version: 66.11
glider: 189
mission: 30
dive: 3
start: 1 16 114 19 34 35
data:
$ID,189
$MISSION,30
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,330
$T_MISSION,360
$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,250
$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,-58120.336
$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,2534
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,28
$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,2100
$C_ROLL_CLIMB,2100
$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,300
$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
$GPS1,160114,192948,4700.758,-12459.966,14,0.9,15,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-50.0
$GPS2,160114,193336,4700.721,-12459.954,19,1.8,20,16.9
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.072,0.249
$KALMAN_X,121.6,121.7,121.0,-494.0,18.5
$KALMAN_Y,-15.1,-18.5,-12.7,1007.6,-58.9
$MHEAD_RNG_PITCHd_Wd,327.0,27515,-17.5,-10.000,-21.09,2221
$D_GRID,990
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-146.6,165,2133,618,411,0.0,0.0,0,101,0.00,0.00,-82.28,0.000,16386,0.000,0.000,165,2134,2899,2902,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.81,-146.6,165,2134,2903,2896,2.2,-2.6,8,133,7.78,2.28,-15.95,0.000,18692,0.211,0.057,2262,3531,3531,3599,3463,0,0,0,0,0,0,25.72,25.93,26.21
$GC,351,-0.81,-146.6,2262,3532,3600,3463,44.5,-17.9,33,362,0.05,2.28,0.00,0.000,3078,0.187,0.033,2276,2077,3531,3600,3462,0,0,0,0,0,0,25.94,26.03,28.83
$GC,663,-0.81,-146.6,2276,2077,3601,3461,86.0,-12.0,62,664,0.00,0.00,0.00,0.000,4102,0.000,0.000,2276,2077,3531,3601,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.81,-146.6,2276,2076,3601,3461,120.3,-11.2,77,964,0.00,0.00,0.00,0.000,4102,0.000,0.000,2276,2076,3531,3602,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.81,-146.6,2276,2076,3600,3461,155.5,-11.8,92,1274,0.00,0.00,0.00,0.000,4102,0.000,0.000,2276,2076,3530,3600,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1572,-0.81,-146.6,2276,2076,3600,3461,188.2,-10.1,102,1573,0.00,0.00,0.00,0.000,4102,0.000,0.000,2276,2076,3531,3601,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.81,-146.6,2276,2076,3601,3460,219.1,-10.8,112,1877,0.00,2.20,0.00,0.000,4612,0.000,0.044,2277,676,3529,3600,3459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1932,-0.81,-146.6,2276,675,3601,3460,226.5,-11.6,114,1937,0.00,2.25,0.00,0.000,3078,0.000,0.034,2267,2126,3530,3601,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2262,-0.81,-146.6,2267,2126,3601,3459,265.7,-12.1,125,2267,0.00,2.30,0.00,0.000,2564,0.000,0.044,2267,669,3530,3601,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2299,-0.81,-146.6,2267,669,3601,3459,269.6,-12.4,126,2304,0.08,2.28,0.00,0.000,3078,0.174,0.034,2281,2133,3530,3601,3459,0,0,0,0,0,0,26.25,26.37,28.83
$GC,2642,-0.81,-146.6,2281,2133,3600,3459,308.6,-10.9,137,2647,0.00,2.20,0.00,0.000,4356,0.000,0.043,2272,3529,3530,3601,3459,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2703,-0.81,-146.6,2272,3529,3600,3459,315.7,-11.2,138,2707,0.00,2.22,0.00,0.000,3078,0.000,0.034,2271,2078,3530,3601,3459,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3062,-0.81,-146.6,2272,2079,3601,3458,354.5,-10.2,144,3067,0.00,2.20,0.00,0.000,2564,0.000,0.044,2272,669,3529,3601,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3122,-0.81,-146.6,2272,669,3600,3457,360.3,-9.8,145,3128,0.05,2.22,0.00,0.000,3078,0.151,0.034,2279,2117,3529,3601,3457,0,0,0,0,0,0,26.29,26.42,28.83
