version: 66.08
glider: 99
mission: 68
dive: 3
start: 11 25 110 15 25 37
data:
$ID,99
$MISSION,68
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,10
$D_PITCH,4
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,1
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,330
$T_MISSION,450
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-835993.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,500
$ROLL_MAX,3500
$ROLL_DEG,40
$C_ROLL_DIVE,1872
$C_ROLL_CLIMB,1872
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2747
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,250
$VBD_MAXERRORS,20
$CF8_MAXERRORS,10
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.21980013
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,50
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,251110,152218,-7659.976,16735.678,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,251110,152516,-7659.976,16735.678,30,1.1,30,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,POLYNA
$TGT_LATLONG,-7700.000,16930.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.105,-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,72.1,47628,-18.3,-10.000
$D_GRID,456
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,100,0.00,0.12,-80.18,0.000,6,0.000,0.000,353,1933,3337,0,0,0,0,0,0
$GC,104,-1.32,-146.0,0.8,-2.3,11,119,10.23,0.00,0.00,0.000,6,0.000,0.000,2416,1933,3339,1,0,0,0,0,0
$GC,190,-1.32,-146.0,14.0,-6.7,25,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1933,3340,0,0,0,0,0,0
$GC,269,-1.32,-146.0,19.1,-6.8,38,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1933,3340,0,0,0,0,0,0
$GC,348,-1.32,-146.0,24.6,-6.8,46,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1933,3335,0,0,0,0,0,0
$GC,538,-1.32,-146.0,37.1,-6.5,64,543,0.00,2.70,0.00,0.000,4,0.000,0.000,2418,473,3337,0,0,0,0,0,0
$GC,568,-1.32,-146.0,39.0,-6.5,66,572,0.00,2.55,0.00,0.000,6,0.000,0.000,2419,1867,3339,0,0,0,0,0,0
$GC,769,-1.32,-146.0,51.9,-6.6,84,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1868,3345,0,0,0,0,0,0
$GC,1097,-1.32,-146.0,73.0,-6.3,115,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1865,3337,0,0,0,0,0,0
$GC,1426,-1.32,-146.0,94.2,-6.4,146,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1874,3340,0,0,0,0,0,0
$GC,1755,-1.32,-146.0,115.3,-6.5,177,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1866,3341,0,0,0,0,0,0
$GC,2084,-1.32,-146.0,136.4,-6.3,208,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1873,3337,0,0,0,0,0,0
$GC,2411,-1.32,-146.0,157.3,-6.3,239,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1875,3343,0,0,0,0,0,0
$GC,2731,-1.32,-146.0,177.6,-6.4,269,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1874,3335,0,0,0,0,0,0
$GC,3060,-1.32,-146.0,198.6,-6.2,300,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1876,3341,0,0,0,0,0,0
$GC,3387,-1.32,-146.0,219.3,-6.3,331,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1871,3338,0,0,0,0,0,0
$GC,3707,-1.32,-146.0,239.4,-6.2,361,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1874,3340,0,0,0,0,0,0
$GC,4035,-1.32,-146.0,260.1,-6.3,392,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1879,3345,0,0,0,0,0,0
