version: 66.11
glider: 189
mission: 30
dive: 9
start: 1 17 114 6 16 34
data:
$ID,189
$MISSION,30
$DIVE,9
$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,-58127.883
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,2500
$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
$GPS1,170114,061100,4704.271,-12501.986,16,0.8,16,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.2
$GPS2,170114,061530,4704.320,-12502.009,38,1.1,38,16.9
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,0.257
$KALMAN_X,1805.1,-293.1,-114.3,-4123.8,1027.8
$KALMAN_Y,-7333.4,411.6,539.9,13996.3,-6162.3
$MHEAD_RNG_PITCHd_Wd,334.7,20406,-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,-146.6,125,2141,1954,1847,0.0,0.0,0,50,0.00,0.00,-32.12,0.000,16386,0.000,0.000,125,2141,2844,2853,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.81,-146.6,125,2141,2854,2835,2.5,-5.3,3,83,7.85,2.25,-16.92,0.000,18692,0.213,0.057,2229,3525,3531,3605,3457,0,0,0,0,0,0,25.73,25.92,26.20
$GC,372,-0.81,-146.6,2229,3526,3607,3457,58.6,-18.6,35,380,0.00,2.25,0.00,0.000,3078,0.000,0.031,2229,2072,3532,3607,3457,0,0,0,0,0,0,28.83,26.08,28.83
$GC,691,-0.81,-146.6,2229,2072,3607,3457,106.2,-13.3,58,697,0.05,2.20,0.00,0.000,2564,0.198,0.041,2244,673,3532,3607,3457,0,0,0,0,0,0,26.12,26.15,28.83
$GC,879,-0.81,-146.6,2243,672,3607,3457,131.5,-14.0,67,883,0.00,2.28,0.00,0.000,3078,0.000,0.034,2234,2129,3532,3607,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1201,-0.81,-146.6,2234,2129,3607,3457,180.0,-15.1,80,1202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2129,3531,3607,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1503,-0.81,-146.6,2234,2129,3607,3457,222.8,-14.0,90,1504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2234,2129,3531,3606,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-0.81,-146.6,2234,2129,3606,3457,263.0,-13.5,100,1807,0.00,2.33,0.00,0.000,2564,0.000,0.041,2234,662,3531,3607,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1891,-0.81,-146.6,2234,662,3606,3456,275.5,-13.7,103,1897,0.08,2.28,0.00,0.000,3078,0.178,0.034,2247,2124,3531,3607,3456,0,0,0,0,0,0,26.22,26.34,28.83
$GC,2253,-0.81,-146.6,2246,2125,3606,3456,316.7,-11.3,113,2254,0.00,0.00,0.00,0.000,4102,0.000,0.000,2247,2125,3531,3607,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.81,-146.6,2246,2124,3607,3456,350.6,-11.5,118,2553,0.00,0.00,0.00,0.000,4102,0.000,0.000,2246,2124,3531,3606,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.81,-146.6,2246,2124,3607,3455,385.0,-11.5,123,2857,0.00,2.20,0.00,0.000,4356,0.000,0.043,2238,3521,3531,3607,3455,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2899,-0.81,-146.6,2237,3521,3606,3455,385.0,-11.5,123,2903,0.00,2.22,0.00,0.000,3078,0.000,0.031,2238,2074,3531,3607,3455,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3201,-0.81,-146.6,2237,2074,3606,3455,427.5,-12.3,128,3207,0.00,2.33,0.00,0.000,2308,0.000,0.041,2227,3530,3530,3606,3454,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3262,-0.81,-146.6,2226,3530,3606,3454,435.2,-12.4,129,3268,0.05,2.20,0.00,0.000,3078,0.138,0.031,2244,2077,3530,3607,3454,0,0,0,0,0,0,26.33,26.43,28.83
