version: 66.11
glider: 189
mission: 30
dive: 2
start: 1 16 114 18 13 4
data:
$ID,189
$MISSION,30
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,57433
$MASS_COMP,4067.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,590
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58042.613
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,2580
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,29
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2247
$C_ROLL_CLIMB,2247
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.9000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-81.04335
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043091727
$SEABIRD_T_H,0.00062247959
$SEABIRD_T_I,2.1807595e-05
$SEABIRD_T_J,2.0889163e-06
$SEABIRD_C_G,-10.02883
$SEABIRD_C_H,1.1489301
$SEABIRD_C_I,-0.0012180988
$SEABIRD_C_J,0.00017992272
$GPS1,160114,180607,4700.323,-12459.634,12,0.9,14,16.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-48.6
$GPS2,160114,181206,4700.336,-12459.606,16,1.6,16,16.9
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,0.217
$KALMAN_X,90.1,90.1,90.1,26.5,272.5
$KALMAN_Y,5.5,5.5,5.5,230.1,16.6
$MHEAD_RNG_PITCHd_Wd,310.0,28321,-17.5,-10.000,-21.09,2221
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-146.6,165,2268,622,411,0.0,0.0,0,109,0.00,0.00,-91.82,0.000,16386,0.000,0.000,165,2269,3204,3205,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.78,-146.6,165,2269,3205,3204,2.6,-3.6,9,139,8.02,2.28,-7.40,0.000,18692,0.212,0.058,2320,3674,3530,3596,3465,0,0,0,0,0,0,25.67,25.90,26.17
$GC,399,-0.78,-146.6,2320,3674,3597,3464,41.7,-11.2,38,408,0.00,2.28,0.00,0.000,3078,0.000,0.031,2320,2214,3530,3599,3462,0,0,0,0,0,0,28.83,26.02,28.83
$GC,710,-0.78,-146.6,2320,2214,3600,3461,75.2,-9.0,69,718,0.00,2.20,0.00,0.000,2564,0.000,0.044,2320,823,3530,3600,3460,0,0,0,0,0,0,28.83,26.10,28.83
$GC,796,-0.78,-146.6,2320,823,3601,3460,83.6,-10.4,76,801,0.08,2.28,0.00,0.000,3078,0.168,0.034,2333,2273,3530,3601,3459,0,0,0,0,0,0,26.02,26.15,28.83
$GC,1101,-0.78,-146.6,2333,2273,3601,3459,112.0,-8.8,91,1105,0.00,2.25,0.00,0.000,4612,0.000,0.044,2334,818,3530,3601,3459,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1179,-0.78,-146.6,2333,819,3601,3459,119.3,-9.1,95,1185,0.00,2.25,0.00,0.000,3078,0.000,0.034,2324,2270,3530,3601,3459,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1501,-0.78,-146.6,2324,2270,3601,3459,145.8,-7.7,111,1505,0.00,2.30,0.00,0.000,2564,0.000,0.044,2325,816,3530,3601,3459,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1649,-0.78,-146.6,2324,816,3601,3459,159.0,-9.1,117,1655,0.03,2.25,0.00,0.000,3078,0.171,0.035,2325,2265,3529,3601,3458,0,0,0,0,0,0,26.17,26.29,28.83
$STATE,1918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1918,begin apogee
$GC,1923,-0.17,0.0,2325,2265,3601,3458,182.6,-8.9,126,2039,0.55,0.00,110.93,1.178,10246,0.111,0.000,2521,2264,2931,3004,2859,0,0,0,0,0,0,26.20,28.83,23.58
$STATE,2040,end apogee,CONTROL_FINISHED_OK
$STATE,2040,begin climb
$GC,2042,0.78,146.6,2521,2264,3004,2860,183.7,0.0,130,2162,0.88,0.00,115.60,1.137,10502,0.057,0.000,2838,2264,2332,2419,2245,0,0,0,0,0,0,24.46,28.83,23.42
$GC,2470,0.78,146.6,2838,2264,2414,2246,113.2,19.9,147,2474,0.00,2.35,0.00,0.000,4612,0.000,0.044,2850,830,2330,2414,2246,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2750,0.78,146.6,2849,829,2412,2246,57.6,17.6,166,2759,0.05,2.30,0.00,0.000,5126,0.171,0.034,2834,2267,2329,2412,2246,0,0,0,0,0,0,25.65,25.81,28.83
$GC,3059,0.78,146.6,2834,2266,2411,2246,13.6,11.4,197,3069,0.00,2.33,0.00,0.000,4612,0.000,0.043,2844,817,2328,2411,2246,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3159,0.78,146.6,2844,818,2411,2246,3.6,10.3,207,3169,0.05,2.33,0.00,0.000,5126,0.197,0.034,2830,2277,2328,2411,2246,0,0,0,0,0,0,25.88,25.99,28.83
$STATE,3177,end climb,SURFACE_DEPTH_REACHED
$STATE,3177,begin surface coast
$FINISH,0.1,1.013991
$STATE,3198,end surface coast,CONTROL_FINISHED_OK
$STATE,3198,begin surface
$SM_CCo,3214,167.18,0.142,0,0,521,590.19
$SM_GC,0.86,7.18,0.05,167.18,0.047,0.142,0.142,151,2230,521,-7.51,0.71,590.19,0,0,0,0,0,0,25.99,26.08,25.48
$IRIDIUM_FIX,4641.78,-12439.12,160114,181847
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.25
$INTERNAL_PRESSURE,8.35583
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,18.5
$24V_AH,23.4,3.530
$10V_AH,10.1,3.307
$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,16.825,27.425,226.525,167.175,0.000,0.000,0.000,0.000,3.500,0.000,18.274,546.953,1804.110,496.358,557.191,47.650,30.074,748.341,0.000,494.750,0.000,16.705,0.000
$DEVICE_MAMPS,211.905,142.290,1178.100,141.525,0.000,0.000,0.000,0.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.479,452.921,153.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313276
$DATA_FILE_SIZE,13669,211
$CAP_FILE_SIZE,59629,0
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160114,191021,4700.810,-12459.971,26,1.2,26,16.9