version: 66.08
glider: 99
mission: 69
dive: 1
start: 11 25 110 12 19 21
data:
$ID,99
$MISSION,69
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,20
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$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,0
$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,519.60266
$N_FILEKB,8
$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,-857778.62
$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,2
$R_STBD_OVSHOOT,26
$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,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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
$GPS1,251110,121550,-7700.000,16735.400,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,251110,121913,-7700.000,16735.400,33,1.1,34,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,POLYNA
$TGT_LATLONG,-7700.000,16930.000
$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,72.0,47743,-18.3,-10.000
$D_GRID,45
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-1.32,-146.0,0.0,0.0,0,110,0.00,0.15,-93.12,0.000,6,0.000,0.000,346,1843,3344,0,0,0,0,0,0
$GC,114,-1.32,-146.0,2.0,-8.9,19,131,10.23,2.55,0.00,0.000,4,0.000,0.000,2411,448,3341,0,0,0,0,0,0
$GC,233,-1.32,-146.0,17.1,-6.7,41,239,0.00,2.65,0.00,0.000,6,0.000,0.000,2402,1874,3337,0,0,0,0,0,0
$GC,306,-1.32,-146.0,22.3,-6.8,52,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1871,3344,0,0,0,0,0,0
$GC,492,-1.32,-146.0,35.0,-6.7,70,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1871,3337,0,0,0,0,0,0
$STATE,603,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,603,begin apogee
$GC,609,-0.31,0.0,42.7,6.7,81,734,1.08,0.00,118.47,0.000,6,0.000,0.000,2614,1867,2760,0,0,0,0,0,0
$STATE,734,end apogee,CONTROL_FINISHED_OK
$STATE,734,begin climb
$GC,737,1.32,146.0,43.9,0.0,93,863,2.15,0.00,120.62,0.000,6,0.000,0.000,3000,1870,2160,0,0,0,0,0,0
$GC,1047,1.38,191.9,21.8,7.9,124,1090,0.00,0.00,39.30,0.000,6,0.000,0.000,3002,1868,1966,0,0,0,0,0,0
$GC,1153,1.40,214.5,12.6,9.0,141,1175,0.00,0.00,20.27,0.000,6,0.000,0.000,3003,1867,1880,0,0,0,0,0,0
$FREEZE,9.77,-3.896,-2.050,0,1,0
$FREEZE,9.26,-3.897,-2.050,0,1,0
$FREEZE,8.75,-3.899,-2.050,0,1,0
$FREEZE,8.25,-3.901,-2.050,0,1,0
$FREEZE,7.77,-3.899,-2.049,0,1,0
$FREEZE,7.31,-3.891,-2.049,0,1,0
$FREEZE,6.61,-3.880,-2.048,0,1,0
$FREEZE,5.72,-3.871,-2.047,0,1,0
$FREEZE,4.82,-3.802,-2.045,0,1,0
$FREEZE,3.89,-3.787,-2.044,0,1,0
$FREEZE,2.98,-3.815,-2.045,0,1,0
$FREEZE,1.98,-3.857,-2.045,0,1,0
$GC,1206,1.81,541.1,7.8,9.5,151,1254,0.52,0.00,45.62,0.000,2,0.000,0.000,3094,1872,1593,0,0,0,0,0,0
$STATE,1254,end climb,SURFACE_DEPTH_REACHED
$STATE,1254,begin surface coast
$FREEZE,0.39,-3.687,-2.038,0,1,0
$FREEZE,0.00,-3.327,-2.027,0,1,0
$FINISH,0.0,1.029697
$STATE,1263,end surface coast,CONTROL_FINISHED_OK
$STATE,1263,begin surface
$SM_CCo,1286,147.98,0.000,0,0,634,519.79
$SM_GC,0.00,0.00,0.00,147.98,0.000,0.000,0.000,349,1867,634,-10.81,-0.03,519.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.050183
$HUMID,65.35
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,24.0,3.164
$10V_AH,10.7,1.257
$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,27.800,5.350,344.300,147.975,0.000,682.856,0.000,0.000,0.250,0.000,35.331,0.000,617.736,576.514,262.979,45.301,0.000,719.747,0.000,134.361,0.000,2.653,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,11.010,36.320,41.690,0.000,12.000,0.000,16.110,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,116.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,3519,160
$CAP_FILE_SIZE,43385,1
$CFSIZE,260165632,250593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,251110,124410,-7659.975,16735.959,33,1.1,33,18.0