version: 66.12
glider: 203
mission: 8
dive: 4
start: 7 11 115 3 52 12
data:
$ID,203
$MISSION,8
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$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,563.75671
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$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,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,43
$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,0.0015
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$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,-62.66111
$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
$GPS1,110715,034607,5907.1455,-14734.2705,17,0.9,17,18.0,0.0,0.0,10,6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-64.6
$GPS2,110715,035201,5907.1113,-14734.2979,16,0.9,16,18.0,0.0,0.0,9,7.7
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,102.0,32141,-17.8,-10.000,-19.47,2615
$D_GRID,500
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,90,-0.94,-170.3,198,2810,609,466,0.0,0.0,0,172,0.00,0.00,-78.55,0.000,16386,0.000,0.000,198,2812,2746,2782,2710,0,0,0,0,0,0,27.09,28.83,27.17
$GC,174,-0.94,-170.3,199,2812,2784,2712,4.0,-7.5,13,205,7.95,2.08,-14.07,0.000,19204,0.228,0.042,2326,1405,3538,3602,3474,0,0,0,0,0,0,26.63,25.79,26.78
$GC,429,-0.89,-170.3,2324,1407,3602,3478,58.3,-18.2,59,444,0.08,2.03,0.00,0.000,3078,0.144,0.030,2345,2801,3539,3602,3477,0,0,0,0,0,0,26.86,27.02,26.95
$GC,739,-0.89,-170.3,2345,2800,3603,3477,112.5,-16.9,90,747,0.00,2.00,0.00,0.000,516,0.000,0.025,2344,1407,3540,3602,3478,0,0,0,0,0,0,27.27,27.10,27.34
$GC,970,-0.92,-170.3,2345,1407,3603,3478,147.8,-15.7,112,982,0.00,2.03,0.00,0.000,1030,0.000,0.030,2339,2805,3539,3602,3477,0,0,0,0,0,0,27.19,27.13,27.20
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1199,-0.19,0.0,2338,2955,3602,3479,180.6,-13.5,135,1343,0.70,0.00,130.25,1.187,10246,0.114,0.000,2571,2955,2840,2887,2793,0,0,0,0,1,0,27.01,25.20,24.44
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1345,0.94,170.3,2572,2952,2902,2792,187.7,0.0,149,1491,1.02,1.45,130.10,0.571,11012,0.063,0.044,2941,3850,2132,2172,2093,0,0,0,0,0,0,25.46,25.58,25.15
$GC,1717,1.04,306.7,2941,3850,2168,2081,185.4,4.6,186,1837,0.05,1.30,103.85,0.560,11270,0.077,0.028,2980,2949,1575,1621,1529,0,0,0,0,0,0,26.51,26.60,25.30
$GC,2133,1.01,306.7,2979,2949,1612,1512,144.3,11.3,228,2141,0.00,1.40,0.00,0.000,260,0.000,0.045,2980,3847,1559,1605,1513,0,0,0,0,0,0,26.80,26.63,26.89
$GC,2367,0.95,306.7,2980,3848,1611,1512,116.6,12.4,251,2376,0.05,1.27,0.00,0.000,5126,0.167,0.028,2970,2952,1560,1610,1511,0,0,0,0,0,0,26.69,26.88,26.78
$GC,2680,1.04,369.5,2970,2952,1608,1510,85.3,7.5,282,2748,0.00,2.10,57.28,0.509,8708,0.000,0.027,2971,1558,1324,1376,1273,0,0,0,0,0,0,27.14,26.32,25.89
$GC,2837,1.15,390.1,2972,1558,1364,1263,72.2,9.2,297,2867,0.10,2.10,18.55,0.501,11270,0.106,0.033,3018,2956,1240,1294,1187,0,0,0,0,0,0,26.54,26.58,25.93
$GC,3162,1.15,390.1,3018,2956,1285,1170,30.9,12.9,344,3174,0.00,2.05,0.00,0.000,516,0.000,0.027,3026,1554,1226,1283,1170,0,0,0,0,0,0,26.96,26.79,27.03
$GC,3344,1.33,480.4,3027,1556,1282,1171,15.3,6.5,379,3387,0.08,2.12,34.60,0.170,11270,0.067,0.033,3075,2954,876,948,805,0,0,0,0,0,0,26.84,26.88,26.56
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$FINISH,-0.3,1.023400
$STATE,3470,end surface coast,CONTROL_FINISHED_OK
$STATE,3470,begin surface
$SM_CCo,3484,35.20,0.142,0,0,536,563.94
$SM_GC,0.60,7.45,0.17,35.20,0.041,0.058,0.142,205,2797,536,-7.56,2.23,563.94,0,0,0,0,0,0,26.82,26.89,26.57
$IRIDIUM_FIX,5841.97,-14736.55,060508,171509
$TT8_MAMPS,0.161035,0.161035
$HUMID,43.26
$INTERNAL_PRESSURE,8.8394
$TCM_TEMP,18.00
$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,3487.45 2053.05
$PA_BOOTCOUNT,306
$PA_DFQS,0/0
$PA_LOG,0.01/0.246/31.498/29.652
$PA_DATA1,0.00/0.070/117.199/111.175
$PA_DATA0,0.01/1.358/117.199/109.887
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.183/27.046/25.489
$PA_DISK_BANK,1
$24V_AH,24.44,0.912
$10V_AH,10.27,1.932
$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,17.475,22.300,474.625,35.200,0.000,0.000,0.000,0.000,0.000,0.000,17.407,0.000,1900.825,522.032,1110.648,37.678,0.000,1029.734,0.000,745.710,0.000,0.550,0.000
$DEVICE_MAMPS,227.970,68.850,1186.515,142.290,0.000,0.000,0.000,0.000,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,268.616,0.000,0.000,0.000,0.000,0.000,3536.540,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,128.706,0.000,0.000,0.000
$MEM,187208
$DATA_FILE_SIZE,16811,403
$CAP_FILE_SIZE,58785,0
$CFSIZE,1024393216,996147200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$INTR,0,2559.26,0x236db2,7,5
$CURRENT,0.121,294.84,1
$GPS,110715,045127,5907.291,-14734.045,3,1.3,17,18.0,0.4,209.6,8,9.6