version: 66.08
glider: 124
mission: 12
dive: 34
start: 10 2 110 17 50 49
data:
$ID,124
$MISSION,12
$DIVE,34
$N_DIVES,45
$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,-301056.91
$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,21
$R_STBD_OVSHOOT,31
$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,142.61742
$FG_AHR_24V,62.006462
$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,66.0
$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
$GPS1,021010,174437,2302.815,12701.434,37,1.2,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-72.4
$GPS2,021010,175020,2302.771,12701.425,11,1.4,11,-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,116.0,6107,-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,-194.6,0.0,0.0,0,79,0.00,0.00,-49.10,0.000,2,0.007,0.000,43,2411,2241,0,0,0,0,0,0
$GC,81,-0.99,-194.6,3.1,-2.4,7,138,8.82,2.25,-33.10,0.000,4,0.240,0.053,2093,980,3553,0,0,0,0,0,0
$GC,145,-0.83,-194.6,12.6,-20.5,15,162,0.12,2.20,0.00,0.039,6,0.039,0.050,2133,2389,3553,0,0,0,0,0,0
$GC,480,-0.83,-194.6,86.3,-20.7,76,500,0.00,2.20,0.00,0.007,4,0.007,0.060,2133,978,3555,0,0,0,0,0,0
$GC,512,-0.83,-194.6,92.5,-19.1,79,528,0.00,2.20,0.00,0.048,6,0.048,0.032,2134,2400,3555,0,0,0,0,0,0
$GC,851,-1.04,-194.6,138.3,-9.5,140,872,0.10,2.20,0.00,0.007,4,0.007,0.037,2080,982,3558,0,0,0,0,0,0
$GC,880,-1.21,-194.6,142.2,-12.8,142,897,0.05,2.20,0.00,0.031,6,0.031,0.032,2044,2411,3556,0,0,0,0,0,0
$GC,1230,-1.16,-194.6,215.6,-20.4,203,1247,0.08,2.17,0.00,0.022,4,0.007,0.059,2069,3820,3559,0,0,0,0,0,0
$GC,1291,-1.31,-194.6,226.8,-16.5,212,1313,0.08,2.12,0.00,0.052,6,0.052,0.046,2023,2387,3558,0,0,0,0,0,0
$GC,1631,-1.28,-194.6,290.3,-20.4,273,1648,0.00,2.15,0.00,0.007,4,0.007,0.054,2023,989,3560,0,0,0,0,0,0
$GC,1655,-1.23,-194.6,295.0,-19.2,275,1672,0.08,2.17,0.00,0.000,6,0.060,0.053,2049,2403,3559,0,0,0,0,0,0
$GC,1992,-1.30,-194.6,346.5,-14.2,307,1997,0.00,2.15,0.00,0.007,4,0.000,0.061,2049,3822,3558,0,0,0,0,0,0
$GC,2105,-1.47,-194.6,360.9,-11.3,317,2111,0.12,2.10,0.00,0.019,6,0.019,0.044,1985,2402,3558,0,0,0,0,0,0
$GC,2431,-1.40,-194.6,419.1,-17.3,347,2449,0.08,0.00,0.00,0.017,6,0.007,0.017,2010,2400,3558,0,0,0,0,0,0
$GC,2764,-1.44,-194.6,468.5,-14.4,378,2766,0.00,0.00,0.00,0.000,6,0.020,0.007,2010,2400,3557,0,0,0,0,0,0
$STATE,2985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2985,begin apogee
$GC,2989,-0.17,0.0,501.4,15.0,399,3154,0.75,0.00,142.12,0.836,6,0.121,0.014,2282,2198,2758,0,0,0,0,0,0
$STATE,3155,end apogee,CONTROL_FINISHED_OK
$STATE,3155,begin climb
$GC,3155,0.99,194.6,509.6,0.0,412,3328,0.60,2.33,144.85,0.819,4,0.007,0.064,2546,3607,1960,0,0,0,0,0,0
