version: 66.10
glider: 502
mission: 6
dive: 4
start: 10 25 112 19 3 45
data:
$ID,502
$MISSION,6
$DIVE,4
$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,-34626.191
$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,2700
$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,49
$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
$GPS1,251012,185805,4743.735,-12224.979,9,1.2,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.7
$GPS2,251012,190248,4743.727,-12224.987,13,1.2,30,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,0.119
$KALMAN_X,-298.8,-198.2,-185.8,463.4,-248.0
$KALMAN_Y,-243.5,-144.9,-137.2,219.6,-187.2
$MHEAD_RNG_PITCHd_Wd,41.3,2049,-19.7,-10.000
$D_GRID,179
$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,16,-0.74,-117.3,0.0,0.0,0,93,0.00,0.00,-73.10,0.000,6,0.000,0.000,141,1706,2488,0,0,0,0,0,0,28.83,28.83,26.52
$GC,97,-0.74,-117.3,2.3,-3.1,11,113,8.43,2.15,0.00,0.000,4,0.209,0.035,2449,293,2487,0,0,0,0,0,0,25.84,26.15,28.83
$GC,345,-0.74,-117.3,40.4,-13.4,58,353,0.00,2.12,0.00,0.000,6,0.000,0.024,2440,1699,2489,0,0,0,0,0,0,28.83,26.32,28.83
$GC,486,-0.74,-117.3,58.6,-13.3,83,492,0.00,2.12,0.00,0.000,4,0.000,0.041,2440,306,2488,0,0,0,0,0,0,28.83,26.29,28.83
$GC,743,-0.74,-117.3,95.9,-14.4,129,750,0.12,2.08,0.00,0.000,6,0.156,0.025,2464,1710,2488,0,0,0,0,0,0,26.23,26.43,28.83
$GC,883,-0.74,-117.3,113.6,-12.0,154,891,0.00,2.20,0.00,0.000,4,0.000,0.042,2464,300,2488,0,0,0,0,0,0,28.83,26.38,28.83
$GC,992,-0.74,-117.3,126.8,-13.4,173,998,0.00,2.08,0.00,0.000,6,0.000,0.025,2462,1707,2489,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1129,-0.74,-117.3,144.6,-12.0,198,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1708,2488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1188,-0.15,0.0,150.1,-10.2,207,1283,0.55,0.00,88.15,0.711,4,0.112,0.000,2650,1708,2006,0,0,0,0,0,0,26.28,28.83,24.65
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1286,0.74,117.3,154.6,0.0,222,1384,0.77,0.00,91.68,0.680,6,0.067,0.000,2940,1708,1527,0,0,0,0,0,0,25.35,28.83,24.36
$GC,1517,0.77,143.4,139.2,8.5,261,1544,0.00,2.25,20.88,0.657,4,0.000,0.035,2940,3108,1421,0,0,0,0,0,0,28.83,25.42,24.79
$GC,1595,0.77,144.0,131.2,10.0,274,1603,0.00,2.20,0.00,0.000,6,0.000,0.031,2945,1719,1418,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1739,0.78,145.8,118.2,9.9,299,1746,0.00,2.12,0.00,0.000,4,0.000,0.036,2945,3102,1416,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1801,0.78,145.8,110.9,11.6,310,1809,0.00,2.15,0.00,0.000,6,0.000,0.033,2947,1724,1415,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1943,0.78,145.8,93.6,11.8,335,1950,0.00,2.22,0.00,0.000,4,0.000,0.044,2949,286,1414,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2001,0.78,145.8,86.2,12.9,345,2008,0.00,2.12,0.00,0.000,6,0.000,0.025,2949,1714,1414,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2138,0.78,145.8,70.2,11.4,370,2147,0.00,2.25,0.00,0.000,4,0.000,0.044,2960,289,1413,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2172,0.78,145.8,66.4,12.5,375,2179,0.00,2.12,0.00,0.000,6,0.000,0.025,2960,1714,1414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2310,0.78,145.8,49.3,12.5,400,2318,0.00,2.12,0.00,0.000,4,0.000,0.036,2959,3105,1413,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2357,0.78,145.8,43.2,12.6,408,2365,0.00,2.15,0.00,0.000,6,0.000,0.033,2960,1711,1413,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2492,0.78,145.8,27.7,11.8,433,2500,0.00,2.22,0.00,0.000,4,0.000,0.046,2960,293,1413,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2525,0.78,145.8,23.3,13.3,438,2533,0.00,2.15,0.00,0.000,6,0.000,0.025,2960,1713,1412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2598,0.78,145.8,14.0,12.1,451,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1713,1412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,0.78,145.8,4.8,12.5,464,2679,0.00,2.12,0.00,0.000,4,0.000,0.037,2960,3104,1412,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,0.5,1.011963
$STATE,2709,end surface coast,CONTROL_FINISHED_OK
$STATE,2709,begin surface
$SM_CCo,2728,44.75,0.522,1,0,1089,225.18
$SM_GC,1.52,7.12,2.17,44.75,0.034,0.031,0.522,133,1687,1089,-7.93,0.90,225.18,0,0,0,0,1,0,26.39,26.39,25.24
$IRIDIUM_FIX,4726.11,-12222.38,251012,181844
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.76
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.3,6.9
$24V_AH,24.4,2.239
$10V_AH,10.3,1.979
$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,17.000,43.150,200.700,44.750,0.000,0.000,0.000,0.000,3.500,0.000,31.465,1046.880,278.120,320.782,1121.114,104.038,32.221,777.554,0.000,682.093,0.000,7.397,0.000
$DEVICE_MAMPS,208.845,45.900,711.450,522.495,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.382,444.950,822.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,33730,470
$CAP_FILE_SIZE,70311,0
$CFSIZE,260165632,214700032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251012,195054,4743.562,-12224.856,10,2.0,10,18.2