$GC,3622,-0.81,-146.6,2244,2077,3606,3454,475.7,-11.2,135,3627,0.00,2.20,0.00,0.000,4612,0.000,0.042,2245,665,3530,3606,3454,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3699,-0.81,-146.6,2245,665,3607,3454,482.6,-11.3,136,3703,0.00,2.25,0.00,0.000,3078,0.000,0.033,2236,2123,3530,3607,3454,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4034,-0.81,-146.6,2236,2123,3606,3453,521.1,-11.0,142,4035,0.00,0.00,0.00,0.000,2054,0.000,0.000,2236,2123,3529,3606,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.81,-146.6,2236,2123,3606,3453,553.8,-10.8,147,4338,0.00,2.22,0.00,0.000,2564,0.000,0.043,2236,672,3529,3607,3452,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4389,-0.81,-146.6,2236,672,3606,3452,560.1,-11.1,148,4394,0.05,2.25,0.00,0.000,3078,0.194,0.034,2241,2126,3529,3606,3452,0,0,0,0,0,0,26.37,26.47,28.83
$GC,4731,-0.81,-146.6,2241,2125,3606,3452,597.4,-10.4,154,4733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2241,2125,3529,3606,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.81,-146.6,2241,2125,3606,3451,625.1,-9.0,159,5037,0.00,2.28,0.00,0.000,2564,0.000,0.043,2242,675,3528,3606,3450,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5069,-0.81,-146.6,2242,675,3607,3450,625.1,-9.0,159,5074,0.00,2.25,0.00,0.000,3078,0.000,0.034,2233,2124,3528,3606,3450,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5383,-0.81,-146.6,2233,2124,3606,3449,660.6,-10.0,165,5387,0.00,2.28,0.00,0.000,2564,0.000,0.044,2233,672,3528,3606,3450,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5442,-0.81,-146.6,2232,672,3605,3450,667.3,-10.0,166,5448,0.08,2.25,0.00,0.000,3078,0.163,0.034,2248,2123,3527,3605,3449,0,0,0,0,0,0,26.39,26.49,28.83
$GC,5804,-0.81,-146.6,2247,2123,3605,3448,697.1,-8.0,172,5808,0.00,2.15,0.00,0.000,4356,0.000,0.045,2238,3522,3526,3605,3448,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5839,-0.81,-146.6,2238,3522,3605,3448,697.1,-8.0,172,5844,0.00,2.22,0.00,0.000,3078,0.000,0.031,2238,2073,3526,3605,3448,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5960,begin apogee
$GC,5965,-0.18,0.0,2238,2073,3604,3448,713.3,-10.1,174,6085,0.57,0.00,116.10,1.488,10246,0.115,0.000,2441,2073,2931,3006,2856,0,0,0,0,0,0,26.40,28.83,23.30
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6088,0.81,146.6,2440,2073,3006,2859,715.3,0.0,176,6219,0.90,2.53,122.72,1.464,10500,0.061,0.040,2763,3512,2332,2415,2249,0,0,0,0,0,0,24.30,24.05,23.12
$GC,6270,0.81,146.6,2763,3512,2413,2249,698.1,13.2,179,6275,0.05,2.38,0.00,0.000,5126,0.223,0.031,2761,2080,2331,2413,2249,0,0,0,0,0,0,24.63,24.75,28.83
$GC,6603,0.81,146.6,2761,2080,2409,2249,635.6,16.7,185,6609,0.00,2.28,0.00,0.000,4612,0.000,0.044,2771,678,2329,2409,2249,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6730,0.81,146.6,2770,678,2407,2249,612.7,17.8,187,6735,0.05,2.30,0.00,0.000,5126,0.210,0.031,2758,2122,2328,2407,2249,0,0,0,0,0,0,25.56,25.68,28.83
$GC,7074,0.81,146.6,2758,2123,2407,2249,551.5,17.2,193,7079,0.00,2.28,0.00,0.000,4356,0.000,0.042,2758,3527,2327,2406,2249,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7122,0.81,146.6,2758,3528,2406,2249,551.5,17.2,193,7126,0.00,2.30,0.00,0.000,5126,0.000,0.033,2767,2074,2327,2406,2249,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7423,0.81,146.6,2767,2074,2405,2249,491.8,16.8,198,7429,0.00,2.25,0.00,0.000,4612,0.000,0.044,2778,674,2327,2405,2249,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7501,0.81,146.6,2778,674,2404,2249,480.1,17.5,199,7505,0.08,2.28,0.00,0.000,5126,0.185,0.031,2757,2124,2326,2404,2249,0,0,0,0,0,0,25.91,26.05,28.83
