version: 66.12
glider: 203
mission: 6
dive: 34
start: 12 17 114 10 20 49
data:
$ID,203
$MISSION,6
$DIVE,34
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,79
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,171214,101335,2013.6488,-15751.7920,40,1.5,40,9.6,0.0,0.0,7,30.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-63.4
$GPS2,171214,102039,2013.6401,-15751.7852,7,0.9,7,9.6,0.8,270.5,9,20.2
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,H2
$TGT_LATLONG,2002.880,-15801.350
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,210.3,25962,-17.8,-10.000,-19.47,2615
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,93,-0.94,-170.3,185,2788,1024,919,0.0,0.0,0,135,0.00,0.00,-39.45,0.000,16386,0.000,0.000,184,2788,2149,2178,2120,0,0,0,0,0,0,26.87,28.83,26.95
$GC,136,-0.94,-170.3,185,2787,2173,2125,3.1,-3.8,6,178,8.50,1.50,-29.45,0.000,18948,0.216,0.047,2490,1764,3305,3362,3248,0,0,0,0,0,0,26.47,25.72,26.68
$GC,402,-0.94,-170.3,2490,1760,3364,3249,59.3,-23.6,55,411,0.00,1.50,0.00,0.000,1030,0.000,0.035,2486,2803,3305,3363,3248,0,0,0,0,0,0,26.89,26.84,26.91
$GC,715,-0.94,-170.3,2486,2803,3364,3250,134.2,-21.0,86,722,0.00,1.50,0.00,0.000,516,0.000,0.024,2485,1759,3306,3363,3250,0,0,0,0,0,0,27.13,26.98,27.20
$GC,786,-0.94,-170.3,2485,1760,3363,3252,148.8,-20.6,93,793,0.08,1.50,0.00,0.000,3078,0.203,0.035,2493,2801,3306,3363,3250,0,0,0,0,0,0,26.84,26.96,26.97
$GC,1097,-0.94,-170.3,2493,2800,3368,3252,206.9,-17.3,124,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2799,3309,3366,3252,0,0,0,0,0,0,27.22,27.29,27.28
$GC,1397,-0.94,-170.3,2493,2801,3368,3253,255.9,-15.0,152,1404,0.00,1.55,0.00,0.000,260,0.000,0.047,2488,3858,3310,3368,3252,0,0,0,0,0,0,27.27,27.05,27.32
$GC,1438,-0.94,-170.3,2488,3860,3369,3253,260.6,-15.3,153,1444,0.00,1.50,0.00,0.000,1030,0.000,0.025,2488,2766,3310,3368,3253,0,0,0,0,0,0,27.17,27.14,27.18
$GC,1758,-0.94,-170.3,2487,2765,3368,3253,310.9,-14.9,164,1766,0.00,1.65,0.00,0.000,260,0.000,0.046,2480,3851,3310,3368,3253,0,0,0,0,0,0,27.29,27.10,27.36
$GC,1904,-0.94,-170.3,2481,3851,3369,3253,330.4,-16.3,168,1915,0.08,1.48,0.00,0.000,3078,0.196,0.025,2495,2797,3310,3368,3253,0,0,0,0,0,0,27.02,27.18,27.14
$GC,2210,-0.94,-170.3,2494,2797,3368,3250,375.6,-13.6,179,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2797,3310,3367,3253,0,0,0,0,0,0,27.32,27.41,27.39
$GC,2510,-0.94,-170.3,2495,2798,3364,3254,416.4,-13.5,189,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2797,3307,3363,3252,0,0,0,0,0,0,27.34,27.42,27.41
$GC,2809,-0.94,-170.3,2495,2797,3360,3252,459.8,-14.5,199,2816,0.00,1.58,0.00,0.000,260,0.000,0.050,2489,3857,3305,3358,3252,0,0,0,0,0,0,27.35,27.15,27.42
$GC,2875,-0.94,-170.3,2490,3852,3358,3252,469.2,-15.0,201,2882,0.00,1.48,0.00,0.000,1030,0.000,0.027,2489,2806,3304,3356,3252,0,0,0,0,0,0,27.28,27.23,27.29
$GC,3201,-0.94,-170.3,2489,2808,3354,3251,518.0,-14.3,212,3208,0.00,1.48,0.00,0.000,516,0.000,0.025,2488,1756,3301,3353,3250,0,0,0,0,0,0,27.36,27.22,27.43
$GC,3252,-0.94,-170.3,2489,1757,3353,3251,522.2,-14.0,213,3259,0.00,1.52,0.00,0.000,1030,0.000,0.039,2484,2805,3301,3353,3250,0,0,0,0,0,0,27.24,27.18,27.26
$GC,3562,-0.94,-170.3,2483,2805,3351,3247,565.1,-12.6,224,3569,0.00,1.55,0.00,0.000,260,0.000,0.052,2484,3852,3298,3350,3247,0,0,0,0,0,0,27.36,27.16,27.44
