version: 66.12
glider: 203
mission: 6
dive: 106
start: 1 1 115 5 58 46
data:
$ID,203
$MISSION,6
$DIVE,106
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,360
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,400
$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,2815
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,010115,055304,1842.4622,-15818.2305,23,0.8,23,9.4,0.0,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.0
$GPS2,010115,055835,1842.4930,-15818.1973,7,0.8,7,9.4,0.5,18.6,10,12.7
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,76.5,132632,-17.4,-9.167,-19.15,2608
$D_GRID,810
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.90,-155.7,190,2775,1027,923,0.0,0.0,0,146,0.00,0.00,-42.83,0.000,16386,0.000,0.000,189,2775,2246,2264,2228,0,0,0,0,0,0,26.11,28.83,26.18
$GC,147,-0.90,-155.7,190,2776,2266,2230,3.3,-3.4,4,197,8.77,1.42,-22.52,0.000,18948,0.210,0.041,2503,1765,3245,3305,3186,0,0,0,0,0,0,25.80,25.41,26.05
$GC,337,-0.90,-155.7,2503,1765,3306,3187,43.9,-24.7,31,355,0.00,1.55,0.00,0.000,1030,0.000,0.034,2498,2802,3247,3306,3188,0,0,0,0,0,0,26.22,26.17,26.24
$GC,661,-0.90,-155.7,2498,2802,3306,3190,122.8,-21.9,63,672,0.00,1.62,0.00,0.000,260,0.000,0.045,2490,3846,3249,3309,3190,0,0,0,0,0,0,26.24,26.19,26.29
$GC,761,-0.90,-155.7,2490,3847,3306,3193,145.0,-23.4,72,772,0.10,1.48,0.00,0.000,3078,0.164,0.024,2511,2827,3247,3305,3189,0,0,0,0,0,0,26.08,26.28,26.22
$GC,1067,-0.90,-155.7,2511,2829,3310,3193,198.3,-14.9,103,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2827,3250,3309,3192,0,0,0,0,0,0,26.27,26.34,26.33
$GC,1367,-0.90,-155.7,2512,2828,3310,3195,245.2,-14.6,133,1375,0.00,1.62,0.00,0.000,260,0.000,0.046,2507,3856,3251,3309,3193,0,0,0,0,0,0,26.28,26.24,26.34
$GC,1398,-0.90,-155.7,2508,3856,3316,3193,249.5,-13.2,136,1407,0.00,1.50,0.00,0.000,1030,0.000,0.024,2507,2822,3251,3309,3194,0,0,0,0,0,0,26.35,26.32,26.35
$GC,1711,-0.90,-155.7,2507,2825,3311,3195,290.8,-13.0,147,1721,0.00,1.58,0.00,0.000,260,0.000,0.046,2499,3852,3251,3310,3193,0,0,0,0,0,0,26.29,26.25,26.35
$GC,1814,-0.90,-155.7,2499,3850,3311,3194,304.0,-13.9,150,1823,0.00,1.48,0.00,0.000,1030,0.000,0.024,2499,2833,3251,3310,3193,0,0,0,0,0,0,26.37,26.33,26.38
$GC,2138,-0.90,-155.7,2499,2834,3310,3194,347.7,-12.4,161,2145,0.00,1.52,0.00,0.000,516,0.000,0.023,2499,1754,3251,3309,3193,0,0,0,0,0,0,26.34,26.32,26.35
$GC,2258,-0.90,-155.7,2498,1755,3307,3194,362.8,-12.4,165,2266,0.08,1.65,0.00,0.000,3078,0.186,0.035,2507,2845,3250,3307,3193,0,0,0,0,0,0,26.14,26.28,26.27
