version: 66.10
glider: 502
mission: 6
dive: 5
start: 10 25 112 20 9 23
data:
$ID,502
$MISSION,6
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1070
$D_NO_BLEED,80
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51751
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34660.32
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2007
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,18.5
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.797874
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043360316
$SEABIRD_T_H,0.0006230906
$SEABIRD_T_I,2.3087629e-05
$SEABIRD_T_J,2.4124136e-06
$SEABIRD_C_G,-9.8063631
$SEABIRD_C_H,1.1380011
$SEABIRD_C_I,-0.0011081909
$SEABIRD_C_J,0.00016910781
$GPS1,251012,200407,4743.551,-12224.908,12,2.0,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.2
$GPS2,251012,200825,4743.552,-12224.910,13,1.5,13,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,0.148
$KALMAN_X,-534.6,-393.3,-262.8,1063.5,-253.3
$KALMAN_Y,-503.9,-434.7,-250.1,563.5,-243.3
$MHEAD_RNG_PITCHd_Wd,32.8,2127,-19.7,-10.000
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-117.3,0.0,0.0,0,72,0.00,0.00,-50.42,0.000,6,0.000,0.000,133,1686,2486,0,0,0,0,0,0,28.83,28.83,26.44
$GC,76,-0.74,-117.3,2.5,-3.3,8,92,8.55,2.17,0.00,0.000,4,0.209,0.031,2449,3119,2487,0,0,0,0,0,0,25.80,26.10,28.83
$GC,324,-0.74,-117.3,35.0,-9.7,55,332,0.00,2.17,0.00,0.000,6,0.000,0.031,2450,1702,2487,0,0,0,0,0,0,28.83,26.23,28.83
$GC,396,-0.74,-117.3,42.8,-11.2,68,404,0.00,2.17,0.00,0.000,4,0.000,0.035,2440,3109,2487,0,0,0,0,0,0,28.83,26.26,28.83
$GC,461,-0.74,-117.3,50.1,-11.0,79,468,0.12,2.15,0.00,0.000,6,0.148,0.029,2474,1674,2487,0,0,0,0,0,0,26.13,26.29,28.83
$GC,600,-0.74,-117.3,64.3,-9.8,104,608,0.00,2.20,0.00,0.000,4,0.000,0.036,2466,3103,2488,0,0,0,0,0,0,28.83,26.32,28.83
$GC,655,-0.74,-117.3,70.0,-10.7,113,662,0.00,2.10,0.00,0.000,6,0.000,0.029,2466,1697,2488,0,0,0,0,0,0,28.83,26.34,28.83
$GC,798,-0.74,-117.3,86.0,-11.8,138,806,0.00,2.17,0.00,0.000,4,0.000,0.042,2466,294,2488,0,0,0,0,0,0,28.83,26.34,28.83
$GC,870,-0.74,-117.3,95.4,-12.7,150,878,0.00,2.12,0.00,0.000,6,0.000,0.024,2457,1707,2487,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1014,-0.74,-117.3,110.6,-9.2,175,1021,0.00,2.15,0.00,0.000,4,0.000,0.041,2457,294,2488,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1108,-0.74,-117.3,122.0,-14.1,191,1114,0.00,2.05,0.00,0.000,6,0.000,0.024,2455,1690,2488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1248,-0.74,-117.3,139.2,-10.9,216,1256,0.00,2.15,0.00,0.000,4,0.000,0.038,2455,3098,2487,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1291,-0.74,-117.3,144.4,-14.4,223,1298,0.00,2.12,0.00,0.000,6,0.000,0.029,2455,1683,2487,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1335,-0.15,0.0,150.1,-13.1,230,1433,0.60,0.00,87.90,0.712,4,0.119,0.000,2656,1681,2008,0,0,0,0,0,0,26.26,28.83,24.62
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1437,0.74,117.3,154.5,0.0,245,1539,0.77,0.00,92.07,0.679,6,0.065,0.000,2948,1681,1525,0,0,0,0,0,0,25.35,28.83,24.33
$GC,1673,0.74,117.3,135.5,11.0,285,1680,0.00,2.20,0.00,0.000,4,0.000,0.034,2947,3104,1519,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1732,0.74,117.3,128.7,11.2,295,1739,0.00,2.17,0.00,0.000,6,0.000,0.032,2948,1693,1518,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1872,0.74,117.3,113.1,11.2,320,1881,0.00,2.22,0.00,0.000,4,0.000,0.044,2952,292,1517,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1964,0.74,117.3,102.4,11.5,336,1972,0.00,2.12,0.00,0.000,6,0.000,0.025,2952,1687,1516,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2106,0.74,117.3,87.4,10.5,361,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1687,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,0.74,117.3,72.1,11.2,386,2250,0.00,2.20,0.00,0.000,4,0.000,0.044,2960,291,1515,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2300,0.74,117.3,65.0,12.8,396,2308,0.00,2.10,0.00,0.000,6,0.000,0.026,2960,1676,1515,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2442,0.74,117.3,48.9,11.9,421,2449,0.00,2.15,0.00,0.000,4,0.000,0.038,2960,3099,1515,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2501,0.74,117.3,41.1,13.6,431,2508,0.00,2.12,0.00,0.000,6,0.000,0.032,2960,1687,1515,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2634,0.74,117.3,23.8,12.3,456,2642,0.00,2.17,0.00,0.000,4,0.000,0.046,2960,298,1515,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2682,0.74,117.3,17.4,12.9,464,2690,0.00,2.08,0.00,0.000,6,0.000,0.025,2960,1677,1514,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2754,0.74,117.3,9.0,11.7,477,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1678,1514,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2808,end climb,SURFACE_DEPTH_REACHED
$STATE,2808,begin surface coast
$FINISH,0.3,1.009612
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2852,58.35,0.476,1,0,1088,225.18
$SM_GC,1.49,7.12,0.00,58.35,0.034,0.000,0.476,133,1679,1088,-7.96,-0.62,225.18,0,0,0,0,1,0,26.39,28.83,25.15
$IRIDIUM_FIX,4738.89,-12128.67,251012,191917
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.84
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.60
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,135.5,57.2
$24V_AH,24.3,2.314
$10V_AH,10.3,2.050
$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,17.175,47.300,179.975,58.350,0.000,0.000,0.000,0.000,6.000,0.000,14.206,1110.012,283.338,322.643,1160.186,115.541,33.216,792.277,0.000,713.483,0.000,22.653,0.000
$DEVICE_MAMPS,208.845,45.900,712.215,475.830,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.913,467.687,864.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323292
$DATA_FILE_SIZE,33832,492
$CAP_FILE_SIZE,70252,0
$CFSIZE,260165632,214659072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251012,205849,4743.455,-12224.549,10,1.8,10,18.2