$GC,3571,0.77,194.6,463.3,15.5,447,3589,0.20,2.22,0.00,0.099,6,0.099,0.050,2490,2198,1954,0,0,0,0,0,0
$GC,3904,0.89,281.4,429.0,9.6,478,3980,0.05,2.40,65.57,0.792,4,0.007,0.071,2535,3615,1605,0,0,0,0,0,0
$GC,4027,0.78,281.4,412.8,16.6,488,4033,0.17,2.22,0.00,0.016,6,0.016,0.050,2486,2196,1600,0,0,0,0,0,0
$GC,4354,0.93,332.7,375.3,11.3,518,4412,0.10,2.25,38.33,0.766,4,1282.565,0.061,2554,781,1396,0,0,0,0,0,0
$GC,4438,0.93,332.7,361.3,16.6,524,4460,0.10,2.28,0.00,0.062,6,0.062,0.058,2518,2204,1394,0,0,0,0,0,0
$GC,4775,0.96,333.5,311.8,13.8,555,4781,0.00,2.17,0.00,0.007,4,0.007,0.058,2518,3618,1389,0,0,0,0,0,0
$GC,4869,0.96,333.5,297.7,15.8,564,4888,0.00,2.22,0.00,0.013,6,1282.565,0.052,2526,2192,1387,0,0,0,0,0,0
$GC,5204,1.00,333.5,249.3,14.8,625,5221,0.00,2.15,0.00,0.007,4,0.000,0.058,2529,781,1385,0,0,0,0,0,0
$GC,5333,1.10,333.5,230.2,15.3,647,5350,0.05,2.20,0.00,0.059,6,0.059,0.055,2574,2204,1385,0,0,0,0,0,0
$GC,5673,1.06,333.5,174.3,14.1,708,5693,0.08,0.00,0.00,0.000,6,0.007,0.011,2544,2204,1384,0,0,0,0,0,0
$GC,6012,1.17,372.2,131.3,12.0,769,6058,0.08,2.25,28.00,0.576,4,0.007,0.069,2613,787,1239,0,0,0,0,0,0
$GC,6213,1.17,372.2,99.9,14.0,803,6230,0.10,2.17,0.00,0.096,6,0.098,0.052,2576,2193,1234,0,0,0,0,0,0
$GC,6551,1.31,403.8,60.0,12.3,864,6584,0.08,2.22,24.15,0.524,4,0.007,0.060,2638,781,1110,0,0,0,0,0,0
$GC,6687,1.31,403.8,39.1,17.1,887,6705,0.10,2.20,0.00,0.031,6,1282.565,0.050,2601,2207,1107,0,0,0,0,0,0
$STATE,6981,end climb,SURFACE_DEPTH_REACHED
$STATE,6981,begin surface coast
$FINISH,1.3,1.009343
$STATE,7005,end surface coast,CONTROL_FINISHED_OK
$STATE,7005,begin surface
$SM_CCo,7098,0.00,0.000,0,0,1102,406.22
$SM_GC,2.30,6.65,0.00,0.00,0.048,0.063,0.063,38,2407,1102,-10.43,0.20,406.22
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2253.38,12716.55,021010,151533
$HUMID,41.61
$INTERNAL_PRESSURE,10.3939
$TCM_TEMP,23.50
$XPDR_PINGS,49
$24V_AH,24.5,9.811
$10V_AH,10.3,11.164
$FG_AHR_24Vo,62.121
$FG_AHR_10Vo,142.786
$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,18.625,57.975,443.025,0.000,0.000,30.803,15.343,169.615,12.250,0.000,12.387,2259.535,1335.752,673.063,3031.651,149.401,0.000,968.176,0.000,2726.397,0.000,0.539,0.000
$DEVICE_MAMPS,1282565.308,71.450,835.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,533.413,965.500,2400.503,0.000,0.000,0.000,2732.044,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308992
$DATA_FILE_SIZE,53601,944
$CAP_FILE_SIZE,97558,0
$CFSIZE,260280320,246546432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,346.9,1
$GPS,021010,195022,2302.788,12702.246,12,2.4,32,-3.4