version: 66.08
glider: 124
mission: 12
dive: 51
start: 10 4 110 4 45 7
data:
$ID,124
$MISSION,12
$DIVE,51
$N_DIVES,60
$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,-301090.97
$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,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,145.51108
$FG_AHR_24V,64.162598
$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,100.0
$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
$GPS1,041010,043831,2303.413,12654.443,12,2.0,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.2
$GPS2,041010,044438,2303.475,12654.410,14,1.4,14,-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,117.1,18068,-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,-194.6,0.0,0.0,0,79,0.00,0.00,-48.30,0.000,2,0.007,0.000,41,2413,2128,0,0,0,0,0,0
$GC,81,-0.99,-194.6,3.1,-3.8,7,147,8.80,2.25,-37.03,0.000,4,0.270,0.052,2095,977,3555,0,0,0,0,0,0
$GC,192,-0.81,-194.6,23.8,-27.4,23,213,0.12,2.20,0.00,0.027,6,0.027,0.031,2136,2395,3556,0,0,0,0,0,0
$GC,532,-0.96,-194.6,91.9,-14.9,84,549,0.08,0.00,0.00,0.007,6,0.007,0.008,2093,2394,3559,0,0,0,0,0,0
$GC,874,-0.96,-194.6,151.3,-19.4,145,891,0.00,2.17,0.00,0.000,4,0.007,0.063,2092,3820,3560,0,0,0,0,0,0
$GC,925,-1.12,-194.6,159.1,-15.2,152,942,0.00,2.12,0.00,0.032,6,0.032,0.032,2092,2388,3561,0,0,0,0,0,0
$GC,1275,-1.24,-194.6,210.3,-14.2,213,1292,0.10,2.15,0.00,0.008,4,0.008,0.050,2038,998,3562,0,0,0,0,0,0
$GC,1300,-1.32,-194.6,213.9,-13.6,215,1320,0.00,2.15,0.00,0.013,6,0.055,0.048,2038,2399,3561,0,0,0,0,0,0
$GC,1636,-1.32,-194.6,272.8,-18.0,276,1652,0.00,2.15,0.00,0.000,4,0.007,0.063,2038,3809,3562,0,0,0,0,0,0
$GC,1659,-1.32,-194.6,276.9,-17.0,278,1675,0.00,2.08,0.00,0.000,6,0.051,0.046,2038,2405,3562,0,0,0,0,0,0
$GC,1994,-1.32,-194.6,333.3,-16.0,321,2000,0.00,2.15,0.00,0.007,4,0.007,0.059,2038,3820,3562,0,0,0,0,0,0
$GC,2014,-1.39,-194.6,337.4,-18.1,322,2031,0.00,2.10,0.00,1282.565,6,0.052,0.047,2037,2407,3561,0,0,0,0,0,0
$GC,2346,-1.45,-194.6,391.8,-14.8,353,2349,0.08,0.00,0.00,0.014,6,1282.565,0.014,1993,2406,3561,0,0,0,0,0,0
$GC,2664,-1.41,-194.6,449.6,-16.7,383,2667,0.00,0.00,0.00,0.009,6,1282.565,0.009,1993,2406,3559,0,0,0,0,0,0
$STATE,2961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2961,begin apogee
$GC,2966,-0.17,0.0,501.3,17.5,411,3117,0.82,0.00,142.12,0.829,6,0.137,1282.565,2281,2199,2759,0,0,0,0,0,0
$STATE,3118,end apogee,CONTROL_FINISHED_OK
$STATE,3118,begin climb
$GC,3119,0.99,194.6,510.2,0.0,423,3290,0.62,2.30,144.65,0.809,4,0.044,0.057,2555,794,1962,0,0,0,0,0,0
$GC,3338,0.84,195.4,498.2,13.9,440,3356,0.15,2.25,0.00,0.058,6,0.058,0.059,2505,2208,1960,0,0,0,0,0,0
