version: 66.08
glider: 124
mission: 12
dive: 72
start: 10 6 110 0 16 35
data:
$ID,124
$MISSION,12
$DIVE,72
$N_DIVES,85
$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,-301133.12
$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,31
$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,149.12967
$FG_AHR_24V,66.766899
$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,142.0
$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
$GPS1,061010,000919,2304.263,12652.891,10,1.3,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.0
$GPS2,061010,001606,2304.320,12652.826,17,1.4,27,-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,206.5,5401,-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,-41.30,0.000,2,1282.565,0.000,45,2416,2259,0,0,0,0,0,0
$GC,73,-0.99,-194.6,3.1,-2.3,6,131,8.77,2.22,-32.55,0.000,4,0.269,0.294,2096,993,3553,0,0,0,0,0,0
$GC,256,-0.77,-194.6,45.9,-29.7,36,273,0.15,2.17,0.00,0.092,6,0.092,0.048,2144,2389,3554,0,0,0,0,0,0
$GC,598,-0.99,-194.6,101.7,-9.9,97,616,0.10,0.00,0.00,0.007,6,0.007,1282.565,2092,2388,3557,0,0,0,0,0,0
$GC,939,-1.06,-194.6,158.3,-16.0,158,957,0.00,2.17,0.00,0.007,4,0.007,0.054,2092,3821,3558,0,0,0,0,0,0
$GC,975,-1.18,-194.6,163.7,-15.0,162,992,0.08,2.10,0.00,0.028,6,0.028,0.032,2049,2403,3558,0,0,0,0,0,0
$GC,1327,-1.18,-194.6,228.1,-18.1,223,1346,0.00,2.17,0.00,0.007,4,0.007,0.052,2049,983,3559,0,0,0,0,0,0
$GC,1369,-1.18,-194.6,235.3,-18.0,228,1385,0.00,2.17,0.00,0.062,6,0.062,0.057,2049,2399,3559,0,0,0,0,0,0
$GC,1703,-1.18,-194.6,293.9,-16.7,289,1719,0.00,2.17,0.00,0.007,4,0.007,0.043,2049,3821,3559,0,0,0,0,0,0
$GC,1771,-1.32,-194.6,304.4,-15.7,297,1777,0.00,2.10,0.00,0.027,6,0.027,0.026,2049,2391,3559,0,0,0,0,0,0
$GC,2097,-1.36,-194.6,353.2,-14.6,327,2100,0.05,0.00,0.00,0.012,6,0.000,0.012,2012,2391,3560,0,0,0,0,0,0
$GC,2414,-1.36,-194.6,407.8,-16.6,357,2420,0.00,2.10,0.00,0.017,4,0.017,0.057,2011,989,3559,0,0,0,0,0,0
$GC,2425,-1.36,-194.6,409.7,-16.7,357,2441,0.00,2.17,0.00,0.062,6,0.062,0.056,2011,2396,3559,0,0,0,0,0,0
$GC,2757,-1.36,-194.6,465.1,-15.9,388,2759,0.00,0.00,0.00,0.007,6,0.001,0.007,2012,2396,3558,0,0,0,0,0,0
$STATE,2990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2990,begin apogee
$GC,2994,-0.17,0.0,500.6,15.1,410,3161,0.75,0.00,141.93,0.835,6,0.102,0.015,2281,2198,2758,0,0,0,0,0,0
$STATE,3162,end apogee,CONTROL_FINISHED_OK
$STATE,3162,begin climb
$GC,3162,0.99,194.6,508.2,0.0,423,3327,0.62,2.33,144.98,0.810,4,0.042,0.042,2555,796,1960,0,0,0,0,0,0
$GC,3536,0.85,194.6,467.1,16.3,455,3559,0.15,2.20,0.00,0.036,6,1282.565,0.049,2504,2193,1954,0,0,0,0,0,0
