version: 66.08
glider: 124
mission: 12
dive: 55
start: 10 4 110 13 6 49
data:
$ID,124
$MISSION,12
$DIVE,55
$N_DIVES,75
$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,-301099.53
$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,26
$R_STBD_OVSHOOT,32
$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,146.20941
$FG_AHR_24V,64.65976
$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,108.0
$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
$GPS1,041010,130001,2302.980,12657.896,38,1.3,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.1
$GPS2,041010,130620,2303.040,12657.872,12,1.3,12,-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,109.8,12148,-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,-194.6,0.0,0.0,0,66,0.00,0.00,-36.60,0.000,2,0.007,0.000,38,2412,2046,0,0,0,0,0,0
$GC,68,-0.99,-194.6,3.0,-2.9,5,131,8.95,2.25,-39.85,0.000,4,0.274,0.057,2096,984,3553,0,0,0,0,0,0
$GC,177,-0.86,-194.6,22.3,-26.7,21,194,0.10,2.17,0.00,0.060,6,0.060,0.053,2130,2388,3554,0,0,0,0,0,0
$GC,512,-0.94,-194.6,89.9,-16.5,82,533,0.00,2.17,0.00,0.007,4,0.007,0.054,2131,3806,3557,0,0,0,0,0,0
$GC,545,-1.07,-194.6,95.0,-15.2,85,562,0.10,2.12,0.00,0.054,6,0.054,0.047,2080,2387,3558,0,0,0,0,0,0
$GC,882,-1.10,-194.6,155.5,-16.2,146,902,0.00,2.20,0.00,1282.565,4,0.007,0.062,2079,3814,3559,0,0,0,0,0,0
$GC,968,-1.24,-194.6,168.6,-14.5,159,985,0.08,2.10,0.00,0.021,6,0.021,0.031,2035,2391,3559,0,0,0,0,0,0
$GC,1319,-1.20,-194.6,237.1,-19.1,220,1336,0.08,2.25,0.00,0.034,4,0.034,0.057,2063,3816,3561,0,0,0,0,0,0
$GC,1386,-1.35,-194.6,247.8,-13.3,230,1405,0.10,2.10,0.00,0.013,6,0.053,0.047,2009,2403,3560,0,0,0,0,0,0
$GC,1729,-1.29,-194.6,311.2,-18.6,287,1732,0.08,0.00,0.00,0.007,6,0.007,0.009,2036,2402,3560,0,0,0,0,0,0
$GC,2047,-1.33,-194.6,363.6,-16.1,317,2052,0.00,2.15,0.00,0.007,4,0.007,0.065,2037,3808,3560,0,0,0,0,0,0
$GC,2109,-1.44,-194.6,372.3,-14.1,322,2115,0.08,2.08,0.00,0.001,6,0.053,0.047,1989,2399,3561,0,0,0,0,0,0
$GC,2436,-1.38,-194.6,433.0,-18.7,352,2453,0.08,0.00,0.00,0.007,6,0.007,1282.565,2016,2398,3559,0,0,0,0,0,0
$GC,2769,-1.42,-194.6,482.4,-13.5,383,2774,0.00,2.15,0.00,0.009,4,0.009,0.037,2015,986,3557,0,0,0,0,0,0
$GC,2789,-1.46,-194.6,485.7,-14.6,384,2807,0.00,2.17,0.00,0.011,6,0.058,0.051,2016,2394,3557,0,0,0,0,0,0
$STATE,2909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2909,begin apogee
$GC,2913,-0.17,0.0,501.3,13.9,395,3080,0.75,0.00,142.05,0.830,6,0.128,0.822,2282,2198,2758,0,0,0,0,0,0
$STATE,3080,end apogee,CONTROL_FINISHED_OK
$STATE,3081,begin climb
$GC,3081,0.99,194.6,508.4,0.0,408,3239,0.60,2.38,145.15,0.815,4,0.041,0.043,2548,3617,1959,0,0,0,0,0,0
$GC,3276,0.75,194.6,498.3,16.3,424,3293,0.22,2.25,0.00,0.062,6,1282.564,0.050,2486,2208,1956,0,0,0,0,0,0
