version: 66.10
glider: 502
mission: 6
dive: 7
start: 10 25 112 22 3 59
data:
$ID,502
$MISSION,6
$DIVE,7
$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,40
$T_MISSION,50
$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,-34662.836
$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,49
$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
$GPS1,251012,215536,4743.459,-12224.496,34,0.9,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.5
$GPS2,251012,220301,4743.482,-12224.455,14,1.6,14,18.2
$SPEED_LIMITS,0.217,0.251
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.090,-0.234
$KALMAN_X,-839.9,-523.7,-213.8,2014.2,-40.1
$KALMAN_Y,-1395.9,-758.5,-119.4,1513.4,-298.5
$MHEAD_RNG_PITCHd_Wd,182.8,1510,-23.8,-12.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.87,-117.3,0.0,0.0,0,73,0.00,0.00,-50.33,0.000,6,0.000,0.000,129,1663,2487,0,0,0,0,0,0,28.83,28.83,26.23
$GC,77,-0.87,-117.3,2.6,-3.5,8,92,8.35,0.00,0.00,0.000,6,0.202,0.000,2423,1663,2488,0,0,0,0,0,0,25.64,28.83,28.83
$GC,155,-0.87,-117.3,17.2,-14.4,22,163,0.00,2.25,0.00,0.000,4,0.000,0.036,2413,3105,2487,0,0,0,0,0,0,28.83,25.98,28.83
$GC,202,-0.87,-117.3,23.3,-12.9,30,210,0.00,2.17,0.00,0.000,6,0.000,0.030,2413,1699,2489,0,0,0,0,0,0,28.83,26.03,28.83
$GC,275,-0.87,-117.3,32.5,-12.0,43,283,0.00,2.20,0.00,0.000,4,0.000,0.041,2413,297,2488,0,0,0,0,0,0,28.83,26.06,28.83
$GC,327,-0.87,-117.3,40.3,-14.9,52,335,0.00,2.10,0.00,0.000,6,0.000,0.025,2403,1675,2489,0,0,0,0,0,0,28.83,26.14,28.83
$GC,468,-0.87,-117.3,60.7,-14.9,77,475,0.00,2.17,0.00,0.000,4,0.000,0.036,2392,3116,2488,0,0,0,0,0,0,28.83,26.17,28.83
$GC,505,-0.87,-117.3,66.1,-14.7,83,512,0.15,2.17,0.00,0.000,6,0.150,0.029,2434,1671,2488,0,0,0,0,0,0,26.03,26.20,28.83
$GC,647,-0.87,-117.3,85.5,-12.5,108,656,0.00,2.15,0.00,0.000,4,0.000,0.041,2434,293,2489,0,0,0,0,0,0,28.83,26.22,28.83
$GC,749,-0.87,-117.3,102.1,-18.1,126,757,0.00,2.08,0.00,0.000,6,0.000,0.025,2425,1668,2489,0,0,0,0,0,0,28.83,26.33,28.83
$GC,892,-0.87,-117.3,124.2,-14.7,151,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1668,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.87,-117.3,144.8,-14.3,176,1036,0.00,2.15,0.00,0.000,4,0.000,0.042,2425,291,2489,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1071,-0.15,0.0,150.4,-16.4,182,1169,0.73,0.00,88.43,0.707,4,0.124,0.000,2655,1697,2009,0,0,0,0,0,0,26.17,28.83,24.56
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1172,0.87,117.3,155.7,0.0,197,1275,0.95,2.22,92.40,0.683,4,0.070,0.037,2995,3108,1527,0,0,0,0,0,0,25.29,25.31,24.27
$GC,1522,0.87,117.3,115.2,15.2,258,1530,0.00,2.20,0.00,0.000,6,0.000,0.032,2998,1704,1520,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1665,0.87,117.3,93.4,16.1,283,1671,0.00,2.20,0.00,0.000,4,0.000,0.044,2999,289,1518,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1918,0.87,117.3,55.3,15.5,329,1924,0.00,2.12,0.00,0.000,6,0.000,0.026,2999,1700,1517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2056,0.87,117.3,35.8,12.9,354,2064,0.00,2.22,0.00,0.000,4,0.000,0.046,2999,294,1517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2149,0.87,117.3,22.7,14.3,371,2157,0.00,2.15,0.00,0.000,6,0.000,0.026,3000,1709,1516,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2222,0.87,117.3,12.8,14.3,384,2230,0.00,2.15,0.00,0.000,4,0.000,0.037,2999,3105,1516,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2244,0.87,117.3,9.4,14.4,387,2252,0.00,2.12,0.00,0.000,6,0.000,0.033,3000,1721,1516,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,2289,end climb,SURFACE_DEPTH_REACHED
$STATE,2289,begin surface coast
$FINISH,0.3,1.017958
$STATE,2311,end surface coast,CONTROL_FINISHED_OK
$STATE,2311,begin surface
$SM_CCo,2328,58.12,0.478,1,0,1088,225.18
$SM_GC,1.46,7.25,0.00,58.12,0.033,0.000,0.478,135,1720,1088,-7.96,0.57,225.18,0,0,0,0,1,0,26.32,28.83,25.10
$IRIDIUM_FIX,4726.11,-12225.08,251012,212131
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.81
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.0,7.1
$24V_AH,24.3,2.442
$10V_AH,10.3,2.170
$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,17.425,38.975,180.825,58.125,0.000,31.109,33.350,268.505,1.500,0.000,15.363,902.056,235.954,301.865,1266.127,143.426,33.213,705.080,0.000,584.200,0.000,5.447,0.000
$DEVICE_MAMPS,201.960,45.900,706.860,478.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.245,381.402,704.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,27063,399
$CAP_FILE_SIZE,49839,0
$CFSIZE,260165632,214614016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251012,224503,4743.279,-12224.590,13,2.3,32,18.2