version: 66.08
glider: 124
mission: 12
dive: 41
start: 10 3 110 8 25 35
data:
$ID,124
$MISSION,12
$DIVE,41
$N_DIVES,50
$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,-301071.22
$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,29
$R_STBD_OVSHOOT,21
$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,143.82907
$FG_AHR_24V,62.887989
$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,80.0
$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
$GPS1,031010,081626,2303.417,12700.382,8,1.8,9,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.1
$GPS2,031010,082506,2303.535,12700.372,16,0.9,32,-3.4
$SPEED_LIMITS,0.241,0.275
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,253.3,17703,-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,-194.6,0.0,0.0,0,78,0.00,0.00,-48.03,0.000,2,0.000,0.000,42,2401,2394,0,0,0,0,0,0
$GC,79,-0.99,-194.6,3.5,-4.6,7,131,8.82,2.22,-26.55,0.000,4,0.267,0.052,2099,986,3554,0,0,0,0,0,0
$GC,255,-0.93,-194.6,42.9,-20.0,36,275,0.00,2.20,0.00,0.041,6,0.041,0.029,2099,2407,3555,0,0,0,0,0,0
$GC,593,-0.98,-194.6,115.9,-14.7,97,610,0.00,2.20,0.00,0.007,4,0.007,0.058,2099,983,3558,0,0,0,0,0,0
$GC,635,-1.07,-194.6,122.9,-16.1,102,652,0.00,2.20,0.00,0.013,6,0.000,0.050,2100,2399,3558,0,0,0,0,0,0
$GC,971,-1.17,-194.6,176.7,-14.4,163,989,0.10,2.20,0.00,1282.565,4,0.007,0.064,2044,3815,3559,0,0,0,0,0,0
$GC,1054,-1.17,-194.6,191.9,-17.2,176,1074,0.00,2.10,0.00,0.054,6,0.054,0.047,2043,2403,3560,0,0,0,0,0,0
$GC,1404,-1.17,-194.6,255.2,-19.5,237,1422,0.05,2.20,0.00,0.007,4,0.007,0.042,2064,3823,3560,0,0,0,0,0,0
$GC,1462,-1.30,-194.6,263.9,-13.6,245,1479,0.08,2.12,0.00,0.014,6,0.053,0.047,2019,2395,3560,0,0,0,0,0,0
$GC,1804,-1.27,-194.6,326.7,-17.7,293,1810,0.08,2.20,0.00,1282.565,4,0.007,0.066,2048,3820,3560,0,0,0,0,0,0
$GC,1889,-1.45,-194.6,339.5,-14.0,300,1895,0.12,2.08,0.00,0.019,6,0.052,0.047,1984,2389,3560,0,0,0,0,0,0
$GC,2215,-1.35,-194.6,403.2,-19.4,330,2221,0.12,2.20,0.00,0.000,4,0.007,0.070,2026,3824,3560,0,0,0,0,0,0
$GC,2257,-1.44,-194.6,410.4,-15.0,333,2276,0.00,2.12,0.00,0.021,6,0.021,0.038,2026,2403,3560,0,0,0,0,0,0
$GC,2592,-1.50,-194.6,456.9,-12.6,364,2598,0.08,2.20,0.00,0.010,4,0.010,0.078,1984,3824,3558,0,0,0,0,0,0
$GC,2621,-1.50,-194.6,461.5,-15.4,366,2626,0.00,2.08,0.00,0.042,6,0.042,0.034,1984,2403,3558,0,0,0,0,0,0
$STATE,2860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2861,begin apogee
$GC,2865,-0.17,0.0,500.2,16.6,388,3031,0.85,0.00,142.30,0.841,6,0.055,0.833,2280,2198,2758,0,0,0,0,0,0
$STATE,3032,end apogee,CONTROL_FINISHED_OK
$STATE,3032,begin climb
