version: 66.11
glider: 189
mission: 30
dive: 6
start: 1 17 114 3 2 48
data:
$ID,189
$MISSION,30
$DIVE,6
$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,75
$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,75
$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,-58124.109
$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,0
$C_ROLL_DIVE,400
$C_ROLL_CLIMB,400
$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
$GPS1,170114,025703,4703.873,-12501.731,22,1.3,36,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.6
$GPS2,170114,030141,4703.905,-12501.775,20,0.8,20,16.9
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,0.183
$KALMAN_X,1155.7,303.2,-69.3,-3823.5,-159.3
$KALMAN_Y,-4053.1,-600.4,287.3,11228.8,480.8
$MHEAD_RNG_PITCHd_Wd,331.4,21223,-25.2,-10.000,-28.15,1117
$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,16,-0.99,-73.3,149,377,1948,1849,0.0,0.0,0,50,0.00,0.00,-32.50,0.000,16386,0.000,0.000,149,377,2863,2870,2856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.99,-73.3,149,377,2871,2856,2.7,-6.0,3,73,7.90,0.00,-9.18,0.000,18694,0.223,0.000,2216,376,3231,3269,3194,0,0,0,0,0,0,25.60,28.83,26.07
$GC,371,-0.99,-73.3,2216,376,3270,3194,54.2,-16.3,35,372,0.00,0.00,0.00,0.000,4358,0.000,0.000,2216,375,3232,3270,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,680,-0.99,-73.3,2216,376,3271,3194,96.2,-12.6,60,681,0.00,0.00,0.00,0.000,4358,0.000,0.000,2216,376,3232,3271,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,990,-0.99,-73.3,2216,376,3271,3194,132.1,-11.9,76,991,0.00,0.00,0.00,0.000,2310,0.000,0.000,2216,376,3232,3271,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.99,-73.3,2217,376,3271,3194,168.6,-11.5,90,1311,0.00,0.00,0.00,0.000,4358,0.000,0.000,2216,376,3233,3271,3195,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1423,-0.18,0.0,2216,376,3271,3194,180.2,-10.4,94,1482,0.80,0.00,55.33,1.137,10246,0.153,0.000,2471,377,2930,2989,2871,0,0,0,0,0,0,26.09,28.83,24.22
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1485,0.99,73.3,2471,377,2992,2873,183.2,0.0,96,1547,1.10,0.00,57.53,1.109,10246,0.085,0.000,2852,377,2631,2707,2556,0,0,0,0,0,0,24.94,28.83,23.60
$GC,1831,0.99,73.3,2852,377,2709,2557,137.0,15.1,109,1832,0.00,0.00,0.00,0.000,4358,0.000,0.000,2852,377,2633,2709,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,0.99,73.3,2852,377,2708,2557,87.8,16.4,125,2142,0.00,0.00,0.00,0.000,4358,0.000,0.000,2852,377,2632,2708,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,0.99,73.3,2852,377,2708,2557,50.7,11.1,152,2441,0.00,0.00,0.00,0.000,4358,0.000,0.000,2852,377,2632,2708,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2742,1.11,172.0,2852,377,2708,2557,36.7,1.0,182,2781,0.10,0.00,35.45,0.242,10502,0.099,0.000,2901,377,2226,2313,2139,0,0,0,0,0,0,26.06,28.83,25.64
$STATE,2998,end climb,SURFACE_DEPTH_REACHED
$STATE,2998,begin surface coast
$FINISH,0.4,1.024549
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3035,28.33,0.150,0,0,1908,250.21
$SM_GC,2.60,7.43,0.00,28.33,0.050,0.000,0.150,144,377,1908,-7.38,-0.65,250.21,0,0,0,0,0,0,25.98,28.83,25.76
$IRIDIUM_FIX,4648.08,-12513.51,170114,010157
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.22
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.4,16.9
$24V_AH,23.6,3.870
$10V_AH,10.1,3.447
$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,17.325,5.675,148.300,28.325,0.000,27.962,19.649,139.928,1.750,0.000,21.235,545.828,1907.909,218.616,626.832,61.969,33.221,408.543,0.000,376.741,0.000,2.610,0.000
$DEVICE_MAMPS,222.615,32.895,1136.790,149.940,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.087,214.638,325.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313168
$DATA_FILE_SIZE,13683,210
$CAP_FILE_SIZE,30453,0
$CFSIZE,260165632,255332352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170114,035435,4703.977,-12501.893,14,1.0,14,16.9