version: 66.12
glider: 203
mission: 6
dive: 108
start: 1 1 115 10 4 49
data:
$ID,203
$MISSION,6
$DIVE,108
$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,101
$R_STBD_OVSHOOT,42
$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
$GPS1,010115,100032,1843.0435,-15815.4414,38,0.8,38,9.4,0.5,69.5,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.7
$GPS2,010115,100439,1843.0627,-15815.4326,7,0.9,7,9.4,0.8,133.7,9,11.9
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,76.8,127725,-17.4,-9.167,-19.15,2608
$D_GRID,394
$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,-155.7,193,2773,1026,927,0.0,0.0,0,147,0.00,0.00,-43.03,0.000,16386,0.000,0.000,192,2773,2251,2266,2236,0,0,0,0,0,0,26.32,28.83,26.39
$GC,148,-0.90,-155.7,193,2774,2268,2237,3.2,-3.5,4,199,8.77,1.42,-22.00,0.000,18948,0.213,0.042,2505,1774,3244,3304,3185,0,0,0,0,0,0,26.01,24.91,26.26
$GC,428,-0.90,-155.7,2505,1775,3305,3188,63.4,-23.0,41,446,0.00,1.52,0.00,0.000,1030,0.000,0.033,2500,2812,3245,3304,3187,0,0,0,0,0,0,26.44,26.39,26.44
$GC,744,-0.90,-155.7,2501,2812,3305,3188,138.8,-19.7,72,753,0.00,1.60,0.00,0.000,260,0.000,0.044,2492,3849,3246,3304,3188,0,0,0,0,0,0,26.41,26.38,26.48
$GC,817,-0.90,-155.7,2492,3849,3305,3189,154.4,-20.6,79,824,0.05,1.45,0.00,0.000,3078,0.146,0.023,2517,2836,3247,3304,3190,0,0,0,0,0,0,26.26,26.46,26.39
$GC,1128,-0.90,-155.7,2517,2836,3309,3191,207.7,-17.5,110,1135,0.00,1.52,0.00,0.000,260,0.000,0.044,2512,3848,3249,3308,3191,0,0,0,0,0,0,26.42,26.39,26.48
$GC,1229,-0.90,-155.7,2512,3847,3309,3199,225.4,-17.2,120,1236,0.00,1.48,0.00,0.000,1030,0.000,0.023,2512,2814,3249,3307,3192,0,0,0,0,0,0,26.49,26.46,26.50
$GC,1550,-0.90,-155.7,2512,2813,3310,3193,271.2,-13.3,142,1557,0.00,1.60,0.00,0.000,260,0.000,0.044,2504,3840,3251,3309,3193,0,0,0,0,0,0,26.42,26.39,26.48
$GC,1646,-0.90,-155.7,2504,3842,3310,3194,283.9,-13.7,145,1653,0.00,1.45,0.00,0.000,1030,0.000,0.024,2504,2829,3251,3309,3193,0,0,0,0,0,0,26.48,26.47,26.49
$GC,1972,-0.90,-155.7,2504,2829,3310,3193,325.9,-13.0,156,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2829,3251,3309,3193,0,0,0,0,0,0,26.42,26.53,26.48
$GC,2272,-0.90,-155.7,2505,2829,3306,3192,367.1,-13.1,166,2279,0.00,1.55,0.00,0.000,260,0.000,0.047,2498,3846,3248,3304,3192,0,0,0,0,0,0,26.41,26.37,26.48
$GC,2349,-0.90,-155.7,2497,3846,3305,3192,375.7,-13.2,168,2356,0.00,1.48,0.00,0.000,1030,0.000,0.024,2498,2824,3247,3304,3191,0,0,0,0,0,0,26.49,26.46,26.50
$STATE,2634,end dive,NO_VERTICAL_VELOCITY
$STATE,2634,begin apogee
$GC,2638,-0.19,0.0,2498,2954,3301,3194,381.9,0.0,178,2779,0.73,0.00,127.03,1.074,10244,0.105,0.000,2736,2949,2608,2664,2552,0,0,0,0,1,0,26.21,25.25,24.54
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2781,0.90,155.7,2736,2950,2678,2555,381.8,0.0,182,2910,1.02,0.00,119.70,0.624,11270,0.088,0.000,3087,2949,1970,2029,1912,0,0,0,0,0,0,25.40,25.44,24.98
$GC,3205,0.92,155.7,3087,2950,2018,1900,353.1,8.4,197,3213,0.00,1.50,0.00,0.000,516,0.000,0.021,3095,1882,1957,2016,1899,0,0,0,0,0,0,26.26,26.30,26.32
$GC,3377,0.93,155.7,3096,1883,2015,1901,340.3,8.5,202,3386,0.00,1.58,0.00,0.000,1030,0.000,0.034,3095,2940,1959,2014,1905,0,0,0,0,0,0,26.40,26.34,26.42
$GC,3690,1.02,214.1,3095,2940,2014,1897,314.1,6.9,213,3743,0.10,1.40,43.25,0.616,10500,0.096,0.043,3150,3857,1727,1786,1669,0,0,0,0,0,0,26.37,25.77,25.44
$GC,3817,1.02,214.1,3150,3857,1779,1663,302.6,9.4,217,3825,0.00,1.33,0.00,0.000,1030,0.000,0.024,3150,2925,1720,1777,1663,0,0,0,0,0,0,26.22,26.19,26.23
