version: 66.11
glider: 189
mission: 30
dive: 8
start: 1 17 114 5 10 0
data:
$ID,189
$MISSION,30
$DIVE,8
$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,-58126.625
$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
$GPS1,170114,050353,4704.120,-12501.918,15,1.0,15,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.7
$GPS2,170114,050853,4704.149,-12501.964,19,1.0,20,16.9
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,0.233
$KALMAN_X,1654.7,-86.8,-192.0,-4048.0,179.7
$KALMAN_Y,-6582.3,95.9,911.8,12884.8,-1522.4
$MHEAD_RNG_PITCHd_Wd,339.1,20726,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-146.6,139,374,1947,1848,0.0,0.0,0,50,0.00,0.00,-32.47,0.000,16386,0.000,0.000,140,374,2839,2848,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.65,-146.6,139,374,2848,2832,2.3,-4.3,3,82,8.32,0.00,-17.92,0.000,18694,0.222,0.000,2326,372,3530,3602,3458,0,0,0,0,0,0,25.67,28.83,26.13
$GC,379,-0.65,-146.6,2326,372,3605,3457,46.2,-11.8,36,381,0.00,0.00,0.00,0.000,4358,0.000,0.000,2326,373,3530,3604,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,681,-0.65,-146.6,2326,372,3604,3457,79.8,-11.8,66,682,0.00,0.00,0.00,0.000,4358,0.000,0.000,2326,373,3531,3605,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,989,-0.65,-146.6,2326,373,3605,3457,112.8,-10.0,82,991,0.00,0.00,0.00,0.000,4358,0.000,0.000,2326,372,3531,3605,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.65,-146.6,2326,372,3604,3457,143.7,-10.1,98,1301,0.00,0.00,0.00,0.000,4358,0.000,0.000,2326,373,3531,3605,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.65,-146.6,2326,373,3605,3457,176.3,-10.5,110,1611,0.00,0.00,0.00,0.000,4358,0.000,0.000,2326,373,3530,3605,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1657,begin apogee
$GC,1662,-0.18,0.0,2326,373,3604,3457,181.3,-10.0,112,1780,0.43,0.00,110.28,1.121,10246,0.122,0.000,2476,372,2931,3001,2862,0,0,0,0,0,0,26.20,28.83,23.69
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1783,0.65,146.6,2475,372,3001,2862,185.6,0.0,116,1901,0.77,0.00,114.50,1.104,10502,0.083,0.000,2740,373,2332,2417,2248,0,0,0,0,0,0,24.51,28.83,23.45
$GC,2209,0.65,146.6,2740,373,2412,2249,139.6,12.5,132,2211,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,373,2330,2412,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2519,0.65,146.6,2740,373,2411,2249,100.4,12.7,148,2521,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,373,2330,2411,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,0.65,146.6,2740,373,2411,2248,63.0,11.9,170,2821,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,373,2329,2411,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,0.65,146.6,2740,373,2411,2248,36.3,9.6,200,3122,0.00,0.00,0.00,0.000,2310,0.000,0.000,2740,373,2329,2411,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,0.71,198.7,2740,373,2410,2248,14.9,5.7,230,3441,0.08,0.00,18.83,0.187,10502,0.110,0.000,2785,373,2117,2216,2018,0,0,0,0,0,0,26.16,28.83,25.90
$STATE,3557,end climb,SURFACE_DEPTH_REACHED
$STATE,3557,begin surface coast
$FINISH,0.3,1.024712
$STATE,3581,end surface coast,CONTROL_FINISHED_OK
$STATE,3582,begin surface
$SM_CCo,3597,18.08,0.157,0,0,1908,250.21
$SM_GC,3.58,7.05,0.00,18.08,0.048,0.000,0.157,141,373,1908,-7.39,-0.74,250.21,0,0,0,0,0,0,26.10,28.83,25.90
$IRIDIUM_FIX,4651.23,-12459.52,170114,030344
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.01
$INTERNAL_PRESSURE,8.47302
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,23.5,4.036
$10V_AH,10.0,3.494
$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,16.650,5.600,243.600,18.075,0.000,26.938,41.515,141.521,1.500,0.000,20.849,626.699,2207.135,294.720,736.354,69.554,33.219,529.785,0.000,454.115,0.000,2.613,0.000
$DEVICE_MAMPS,221.850,32.895,1121.490,156.825,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.908,248.969,381.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313188
$DATA_FILE_SIZE,17122,246
$CAP_FILE_SIZE,34323,0
$CFSIZE,260165632,255275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170114,061100,4704.271,-12501.986,16,0.8,16,16.9