version: 66.08
glider: 124
mission: 12
dive: 76
start: 10 6 110 8 47 14
data:
$ID,124
$MISSION,12
$DIVE,76
$N_DIVES,95
$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,-301140.88
$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,22
$R_STBD_OVSHOOT,28
$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,149.82837
$FG_AHR_24V,67.283478
$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,150.0
$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
$GPS1,061010,083231,2303.531,12651.306,42,1.1,43,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.1
$GPS2,061010,084644,2303.487,12651.248,17,1.2,17,-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,245.0,2310,-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,-194.6,0.0,0.0,0,87,0.00,0.00,-56.72,0.000,2,0.007,0.000,41,2414,2410,0,0,0,0,0,0
$GC,89,-0.99,-194.6,3.3,-4.2,8,139,8.90,2.20,-25.27,0.000,4,0.272,0.064,2095,3813,3553,0,0,0,0,0,0
$GC,355,-1.03,-194.6,64.1,-17.9,54,372,0.00,2.15,0.00,0.011,6,0.049,0.042,2095,2386,3554,0,0,0,0,0,0
$GC,699,-1.06,-194.6,137.3,-16.3,115,718,0.00,0.00,0.00,0.007,6,0.007,0.007,2095,2387,3557,0,0,0,0,0,0
$GC,1038,-1.17,-194.6,187.5,-12.8,176,1056,0.08,2.22,0.00,0.019,4,0.000,0.058,2054,3809,3558,0,0,0,0,0,0
$GC,1063,-1.28,-194.6,191.7,-14.7,178,1080,0.00,2.10,0.00,0.053,6,0.053,0.046,2053,2392,3558,0,0,0,0,0,0
$GC,1414,-1.28,-194.6,250.9,-16.8,239,1433,0.00,2.17,0.00,0.007,4,0.007,0.034,2053,3805,3558,0,0,0,0,0,0
$GC,1462,-1.39,-194.6,258.5,-16.1,245,1479,0.08,2.08,0.00,0.032,6,0.032,0.029,2004,2405,3558,0,0,0,0,0,0
$GC,1805,-1.29,-194.6,329.7,-19.7,293,1811,0.10,2.17,0.00,0.052,4,0.052,0.056,2038,3810,3557,0,0,0,0,0,0
$GC,1846,-1.37,-194.6,337.5,-15.7,296,1851,0.00,2.08,0.00,0.022,6,0.022,0.036,2038,2402,3557,0,0,0,0,0,0
$GC,2177,-1.43,-194.6,387.6,-15.1,327,2183,0.08,2.15,0.00,0.007,4,0.007,0.055,1994,987,3557,0,0,0,0,0,0
$GC,2220,-1.40,-194.6,395.5,-16.6,330,2238,0.00,2.17,0.00,0.027,6,0.027,0.044,1994,2396,3556,0,0,0,0,0,0
$GC,2553,-1.36,-194.6,454.7,-17.0,361,2559,0.08,2.17,0.00,0.012,4,0.012,0.042,2021,3817,3555,0,0,0,0,0,0
$GC,2594,-1.48,-194.6,461.1,-14.0,364,2600,0.05,2.08,0.00,0.035,6,0.035,0.033,1984,2392,3553,0,0,0,0,0,0
$STATE,2835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2835,begin apogee
$GC,2840,-0.17,0.0,501.2,16.4,386,3006,0.85,0.00,141.10,0.823,6,0.116,0.491,2280,2192,2758,0,0,0,0,0,0
$STATE,3007,end apogee,CONTROL_FINISHED_OK
$STATE,3007,begin climb
$GC,3008,0.99,194.6,508.6,0.0,399,3179,0.62,2.25,144.15,0.810,4,0.044,0.053,2554,795,1962,0,0,0,0,0,0
$GC,3422,0.86,194.6,466.0,16.1,434,3440,0.15,2.20,0.00,0.047,6,0.001,0.048,2503,2204,1956,0,0,0,0,0,0