$GC,2590,-0.90,-155.7,2507,2846,3303,3194,400.4,-10.8,176,2597,0.00,1.52,0.00,0.000,260,0.000,0.047,2502,3851,3247,3302,3193,0,0,0,0,0,0,26.29,26.24,26.35
$GC,2690,-0.90,-155.7,2502,3852,3303,3192,411.3,-11.7,179,2697,0.00,1.50,0.00,0.000,1030,0.000,0.025,2503,2794,3247,3301,3193,0,0,0,0,0,0,26.34,26.31,26.36
$GC,3012,-0.90,-155.7,2503,2795,3299,3194,432.4,0.0,190,3021,0.00,1.50,0.00,0.000,516,0.000,0.022,2503,1728,3245,3299,3192,0,0,0,0,0,0,26.28,26.30,26.35
$STATE,3104,end dive,NO_VERTICAL_VELOCITY
$STATE,3104,begin apogee
$GC,3109,-0.19,0.0,2501,2947,3297,3193,432.4,0.0,193,3236,0.70,0.00,120.72,0.673,10244,0.076,0.000,2746,2947,2607,2663,2551,0,0,0,0,0,0,26.18,25.43,24.94
$STATE,3237,end apogee,CONTROL_FINISHED_OK
$STATE,3237,begin climb
$GC,3238,0.90,155.7,2746,2947,2656,2544,432.3,0.0,197,3368,0.90,1.48,117.80,0.662,10500,0.060,0.048,3090,3847,1965,2022,1909,0,0,0,0,0,0,25.53,25.53,24.82
$GC,3592,0.90,155.7,3091,3848,2010,1894,405.9,10.0,209,3600,0.00,1.30,0.00,0.000,1030,0.000,0.024,3097,2949,1950,2008,1893,0,0,0,0,0,0,26.10,26.08,26.12
$GC,3920,0.90,155.7,3096,2949,2007,1890,375.2,9.0,220,3927,0.00,1.52,0.00,0.000,516,0.000,0.021,3106,1902,1948,2006,1890,0,0,0,0,0,0,26.24,26.27,26.31
$GC,4036,0.92,155.7,3106,1904,2005,1891,367.5,8.5,223,4047,0.00,1.58,0.00,0.000,1030,0.000,0.033,3106,2954,1946,2004,1889,0,0,0,0,0,0,26.29,26.24,26.31
$GC,4341,0.92,155.7,3105,2955,2002,1890,340.5,9.6,234,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2954,1944,2001,1888,0,0,0,0,0,0,26.28,26.35,26.34
$GC,4641,0.92,155.7,3106,2955,2000,1889,311.2,9.8,244,4648,0.00,1.52,0.00,0.000,516,0.000,0.022,3114,1890,1943,1999,1888,0,0,0,0,0,0,26.28,26.31,26.35
$GC,4797,0.93,155.7,3114,1890,1995,1889,298.3,8.4,249,4807,0.00,1.60,0.00,0.000,1030,0.000,0.034,3114,2930,1943,1998,1888,0,0,0,0,0,0,26.29,26.27,26.32
$GC,5127,1.01,207.5,3114,2930,1998,1887,272.9,7.1,260,5173,0.00,1.42,38.10,0.594,8452,0.000,0.043,3114,3857,1755,1811,1699,0,0,0,0,0,0,26.27,25.71,25.37
$GC,5251,1.01,207.5,3114,3858,1797,1686,261.6,9.3,264,5260,0.00,1.33,0.00,0.000,1030,0.000,0.026,3121,2952,1740,1796,1685,0,0,0,0,0,0,26.12,26.10,26.11
$GC,5559,1.03,207.5,3122,2952,1794,1681,233.0,7.9,287,5566,0.00,1.45,0.00,0.000,260,0.000,0.045,3121,3859,1737,1793,1682,0,0,0,0,0,0,26.22,26.20,26.29
$GC,5685,1.06,207.5,3122,3860,1793,1682,224.2,7.6,299,5696,0.00,1.30,0.00,0.000,1030,0.000,0.025,3124,2961,1737,1793,1681,0,0,0,0,0,0,26.32,26.29,26.33
$GC,5990,1.10,207.5,3125,2962,1793,1680,199.0,7.4,330,5998,0.10,1.50,0.00,0.000,2564,0.101,0.019,3188,1891,1735,1792,1679,0,0,0,0,0,0,26.22,26.31,26.29
