version: 66.11
glider: 189
mission: 30
dive: 7
start: 1 17 114 4 0 18
data:
$ID,189
$MISSION,30
$DIVE,7
$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,80
$T_MISSION,90
$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,-58125.367
$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,3900
$C_ROLL_CLIMB,3900
$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
$GPS1,170114,035435,4703.977,-12501.893,14,1.0,14,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.9
$GPS2,170114,035911,4704.011,-12501.923,15,1.0,16,16.9
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,0.233
$KALMAN_X,1375.8,147.7,-198.6,-3946.7,11.0
$KALMAN_Y,-5290.8,-340.4,926.2,11771.0,-755.3
$MHEAD_RNG_PITCHd_Wd,337.8,20988,-13.1,-7.500,-17.78,2937
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-146.6,116,3898,1950,1846,0.0,0.0,0,50,0.00,0.00,-32.08,0.000,16386,0.000,0.000,115,3898,2844,2852,2837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.65,-146.6,115,3898,2852,2837,2.4,-4.3,3,81,8.52,0.00,-16.90,0.000,18694,0.226,0.000,2322,3899,3530,3585,3476,0,0,0,0,0,0,25.60,28.83,26.08
$GC,379,-0.65,-146.6,2321,3899,3599,3465,42.4,-10.8,36,381,0.00,0.00,0.00,0.000,2310,0.000,0.000,2321,3899,3532,3599,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,681,-0.65,-146.6,2321,3899,3599,3465,71.4,-9.0,66,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2323,3899,3531,3598,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.65,-146.6,2321,3899,3599,3465,96.3,-7.6,86,981,0.00,0.00,0.00,0.000,2310,0.000,0.000,2322,3899,3532,3599,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1289,-0.65,-146.6,2322,3899,3599,3465,123.1,-9.0,102,1291,0.00,0.00,0.00,0.000,2310,0.000,0.000,2322,3899,3532,3599,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.65,-146.6,2322,3899,3599,3465,153.1,-9.6,118,1611,0.00,0.00,0.00,0.000,2310,0.000,0.000,2322,3899,3532,3599,3465,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1928,begin apogee
$GC,1933,-0.18,0.0,2322,3899,3599,3465,181.7,-8.6,129,2050,0.43,0.00,110.28,1.135,10246,0.117,0.000,2473,3899,2932,3000,2865,0,0,0,0,0,0,26.21,28.83,23.63
$STATE,2051,end apogee,CONTROL_FINISHED_OK
$STATE,2051,begin climb
$GC,2053,0.65,146.6,2473,3899,2999,2865,185.3,0.0,133,2172,0.77,0.00,114.95,1.118,10502,0.079,0.000,2740,3899,2332,2411,2254,0,0,0,0,0,0,24.46,28.83,23.44
$GC,2471,0.65,146.6,2740,3900,2408,2254,134.2,14.8,149,2472,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,3899,2331,2408,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2781,0.65,146.6,2739,3899,2407,2254,88.2,13.3,165,2782,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,3899,2330,2407,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,0.65,146.6,2740,3899,2406,2253,51.4,12.2,192,3081,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,3899,2330,2406,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3382,0.66,152.7,2739,3900,2406,2254,25.8,7.3,222,3390,0.00,0.00,2.12,0.304,10502,0.000,0.000,2740,3899,2303,2380,2227,0,0,0,0,0,0,28.83,28.83,25.84
$STATE,3689,end climb,SURFACE_DEPTH_REACHED
$STATE,3689,begin surface coast
$FINISH,0.2,1.013580
$STATE,3720,end surface coast,CONTROL_FINISHED_OK
$STATE,3720,begin surface
$SM_CCo,3735,35.67,0.148,0,0,1909,250.21
$SM_GC,1.15,6.93,0.00,35.67,0.047,0.000,0.148,137,3899,1909,-7.38,-0.03,250.21,0,0,0,0,0,0,26.13,28.83,25.88
$IRIDIUM_FIX,4651.23,-12455.12,170114,020218
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.66
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,16.30
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.4,3.953
$10V_AH,10.2,3.471
$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,16.650,5.700,227.350,35.675,0.000,25.491,19.108,145.768,1.500,0.000,16.670,647.130,2318.205,298.837,731.789,71.145,33.222,538.116,0.000,472.188,0.000,2.612,0.000
$DEVICE_MAMPS,226.440,37.485,1135.260,148.410,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.966,259.731,396.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313164
$DATA_FILE_SIZE,17089,256
$CAP_FILE_SIZE,33953,0
$CFSIZE,260165632,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170114,050353,4704.120,-12501.918,15,1.0,15,16.9