$GC,7833,0.81,146.6,2757,2124,2404,2249,420.3,16.7,205,7834,0.00,0.00,0.00,0.000,4102,0.000,0.000,2757,2124,2326,2404,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,0.81,146.6,2757,2124,2403,2249,374.8,15.2,210,8139,0.00,2.22,0.00,0.000,4356,0.000,0.041,2757,3520,2326,2403,2249,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8181,0.81,146.6,2757,3521,2403,2249,374.8,15.2,210,8185,0.00,2.25,0.00,0.000,5126,0.000,0.032,2766,2078,2326,2403,2249,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8483,0.81,146.6,2766,2077,2403,2249,318.5,16.2,215,8489,0.00,2.25,0.00,0.000,4612,0.000,0.044,2777,664,2326,2403,2249,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8521,0.81,146.6,2777,664,2403,2249,318.5,16.2,215,8526,0.08,2.28,0.00,0.000,5126,0.180,0.031,2756,2127,2325,2402,2249,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8834,0.81,146.6,2755,2127,2403,2249,265.0,14.6,224,8839,0.00,2.33,0.00,0.000,2564,0.000,0.044,2765,670,2326,2403,2249,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8883,0.81,146.6,2765,670,2403,2249,260.3,14.6,225,8887,0.00,2.28,0.00,0.000,5126,0.000,0.032,2765,2133,2326,2403,2249,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9183,0.81,146.6,2765,2132,2402,2249,214.3,13.9,235,9189,0.00,2.33,0.00,0.000,4612,0.000,0.044,2776,672,2325,2402,2249,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9281,0.81,146.6,2775,672,2402,2249,200.5,14.9,238,9286,0.08,2.25,0.00,0.000,5126,0.175,0.032,2754,2126,2326,2403,2249,0,0,0,0,0,0,26.20,26.33,28.83
$GC,9594,0.81,146.6,2753,2125,2403,2249,154.1,14.9,249,9596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2754,2126,2326,2403,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9904,0.81,146.6,2754,2126,2403,2249,111.4,14.2,264,9910,0.00,2.33,0.00,0.000,2564,0.000,0.044,2763,664,2326,2403,2249,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9972,0.81,146.6,2763,664,2403,2249,102.9,14.3,267,9976,0.00,2.28,0.00,0.000,5126,0.000,0.033,2763,2130,2326,2403,2249,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10274,0.81,146.6,2763,2130,2403,2249,60.8,12.3,289,10283,0.00,2.30,0.00,0.000,4612,0.000,0.044,2774,673,2326,2403,2249,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10575,0.87,195.0,2773,673,2403,2249,29.3,7.8,319,10597,0.00,2.22,17.23,0.225,11270,0.000,0.033,2774,2127,2134,2231,2038,0,0,0,0,0,0,28.83,26.42,26.12
$STATE,10833,end climb,SURFACE_DEPTH_REACHED
$STATE,10834,begin surface coast
$FINISH,0.4,1.018068
$STATE,10854,end surface coast,CONTROL_FINISHED_OK
$STATE,10855,begin surface
$SM_CCo,10870,19.58,0.157,0,0,1909,250.21
$SM_GC,2.96,6.95,0.00,19.58,0.047,0.000,0.157,147,2127,1909,-7.27,0.76,250.21,0,0,0,0,0,0,26.34,28.83,26.13
$IRIDIUM_FIX,4654.38,-12505.75,170114,050507
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.66
$INTERNAL_PRESSURE,8.44372
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,706.7,12.5
$24V_AH,23.1,4.147
$10V_AH,10.2,3.533
$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,16.900,93.550,256.050,19.575,0.000,25.873,25.953,105.554,12.750,0.000,39.418,1041.099,8499.996,407.378,1104.699,122.690,33.223,849.411,0.000,806.789,0.000,80.271,0.000
$DEVICE_MAMPS,223.380,57.375,1487.925,156.825,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.149,251.126,537.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313208
$DATA_FILE_SIZE,26999,347
$CAP_FILE_SIZE,84264,0
$CFSIZE,260165632,255184896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170114,091904,4705.761,-12502.698,31,0.9,31,17.0