$STATE,3480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3480,begin apogee
$GC,3485,-0.18,0.0,2279,2117,3601,3457,396.3,-10.5,151,3602,0.55,0.00,112.68,1.284,10246,0.119,0.000,2474,2117,2932,3006,2858,0,0,0,0,0,0,26.32,28.83,23.49
$STATE,3603,end apogee,CONTROL_FINISHED_OK
$STATE,3604,begin climb
$GC,3606,0.81,146.6,2473,2117,3006,2859,395.7,0.0,153,3728,0.95,0.00,118.80,1.265,10246,0.067,0.000,2802,2117,2332,2419,2245,0,0,0,0,0,0,24.40,28.83,23.32
$GC,4022,0.81,146.6,2802,2117,2414,2246,329.9,18.0,160,4027,0.00,2.35,0.00,0.000,4612,0.000,0.046,2813,680,2329,2414,2245,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4142,0.81,146.6,2813,680,2412,2245,306.8,18.5,162,4148,0.05,2.28,0.00,0.000,5126,0.180,0.032,2798,2122,2328,2412,2245,0,0,0,0,0,0,25.51,25.64,28.83
$GC,4472,0.81,146.6,2798,2122,2411,2245,249.5,17.1,172,4473,0.00,0.00,0.00,0.000,4102,0.000,0.000,2797,2121,2328,2412,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,0.81,146.6,2798,2123,2411,2245,199.8,16.6,182,4777,0.00,2.33,0.00,0.000,4612,0.000,0.046,2807,672,2328,2411,2245,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4839,0.81,146.6,2808,672,2410,2245,189.6,16.5,184,4844,0.05,2.28,0.00,0.000,5126,0.200,0.033,2794,2127,2328,2410,2246,0,0,0,0,0,0,25.92,26.04,28.83
$GC,5152,0.81,146.6,2794,2127,2411,2245,138.7,16.5,196,5158,0.00,2.33,0.00,0.000,4612,0.000,0.046,2804,670,2327,2410,2245,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5212,0.81,146.6,2803,670,2409,2245,129.0,16.1,199,5218,0.03,2.28,0.00,0.000,5126,0.258,0.032,2795,2127,2327,2409,2245,0,0,0,0,0,0,26.05,26.14,28.83
$GC,5523,0.81,146.6,2794,2127,2409,2245,78.2,14.5,215,5530,0.00,0.00,0.00,0.000,4102,0.000,0.000,2795,2127,2327,2409,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5835,0.82,157.4,2794,2127,2409,2245,36.8,9.5,246,5844,0.00,2.25,3.53,0.291,10500,0.000,0.041,2794,3529,2286,2373,2199,0,0,0,0,0,0,28.83,26.21,26.00
$GC,5902,0.82,157.4,2794,3529,2373,2199,29.9,10.2,253,5912,0.00,2.28,0.00,0.000,5126,0.000,0.035,2803,2074,2285,2373,2198,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,6180,end climb,SURFACE_DEPTH_REACHED
$STATE,6180,begin surface coast
$FINISH,0.7,1.024711
$STATE,6201,end surface coast,CONTROL_FINISHED_OK
$STATE,6201,begin surface
$SM_CCo,6217,33.60,0.151,0,0,1907,250.21
$SM_GC,1.30,7.05,0.00,33.60,0.047,0.000,0.151,144,2074,1907,-7.39,-0.74,250.21,0,0,0,0,0,0,26.28,28.83,26.03
$IRIDIUM_FIX,4638.64,-12500.04,160114,191928
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.44
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,343.2,57.7
$24V_AH,23.3,3.641
$10V_AH,10.1,3.347
$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,16.625,40.850,235.000,33.600,0.000,0.000,0.000,0.000,2.500,0.000,21.376,768.545,4337.190,398.164,755.617,64.814,31.305,712.648,0.000,679.794,0.000,14.255,0.000
$DEVICE_MAMPS,257.805,102.510,1284.435,151.470,0.000,0.000,0.000,0.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.557,607.359,176.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313240
$DATA_FILE_SIZE,20291,283
$CAP_FILE_SIZE,66694,0
$CFSIZE,260165632,255397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160114,211953,4701.728,-12500.408,38,0.7,38,16.9