$GC,4145,1.02,214.1,3151,2926,1775,1660,268.5,9.3,228,4152,0.00,1.48,0.00,0.000,260,0.000,0.045,3150,3856,1716,1774,1659,0,0,0,0,0,0,26.36,26.34,26.43
$GC,4190,1.02,214.1,3149,3856,1775,1658,264.6,10.1,229,4199,0.00,1.27,0.00,0.000,1030,0.000,0.024,3150,2962,1716,1773,1659,0,0,0,0,0,0,26.43,26.40,26.44
$GC,4498,1.02,214.1,3150,2962,1773,1656,230.2,10.6,251,4507,0.00,1.52,0.00,0.000,516,0.000,0.022,3150,1884,1714,1771,1657,0,0,0,0,0,0,26.39,26.42,26.46
$GC,4681,1.02,214.1,3150,1884,1771,1656,213.3,9.5,269,4689,0.00,1.58,0.00,0.000,1030,0.000,0.034,3150,2947,1713,1770,1656,0,0,0,0,0,0,26.44,26.39,26.46
$GC,4993,1.02,214.1,3150,2949,1770,1656,183.2,10.8,300,5002,0.00,1.42,0.00,0.000,260,0.000,0.045,3150,3860,1711,1768,1654,0,0,0,0,0,0,26.39,26.39,26.46
$GC,5226,1.02,214.1,3150,3861,1768,1655,157.3,9.2,323,5234,0.00,1.27,0.00,0.000,1030,0.000,0.024,3150,2962,1710,1767,1654,0,0,0,0,0,0,26.48,26.42,26.46
$GC,5538,1.11,277.0,3150,2962,1769,1654,133.1,6.7,354,5593,0.00,1.58,44.92,0.497,8708,0.000,0.021,3150,1903,1472,1533,1411,0,0,0,0,0,0,26.39,26.00,25.58
$GC,5677,1.15,277.0,3150,1903,1527,1404,123.2,7.2,367,5687,0.05,1.60,0.00,0.000,3078,0.166,0.033,3200,2974,1464,1525,1404,0,0,0,0,0,0,26.13,26.20,26.21
$GC,5982,1.15,277.0,3200,2975,1525,1402,89.6,10.3,398,5990,0.00,1.38,0.00,0.000,260,0.000,0.044,3200,3858,1462,1524,1401,0,0,0,0,0,0,26.35,26.33,26.41
$GC,6214,1.15,277.0,3200,3860,1524,1403,61.3,13.0,421,6221,0.00,1.23,0.00,0.000,1030,0.000,0.024,3209,2989,1462,1524,1401,0,0,0,0,0,0,26.41,26.38,26.42
$GC,6521,1.15,277.0,3207,2989,1525,1402,23.5,12.3,472,6528,0.00,1.55,0.00,0.000,516,0.000,0.021,3215,1908,1462,1524,1401,0,0,0,0,0,0,26.40,26.43,26.47
$GC,6587,1.15,277.0,3215,1908,1525,1401,16.2,10.3,485,6594,0.00,1.65,0.00,0.000,1030,0.000,0.032,3215,2990,1462,1524,1401,0,0,0,0,0,0,26.44,26.41,26.46
$STATE,6712,end climb,SURFACE_DEPTH_REACHED
$STATE,6712,begin surface coast
$FINISH,1.1,1.002534
$STATE,6727,end surface coast,CONTROL_FINISHED_OK
$STATE,6727,begin surface
$SM_CCo,6741,46.40,0.121,0,0,977,400.08
$SM_GC,2.75,7.68,0.22,46.40,0.027,0.047,0.121,192,2783,977,-8.09,2.35,400.08,0,0,0,0,0,0,26.45,26.48,26.17
$IRIDIUM_FIX,1835.04,-15816.57,010115,081555
$TT8_MAMPS,0.05243,0.05243
$HUMID,36.49
$INTERNAL_PRESSURE,9.2393
$TCM_TEMP,25.40
$XPDR_PINGS,1
$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,6751.27 3248.79
$PA_BOOTCOUNT,187
$PA_DFQS,0/0
$PA_LOG,0.01/0.208/31.498/29.689
$PA_DATA1,0.69/80.935/117.199/30.310
$PA_DATA0,0.92/107.809/117.199/3.437
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.190/27.046/25.482
$PA_DISK_BANK,0
$24V_AH,24.54,31.443
$10V_AH,10.40,30.552
$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,18.400,38.825,334.900,46.400,0.000,0.000,0.000,180.225,0.250,7048.710,7.929,0.000,4507.420,400.773,2058.027,65.470,0.000,1337.831,0.000,1063.252,0.000,0.557,0.000
$DEVICE_MAMPS,213.435,72.675,1074.060,120.870,0.000,0.000,0.000,87.975,420.000,60.498,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,343.098,0.000,0.000,0.000,0.000,0.000,7048.771,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,287548
$DATA_FILE_SIZE,20144,513
$CAP_FILE_SIZE,107838,0
$CFSIZE,1024393216,1009221632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,6341.34,0x236d6a,7,5
$CURRENT,0.000,271.13,1
$GPS,010115,115819,1843.028,-15814.141,5,0.8,5,9.4,0.0,323.0,9,57.1