$GC,3033,0.99,194.6,508.6,0.0,401,3202,0.62,2.33,144.93,0.815,4,0.045,0.063,2548,3613,1961,0,0,0,0,0,0
$GC,3444,0.76,194.6,467.7,15.8,436,3465,0.22,2.22,0.00,1282.565,6,0.055,0.056,2483,2203,1954,0,0,0,0,0,0
$GC,3780,0.87,276.5,432.9,9.8,467,3861,0.08,0.00,62.00,0.793,6,0.007,0.000,2537,2203,1624,0,0,0,0,0,0
$GC,4176,0.80,276.5,370.0,16.2,503,4182,0.12,2.25,0.00,0.064,4,0.063,0.060,2491,3616,1615,0,0,0,0,0,0
$GC,4272,0.80,277.3,356.1,13.9,511,4277,0.00,2.20,0.00,1282.564,6,0.060,0.053,2500,2192,1614,0,0,0,0,0,0
$GC,4598,0.88,307.5,316.4,12.4,541,4626,0.00,2.15,22.15,0.694,4,0.000,0.059,2509,792,1504,0,0,0,0,0,0
$GC,4691,1.01,347.3,304.9,11.9,549,4747,0.08,2.22,30.95,0.699,6,0.023,0.034,2565,2201,1340,0,0,0,0,0,0
$GC,5062,0.97,347.3,239.2,18.2,613,5079,0.10,0.00,0.00,0.007,6,0.007,0.009,2527,2201,1333,0,0,0,0,0,0
$GC,5405,1.04,347.3,191.4,14.5,674,5422,0.00,2.22,0.00,0.007,4,0.007,0.035,2529,789,1330,0,0,0,0,0,0
$GC,5483,1.21,390.2,182.1,11.8,686,5534,0.12,2.17,30.98,0.618,6,0.044,0.049,2607,2193,1170,0,0,0,0,0,0
$GC,5853,1.17,390.2,114.3,20.2,752,5873,0.10,2.25,0.00,0.007,4,0.007,0.073,2569,781,1165,0,0,0,0,0,0
$GC,5976,1.30,421.6,97.1,12.3,772,6025,0.08,2.20,25.50,0.545,6,0.057,0.054,2628,2207,1034,0,0,0,0,0,0
$GC,6343,1.30,421.6,39.9,14.6,837,6361,0.08,2.28,0.00,0.007,4,0.007,0.059,2606,793,1029,0,0,0,0,0,0
$GC,6554,1.56,492.6,12.9,10.3,874,6613,0.12,2.15,51.12,0.479,6,0.045,0.046,2686,2192,749,0,0,0,0,0,0
$STATE,6619,end climb,SURFACE_DEPTH_REACHED
$STATE,6619,begin surface coast
$FINISH,1.2,0.998294
$STATE,6637,end surface coast,CONTROL_FINISHED_OK
$STATE,6637,begin surface
$SM_CCo,6729,0.00,0.000,0,0,742,494.52
$SM_GC,2.16,6.97,0.00,0.00,0.048,0.056,0.056,42,2407,742,-10.40,0.20,494.52
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12636.26,031010,080830
$HUMID,42.50
$INTERNAL_PRESSURE,10.3489
$TCM_TEMP,23.20
$XPDR_PINGS,58
$24V_AH,24.5,11.013
$10V_AH,10.3,12.403
$FG_AHR_24Vo,63.011
$FG_AHR_10Vo,143.986
$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,19.000,57.550,509.925,0.000,0.000,52.870,70.293,176.932,14.500,0.000,33.177,2103.016,1337.176,678.263,2984.534,153.270,0.000,994.025,0.000,2570.604,0.000,0.539,0.000
$DEVICE_MAMPS,267.470,1282565.186,841.156,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,501.064,909.233,2249.714,0.000,0.000,0.000,2477.828,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308972
$DATA_FILE_SIZE,50292,886
$CAP_FILE_SIZE,96408,0
$CFSIZE,260280320,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,315.2,1
$GPS,031010,101838,2303.578,12659.094,11,1.0,12,-3.4