$GC,3618,-0.94,-170.3,2484,3853,3351,3247,569.0,-12.6,225,3628,0.00,1.50,0.00,0.000,1030,0.000,0.028,2483,2765,3297,3350,3245,0,0,0,0,0,0,27.28,27.24,27.29
$GC,3923,-0.94,-170.3,2483,2765,3347,3243,607.8,-11.3,236,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2765,3294,3345,3244,0,0,0,0,0,0,27.38,27.46,27.44
$GC,4223,-0.94,-170.3,2484,2765,3345,3241,642.4,-11.8,246,4230,0.00,1.62,0.00,0.000,260,0.000,0.051,2476,3851,3292,3344,3241,0,0,0,0,0,0,27.38,27.17,27.45
$GC,4258,-0.94,-170.3,2477,3853,3344,3242,646.3,-11.8,247,4266,0.10,1.50,0.00,0.000,3078,0.190,0.029,2498,2777,3291,3343,3240,0,0,0,0,0,0,27.07,27.24,27.21
$GC,4585,-0.94,-170.3,2499,2778,3341,3240,686.7,-12.3,258,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2776,3289,3339,3239,0,0,0,0,0,0,27.38,27.46,27.45
$GC,4884,-0.94,-170.3,2498,2777,3338,3238,722.1,-11.8,268,4891,0.00,1.62,0.00,0.000,260,0.000,0.054,2496,3852,3286,3336,3237,0,0,0,0,0,0,27.38,27.17,27.45
$GC,4965,-0.94,-170.3,2497,3852,3337,3236,729.5,-12.0,270,4972,0.00,1.50,0.00,0.000,1030,0.000,0.029,2497,2774,3286,3336,3236,0,0,0,0,0,0,27.29,27.25,27.31
$GC,5276,-0.94,-170.3,2497,2774,3334,3235,767.8,-11.4,281,5283,0.00,1.62,0.00,0.000,260,0.000,0.053,2490,3852,3283,3333,3234,0,0,0,0,0,0,27.39,27.20,27.45
$GC,5317,-0.94,-170.3,2490,3851,3334,3234,771.6,-11.5,282,5324,0.00,1.50,0.00,0.000,1030,0.000,0.031,2491,2778,3283,3333,3234,0,0,0,0,0,0,27.29,27.25,27.30
$GC,5638,-0.94,-170.3,2491,2779,3331,3234,809.6,-11.6,293,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2778,3282,3331,3233,0,0,0,0,0,0,27.39,27.46,27.46
$GC,5938,-0.94,-170.3,2491,2779,3329,3232,843.5,-11.1,303,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2778,3279,3329,3230,0,0,0,0,0,0,27.39,27.47,27.46
$GC,6238,-0.94,-170.3,2490,2778,3328,3229,876.8,-10.8,313,6245,0.00,1.62,0.00,0.000,260,0.000,0.054,2484,3852,3276,3327,3226,0,0,0,0,0,0,27.39,27.17,27.46
$GC,6283,-0.94,-170.3,2484,3852,3327,3228,880.2,-10.8,314,6290,0.00,1.50,0.00,0.000,1030,0.000,0.031,2484,2781,3277,3326,3229,0,0,0,0,0,0,27.29,27.25,27.30
$GC,6599,-0.94,-170.3,2484,2782,3324,3229,917.9,-11.3,325,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2781,3276,3324,3228,0,0,0,0,0,0,27.39,27.47,27.46
$GC,6899,-0.94,-170.3,2485,2782,3325,3228,951.4,-10.4,335,6906,0.00,1.62,0.00,0.000,260,0.000,0.055,2484,3850,3275,3323,3227,0,0,0,0,0,0,27.39,27.17,27.46
$GC,7000,-0.94,-170.3,2484,3852,3324,3227,962.0,-11.6,338,7007,0.00,1.50,0.00,0.000,1030,0.000,0.031,2484,2777,3274,3323,3226,0,0,0,0,0,0,27.29,27.25,27.30
$STATE,7230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7230,begin apogee
$GC,7233,-0.19,0.0,2483,2952,3321,3225,990.6,-11.8,346,7386,0.77,0.00,140.43,1.441,10244,0.136,0.000,2733,2953,2608,2658,2558,0,0,0,0,1,0,27.06,25.00,24.08
$STATE,7387,end apogee,CONTROL_FINISHED_OK
$STATE,7387,begin climb
$GC,7388,0.94,170.3,2738,2951,2670,2558,997.5,0.0,351,7544,1.05,1.50,143.23,1.042,10500,0.085,0.055,3102,3842,1905,1956,1855,0,0,0,0,0,0,25.27,25.30,24.44
$GC,7767,0.94,170.3,3101,3843,1943,1841,968.4,11.8,363,7778,0.00,1.33,0.00,0.000,1030,0.000,0.030,3109,2948,1891,1941,1841,0,0,0,0,0,0,26.31,26.29,26.32
$GC,8074,0.94,170.3,3109,2952,1941,1839,930.8,11.4,374,8081,0.00,1.52,0.00,0.000,516,0.000,0.027,3109,1885,1889,1940,1838,0,0,0,0,0,0,26.76,26.62,26.84
$GC,8269,0.94,170.3,3109,1884,1940,1837,910.7,10.9,380,8277,0.00,1.60,0.00,0.000,1030,0.000,0.038,3109,2953,1888,1939,1837,0,0,0,0,0,0,26.76,26.70,26.79
