version: 66.08
glider: 124
mission: 12
dive: 62
start: 10 5 110 3 36 5
data:
$ID,124
$MISSION,12
$DIVE,62
$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,-301113.09
$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,25
$R_STBD_OVSHOOT,30
$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,147.41632
$FG_AHR_24V,65.531166
$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,122.0
$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
$GPS1,051010,032849,2303.296,12702.202,8,1.6,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-67.0
$GPS2,051010,033536,2303.336,12702.183,18,2.0,34,-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,140.8,4842,-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,-194.6,0.0,0.0,0,71,0.00,0.00,-41.58,0.000,2,0.007,0.000,42,2429,2053,0,0,0,0,0,0
$GC,73,-0.99,-194.6,3.0,-2.7,6,135,8.85,2.25,-40.65,0.000,4,0.269,0.054,2094,983,3554,0,0,0,0,0,0
$GC,244,-0.84,-194.6,36.8,-25.6,34,261,0.12,2.17,0.00,0.018,6,0.057,0.051,2135,2389,3555,0,0,0,0,0,0
$GC,583,-0.95,-194.6,100.4,-16.3,95,601,0.05,2.17,0.00,0.007,4,0.007,0.041,2097,3809,3559,0,0,0,0,0,0
$GC,635,-1.12,-194.6,108.8,-16.3,102,652,0.00,2.10,0.00,0.053,6,0.053,0.046,2097,2395,3558,0,0,0,0,0,0
$GC,973,-1.19,-194.6,163.2,-16.6,163,991,0.10,2.17,0.00,0.007,4,0.007,0.054,2041,993,3560,0,0,0,0,0,0
$GC,1003,-1.19,-194.6,168.8,-17.5,166,1020,0.00,2.15,0.00,0.046,6,0.046,0.036,2042,2401,3560,0,0,0,0,0,0
$GC,1353,-1.14,-194.6,238.1,-19.8,227,1370,0.08,2.17,0.00,1282.565,4,0.007,0.063,2069,3810,3561,0,0,0,0,0,0
$GC,1470,-1.31,-194.6,254.8,-12.1,246,1487,0.08,2.10,0.00,0.053,6,0.053,0.047,2024,2394,3561,0,0,0,0,0,0
$GC,1808,-1.26,-194.6,317.0,-18.6,299,1825,0.05,0.00,0.00,0.028,6,1282.565,0.028,2043,2392,3560,0,0,0,0,0,0
$GC,2140,-1.32,-194.6,369.8,-15.6,330,2145,0.00,2.15,0.00,0.007,4,0.000,0.058,2043,3816,3560,0,0,0,0,0,0
$GC,2170,-1.42,-194.6,373.6,-14.6,332,2176,0.08,2.08,0.00,0.000,6,0.053,0.047,1997,2402,3560,0,0,0,0,0,0
$GC,2497,-1.42,-194.6,435.4,-18.2,362,2502,0.00,2.15,0.00,0.008,4,0.008,0.064,1997,3809,3560,0,0,0,0,0,0
$GC,2538,-1.42,-194.6,443.6,-18.3,365,2556,0.00,2.10,0.00,0.038,6,0.038,0.032,1996,2403,3559,0,0,0,0,0,0
$GC,2871,-1.42,-194.6,498.6,-15.4,396,2876,0.00,2.17,0.00,0.009,4,0.009,0.041,1997,3820,3558,0,0,0,0,0,0
$STATE,2879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2879,begin apogee
$GC,2885,-0.17,0.0,500.4,14.9,396,3043,0.80,0.00,142.30,0.827,6,0.051,0.812,2282,2198,2759,0,0,0,0,0,0
$STATE,3044,end apogee,CONTROL_FINISHED_OK
$STATE,3044,begin climb
$GC,3045,0.99,194.6,508.0,0.0,409,3214,0.60,2.33,144.43,0.813,4,0.007,0.061,2549,3616,1961,0,0,0,0,0,0