$GC,3608,0.87,287.0,464.8,9.3,455,3685,0.05,2.33,69.22,0.790,4,0.007,0.063,2530,3616,1588,0,0,0,0,0,0
$GC,3798,0.79,287.0,435.0,17.2,471,3804,0.15,2.22,0.00,0.021,6,0.058,0.052,2488,2199,1580,0,0,0,0,0,0
$GC,4124,0.88,307.5,392.0,12.9,501,4162,0.05,2.20,15.57,0.665,4,0.007,0.060,2542,789,1502,0,0,0,0,0,0
$GC,4196,0.88,307.5,380.9,16.7,506,4202,0.10,2.20,0.00,0.011,6,0.059,0.054,2505,2208,1501,0,0,0,0,0,0
$GC,4521,0.94,323.4,335.9,13.1,536,4554,0.00,2.22,12.88,0.660,4,0.007,0.063,2505,3609,1438,0,0,0,0,0,0
$GC,4580,0.95,331.1,328.3,13.5,540,4596,0.00,2.17,7.53,0.563,6,0.022,0.033,2514,2199,1408,0,0,0,0,0,0
$GC,4910,1.04,351.0,283.3,12.9,582,4937,0.08,2.25,16.42,0.716,4,1282.565,0.044,2578,774,1323,0,0,0,0,0,0
$GC,5019,0.99,351.0,264.4,18.1,600,5036,0.12,2.22,0.00,0.021,6,0.056,0.050,2534,2208,1319,0,0,0,0,0,0
$GC,5356,1.04,351.0,213.1,15.6,661,5372,0.00,2.25,0.00,0.007,4,0.008,0.057,2538,777,1317,0,0,0,0,0,0
$GC,5401,1.12,351.0,206.1,14.2,667,5418,0.05,2.17,0.00,0.058,6,0.058,0.049,2583,2192,1317,0,0,0,0,0,0
$GC,5742,1.12,351.0,150.5,15.6,728,5759,0.00,2.20,0.00,0.007,4,0.007,0.063,2594,779,1315,0,0,0,0,0,0
$GC,5803,1.08,351.0,141.2,16.5,737,5821,0.10,2.17,0.00,0.021,6,0.021,0.041,2556,2202,1315,0,0,0,0,0,0
$GC,6140,1.20,388.0,96.4,12.0,798,6189,0.05,0.00,27.98,0.547,6,0.007,0.586,2607,2202,1170,0,0,0,0,0,0
$GC,6510,1.26,393.5,45.6,13.6,863,6536,0.00,2.22,4.28,0.338,4,0.007,0.059,2617,773,1152,0,0,0,0,0,0
$GC,6661,1.40,442.9,26.8,11.4,888,6721,0.00,2.17,38.28,0.492,6,0.019,0.044,2618,2192,946,0,0,0,0,0,0
$STATE,6849,end climb,SURFACE_DEPTH_REACHED
$STATE,6850,begin surface coast
$FINISH,1.7,1.022058
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6872,begin surface
$SM_CCo,6966,0.00,0.000,0,0,939,446.69
$SM_GC,2.14,6.90,0.00,0.00,0.059,0.012,0.002,43,2405,939,-10.41,0.14,446.69
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2253.38,12658.28,041010,101048
$HUMID,42.21
$INTERNAL_PRESSURE,10.3758
$TCM_TEMP,23.20
$XPDR_PINGS,43
$24V_AH,24.5,13.329
$10V_AH,10.3,14.875
$FG_AHR_24Vo,64.778
$FG_AHR_10Vo,146.374
$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,18.850,62.150,479.350,0.000,0.000,23.634,41.174,175.163,10.750,0.000,13.180,2205.414,1328.258,689.907,2963.972,164.493,0.000,997.530,0.000,2635.158,0.000,0.539,0.000
$DEVICE_MAMPS,1282564.819,64.601,829.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,521.951,943.919,2345.326,0.000,0.000,0.000,2653.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308964
$DATA_FILE_SIZE,50133,923
$CAP_FILE_SIZE,99300,0
$CFSIZE,260280320,244953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,307.8,1
$GPS,041010,150350,2302.985,12658.418,11,1.8,12,-3.4