$GC,4355,-1.32,-146.0,280.1,-6.4,422,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1871,3342,0,0,0,0,0,0
$GC,4683,-1.32,-146.0,300.8,-6.4,453,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1873,3340,0,0,0,0,0,0
$GC,5012,-1.32,-146.0,314.3,0.0,484,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1870,3340,0,0,0,0,0,0
$STATE,5060,end dive,NO_VERTICAL_VELOCITY
$STATE,5060,begin apogee
$GC,5066,-0.31,0.0,314.3,0.0,489,5217,1.12,0.00,140.32,0.000,6,0.000,0.000,2619,1875,2753,0,0,0,0,0,0
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5218,begin climb
$GC,5221,1.32,146.0,312.7,0.0,501,5372,1.77,0.00,143.18,0.000,6,0.000,0.000,2981,1869,2155,0,0,0,0,0,0
$GC,5691,1.39,202.8,280.4,7.4,546,5752,0.17,0.00,56.38,0.000,6,0.000,0.000,3000,1873,1932,0,0,0,0,0,0
$GC,6070,1.41,219.5,245.8,9.2,582,6090,0.00,0.00,17.83,0.000,6,0.000,0.000,2999,1870,1860,0,0,0,0,0,0
$GC,6408,1.42,230.9,213.3,9.5,614,6428,0.00,0.00,13.10,0.000,6,0.000,0.000,3006,1873,1814,0,0,0,0,0,0
$GC,6747,1.43,234.5,180.1,9.8,646,6757,0.00,0.00,4.68,0.000,6,0.000,0.000,3001,1872,1794,0,0,0,0,0,0
$GC,7076,1.43,237.7,147.7,9.9,677,7085,0.00,0.00,4.97,0.000,6,0.000,0.000,2997,1869,1783,0,0,0,0,0,0
$GC,7405,1.43,238.2,115.0,10.0,708,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1870,1780,0,0,0,0,0,0
$GC,7734,1.43,239.2,82.5,10.0,739,7742,0.00,0.00,3.28,0.000,6,0.000,0.000,2996,1874,1777,0,0,0,0,0,0
$GC,8063,1.44,239.4,49.8,10.0,770,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1876,1773,0,0,0,0,0,0
$GC,8265,1.44,240.1,29.6,10.0,789,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1871,1780,0,0,0,0,0,0
$FREEZE,9.49,-3.897,-2.051,0,1,0
$FREEZE,8.33,-3.900,-2.049,0,1,0
$GC,8474,1.44,246.5,9.5,9.7,817,8490,0.00,0.00,7.03,0.000,6,0.000,0.000,2991,1874,1745,0,0,0,0,0,0
$FREEZE,6.46,-3.880,-2.048,0,1,0
$FREEZE,5.92,-3.874,-2.047,0,1,0
$FREEZE,5.39,-3.839,-2.044,0,1,0
$FREEZE,4.68,-3.807,-2.045,0,1,0
$FREEZE,4.15,-3.788,-2.045,0,1,0
$FREEZE,3.63,-3.791,-2.044,0,1,0
$FREEZE,2.90,-3.845,-2.047,0,1,0
$FREEZE,2.33,-3.860,-2.045,0,1,0
$FREEZE,1.79,-3.844,-2.044,0,1,0
$STATE,8547,end climb,SURFACE_DEPTH_REACHED
$STATE,8547,begin surface coast
$FREEZE,0.86,-3.771,-2.042,0,1,0
$FREEZE,0.19,-3.626,-2.037,0,1,0
$FREEZE,-0.01,-3.388,-2.029,0,1,0
$FINISH,-0.0,1.029729
$STATE,8567,end surface coast,CONTROL_FINISHED_OK
$STATE,8567,begin surface
$SM_CCo,8591,127.57,0.000,0,0,913,450.13
$SM_GC,-0.00,0.00,0.00,127.57,0.000,0.000,0.000,346,1866,913,-10.78,0.03,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026215
$HUMID,70.83
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,270.1,55.4
$24V_AH,24.1,0.752
$10V_AH,10.7,0.126
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,26.675,5.375,390.750,127.575,0.000,750.382,0.000,0.000,5.250,0.000,31.846,2674.294,3833.123,671.333,977.075,658.827,0.000,1308.086,0.000,901.051,0.000,32.728,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.780,2.190,11.010,36.320,41.690,0.000,12.000,0.000,16.110,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,206312
$DATA_FILE_SIZE,23404,831
$CAP_FILE_SIZE,638717,0
$CFSIZE,260165632,249683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,251110,175156,-7659.661,16740.162,20,1.1,21,18.0