version: 66.12
glider: 203
mission: 6
dive: 4
start: 12 11 114 23 4 35
data:
$ID,203
$MISSION,6
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,75
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$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
$GPS1,111214,230132,2110.8669,-15810.3428,38,1.0,38,9.6,0.0,0.0,9,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.6
$GPS2,111214,230425,2110.8767,-15810.3926,7,0.9,7,9.6,0.8,303.5,10,15.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,152.8,108327,-18.3,-10.000,-21.02,2236
$D_GRID,1505
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,91,-0.72,-146.0,192,2402,1059,958,0.0,0.0,0,149,0.00,0.00,-55.22,0.000,16386,0.000,0.000,192,2403,2700,2724,2677,0,0,0,0,0,0,27.24,28.83,27.32
$GC,150,-0.72,-146.0,192,2404,2725,2678,3.6,-7.2,9,181,8.85,2.00,-14.35,0.000,18948,0.220,0.047,2600,1012,3435,3496,3375,0,0,0,0,0,0,26.74,25.79,27.02
$GC,285,-0.72,-146.0,2598,1011,3497,3375,28.2,-16.5,35,295,0.00,2.00,0.00,0.000,1030,0.000,0.031,2593,2405,3435,3496,3375,0,0,0,0,0,0,27.15,27.10,27.17
$GC,600,-0.72,-146.0,2594,2407,3497,3376,85.7,-18.6,78,608,0.00,2.05,0.00,0.000,260,0.000,0.044,2585,3799,3436,3497,3375,0,0,0,0,0,0,27.39,27.14,27.47
$GC,717,-0.72,-146.0,2585,3800,3498,3376,106.4,-16.3,89,726,0.10,1.95,0.00,0.000,3078,0.166,0.024,2608,2384,3435,3496,3375,0,0,0,0,0,0,27.05,27.24,27.18
$GC,1029,-0.84,-146.0,2609,2382,3498,3375,144.9,-10.9,120,1038,0.00,2.10,0.00,0.000,260,0.000,0.045,2603,3802,3435,3496,3375,0,0,0,0,0,0,27.43,27.18,27.50
$GC,1206,-0.95,-146.0,2603,3803,3498,3376,163.5,-10.0,137,1217,0.15,1.92,0.00,0.000,5126,0.080,0.024,2516,2400,3436,3497,3375,0,0,0,0,0,0,27.24,27.29,27.29
$GC,1511,-0.95,-146.0,2517,2401,3498,3376,210.1,-15.5,168,1520,0.00,2.08,0.00,0.000,260,0.000,0.045,2507,3798,3436,3498,3375,0,0,0,0,0,0,27.46,27.21,27.53
$GC,1684,-0.95,-146.0,2507,3799,3498,3375,238.5,-16.4,185,1695,0.10,1.95,0.00,0.000,3078,0.169,0.026,2531,2396,3436,3497,3375,0,0,0,0,0,0,27.10,27.31,27.24
$GC,2008,-0.95,-146.0,2531,2395,3499,3374,280.9,-13.0,201,2016,0.00,2.10,0.00,0.000,260,0.000,0.046,2523,3809,3435,3496,3374,0,0,0,0,0,0,27.46,27.21,27.53
$GC,2199,-0.95,-146.0,2524,3809,3497,3374,305.3,-14.0,207,2207,0.00,1.95,0.00,0.000,1030,0.000,0.026,2523,2402,3435,3496,3374,0,0,0,0,0,0,27.34,27.31,27.36
$GC,2511,-0.95,-146.0,2524,2401,3493,3376,346.6,-12.8,218,2518,0.00,2.10,0.00,0.000,260,0.000,0.047,2513,3809,3435,3492,3378,0,0,0,0,0,0,27.46,27.21,27.53
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2630,-0.19,0.0,2514,2506,3491,3376,363.0,-14.2,222,2757,0.77,0.00,113.18,1.025,10246,0.125,0.000,2769,2504,2841,2904,2779,0,0,0,0,1,0,27.05,25.64,24.89
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2759,0.72,146.0,2770,2506,2917,2779,370.6,0.0,226,2884,0.82,2.15,113.32,0.584,11012,0.069,0.046,3075,3841,2235,2290,2181,0,0,0,0,0,0,25.89,25.92,25.46
$GC,3108,0.74,297.7,3076,3842,2280,2171,372.7,3.0,238,3234,0.00,1.95,114.95,0.576,9222,0.000,0.027,3082,2465,1621,1679,1563,0,0,0,0,0,0,26.89,26.84,25.52
$GC,3528,0.83,304.2,3082,2465,1660,1539,337.2,9.7,252,3536,0.08,2.10,0.00,0.000,2820,0.138,0.047,3122,3847,1599,1659,1539,0,0,0,0,0,0,26.91,26.83,26.95
$GC,3604,0.83,304.2,3122,3847,1660,1539,330.0,11.2,254,3612,0.00,1.92,0.00,0.000,1030,0.000,0.028,3129,2492,1598,1658,1539,0,0,0,0,0,0,27.01,26.97,27.02
