version: 66.08
glider: 99
mission: 69
dive: 2
start: 11 25 110 12 54 14
data:
$ID,99
$MISSION,69
$DIVE,2
$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,0
$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,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,-857815.31
$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,6
$R_STBD_OVSHOOT,7
$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
$GPS1,251110,125202,-7659.975,16735.959,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,251110,125405,-7659.975,16735.959,11,1.1,11,18.0
$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,72.1,47510,-18.3,-10.000
$D_GRID,990
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.32,-146.0,0.0,0.0,0,106,0.00,0.00,-89.75,0.000,6,0.000,0.000,352,1870,3341,0,0,0,0,0,0
$GC,109,-1.32,-146.0,1.5,-6.2,18,120,10.10,0.00,0.00,0.000,6,0.000,0.000,2406,1869,3340,0,0,0,0,0,0
$GC,183,-1.32,-146.0,12.8,-7.1,32,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1868,3337,0,0,0,0,0,0
$GC,251,-1.32,-146.0,17.5,-7.2,45,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1870,3340,0,0,0,0,0,0
$GC,318,-1.32,-146.0,22.2,-7.0,55,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1868,3348,0,0,0,0,0,0
$GC,504,-1.32,-146.0,34.9,-6.7,73,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1871,3340,0,0,0,0,0,0
$GC,690,-1.32,-146.0,47.3,-6.7,91,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1872,3338,0,0,0,0,0,0
$GC,876,-1.32,-146.0,59.8,-6.7,109,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1871,3345,0,0,0,0,0,0
$GC,1189,-1.32,-146.0,80.5,-6.6,139,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1864,3337,0,0,0,0,0,0
$GC,1499,-1.32,-146.0,101.1,-6.6,169,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1868,3340,0,0,0,0,0,0
$GC,1809,-1.32,-146.0,121.7,-6.7,199,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1870,3344,0,0,0,0,0,0
$GC,2120,-1.32,-146.0,142.3,-6.5,229,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1873,3343,0,0,0,0,0,0
$GC,2430,-1.32,-146.0,162.8,-6.6,259,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1870,3341,0,0,0,0,0,0
$GC,2741,-1.32,-146.0,183.2,-6.5,289,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1870,3349,0,0,0,0,0,0
$GC,3051,-1.32,-146.0,203.6,-6.5,319,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1868,3341,0,0,0,0,0,0
$GC,3362,-1.32,-146.0,223.9,-6.5,349,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1878,3344,0,0,0,0,0,0
$GC,3672,-1.32,-146.0,244.1,-6.5,379,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1877,3344,0,0,0,0,0,0
$GC,3982,-1.32,-146.0,264.4,-6.5,409,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1869,3341,0,0,0,0,0,0
$GC,4293,-1.32,-146.0,284.6,-6.4,439,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1870,3344,0,0,0,0,0,0
$GC,4603,-1.32,-146.0,303.4,-3.1,469,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1870,3346,0,0,0,0,0,0
$STATE,4744,end dive,NO_VERTICAL_VELOCITY
$STATE,4744,begin apogee
$GC,4749,-0.31,0.0,303.4,0.0,483,4895,1.08,0.00,141.57,0.000,6,0.000,0.000,2628,1870,2752,1,0,0,0,0,0
$STATE,4895,end apogee,CONTROL_FINISHED_OK
$STATE,4895,begin climb
$GC,4898,1.32,146.0,301.7,0.0,497,5046,1.75,0.00,143.80,0.000,6,0.000,0.000,2975,1869,2159,0,0,0,0,0,0
$GC,5353,1.39,203.6,270.9,7.4,542,5414,0.17,0.00,57.12,0.000,6,0.000,0.000,2995,1875,1924,0,0,0,0,0,0
$GC,5723,1.42,223.1,237.6,9.1,578,5746,0.00,0.00,21.00,0.000,6,0.000,0.000,2993,1874,1843,0,0,0,0,0,0
$GC,6054,1.43,235.9,206.3,9.4,610,6069,0.00,0.00,14.38,0.000,6,0.000,0.000,2992,1869,1793,0,0,0,0,0,0
$GC,6374,1.44,239.9,175.1,9.8,641,6385,0.00,0.00,5.53,0.000,6,0.000,0.000,2997,1871,1769,0,0,0,0,0,0
$GC,6694,1.44,242.5,143.6,9.9,672,6699,0.00,0.00,3.58,0.000,6,0.000,0.000,2992,1868,1760,0,0,0,0,0,0
$GC,7004,1.44,244.6,113.0,9.9,702,7010,0.00,0.00,4.07,0.000,6,0.000,0.000,2993,1874,1756,0,0,0,0,0,0
$GC,7315,1.45,248.6,82.2,9.8,732,7326,0.00,0.00,5.62,0.000,6,0.000,0.000,2993,1867,1734,0,0,0,0,0,0
$GC,7635,1.45,248.6,50.3,10.0,763,7636,0.12,0.00,0.00,0.000,6,0.000,0.000,3009,1868,1732,0,0,0,0,0,0
$GC,7946,1.45,248.6,17.1,10.7,795,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1873,1736,0,0,0,0,0,0
$GC,8010,1.45,248.6,10.4,10.8,807,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1869,1733,0,0,0,0,0,0
$FREEZE,9.41,-3.898,-2.050,2,1,0
$FREEZE,8.85,-3.898,-2.049,2,1,0
$FREEZE,8.28,-3.901,-2.049,2,1,0
$FREEZE,7.72,-3.899,-2.049,2,1,0
$FREEZE,7.18,-3.891,-2.049,2,1,0
$FREEZE,6.61,-3.880,-2.048,2,1,0
$FREEZE,6.04,-3.873,-2.048,2,1,0
$FREEZE,5.47,-3.862,-2.047,2,1,0
$FREEZE,4.92,-3.832,-2.046,2,1,0
$FREEZE,4.35,-3.799,-2.045,2,1,0
$FREEZE,3.77,-3.786,-2.044,2,1,0
$FREEZE,3.22,-3.797,-2.044,2,1,0
$GC,8078,1.45,248.6,3.2,10.8,820,8083,0.00,0.00,0.03,0.000,6,0.000,0.000,3017,1870,1737,0,0,0,0,0,0
$FREEZE,2.22,-3.856,-2.045,2,1,0
$FREEZE,1.62,-3.857,-2.044,2,1,0
$STATE,8091,end climb,SURFACE_DEPTH_REACHED
$STATE,8091,begin surface coast
$FREEZE,0.95,-3.807,-2.043,2,1,0
$FREEZE,0.21,-3.684,-2.038,2,1,0
$FREEZE,-0.00,-3.458,-2.031,2,1,0
$FINISH,-0.0,1.029762
$STATE,8109,end surface coast,CONTROL_FINISHED_OK
$STATE,8109,begin surface
$SM_CCo,8131,170.12,0.000,0,0,636,520.04
$SM_GC,0.00,0.00,0.00,170.12,0.000,0.000,0.000,329,1872,636,-10.93,-0.03,520.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.05243
$HUMID,68.78
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.4,19.1
$24V_AH,24.0,3.385
$10V_AH,10.7,1.292
$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,26.625,0.025,396.700,170.125,0.000,594.054,0.000,0.000,0.750,0.000,12.102,0.000,6516.954,666.417,1025.389,138.663,0.000,1234.763,0.000,589.898,0.000,8.544,0.000
$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,646.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,23365,826
$CAP_FILE_SIZE,94195,0
$CFSIZE,260165632,250494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,251110,151312,-7659.759,16740.375,14,1.1,15,18.0