$GC,8586,0.94,170.3,3109,2953,1938,1837,872.9,11.7,391,8593,0.00,1.40,0.00,0.000,260,0.000,0.053,3109,3849,1887,1938,1836,0,0,0,0,0,0,27.01,26.80,27.08
$GC,8626,0.94,170.3,3109,3848,1939,1836,869.0,12.0,392,8633,0.00,1.30,0.00,0.000,1030,0.000,0.030,3115,2953,1887,1938,1836,0,0,0,0,0,0,26.91,26.89,26.92
$GC,8947,0.94,170.3,3115,2953,1937,1837,829.7,11.7,403,8954,0.00,1.52,0.00,0.000,516,0.000,0.026,3122,1900,1886,1937,1835,0,0,0,0,0,0,27.10,26.96,27.17
$GC,8993,0.94,170.3,3123,1901,1938,1837,826.1,11.5,404,9001,0.00,1.55,0.00,0.000,1030,0.000,0.039,3123,2946,1885,1937,1834,0,0,0,0,0,0,26.98,26.91,27.01
$GC,9310,0.94,170.3,3123,2948,1937,1836,786.4,12.1,415,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2946,1885,1936,1835,0,0,0,0,0,0,27.15,27.24,27.22
$GC,9610,0.94,170.3,3123,2946,1935,1834,749.3,12.3,425,9617,0.00,1.40,0.00,0.000,260,0.000,0.054,3123,3849,1885,1935,1835,0,0,0,0,0,0,27.19,26.99,27.27
$GC,9671,0.94,170.3,3123,3850,1935,1836,741.1,12.8,427,9680,0.00,1.30,0.00,0.000,1030,0.000,0.031,3129,2933,1884,1934,1834,0,0,0,0,0,0,27.09,27.08,27.11
$GC,10004,0.94,170.3,3128,2933,1935,1834,701.1,11.6,438,10011,0.00,1.45,0.00,0.000,260,0.000,0.053,3129,3856,1884,1934,1834,0,0,0,0,0,0,27.23,27.03,27.30
$GC,10029,0.94,170.3,3129,3857,1935,1836,701.1,11.6,438,10040,0.00,1.33,0.00,0.000,1030,0.000,0.031,3136,2939,1884,1934,1834,0,0,0,0,0,0,27.12,27.10,27.14
$GC,10335,0.94,170.3,3136,2939,1935,1834,663.4,11.1,449,10342,0.00,1.45,0.00,0.000,260,0.000,0.053,3136,3861,1883,1933,1834,0,0,0,0,0,0,27.25,27.05,27.33
$GC,10390,0.94,170.3,3136,3860,1935,1834,659.8,11.2,450,10400,0.00,1.33,0.00,0.000,1030,0.000,0.030,3136,2932,1883,1934,1833,0,0,0,0,0,0,27.15,27.13,27.17
$GC,10696,0.94,170.3,3136,2931,1935,1833,623.5,11.2,461,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2932,1884,1934,1834,0,0,0,0,0,0,27.27,27.36,27.35
$GC,10996,0.94,170.3,3137,2932,1935,1833,590.3,11.4,471,11003,0.00,1.48,0.00,0.000,516,0.000,0.026,3145,1897,1883,1934,1833,0,0,0,0,0,0,27.28,27.15,27.36
$GC,11026,0.94,170.3,3145,1898,1935,1835,587.0,11.2,472,11033,0.00,1.52,0.00,0.000,1030,0.000,0.039,3145,2940,1883,1933,1833,0,0,0,0,0,0,27.16,27.10,27.19
$GC,11357,0.94,170.3,3144,2941,1933,1834,550.8,10.9,483,11364,0.00,1.42,0.00,0.000,260,0.000,0.053,3144,3859,1883,1934,1833,0,0,0,0,0,0,27.30,27.10,27.38
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$STATE,17044,end climb,SURFACE_DEPTH_REACHED
$STATE,17044,begin surface coast
$FINISH,1.2,0.996816
$STATE,17060,end surface coast,CONTROL_FINISHED_OK
$STATE,17060,begin surface
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$IRIDIUM_FIX,2004.18,-15753.57,171214,101458
$TT8_MAMPS,0.161035,0.161035
$HUMID,34.52
$INTERNAL_PRESSURE,9.1649
$TCM_TEMP,25.60
$XPDR_PINGS,4
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17090.98 8398.27
$PA_BOOTCOUNT,110
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$10V_AH,10.15,9.930
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,135.678,0.000,0.000,0.000
$MEM,273216
$DATA_FILE_SIZE,40054,895
$CAP_FILE_SIZE,152872,0
$CFSIZE,1024393216,1016954880
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,17196.22,0x236d6a,7,5
$INTR,1,9673.30,0x233740,1,24
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$GPS,171214,150705,2011.981,-15752.922,22,1.0,22,9.6,0.5,4.6,7,17.7