version: 66.08
glider: 124
mission: 12
dive: 23
start: 10 1 110 19 28 22
data:
$ID,124
$MISSION,12
$DIVE,23
$N_DIVES,40
$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,-301034.66
$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,24
$R_STBD_OVSHOOT,27
$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,140.75943
$FG_AHR_24V,60.628059
$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,44.0
$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
$GPS1,011010,192120,2303.282,12652.866,10,1.9,11,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-73.1
$GPS2,011010,192752,2303.320,12652.735,11,2.9,30,-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,130.4,20909,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,27,-0.99,-194.6,0.0,0.0,0,72,0.00,0.00,-41.67,0.000,2,0.007,0.000,40,2419,2228,0,0,0,0,0,0
$GC,73,-0.99,-194.6,3.4,-2.8,6,129,8.77,2.28,-34.00,0.000,4,0.270,0.499,2095,981,3553,0,0,0,0,0,0
$GC,147,-0.84,-194.6,14.7,-22.5,16,165,0.10,2.22,0.00,0.049,6,1282.565,0.053,2130,2392,3555,0,0,0,0,0,0
$GC,487,-0.97,-194.6,86.0,-13.5,77,504,0.05,2.17,0.00,0.016,4,0.000,0.051,2095,988,3558,0,0,0,0,0,0
$GC,523,-1.06,-194.6,91.8,-15.8,81,539,0.00,2.20,0.00,0.066,6,0.066,0.060,2094,2401,3558,0,0,0,0,0,0
$GC,860,-1.15,-194.6,147.1,-12.7,142,877,0.05,2.17,0.00,0.011,4,0.000,0.062,2056,3812,3558,0,0,0,0,0,0
$GC,922,-1.22,-194.6,157.5,-16.8,151,941,0.00,2.12,0.00,0.054,6,0.054,0.050,2056,2385,3559,0,0,0,0,0,0
$GC,1273,-1.22,-194.6,216.4,-16.1,212,1289,0.00,2.22,0.00,0.007,4,0.007,0.040,2056,3821,3560,0,0,0,0,0,0
$GC,1317,-1.34,-194.6,222.8,-14.0,218,1334,0.08,2.12,0.00,0.033,6,0.000,0.044,2011,2401,3560,0,0,0,0,0,0
$GC,1650,-1.29,-194.6,285.7,-18.4,279,1670,0.08,2.25,0.00,0.026,4,0.026,0.058,2038,3820,3560,0,0,0,0,0,0
$GC,1742,-1.40,-194.6,301.2,-16.3,293,1760,0.05,2.12,0.00,0.031,6,0.031,0.036,2000,2402,3560,0,0,0,0,0,0
$GC,2076,-1.36,-194.6,364.2,-18.3,324,2079,0.08,0.00,0.00,0.029,6,0.000,0.029,2026,2401,3560,0,0,0,0,0,0
$GC,2394,-1.41,-194.6,412.7,-13.7,354,2399,0.00,2.17,0.00,0.007,4,0.007,0.071,2027,3821,3560,0,0,0,0,0,0
$GC,2437,-1.55,-194.6,419.0,-12.5,357,2456,0.12,2.15,0.00,1282.565,6,0.057,0.050,1965,2387,3559,0,0,0,0,0,0
$GC,2771,-1.49,-194.6,481.8,-19.5,388,2778,0.10,2.22,0.00,0.015,4,0.014,0.069,2000,3817,3557,0,0,0,0,0,0
$GC,2825,-1.60,-194.6,491.0,-14.6,392,2843,0.08,2.12,0.00,1282.565,6,0.058,0.051,1958,2404,3557,0,0,0,0,0,0
$STATE,2881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2881,begin apogee
$GC,2885,-0.17,0.0,500.4,17.9,397,3050,0.93,0.00,142.32,0.843,6,0.065,0.836,2279,2199,2759,0,0,0,0,0,0
$STATE,3051,end apogee,CONTROL_FINISHED_OK
$STATE,3051,begin climb
$GC,3052,0.99,194.6,509.1,0.0,410,3219,0.62,2.35,145.43,0.812,4,0.042,0.066,2546,3616,1961,0,0,0,0,0,0