$GC,3875,0.92,268.7,429.6,10.2,486,3933,0.00,0.00,54.92,0.763,6,0.007,0.081,2504,2193,1663,0,0,0,0,0,0
$GC,4249,0.95,268.7,382.0,14.3,521,4255,0.05,2.20,0.00,0.008,4,0.007,0.057,2554,795,1652,0,0,0,0,0,0
$GC,4292,0.90,268.7,375.2,16.1,524,4309,0.10,2.20,0.00,0.059,6,0.059,0.053,2518,2201,1651,0,0,0,0,0,0
$GC,4623,0.93,287.2,330.8,13.0,555,4659,0.00,2.25,13.38,0.741,4,0.007,0.065,2518,3614,1586,0,0,0,0,0,0
$GC,4693,0.93,287.2,321.5,16.3,560,4698,0.00,2.17,0.00,0.000,6,0.060,0.053,2526,2206,1584,0,0,0,0,0,0
$GC,5019,0.96,307.9,280.2,12.9,604,5059,0.00,2.25,16.98,0.646,4,0.007,0.056,2529,778,1499,0,0,0,0,0,0
$GC,5093,1.06,338.8,271.5,12.4,614,5137,0.00,2.22,25.45,0.656,6,0.023,0.037,2529,2208,1370,0,0,0,0,0,0
$GC,5455,1.13,350.4,221.9,13.3,679,5477,0.10,2.28,9.25,0.547,4,0.007,0.059,2607,789,1324,0,0,0,0,0,0
$GC,5563,1.05,350.4,203.0,21.1,697,5580,0.17,2.20,0.00,0.058,6,0.058,0.039,2547,2202,1322,0,0,0,0,0,0
$GC,5906,1.12,356.6,152.3,13.6,758,5934,0.00,2.25,4.85,0.404,4,0.007,0.043,2554,780,1304,0,0,0,0,0,0
$GC,5995,1.22,374.5,140.2,13.0,771,6024,0.08,2.20,15.30,0.540,6,0.019,0.046,2614,2208,1230,0,0,0,0,0,0
$GC,6343,1.22,374.5,81.1,15.8,834,6359,0.08,0.00,0.00,0.007,6,0.007,0.008,2584,2208,1229,0,0,0,0,0,0
$GC,6682,1.44,456.8,44.5,9.8,895,6765,0.12,2.28,60.95,0.512,4,0.007,0.074,2664,792,894,0,0,0,0,0,0
$GC,6821,1.44,456.8,22.3,15.4,915,6842,0.08,2.20,0.00,0.029,6,1282.565,0.048,2635,2206,891,0,0,0,0,0,0
$STATE,6955,end climb,SURFACE_DEPTH_REACHED
$STATE,6955,begin surface coast
$FINISH,1.6,1.012577
$STATE,6978,end surface coast,CONTROL_FINISHED_OK
$STATE,6978,begin surface
$SM_CCo,7071,0.00,0.000,0,0,884,459.69
$SM_GC,2.47,6.80,0.00,0.00,0.041,0.026,0.026,43,2401,884,-10.41,0.03,459.69
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12656.41,051010,222255
$HUMID,42.08
$INTERNAL_PRESSURE,10.3712
$TCM_TEMP,23.40
$XPDR_PINGS,41
$24V_AH,24.5,16.368
$10V_AH,10.3,17.896
$FG_AHR_24Vo,66.885
$FG_AHR_10Vo,149.296
$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,18.250,53.350,487.975,0.000,0.000,23.813,42.274,182.571,10.250,0.000,28.795,2230.622,1358.944,677.586,3041.409,176.082,0.000,989.024,0.000,2683.327,0.000,0.540,0.000
$DEVICE_MAMPS,1282564.941,1282565.186,834.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,536.060,972.952,2391.295,0.000,0.000,0.000,2661.621,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,308920
$DATA_FILE_SIZE,53575,941
$CAP_FILE_SIZE,97082,2
$CFSIZE,260280320,243679232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,351.3,1
$GPS,061010,021537,2304.331,12652.147,27,1.2,28,-3.4