$GC,6063,1.12,207.5,3188,1891,1793,1679,193.5,8.0,337,6070,0.00,1.62,0.00,0.000,1030,0.000,0.034,3189,2973,1735,1791,1679,0,0,0,0,0,0,26.31,26.26,26.32
$GC,6374,1.12,207.5,3187,2973,1791,1679,161.2,9.9,368,6381,0.00,1.38,0.00,0.000,260,0.000,0.044,3188,3852,1734,1790,1679,0,0,0,0,0,0,26.29,26.25,26.36
$GC,6605,1.14,207.5,3189,3852,1790,1679,139.0,8.4,391,6615,0.00,1.25,0.00,0.000,1030,0.000,0.025,3195,2983,1734,1789,1679,0,0,0,0,0,0,26.33,26.29,26.34
$GC,6919,1.16,207.5,3195,2984,1789,1681,111.9,8.1,422,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2983,1734,1789,1679,0,0,0,0,0,0,26.29,26.36,26.35
$GC,7219,1.25,266.7,3195,2984,1790,1681,92.6,6.8,452,7274,0.00,1.33,44.97,0.451,8452,0.000,0.042,3195,3856,1511,1572,1450,0,0,0,0,0,0,26.29,25.94,25.51
$GC,7497,1.25,266.7,3195,3857,1562,1440,63.8,12.7,479,7510,0.00,1.27,0.00,0.000,1030,0.000,0.024,3202,2962,1500,1561,1440,0,0,0,0,0,0,26.26,26.24,26.27
$GC,7804,1.25,266.7,3203,2963,1562,1441,28.1,13.4,529,7814,0.00,1.40,0.00,0.000,260,0.000,0.042,3202,3856,1500,1561,1439,0,0,0,0,0,0,26.28,26.26,26.35
$STATE,8037,end climb,SURFACE_DEPTH_REACHED
$STATE,8037,begin surface coast
$FINISH,1.2,1.014350
$STATE,8047,end surface coast,CONTROL_FINISHED_OK
$STATE,8047,begin surface
$SM_CCo,8063,49.88,0.120,0,0,974,400.08
$SM_GC,2.69,7.78,1.55,49.88,0.033,0.021,0.120,195,2773,974,-8.10,2.26,400.08,0,0,0,0,0,0,26.33,26.39,26.06
$IRIDIUM_FIX,1832.77,-15821.64,010115,004517
$TT8_MAMPS,0.056924,0.056924
$HUMID,35.43
$INTERNAL_PRESSURE,9.2114
$TCM_TEMP,25.50
$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,8075.98 3855.32
$PA_BOOTCOUNT,185
$PA_DFQS,0/0
$PA_LOG,0.01/0.208/31.498/29.690
$PA_DATA1,0.68/79.316/117.199/31.929
$PA_DATA0,0.92/107.809/117.199/3.437
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.190/27.046/25.483
$PA_DISK_BANK,0
$24V_AH,24.82,31.071
$10V_AH,10.33,30.469
$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,18.425,47.675,321.600,49.875,0.000,0.000,0.000,239.800,0.000,8430.980,7.975,0.000,5527.103,405.754,2417.769,76.501,0.000,1528.117,0.000,1260.630,0.000,0.555,0.000
$DEVICE_MAMPS,209.610,48.195,673.200,120.105,0.000,0.000,0.000,102.510,420.000,60.882,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,386.597,0.000,0.000,0.000,0.000,0.000,8431.240,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,287540
$DATA_FILE_SIZE,23431,577
$CAP_FILE_SIZE,125701,0
$CFSIZE,1024393216,1009385472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18577.85,0x236d6a,7,5
$CURRENT,0.000,246.55,1
$GPS,010115,081429,1842.894,-15816.828,12,0.8,12,9.4,0.5,339.2,10,56.9