version: 66.12
glider: 203
mission: 6
dive: 107
start: 1 1 115 8 19 7
data:
$ID,203
$MISSION,6
$DIVE,107
$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,98
$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
$GPS1,010115,081429,1842.8944,-15816.8281,12,0.8,12,9.4,0.5,339.2,10,56.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-65.0
$GPS2,010115,081857,1842.9240,-15816.8125,7,0.8,7,9.4,0.0,0.0,11,32.7
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,76.8,130156,-17.4,-9.167,-19.15,2608
$D_GRID,389
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.90,-155.7,190,2769,1022,924,0.0,0.0,0,147,0.00,0.00,-42.97,0.000,16386,0.000,0.000,188,2766,2248,2267,2229,0,0,0,0,0,0,26.25,28.83,26.32
$GC,148,-0.90,-155.7,190,2770,2268,2231,3.4,-3.6,4,198,8.75,1.45,-21.75,0.000,18948,0.210,0.045,2500,1773,3244,3305,3184,0,0,0,0,0,0,25.95,24.85,26.19
$GC,380,-0.90,-155.7,2504,1774,3305,3187,54.5,-24.0,37,391,0.00,1.52,0.00,0.000,1030,0.000,0.034,2499,2804,3245,3306,3185,0,0,0,0,0,0,26.36,26.31,26.37
$GC,695,-0.90,-155.7,2499,2804,3306,3187,126.9,-20.3,68,706,0.00,1.58,0.00,0.000,260,0.000,0.042,2491,3856,3246,3305,3188,0,0,0,0,0,0,26.32,26.29,26.37
$GC,755,-0.90,-155.7,2492,3856,3307,3188,138.1,-20.5,73,768,0.10,1.48,0.00,0.000,3078,0.164,0.023,2508,2830,3246,3305,3188,0,0,0,0,0,0,26.20,26.39,26.34
$GC,1062,-0.90,-155.7,2512,2831,3306,3188,190.5,-18.0,104,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2830,3247,3305,3190,0,0,0,0,0,0,26.36,26.43,26.41
$GC,1362,-0.90,-155.7,2513,2830,3310,3190,240.4,-15.8,134,1369,0.00,1.55,0.00,0.000,260,0.000,0.044,2508,3852,3250,3309,3191,0,0,0,0,0,0,26.37,26.34,26.44
$GC,1458,-0.90,-155.7,2508,3851,3310,3191,253.7,-14.8,142,1467,0.00,1.50,0.00,0.000,1030,0.000,0.023,2508,2803,3250,3309,3192,0,0,0,0,0,0,26.43,26.41,26.44
$GC,1786,-0.90,-155.7,2504,2805,3310,3194,300.7,-12.5,153,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2803,3254,3316,3193,0,0,0,0,0,0,26.39,26.46,26.44
$GC,2086,-0.90,-155.7,2508,2803,3310,3192,337.7,-12.3,163,2093,0.00,1.60,0.00,0.000,260,0.000,0.046,2500,3850,3254,3316,3192,0,0,0,0,0,0,26.38,26.33,26.44
$GC,2127,-0.90,-155.7,2500,3850,3308,3192,342.3,-12.8,164,2134,0.00,1.50,0.00,0.000,1030,0.000,0.024,2500,2784,3251,3307,3196,0,0,0,0,0,0,26.45,26.41,26.46
$GC,2448,-0.90,-155.7,2500,2785,3303,3190,384.9,-12.8,175,2456,0.00,1.62,0.00,0.000,260,0.000,0.045,2493,3848,3247,3302,3192,0,0,0,0,0,0,26.37,26.34,26.44
$GC,2680,-0.90,-155.7,2492,3848,3301,3191,388.2,-0.1,182,2687,0.05,1.50,0.00,0.000,3078,0.097,0.025,2515,2813,3245,3300,3191,0,0,0,0,0,0,26.27,26.40,26.33
$STATE,2720,end dive,NO_VERTICAL_VELOCITY
$STATE,2720,begin apogee
$GC,2723,-0.19,0.0,2516,2953,3301,3193,388.2,0.0,184,2908,0.65,0.00,171.55,0.553,10244,0.080,0.000,2744,2953,2601,2658,2545,0,0,0,0,0,0,26.29,25.43,25.13
$STATE,2908,end apogee,CONTROL_FINISHED_OK
$STATE,2908,begin climb
$GC,2910,0.90,155.7,2745,2953,2658,2543,388.0,0.0,190,3038,0.90,1.58,116.88,0.624,10756,0.056,0.022,3097,1886,1968,2025,1911,0,0,0,0,0,0,25.69,25.72,24.97
$GC,3077,1.11,291.1,3098,1888,2013,1899,383.0,3.8,195,3192,0.17,1.62,104.88,0.616,11270,0.067,0.033,3182,2955,1421,1485,1357,0,0,0,0,0,0,25.79,25.79,24.98
