,97
$MINV_24V,20
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.0345
$PRESSURE_SLOPE,0.00010934046
$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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$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,1.0
$GPS1,080917,113939,4806.2300,-12222.3037,7,1.0,9,15.8,0.2,167.9,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-73.0
$GPS2,080917,114503,4806.1973,-12222.2725,3,1.0,5,15.8,0.2,0.0,9,8.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,311.0,1737,-18.5,-10.000,-20.79,2248
$D_GRID,107
$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,-146.6,187,2703,1105,952,0.0,0.0,0,137,0.00,0.00,-122.18,0.000,16386,0.000,0.000,186,2703,3889,3799,3980,0,0,0,0,0,0,26.78,28.83,26.84
$GC,139,-1.04,-146.6,189,2704,3802,3979,4.3,-8.6,12,156,12.25,0.00,-1.50,0.000,18726,0.266,0.000,2796,2703,3963,3895,4032,0,0,0,0,0,0,25.30,24.51,25.08
$GC,461,-0.83,-146.6,2797,2703,3902,4033,48.7,-12.1,46,467,0.30,2.20,0.00,0.000,2692,0.198,0.046,2880,1297,3966,3900,4032,0,0,0,0,0,0,25.12,25.53,25.37
$GC,521,-0.83,-146.6,2879,1297,3901,4032,54.4,-8.9,58,528,0.00,2.28,0.00,0.000,1062,0.000,0.054,2871,2702,3966,3902,4031,0,0,0,0,0,0,25.84,25.70,25.91
$GC,853,-0.78,-146.6,2872,2703,3903,4033,84.3,-9.1,74,853,0.00,0.00,0.00,0.000,166,0.000,0.000,2871,2702,3966,3901,4031,0,0,0,0,0,0,26.98,27.05,27.03
$STATE,1121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1125,-0.23,0.0,2873,2703,3903,4032,108.5,-9.0,83,1249,0.75,0.00,121.35,0.574,10246,0.186,0.000,3060,2703,3427,3447,3408,0,0,0,0,0,0,24.38,25.32,24.60
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,1.04,146.6,3061,2704,3439,3401,112.6,0.0,87,1395,1.38,2.30,135.57,0.538,10756,0.137,0.041,3477,1296,2822,2856,2789,0,0,0,0,0,0,25.31,25.31,24.53
$GC,1426,1.01,158.3,3475,1296,2841,2785,102.9,9.5,108,1442,0.00,2.25,9.90,0.527,9382,0.000,0.045,3477,2706,2778,2808,2748,0,0,0,0,0,0,25.86,25.76,24.56
$GC,1758,0.95,169.8,3476,2707,2788,2741,71.1,9.5,124,1767,0.12,1.60,4.20,0.481,12708,0.190,0.066,3439,3702,2736,2763,2709,0,0,0,0,0,0,24.70,25.48,24.93
$GC,1811,0.88,169.8,3439,3703,2772,2715,65.9,9.6,135,1818,0.00,1.58,0.00,0.000,1158,0.000,0.044,3445,2702,2743,2772,2715,0,0,0,0,0,0,26.27,26.25,26.33
$GC,2117,0.94,209.3,3446,2703,2777,2716,39.9,8.2,154,2140,0.00,1.67,19.40,0.217,8484,0.000,0.062,3440,3702,2573,2609,2537,0,0,0,0,0,0,26.37,25.82,25.37
$GC,2160,0.96,224.6,3438,3702,2617,2539,36.1,9.3,161,2173,0.00,1.58,8.12,0.213,9254,0.000,0.041,3445,2691,2510,2551,2469,0,0,0,0,0,0,26.34,26.31,25.29
$GC,2470,1.08,260.2,3446,2693,2572,2471,9.1,8.4,193,2493,0.12,2.22,17.15,0.155,10916,0.154,0.042,3495,1297,2363,2415,2312,0,0,0,0,0,0,26.30,25.78,25.46
$GC,2507,1.12,260.2,3496,1297,2418,2313,5.3,9.8,200,2514,0.00,2.25,0.00,0.000,1158,0.000,0.046,3497,2697,2366,2420,2313,0,0,0,0,0,0,26.03,25.98,26.09
$STATE,2551,end climb,SURFACE_DEPTH_REACHED
$STATE,2551,begin surface coast
$FINISH,0.3,1.019581
$STATE,2572,end surface coast,CONTROL_FINISHED_OK
$STATE,2572,begin surface
$SM_CCo,2588,147.50,0.132,0,0,1028,588.97
$SM_GC,0.29,9.82,0.00,147.50,0.082,0.000,0.132,186,2697,1028,-9.13,-0.08,588.97,0,0,0,0,0,0,26.37,27.01,25.54
$IRIDIUM_FIX,4804.71,-12221.84,080917,104703
$TT8_MAMPS,0.047936,0.309337
$HUMID,52.04
$INTERNAL_PRESSURE,8.57882
$TCM_TEMP,15.00
$XPDR_PINGS,236
$PM_FREEKB_00,32083328
$PM_FREEKB_01,37166272
$PM_FREEKB_02,62267648
$PM_FREEKB_03,62335808
$PM_FREEKB_04,62336320
$PM_FREEKB_05,62335808
$PM_FREEKB_06,62335808
$PM_FREEKB_07,62336576
$PM_ACTIVECARD,1
$24V_AH,24.38,18.607
$10V_AH,9.69,14.728
$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,24.750,19.925,315.700,147.500,0.000,0.000,0.000,217.825,59.000,0.000,6.554,0.000,1630.478,572.283,802.848,72.421,0.000,1008.215,0.000,409.851,0.000,0.833,0.000
$DEVICE_MAMPS,266.220,65.790,573.750,132.345,0.000,0.000,0.000,92.565,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2562.000,2568.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.578,42.231,0.000,0.000
$MEM,188308
$DATA_FILE_SIZE,6801,207
$CAP_FILE_SIZE,38235,0
$CFSIZE,260030464,255664128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.004,114.29,1
$GPS,080917,123200,4806.423,-12222.505,26,1.0,26,15.8,0.2,158.3,9,3.7