version: 66.12
glider: 203
mission: 6
dive: 3
start: 12 11 114 21 50 31
data:
$ID,203
$MISSION,6
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1030
$D_NO_BLEED,200
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$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,15
$N_GPS,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3348
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.024231
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,111214,214624,2111.0156,-15809.7666,5,0.9,5,9.7,0.0,303.2,10,44.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.1
$GPS2,111214,215021,2111.0164,-15809.8115,6,0.9,6,9.7,0.8,246.1,10,32.8
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,153.3,108274,-18.3,-10.000,-21.02,2236
$D_GRID,1430
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,90,-0.72,-146.0,202,2389,1374,1282,0.0,0.0,0,136,0.00,0.00,-44.17,0.000,16386,0.000,0.000,202,2390,2689,2714,2664,0,0,0,0,0,0,27.27,28.83,27.34
$GC,138,-0.72,-146.0,203,2390,2711,2664,3.6,-7.4,7,180,8.88,2.03,-24.15,0.000,18948,0.223,0.047,2596,1013,3944,3990,3898,0,0,0,0,0,0,26.72,25.75,26.98
$GC,291,-0.82,-146.0,2597,1014,3992,3899,30.1,-16.4,36,301,0.00,1.98,0.00,0.000,1030,0.000,0.030,2592,2396,3943,3990,3897,0,0,0,0,0,0,27.16,27.10,27.18
$GC,602,-0.82,-146.0,2592,2396,3991,3897,86.7,-17.7,77,610,0.00,2.08,0.00,0.000,260,0.000,0.046,2592,3803,3944,3991,3897,0,0,0,0,0,0,27.39,27.13,27.46
$GC,739,-0.90,-146.0,2592,3805,3996,3898,109.2,-16.5,90,749,0.00,1.95,0.00,0.000,1030,0.000,0.024,2592,2387,3943,3990,3897,0,0,0,0,0,0,27.29,27.26,27.30
$GC,1044,-1.03,-146.0,2592,2387,3991,3899,152.1,-12.4,121,1052,0.15,2.10,0.00,0.000,4356,0.080,0.043,2491,3805,3944,3991,3897,0,0,0,0,0,0,27.26,27.18,27.29
$GC,1185,-1.03,-146.0,2490,3805,3992,3898,178.2,-19.4,134,1196,0.00,1.92,0.00,0.000,1030,0.000,0.024,2488,2402,3944,3991,3897,0,0,0,0,0,0,27.32,27.29,27.34
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1203,-0.19,0.0,2495,2527,3991,3898,182.1,-19.4,136,1326,0.85,0.00,109.03,0.907,10246,0.120,0.000,2774,2526,3352,3412,3292,0,0,0,0,1,0,27.04,25.75,25.04
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1327,0.72,146.0,2774,2526,3423,3296,190.5,0.0,148,1449,0.77,2.15,109.07,0.457,11012,0.055,0.029,3080,1119,2745,2801,2689,0,0,0,0,0,0,26.03,26.08,25.69
$GC,1518,0.93,490.2,3080,1117,2797,2685,204.3,-5.8,167,1788,0.17,2.00,253.77,0.451,11270,0.073,0.029,3166,2489,1339,1406,1272,0,0,0,0,0,0,26.58,26.59,25.67
$GC,2083,0.93,490.2,3166,2489,1394,1259,151.3,13.5,224,2090,0.00,2.00,0.00,0.000,516,0.000,0.030,3176,1113,1325,1392,1258,0,0,0,0,0,0,27.11,26.92,27.18
$GC,2224,0.93,490.2,3176,1115,1391,1260,133.4,13.5,238,2232,0.00,2.00,0.00,0.000,1030,0.000,0.031,3176,2503,1324,1390,1258,0,0,0,0,0,0,27.07,27.02,27.10
$GC,2529,0.93,490.2,3176,2505,1390,1256,92.5,13.8,268,2536,0.00,2.00,0.00,0.000,260,0.000,0.045,3176,3856,1321,1389,1254,0,0,0,0,0,0,27.32,27.09,27.39
$GC,2580,0.93,490.2,3176,3857,1389,1255,86.5,13.1,272,2590,0.10,1.88,0.00,0.000,5126,0.212,0.025,3164,2500,1321,1388,1254,0,0,0,0,0,0,26.94,27.19,27.13
$GC,2885,1.02,509.7,3165,2500,1388,1254,57.2,9.1,303,2911,0.00,2.00,15.27,0.365,8452,0.000,0.043,3164,3846,1265,1335,1196,0,0,0,0,0,0,27.39,26.85,26.62
$GC,2940,1.02,516.8,3165,3846,1328,1189,51.9,9.7,308,2955,0.00,1.88,1.58,0.169,9222,0.000,0.025,3168,2492,1239,1310,1168,0,0,0,0,0,0,27.17,27.14,26.93
$GC,3250,1.08,516.8,3168,2492,1325,1180,19.8,11.0,368,3258,0.00,2.05,0.00,0.000,260,0.000,0.043,3168,3847,1252,1324,1181,0,0,0,0,0,0,27.36,27.14,27.43
$GC,3372,1.08,516.8,3168,3847,1325,1180,4.9,13.0,392,3380,0.00,1.90,0.00,0.000,1030,0.000,0.024,3177,2501,1252,1324,1181,0,0,0,0,0,0,27.27,27.24,27.29
$STATE,3398,end climb,SURFACE_DEPTH_REACHED
$STATE,3398,begin surface coast
$FINISH,0.4,1.009034
$STATE,3413,end surface coast,CONTROL_FINISHED_OK
$STATE,3413,begin surface
$SM_CCo,3486,0.00,0.000,0,0,1251,514.39
$SM_GC,1.20,7.55,0.08,0.00,0.044,0.114,0.000,198,2405,1251,-8.20,2.40,514.39,0,0,0,0,0,0,27.17,27.27,27.23
$IRIDIUM_FIX,2101.76,-15727.25,111214,214259
$TT8_MAMPS,0.158039,0.158039
$HUMID,36.17
$INTERNAL_PRESSURE,9.3974
$TCM_TEMP,25.90
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,3451.66 2123.56
$PA_BOOTCOUNT,104
$PA_DFQS,0/0
$PA_LOG,0.01/0.175/31.498/29.723
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.01/0.672/117.199/110.573
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.173/27.046/25.499
$PA_DISK_BANK,0
$24V_AH,25.04,4.623
$10V_AH,10.55,5.311
$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,18.475,32.125,488.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,7.965,0.000,1942.533,487.286,1072.920,22.601,0.000,997.150,0.000,717.157,0.000,0.558,0.000
$DEVICE_MAMPS,222.615,113.985,906.525,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,259.966,0.000,0.000,0.000,0.000,0.000,3471.970,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,126.700,0.000,0.000,0.000
$MEM,270640
$DATA_FILE_SIZE,16836,400
$CAP_FILE_SIZE,61741,0
$CFSIZE,1024393216,1019691008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,2809.36,0x236d6a,7,5
$CURRENT,0.000,119.75,1
$GPS,111214,224856,2110.826,-15810.155,4,0.8,4,9.6,0.0,0.0,11,82.2