$GC,3461,0.76,194.6,460.4,16.4,445,3479,0.22,2.20,0.00,0.126,6,0.127,0.051,2483,2202,1953,0,0,0,0,0,0
$GC,3794,0.86,267.5,423.0,10.3,476,3859,0.05,2.35,54.38,0.778,4,0.007,0.063,2528,3614,1666,0,0,0,0,0,0
$GC,3993,0.76,267.5,394.5,15.8,493,3999,0.15,2.22,0.00,0.026,6,0.026,0.036,2486,2198,1659,0,0,0,0,0,0
$GC,4318,0.90,329.7,356.8,10.8,523,4373,0.08,2.28,48.00,0.757,4,1282.565,0.061,2547,778,1408,0,0,0,0,0,0
$GC,4442,0.90,329.7,339.0,14.9,533,4449,0.10,2.25,0.00,0.088,6,0.089,0.055,2510,2203,1402,0,0,0,0,0,0
$GC,4767,0.95,329.7,293.1,13.9,567,4786,0.00,2.25,0.00,0.007,4,0.007,0.061,2516,793,1397,0,0,0,0,0,0
$GC,4820,1.05,340.3,285.4,13.4,574,4845,0.08,2.20,6.95,0.613,6,0.061,0.055,2569,2198,1369,0,0,0,0,0,0
$GC,5163,0.99,340.3,224.0,15.8,636,5180,0.10,2.20,0.00,0.028,4,0.001,0.063,2531,3602,1365,0,0,0,0,0,0
$GC,5224,0.99,340.3,213.7,14.8,645,5240,0.00,2.20,0.00,0.025,6,0.025,0.033,2539,2192,1364,0,0,0,0,0,0
$GC,5566,1.00,348.2,166.0,13.5,706,5595,0.00,2.15,6.38,0.536,4,0.007,0.063,2541,794,1338,0,0,0,0,0,0
$GC,5678,1.14,384.3,150.8,12.1,723,5723,0.05,2.17,28.83,0.586,6,0.051,0.049,2588,2198,1190,0,0,0,0,0,0
$GC,6043,1.14,384.3,88.1,15.5,788,6059,0.00,2.17,0.00,0.007,4,0.007,0.053,2588,3608,1185,0,0,0,0,0,0
$GC,6115,1.19,384.3,74.8,17.3,799,6135,0.00,2.17,0.00,0.060,6,0.060,0.056,2595,2206,1184,0,0,0,0,0,0
$GC,6456,1.32,424.9,32.6,11.9,860,6496,0.00,2.20,30.23,0.546,4,1282.564,0.059,2595,788,1024,0,0,0,0,0,0
$GC,6620,1.56,479.7,12.8,11.2,888,6676,0.15,2.20,40.83,0.477,6,0.045,0.049,2680,2197,801,0,0,0,0,0,0
$STATE,6683,end climb,SURFACE_DEPTH_REACHED
$STATE,6683,begin surface coast
$FINISH,2.0,1.022169
$STATE,6701,end surface coast,CONTROL_FINISHED_OK
$STATE,6701,begin surface
$SM_CCo,6794,0.00,0.000,0,0,793,482.01
$SM_GC,2.40,7.07,0.00,0.00,0.048,0.027,0.027,43,2408,793,-10.42,0.25,482.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12653.13,011010,171704
$HUMID,42.04
$INTERNAL_PRESSURE,10.3268
$TCM_TEMP,23.10
$XPDR_PINGS,47
$24V_AH,24.4,7.856
$10V_AH,10.3,9.242
$FG_AHR_24Vo,60.751
$FG_AHR_10Vo,140.923
$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,19.150,66.725,503.325,0.000,0.000,30.479,36.655,174.249,11.750,0.000,32.840,2154.156,1221.696,706.473,2970.190,142.988,0.000,1026.585,0.000,2607.474,0.000,0.539,0.000
$DEVICE_MAMPS,1282565.186,499.047,843.451,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,508.685,919.134,2284.487,0.000,0.000,0.000,2648.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308940
$DATA_FILE_SIZE,50118,899
$CAP_FILE_SIZE,99662,0
$CFSIZE,260280320,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,355.2,1
$GPS,011010,212300,2303.421,12653.467,41,1.3,42,-3.4