$GC,3756,0.86,231.9,425.4,12.0,465,3793,0.00,0.00,27.52,0.750,6,0.007,0.014,2503,2204,1811,0,0,0,0,0,0
$GC,4108,0.87,234.5,380.4,13.8,498,4113,0.00,2.15,0.00,1282.565,4,0.007,0.064,2503,3617,1805,0,0,0,0,0,0
$GC,4148,0.82,234.5,374.5,15.4,501,4154,0.00,2.17,0.00,0.011,6,1282.565,0.048,2513,2202,1803,0,0,0,0,0,0
$GC,4474,0.86,262.3,330.7,12.5,531,4504,0.00,2.20,22.60,0.730,4,0.007,0.044,2523,786,1688,0,0,0,0,0,0
$GC,4524,0.87,274.8,324.0,13.3,535,4556,0.00,2.22,11.88,0.598,6,0.057,0.053,2523,2202,1631,0,0,0,0,0,0
$GC,4869,0.90,294.8,280.0,12.9,581,4897,0.00,2.30,15.45,0.689,4,0.000,0.058,2529,781,1552,0,0,0,0,0,0
$GC,4915,0.95,308.7,274.2,13.2,587,4946,0.00,2.20,12.30,0.592,6,0.013,0.047,2529,2191,1495,0,0,0,0,0,0
$GC,5263,0.98,308.7,224.3,15.4,650,5279,0.00,0.00,0.00,0.007,6,0.007,0.000,2529,2191,1490,0,0,0,0,0,0
$GC,5605,1.07,342.6,177.9,12.2,711,5637,0.05,2.25,24.90,0.601,4,0.007,0.054,2581,775,1360,0,0,0,0,0,0
$GC,5694,1.07,342.6,164.3,15.8,725,5711,0.08,2.20,0.00,0.056,6,0.056,0.051,2554,2191,1356,0,0,0,0,0,0
$GC,6031,1.16,362.6,119.4,12.9,786,6060,0.00,2.22,15.93,0.535,4,0.007,0.041,2554,782,1276,0,0,0,0,0,0
$GC,6126,1.31,383.6,107.2,12.8,801,6152,0.12,2.17,16.62,0.521,6,0.037,0.035,2634,2193,1194,0,0,0,0,0,0
$GC,6472,1.35,410.9,52.7,12.5,864,6509,0.00,2.25,22.02,0.494,4,0.007,0.055,2638,778,1077,0,0,0,0,0,0
$GC,6587,1.40,410.9,36.1,14.7,882,6603,0.00,2.20,0.00,0.053,6,0.053,0.027,2638,2209,1074,0,0,0,0,0,0
$STATE,6832,end climb,SURFACE_DEPTH_REACHED
$STATE,6832,begin surface coast
$FINISH,1.4,1.009993
$STATE,6855,end surface coast,CONTROL_FINISHED_OK
$STATE,6856,begin surface
$SM_CCo,6949,0.00,0.000,0,0,1068,414.56
$SM_GC,2.28,6.75,0.00,0.00,0.048,0.001,0.060,41,2410,1068,-10.41,0.31,414.56
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,2255.72,12651.26,061010,080804
$HUMID,42.85
$INTERNAL_PRESSURE,10.4082
$TCM_TEMP,23.40
$XPDR_PINGS,46
$24V_AH,24.6,16.922
$10V_AH,10.3,18.613
$FG_AHR_24Vo,67.394
$FG_AHR_10Vo,149.993
$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,17.975,57.325,454.475,0.000,0.000,109.116,108.372,290.420,11.500,0.000,18.787,2227.071,1491.909,622.278,3280.923,187.844,0.000,915.320,0.000,2669.360,0.000,0.540,0.000
$DEVICE_MAMPS,272.344,64.366,822.936,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,525.593,952.845,2362.452,0.000,0.000,0.000,2628.252,0.000,0.000,0.000
$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,50213,930
$CAP_FILE_SIZE,100997,0
$CFSIZE,260280320,243380224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,293.9,1
$GPS,061010,104356,2303.318,12649.987,9,1.8,10,-3.3