$GC,3501,1.11,291.1,3181,2956,1460,1333,314.0,16.4,210,3508,0.00,1.55,0.00,0.000,516,0.000,0.021,3190,1906,1395,1460,1331,0,0,0,0,0,0,26.22,26.26,26.29
$GC,3542,1.11,291.1,3190,1906,1462,1331,309.2,15.8,211,3549,0.00,1.58,0.00,0.000,1030,0.000,0.033,3190,2934,1395,1460,1331,0,0,0,0,0,0,26.29,26.26,26.30
$GC,3863,1.11,291.1,3190,2935,1458,1329,260.2,15.4,222,3872,0.00,1.52,0.00,0.000,516,0.000,0.022,3198,1863,1392,1457,1328,0,0,0,0,0,0,26.34,26.36,26.41
$GC,3931,1.11,291.1,3199,1865,1458,1327,251.0,15.5,224,3938,0.00,1.62,0.00,0.000,1030,0.000,0.032,3198,2930,1392,1457,1327,0,0,0,0,0,0,26.37,26.35,26.41
$GC,4237,1.11,291.1,3198,2931,1453,1327,204.9,13.2,253,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2926,1388,1452,1325,0,0,0,0,0,0,26.36,26.44,26.43
$GC,4537,1.11,291.1,3198,2931,1451,1325,163.6,11.4,283,4546,0.00,1.45,0.00,0.000,260,0.000,0.043,3198,3860,1386,1450,1323,0,0,0,0,0,0,26.36,26.34,26.43
$GC,4695,1.11,291.1,3198,3861,1450,1324,142.6,16.9,298,4707,0.05,1.38,0.00,0.000,5126,0.152,0.024,3191,2893,1386,1449,1323,0,0,0,0,0,0,26.20,26.39,26.28
$GC,5001,1.11,291.1,3191,2895,1450,1323,100.6,9.9,329,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2894,1385,1449,1322,0,0,0,0,0,0,26.36,26.44,26.43
$GC,5301,1.11,291.1,3191,2893,1450,1322,74.9,11.2,359,5310,0.00,1.42,0.00,0.000,516,0.000,0.021,3195,1896,1385,1449,1322,0,0,0,0,0,0,26.36,26.39,26.44
$GC,5359,1.11,291.1,3196,1897,1450,1322,69.4,9.9,364,5371,0.00,1.50,0.00,0.000,1030,0.000,0.031,3196,2920,1385,1449,1322,0,0,0,0,0,0,26.41,26.36,26.43
$GC,5666,1.11,291.1,3196,2921,1450,1324,33.0,8.9,409,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2920,1385,1449,1322,0,0,0,0,0,0,26.36,26.44,26.44
$STATE,5960,end climb,SURFACE_DEPTH_REACHED
$STATE,5960,begin surface coast
$FINISH,1.2,1.021633
$STATE,5976,end surface coast,CONTROL_FINISHED_OK
$STATE,5976,begin surface
$SM_CCo,5990,39.30,0.121,0,0,975,400.08
$SM_GC,2.64,7.68,0.12,39.30,0.030,0.070,0.121,198,2774,975,-8.08,2.26,400.08,0,0,0,0,0,0,26.41,26.43,26.14
$IRIDIUM_FIX,1832.77,-15819.52,010115,055440
$TT8_MAMPS,0.059171,0.059171
$HUMID,35.94
$INTERNAL_PRESSURE,9.2207
$TCM_TEMP,25.30
$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,5994.26 2915.17
$PA_BOOTCOUNT,186
$PA_DFQS,0/0
$PA_LOG,0.01/0.208/31.498/29.690
$PA_DATA1,0.68/80.062/117.199/31.183
$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,24.85,31.246
$10V_AH,10.39,30.509
$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,18.350,30.875,393.300,39.300,0.000,0.000,0.000,195.825,0.000,6306.030,7.983,0.000,3903.846,446.788,1879.603,61.839,0.000,1323.118,0.000,914.863,0.000,0.556,0.000
$DEVICE_MAMPS,210.375,69.615,624.240,120.870,0.000,0.000,0.000,89.505,420.000,60.193,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,314.033,0.000,0.000,0.000,0.000,0.000,6306.081,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,287624
$DATA_FILE_SIZE,20136,470
$CAP_FILE_SIZE,96622,0
$CFSIZE,1024393216,1009319936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8420.78,0x236d6a,7,5
$CURRENT,0.000,249.62,1
$GPS,010115,100032,1843.043,-15815.441,38,0.8,38,9.4,0.5,69.5,10,7.4