version: 66.12
glider: 203
mission: 6
dive: 117
start: 1 3 115 1 48 57
data:
$ID,203
$MISSION,6
$DIVE,117
$N_DIVES,0
$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,-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,84
$R_STBD_OVSHOOT,39
$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
$GPS1,030115,014234,1839.2948,-15748.8828,37,0.8,37,9.4,0.0,0.0,11,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-62.2
$GPS2,030115,014846,1839.3481,-15748.8262,7,0.7,7,9.4,0.7,80.7,12,11.6
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,69.9,82230,-18.6,-10.000,-20.21,2392
$D_GRID,1020
$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,-0.95,-155.7,194,2789,1028,918,0.0,0.0,0,129,0.00,0.00,-34.42,0.000,16386,0.000,0.000,194,2789,1976,1998,1954,0,0,0,0,0,0,26.12,28.83,26.19
$GC,131,-0.95,-155.7,195,2790,1998,1956,3.0,-3.6,5,185,8.70,1.70,-37.42,0.000,18692,0.207,0.062,2488,3855,3244,3302,3187,0,0,0,0,0,0,25.77,24.64,26.02
$GC,409,-0.95,-155.7,2488,3857,3302,3190,64.0,-27.1,52,421,0.00,1.50,0.00,0.000,1030,0.000,0.022,2487,2782,3246,3302,3190,0,0,0,0,0,0,26.21,26.19,26.22
$GC,715,-0.95,-155.7,2488,2782,3304,3190,143.4,-24.2,83,724,0.00,1.67,0.00,0.000,260,0.000,0.042,2480,3852,3247,3304,3190,0,0,0,0,0,0,26.25,26.19,26.30
$GC,818,-0.95,-155.7,2479,3852,3305,3191,167.1,-22.5,93,827,0.00,1.50,0.00,0.000,1030,0.000,0.022,2480,2773,3247,3304,3191,0,0,0,0,0,0,26.32,26.26,26.32
$GC,1131,-0.95,-155.7,2480,2772,3308,3191,222.4,-15.9,124,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2773,3249,3307,3192,0,0,0,0,0,0,26.27,26.34,26.33
$GC,1431,-0.95,-155.7,2481,2773,3309,3193,269.5,-16.0,146,1440,0.00,1.67,0.00,0.000,260,0.000,0.042,2472,3846,3250,3308,3193,0,0,0,0,0,0,26.27,26.22,26.34
$GC,1594,-0.95,-155.7,2472,3847,3312,3195,294.4,-16.1,151,1601,0.10,1.50,0.00,0.000,3078,0.160,0.022,2494,2772,3251,3308,3194,0,0,0,0,0,0,26.10,26.31,26.23
$GC,1916,-0.95,-155.7,2494,2773,3309,3195,339.1,-13.5,162,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2772,3250,3308,3193,0,0,0,0,0,0,26.29,26.36,26.36
$STATE,2094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2094,begin apogee
$GC,2097,-0.19,0.0,2494,2953,3306,3194,362.9,-13.0,168,2235,0.75,0.00,125.22,1.047,10244,0.111,0.000,2737,2952,2608,2663,2553,0,0,0,0,1,0,26.08,25.09,24.39
$STATE,2235,end apogee,CONTROL_FINISHED_OK
$STATE,2235,begin climb
$GC,2237,0.95,155.7,2738,2953,2681,2555,367.7,0.0,172,2371,1.00,1.48,120.97,0.603,10500,0.068,0.047,3105,3845,1967,2025,1910,0,0,0,0,0,0,25.27,25.27,24.77
$GC,2380,1.18,306.3,3105,3846,2021,1906,363.9,3.5,177,2507,0.15,1.33,118.35,0.592,11270,0.044,0.023,3218,2952,1358,1423,1293,0,0,0,0,0,0,25.44,25.44,24.77
$GC,2817,1.18,306.3,3218,2953,1403,1274,282.7,19.0,192,2824,0.00,1.55,0.00,0.000,516,0.000,0.021,3225,1894,1337,1402,1272,0,0,0,0,0,0,26.11,26.15,26.17