$GC,3671,0.83,234.1,459.0,12.0,471,3716,0.00,2.25,30.42,0.811,4,0.007,0.061,2505,3617,1797,0,0,0,0,0,0
$GC,3807,0.75,234.1,438.8,18.0,482,3825,0.10,2.22,0.00,0.009,6,0.058,0.033,2479,2202,1793,0,0,0,0,0,0
$GC,4140,0.86,282.5,399.7,11.5,513,4190,0.08,2.30,36.80,0.747,4,0.013,0.064,2534,3608,1600,0,0,0,0,0,0
$GC,4215,0.77,282.5,388.0,17.9,519,4221,0.17,2.20,0.00,0.001,6,0.040,0.033,2483,2202,1597,0,0,0,0,0,0
$GC,4542,0.93,338.0,348.8,11.1,549,4600,0.10,0.00,41.97,0.736,6,0.007,0.765,2548,2202,1376,0,0,0,0,0,0
$GC,4915,0.93,338.0,290.0,16.6,589,4931,0.08,0.00,0.00,0.011,6,0.007,0.011,2519,2202,1367,0,0,0,0,0,0
$GC,5249,1.01,351.7,243.4,13.2,650,5270,0.00,2.22,9.27,0.584,4,0.008,0.057,2524,784,1324,0,0,0,0,0,0
$GC,5405,1.15,363.8,222.8,13.3,677,5441,0.10,2.17,11.65,0.625,6,0.055,0.050,2593,2194,1269,0,0,0,0,0,0
$GC,5764,1.09,363.8,164.0,14.1,740,5781,0.10,2.25,0.00,0.019,4,0.007,0.058,2555,780,1267,0,0,0,0,0,0
$GC,5788,1.09,363.8,160.2,15.9,742,5805,0.00,2.20,0.00,0.059,6,0.059,0.060,2555,2212,1265,0,0,0,0,0,0
$GC,6124,1.17,369.4,116.0,13.6,803,6137,0.00,2.15,4.22,0.357,4,0.007,0.058,2555,3611,1252,0,0,0,0,0,0
$GC,6161,1.23,370.7,110.7,13.8,808,6172,0.08,2.17,2.88,0.213,6,0.023,0.033,2613,2198,1247,0,0,0,0,0,0
$GC,6491,1.30,419.2,62.4,11.5,869,6539,0.00,2.12,37.15,0.540,4,0.007,0.056,2620,782,1048,0,0,0,0,0,0
$GC,6740,1.45,450.3,31.8,12.3,912,6772,0.00,2.17,23.60,0.483,6,0.056,0.052,2620,2197,922,0,0,0,0,0,0
$STATE,6958,end climb,SURFACE_DEPTH_REACHED
$STATE,6958,begin surface coast
$FINISH,1.4,1.021885
$STATE,6980,end surface coast,CONTROL_FINISHED_OK
$STATE,6980,begin surface
$SM_CCo,7074,0.00,0.000,0,0,914,452.58
$SM_GC,2.48,6.78,0.00,0.00,0.051,0.008,0.065,43,2413,914,-10.40,0.37,452.58
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12655.00,041010,020255
$HUMID,42.05
$INTERNAL_PRESSURE,10.3861
$TCM_TEMP,23.60
$XPDR_PINGS,38
$24V_AH,24.5,12.727
$10V_AH,10.3,14.158
$FG_AHR_24Vo,64.282
$FG_AHR_10Vo,145.680
$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,18.350,53.100,484.750,0.000,0.000,23.212,36.790,168.574,9.500,0.000,15.242,2262.764,1329.007,671.856,3022.571,163.321,0.000,968.237,0.000,2701.159,0.000,0.540,0.000
$DEVICE_MAMPS,1282565.186,63.670,828.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,539.392,977.463,2425.763,0.000,0.000,0.000,2719.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308924
$DATA_FILE_SIZE,53522,955
$CAP_FILE_SIZE,96435,0
$CFSIZE,260280320,245260288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 81.3,1
$GPS,041010,064356,2302.982,12655.668,11,1.7,12,-3.3