$GC,3910,0.83,306.5,3129,2491,1656,1538,295.3,9.9,264,3918,0.00,1.98,0.00,0.000,516,0.000,0.033,3137,1115,1595,1653,1537,0,0,0,0,0,0,27.24,27.05,27.33
$GC,4047,0.84,313.4,3138,1116,1654,1538,283.9,9.7,268,4062,0.00,2.03,3.85,0.454,9222,0.000,0.034,3137,2503,1560,1622,1498,0,0,0,0,0,0,27.15,27.08,26.32
$GC,4357,0.84,313.4,3138,2503,1644,1512,250.8,10.4,279,4365,0.00,2.03,0.00,0.000,260,0.000,0.050,3137,3849,1575,1644,1506,0,0,0,0,0,0,27.36,27.09,27.39
$GC,4473,0.84,313.4,3137,3850,1643,1511,237.3,12.8,288,4484,0.00,1.90,0.00,0.000,1030,0.000,0.029,3147,2495,1577,1643,1512,0,0,0,0,0,0,27.23,27.20,27.25
$GC,4779,0.84,313.4,3147,2495,1643,1511,197.9,12.6,319,4786,0.00,2.05,0.00,0.000,260,0.000,0.050,3147,3853,1576,1642,1511,0,0,0,0,0,0,27.38,27.14,27.45
$GC,5010,0.84,313.4,3147,3856,1641,1513,169.2,12.2,342,5019,0.08,1.90,0.00,0.000,5126,0.237,0.028,3137,2501,1576,1640,1512,0,0,0,0,0,0,27.02,27.24,27.17
$GC,5323,0.84,336.4,3138,2501,1640,1513,139.1,8.9,373,5360,0.00,2.08,27.15,0.455,8452,0.000,0.046,3136,3856,1455,1514,1396,0,0,0,0,0,0,27.41,26.86,26.42
$GC,5524,0.84,336.4,3138,3857,1505,1389,117.3,10.9,393,5532,0.00,1.92,0.00,0.000,1030,0.000,0.028,3139,2489,1446,1504,1388,0,0,0,0,0,0,27.14,27.10,27.16
$GC,5836,0.95,362.0,3139,2488,1505,1387,87.2,8.8,424,5864,0.00,2.00,19.90,0.429,8708,0.000,0.030,3149,1103,1358,1419,1297,0,0,0,0,0,0,27.33,26.72,26.45
$GC,6043,1.08,419.2,3149,1103,1407,1289,72.0,7.4,444,6102,0.10,2.03,46.05,0.408,11270,0.112,0.032,3200,2503,1118,1188,1048,0,0,0,0,0,0,27.01,27.05,26.22
$GC,6398,1.08,419.2,3199,2503,1179,1036,28.2,13.8,496,6409,0.00,2.03,0.00,0.000,260,0.000,0.047,3200,3853,1106,1178,1035,0,0,0,0,0,0,27.18,26.94,27.25
$GC,6503,1.08,419.2,3200,3854,1178,1037,12.5,15.1,516,6510,0.00,1.95,0.00,0.000,1030,0.000,0.026,3210,2494,1106,1177,1035,0,0,0,0,0,0,27.10,27.07,27.12
$STATE,6578,end climb,SURFACE_DEPTH_REACHED
$STATE,6578,begin surface coast
$FINISH,0.6,1.022632
$STATE,6588,end surface coast,CONTROL_FINISHED_OK
$STATE,6588,begin surface
$SM_CCo,6601,9.60,0.129,0,0,1002,450.37
$SM_GC,2.91,7.68,0.08,9.60,0.043,0.114,0.129,197,2401,1002,-8.20,2.23,450.37,0,0,0,0,0,0,27.04,27.13,26.83
$IRIDIUM_FIX,2101.76,-15811.92,111214,230159
$TT8_MAMPS,0.152047,0.152047
$HUMID,39.48
$INTERNAL_PRESSURE,9.2672
$TCM_TEMP,25.20
$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,6574.88 3518.99
$PA_BOOTCOUNT,105
$PA_DFQS,0/0
$PA_LOG,0.01/0.176/31.498/29.722
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.01/1.577/117.199/109.669
$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,24.89,4.716
$10V_AH,10.43,5.628
$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,18.725,56.150,438.400,9.600,0.000,0.000,0.000,0.000,0.000,0.000,7.967,0.000,4407.344,475.601,1735.736,32.838,0.000,1257.218,0.000,1193.469,0.000,0.558,0.000
$DEVICE_MAMPS,237.150,113.985,1025.100,129.285,0.000,0.000,0.000,0.000,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,354.649,0.000,0.000,0.000,0.000,0.000,6603.771,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,131.828,0.000,0.000,0.000
$MEM,270596
$DATA_FILE_SIZE,23491,533
$CAP_FILE_SIZE,92931,0
$CFSIZE,1024393216,1019576320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4443.44,0x236d6a,7,5
$INTR,1,2762.97,0x233740,1,24
$CURRENT,0.000,117.03,1
$GPS,121214,005507,2110.496,-15810.656,4,1.1,4,9.6,0.0,0.0,9,46.9