version: 66.10
glider: 502
mission: 6
dive: 6
start: 10 25 112 21 7 19
data:
$ID,502
$MISSION,6
$DIVE,6
$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,-34661.578
$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,40
$R_STBD_OVSHOOT,51
$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
$GPS1,251012,205849,4743.455,-12224.549,10,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.1
$GPS2,251012,210621,4743.449,-12224.563,11,2.2,30,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,0.192
$KALMAN_X,-621.8,-427.8,-278.5,1624.9,-131.7
$KALMAN_Y,-948.4,-647.8,-185.9,965.2,-290.8
$MHEAD_RNG_PITCHd_Wd,16.9,1921,-19.7,-10.000
$D_GRID,174
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-117.3,0.0,0.0,0,72,0.00,0.00,-50.67,0.000,6,0.000,0.000,133,1679,2485,0,0,0,0,0,0,28.83,28.83,26.28
$GC,76,-0.74,-117.3,2.3,-2.6,8,91,8.52,2.12,0.00,0.000,4,0.205,0.034,2458,290,2487,0,0,0,0,0,0,25.66,25.94,28.83
$GC,323,-0.74,-117.3,36.9,-11.3,55,331,0.00,2.12,0.00,0.000,6,0.000,0.025,2455,1689,2487,0,0,0,0,0,0,28.83,26.17,28.83
$GC,396,-0.74,-117.3,44.6,-11.3,68,404,0.00,2.17,0.00,0.000,4,0.000,0.040,2455,299,2486,0,0,0,0,0,0,28.83,26.15,28.83
$GC,605,-0.74,-117.3,74.9,-14.2,106,612,0.00,2.12,0.00,0.000,6,0.000,0.025,2445,1698,2487,0,0,0,0,0,0,28.83,26.29,28.83
$GC,748,-0.74,-117.3,93.8,-13.5,131,758,0.00,2.15,0.00,0.000,4,0.000,0.040,2445,286,2488,0,0,0,0,0,0,28.83,26.28,28.83
$GC,777,-0.74,-117.3,98.0,-14.1,135,785,0.12,2.05,0.00,0.000,6,0.156,0.024,2470,1680,2487,0,0,0,0,0,0,26.15,26.35,28.83
$GC,916,-0.74,-117.3,116.9,-12.6,160,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1680,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.74,-117.3,134.1,-11.3,185,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1681,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.74,-117.3,149.5,-11.0,210,1200,0.00,2.15,0.00,0.000,4,0.000,0.041,2470,297,2488,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1213,-0.15,0.0,151.4,-12.2,212,1310,0.57,0.00,88.35,0.711,4,0.116,0.000,2653,1701,2007,0,0,0,0,0,0,26.23,28.83,24.59
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1314,0.74,117.3,155.4,0.0,227,1417,0.82,2.20,91.88,0.682,4,0.071,0.037,2949,3100,1527,0,0,0,0,0,0,25.30,25.34,24.30
$GC,1663,0.74,117.3,119.6,10.8,288,1671,0.00,2.17,0.00,0.000,6,0.000,0.031,2960,1702,1520,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1806,0.74,117.3,103.0,11.9,313,1813,0.00,2.15,0.00,0.000,4,0.000,0.035,2959,3105,1519,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2057,0.74,117.3,72.5,12.3,359,2064,0.00,2.15,0.00,0.000,6,0.000,0.032,2960,1690,1518,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2196,0.74,117.3,57.0,10.5,384,2204,0.00,2.20,0.00,0.000,4,0.000,0.037,2960,3104,1518,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2276,0.74,117.3,47.9,11.3,398,2284,0.00,2.20,0.00,0.000,6,0.000,0.031,2968,1678,1517,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2417,0.74,117.3,33.4,10.2,423,2425,0.00,2.15,0.00,0.000,4,0.000,0.044,2973,301,1517,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2469,0.74,117.3,28.2,10.5,432,2477,0.00,2.05,0.00,0.000,6,0.000,0.025,2972,1661,1516,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2541,0.77,139.7,21.4,8.7,445,2563,0.00,0.00,17.33,0.615,6,0.000,0.000,2973,1661,1436,0,0,0,0,0,0,28.83,28.83,25.41
$GC,2628,0.77,143.9,13.2,9.8,460,2636,0.00,0.00,4.47,0.460,6,0.000,0.000,2972,1661,1420,0,0,0,0,0,0,28.83,28.83,25.39
$GC,2701,0.77,143.9,5.6,10.5,473,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1661,1419,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,0.3,1.011865
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2771,48.05,0.526,1,0,1088,225.18
$SM_GC,1.57,7.22,0.00,48.05,0.034,0.000,0.526,129,1661,1088,-7.97,-1.10,225.18,0,0,0,0,1,0,26.22,28.83,25.06
$IRIDIUM_FIX,4726.11,-12223.37,251012,202048
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,105.5,7.1
$24V_AH,24.3,2.379
$10V_AH,10.3,2.115
$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,17.275,34.300,202.025,48.050,0.000,27.295,32.990,260.176,2.500,0.000,32.257,1082.351,271.602,306.489,1474.891,151.754,33.203,768.273,0.000,701.013,0.000,13.189,0.000
$DEVICE_MAMPS,205.020,43.605,710.685,525.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.299,466.560,861.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,33817,482
$CAP_FILE_SIZE,54980,0
$CFSIZE,260165632,214638592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251012,215536,4743.459,-12224.496,34,0.9,34,18.2