$GC,2918,1.18,306.3,3226,1895,1402,1273,265.9,18.4,195,2925,0.10,1.58,0.00,0.000,5126,0.168,0.032,3204,2951,1337,1402,1272,0,0,0,0,0,0,26.02,26.18,26.18
$GC,3230,1.18,306.3,3204,2952,1400,1270,213.1,15.6,219,3237,0.00,1.40,0.00,0.000,260,0.000,0.042,3204,3851,1334,1399,1269,0,0,0,0,0,0,26.27,26.25,26.34
$GC,3266,1.18,306.3,3203,3850,1398,1268,207.2,18.1,222,3277,0.00,1.30,0.00,0.000,1030,0.000,0.024,3210,2941,1333,1398,1268,0,0,0,0,0,0,26.32,26.31,26.34
$GC,3571,1.18,306.3,3210,2941,1396,1266,156.6,14.9,253,3579,0.00,1.42,0.00,0.000,260,0.000,0.043,3210,3846,1330,1395,1266,0,0,0,0,0,0,26.29,26.27,26.36
$GC,3593,1.18,306.3,3209,3847,1396,1267,153.2,15.5,255,3600,0.00,1.27,0.00,0.000,1030,0.000,0.024,3217,2954,1329,1394,1265,0,0,0,0,0,0,26.35,26.33,26.36
$GC,3904,1.18,306.3,3217,2954,1394,1264,108.4,16.0,286,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2954,1329,1393,1266,0,0,0,0,0,0,26.31,26.37,26.36
$GC,4204,1.18,306.3,3217,2955,1393,1266,70.1,12.7,316,4211,0.00,1.40,0.00,0.000,260,0.000,0.043,3217,3845,1328,1393,1264,0,0,0,0,0,0,26.31,26.27,26.37
$GC,4260,1.18,306.3,3217,3846,1393,1264,63.2,13.2,321,4273,0.05,1.27,0.00,0.000,5126,0.153,0.023,3208,2940,1328,1392,1264,0,0,0,0,0,0,26.15,26.36,26.23
$GC,4568,1.18,306.3,3208,2940,1393,1264,23.1,12.4,372,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2940,1328,1392,1264,0,0,0,0,0,0,26.32,26.39,26.39
$STATE,4731,end climb,SURFACE_DEPTH_REACHED
$STATE,4731,begin surface coast
$FINISH,1.2,1.023171
$STATE,4746,end surface coast,CONTROL_FINISHED_OK
$STATE,4747,begin surface
$SM_CCo,4760,34.65,0.122,0,0,974,400.08
$SM_GC,2.25,7.70,0.12,34.65,0.028,0.070,0.122,194,2790,974,-8.08,2.60,400.08,0,0,0,0,0,0,26.35,26.36,26.08
$IRIDIUM_FIX,1830.49,-15752.05,020115,203505
$TT8_MAMPS,0.059171,0.059171
$HUMID,36.45
$INTERNAL_PRESSURE,9.2021
$TCM_TEMP,25.00
$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,4761.90 2589.38
$PA_BOOTCOUNT,196
$PA_DFQS,0/0
$PA_LOG,0.01/0.212/31.498/29.686
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.15/17.549/117.199/93.696
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.192/27.046/25.481
$PA_DISK_BANK,1
$24V_AH,24.39,34.838
$10V_AH,10.31,31.153
$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,18.550,23.950,364.550,34.650,0.000,0.000,0.000,283.925,0.000,5196.371,8.025,0.000,3157.655,426.762,1499.370,68.946,0.000,1251.769,0.000,770.997,0.000,0.555,0.000
$DEVICE_MAMPS,207.315,69.615,1047.285,121.635,0.000,0.000,0.000,97.155,420.000,60.545,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,271.521,0.000,0.000,0.000,0.000,0.000,5196.391,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,287992
$DATA_FILE_SIZE,16816,408
$CAP_FILE_SIZE,77954,0
$CFSIZE,1024393216,1008254976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,18557.17,0x236d6a,7,5
$CURRENT,0.000,278.84,1
$GPS,030115,030915,1839.294,-15747.710,5,0.9,5,9.4,0.5,36.0,10,19.1