version: 66.08
glider: 124
mission: 12
dive: 19
start: 10 1 110 11 14 14
data:
$ID,124
$MISSION,12
$DIVE,19
$N_DIVES,25
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51711
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-301026.31
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00134
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,143.39999
$AH0_10V,95.300003
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,140.06293
$FG_AHR_24V,60.128582
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.472006
$PRESSURE_SLOPE,0.0001157801
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,52
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,118
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00441095
$SEABIRD_T_H,0.00065317168
$SEABIRD_T_I,2.7851496e-05
$SEABIRD_T_J,3.1184245e-06
$SEABIRD_C_G,-9.9659796
$SEABIRD_C_H,1.1315508
$SEABIRD_C_I,-0.0013034767
$SEABIRD_C_J,0.00017185711
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,36.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,3.0
$LA_UPLOADMAX,40000.0
$LA_STARTS,4.0
$GPS1,011010,110756,2303.384,12651.271,12,1.8,12,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-69.2
$GPS2,011010,111344,2303.446,12651.189,13,1.8,13,-3.4
$SPEED_LIMITS,0.241,0.275
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,123.7,23550,-21.9,-13.889
$D_GRID,1000
$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
$STATE,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,28,-0.99,-194.6,0.0,0.0,0,72,0.00,0.00,-41.40,0.000,2,0.007,0.000,39,2412,2061,0,0,0,0,0,0
$GC,74,-0.99,-194.6,3.2,-2.8,6,139,8.90,2.28,-38.88,0.000,4,0.273,0.056,2097,976,3552,0,0,0,0,0,0
$GC,178,-0.80,-194.6,21.4,-27.2,21,195,0.15,2.22,0.00,0.140,6,0.140,0.052,2144,2398,3552,0,0,0,0,0,0
$GC,514,-0.85,-194.6,94.2,-19.2,82,531,0.00,0.00,0.00,0.007,6,0.007,0.007,2144,2398,3554,0,0,0,0,0,0
$GC,855,-1.09,-194.6,131.8,-10.7,143,876,0.15,2.22,0.00,0.029,4,0.029,0.052,2068,978,3557,0,0,0,0,0,0
$GC,889,-1.24,-194.6,136.5,-12.9,146,906,0.00,2.20,0.00,0.012,6,0.058,0.051,2068,2398,3557,0,0,0,0,0,0
$GC,1226,-1.29,-194.6,195.3,-17.1,207,1246,0.08,2.20,0.00,0.000,4,0.007,0.066,2023,3813,3557,0,0,0,0,0,0
$GC,1273,-1.33,-194.6,204.7,-19.5,210,1289,0.00,2.12,0.00,0.039,6,0.039,0.033,2022,2386,3557,0,0,0,0,0,0
$GC,1606,-1.33,-194.6,270.5,-19.5,271,1626,0.00,2.22,0.00,0.007,4,1282.565,0.061,2022,3822,3558,0,0,0,0,0,0
$GC,1664,-1.39,-194.6,279.8,-15.8,279,1683,0.00,2.12,0.00,0.012,6,0.050,0.045,2022,2401,3557,0,0,0,0,0,0
$GC,2009,-1.39,-194.6,334.4,-16.5,321,2011,0.00,0.00,0.00,0.007,6,0.007,0.007,2022,2400,3557,0,0,0,0,0,0
$GC,2326,-1.44,-194.6,388.7,-17.2,351,2329,0.00,0.00,0.00,0.007,6,0.007,1282.565,2022,2401,3557,0,0,0,0,0,0
$GC,2644,-1.52,-194.6,442.7,-15.5,381,2650,0.08,2.17,0.00,0.007,4,0.007,0.071,1974,3822,3556,0,0,0,0,0,0
$GC,2685,-1.52,-194.6,450.2,-19.2,384,2691,0.00,2.12,0.00,0.024,6,0.024,0.046,1973,2390,3556,0,0,0,0,0,0
$STATE,2968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2968,begin apogee