$GC,3360,0.75,194.6,477.5,14.3,435,3377,0.22,2.22,0.00,0.109,6,1282.565,0.047,2485,2191,1956,0,0,0,0,0,0
$GC,3692,0.89,293.1,444.1,9.0,466,3791,0.08,2.35,74.05,0.769,4,0.007,0.062,2539,3609,1559,0,0,0,0,0,0
$GC,3947,0.80,293.1,406.4,15.5,487,3953,0.17,2.17,0.00,0.012,6,0.034,0.040,2488,2197,1552,0,0,0,0,0,0
$GC,4275,0.93,326.9,370.4,12.2,517,4321,0.08,2.20,25.17,0.716,4,0.007,0.064,2554,790,1424,0,0,0,0,0,0
$GC,4356,0.93,326.9,357.6,16.5,523,4362,0.10,2.20,0.00,0.013,6,0.013,0.046,2516,2209,1422,0,0,0,0,0,0
$GC,4682,0.99,326.9,307.9,14.4,553,4687,0.00,2.12,0.00,0.007,4,0.007,0.061,2516,3616,1417,0,0,0,0,0,0
$GC,4711,1.04,326.9,303.8,14.0,555,4717,0.05,2.17,0.00,0.017,6,0.017,0.047,2568,2203,1416,0,0,0,0,0,0
$GC,5034,0.99,326.9,247.8,17.0,613,5051,0.10,2.17,0.00,0.007,4,0.007,0.059,2540,789,1415,0,0,0,0,0,0
$GC,5153,1.08,342.5,230.4,13.1,633,5183,0.00,2.17,12.12,0.545,6,0.039,0.032,2540,2208,1356,0,0,0,0,0,0
$GC,5507,1.14,344.1,180.2,13.8,696,5528,0.08,2.30,0.00,0.013,4,0.012,0.042,2606,776,1352,0,0,0,0,0,0
$GC,5546,1.11,344.1,174.2,15.8,700,5567,0.12,2.20,0.00,0.022,6,0.055,0.049,2563,2209,1352,0,0,0,0,0,0
$GC,5888,1.14,368.9,124.2,12.7,761,5928,0.00,2.28,20.62,0.549,4,0.007,0.042,2568,774,1249,0,0,0,0,0,0
$GC,6011,1.27,403.9,107.8,12.1,780,6060,0.05,2.20,27.35,0.539,6,0.025,0.032,2619,2201,1106,0,0,0,0,0,0
$GC,6380,1.34,433.9,55.7,12.4,845,6417,0.00,2.25,22.70,0.519,4,0.007,0.056,2620,780,985,0,0,0,0,0,0
$GC,6494,1.44,439.2,40.5,13.6,863,6520,0.00,2.20,5.20,0.336,6,0.018,0.042,2621,2204,963,0,0,0,0,0,0
$STATE,6759,end climb,SURFACE_DEPTH_REACHED
$STATE,6759,begin surface coast
$FINISH,1.3,1.008968
$STATE,6781,end surface coast,CONTROL_FINISHED_OK
$STATE,6781,begin surface
$SM_CCo,6875,0.00,0.000,0,0,956,442.28
$SM_GC,2.28,6.78,0.00,0.00,0.050,0.010,0.067,40,2399,956,-10.42,-0.03,442.28
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12659.69,051010,010106
$HUMID,42.04
$INTERNAL_PRESSURE,10.3772
$TCM_TEMP,23.50
$XPDR_PINGS,48
$24V_AH,24.5,14.405
$10V_AH,10.3,16.120
$FG_AHR_24Vo,65.647
$FG_AHR_10Vo,147.580
$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,18.625,66.275,473.950,0.000,0.000,25.924,37.549,180.826,12.000,0.000,35.916,2190.235,1255.912,678.802,2994.738,169.163,0.000,988.338,0.000,2635.096,0.000,0.540,0.000
$DEVICE_MAMPS,1282564.941,64.241,827.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,515.650,935.771,2322.068,0.000,0.000,0.000,2660.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308956
$DATA_FILE_SIZE,50253,914
$CAP_FILE_SIZE,98267,0
$CFSIZE,260280320,244424704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 38.9,1
$GPS,051010,053221,2303.036,12703.218,37,2.4,57,-3.4