$GC,2972,-0.17,0.0,500.4,17.3,410,3137,0.88,0.00,141.73,0.847,6,0.060,1282.565,2280,2199,2758,0,0,0,0,0,0
$STATE,3138,end apogee,CONTROL_FINISHED_OK
$STATE,3138,begin climb
$GC,3138,0.99,194.6,507.1,0.0,423,3308,0.62,2.38,145.62,0.817,4,0.046,0.065,2548,3618,1958,0,0,0,0,0,0
$GC,3550,0.75,194.6,458.5,15.6,458,3568,0.22,2.20,0.00,0.088,6,0.088,0.049,2485,2200,1952,0,0,0,0,0,0
$GC,3883,0.84,264.6,423.9,10.4,489,3949,0.00,2.33,52.72,0.790,4,0.007,0.061,2485,3616,1672,0,0,0,0,0,0
$GC,4072,0.85,266.7,399.8,13.8,505,4091,0.00,2.22,0.00,0.014,6,0.014,0.048,2486,2196,1666,0,0,0,0,0,0
$GC,4407,0.93,292.9,359.8,12.6,536,4436,0.10,2.25,20.65,0.712,4,0.007,0.081,2554,793,1563,0,0,0,0,0,0
$GC,4479,0.88,292.9,348.3,14.7,542,4497,0.12,2.25,0.00,0.099,6,0.098,0.054,2511,2208,1559,0,0,0,0,0,0
$GC,4812,0.91,312.3,303.5,12.9,573,4845,0.00,2.30,15.35,0.660,4,0.007,0.060,2516,778,1482,0,0,0,0,0,0
$GC,4859,0.97,325.3,297.2,13.2,576,4889,0.00,2.25,12.50,0.742,6,0.001,0.056,2516,2205,1425,0,0,0,0,0,0
$GC,5205,1.05,341.2,250.3,13.1,639,5225,0.08,2.20,11.38,0.597,4,0.007,0.065,2570,3617,1367,0,0,0,0,0,0
$GC,5258,0.95,341.2,241.3,17.7,647,5279,0.15,2.22,0.00,0.013,6,0.061,0.053,2529,2202,1364,0,0,0,0,0,0
$GC,5602,1.05,375.4,192.9,12.2,708,5648,0.00,2.22,26.85,0.616,4,0.007,0.061,2529,780,1226,0,0,0,0,0,0
$GC,5714,1.18,386.0,178.1,13.4,725,5732,0.10,2.22,8.98,0.473,6,0.036,0.032,2594,2194,1185,0,0,0,0,0,0
$GC,6053,1.15,386.0,116.6,15.7,787,6073,0.08,2.25,0.00,0.007,4,0.007,0.078,2568,785,1180,0,0,0,0,0,0
$GC,6150,1.26,397.4,102.8,13.3,802,6170,0.05,2.20,9.48,0.478,6,0.023,0.033,2620,2206,1138,0,0,0,0,0,0
$GC,6490,1.32,445.6,55.2,11.5,864,6537,0.00,2.20,36.90,0.519,4,0.007,0.064,2620,3614,938,0,0,0,0,0,0
$GC,6550,1.37,445.6,46.8,14.0,872,6569,0.00,2.25,0.00,0.009,6,0.062,0.052,2631,2190,937,0,0,0,0,0,0
$STATE,6849,end climb,SURFACE_DEPTH_REACHED
$STATE,6849,begin surface coast
$FINISH,1.8,1.021051
$STATE,6867,end surface coast,CONTROL_FINISHED_OK
$STATE,6867,begin surface
$SM_CCo,6958,0.00,0.000,0,0,931,448.41
$SM_GC,2.36,6.72,0.00,0.00,0.044,0.009,0.048,30,2397,931,-10.43,-0.08,448.41
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12653.13,011010,090951
$HUMID,42.29
$INTERNAL_PRESSURE,10.3745
$TCM_TEMP,23.40
$XPDR_PINGS,41
$24V_AH,24.4,7.273
$10V_AH,10.3,8.533
$FG_AHR_24Vo,60.248
$FG_AHR_10Vo,140.230
$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,18.475,58.450,482.150,0.000,0.000,25.211,16.251,176.990,10.250,0.000,14.944,2211.408,1296.001,676.362,2987.745,143.803,0.000,987.227,0.000,2670.628,0.000,0.539,0.000
$DEVICE_MAMPS,272.787,81.370,846.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,530.408,950.048,2361.049,0.000,0.000,0.000,2658.713,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308956
$DATA_FILE_SIZE,50218,929
$CAP_FILE_SIZE,97516,0
$CFSIZE,260280320,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,337.4,1
$GPS,011010,131136,2303.452,12651.822,35,1.1,41,-3.4