version: 66.11
glider: 189
mission: 30
dive: 5
start: 1 17 114 2 2 38
data:
$ID,189
$MISSION,30
$DIVE,5
$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,-58122.852
$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,3924
$C_ROLL_CLIMB,3924
$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
$GPS1,170114,015534,4703.780,-12501.611,25,1.1,25,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.6
$GPS2,170114,020135,4703.786,-12501.679,19,1.0,20,16.9
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,QUINAULT_S
$TGT_LATLONG,4715.000,-12506.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,0.182
$KALMAN_X,1001.6,397.1,-34.3,-3674.6,4.1
$KALMAN_Y,-3333.1,-731.4,72.1,10625.2,-90.1
$MHEAD_RNG_PITCHd_Wd,330.0,21467,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.99,-73.3,125,3930,1955,1840,0.0,0.0,0,41,0.00,0.00,-22.40,0.000,16386,0.000,0.000,125,3929,2533,2560,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.99,-73.3,125,3929,2560,2506,2.0,-4.9,2,74,7.88,0.00,-20.10,0.000,18694,0.221,0.000,2213,3931,3230,3271,3190,0,0,0,0,0,0,25.75,28.83,26.23
$GC,372,-0.99,-73.3,2212,3931,3272,3190,54.4,-16.0,35,373,0.00,0.00,0.00,0.000,2310,0.000,0.000,2213,3931,3231,3272,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,672,-0.99,-73.3,2212,3931,3273,3190,87.3,-10.6,62,673,0.00,0.00,0.00,0.000,2310,0.000,0.000,2213,3931,3231,3273,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,982,-0.99,-73.3,2212,3931,3274,3189,114.1,-9.0,78,983,0.00,0.00,0.00,0.000,2310,0.000,0.000,2213,3931,3232,3274,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1292,-0.99,-73.3,2212,3931,3274,3190,147.4,-10.9,94,1293,0.00,0.00,0.00,0.000,2310,0.000,0.000,2213,3931,3232,3274,3190,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$GC,1595,-0.18,0.0,2213,3931,3274,3190,181.6,-11.8,105,1654,0.80,0.00,55.17,1.148,10246,0.146,0.000,2472,3931,2930,2991,2870,0,0,0,0,0,0,26.18,28.83,24.27
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1657,0.99,73.3,2472,3931,2994,2872,183.6,0.0,107,1719,1.10,0.00,57.53,1.129,10502,0.080,0.000,2857,3931,2630,2704,2557,0,0,0,0,0,0,25.01,28.83,23.62
$GC,2022,0.99,73.3,2857,3931,2706,2558,131.5,17.3,121,2023,0.00,0.00,0.00,0.000,4358,0.000,0.000,2857,3931,2631,2706,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,0.99,73.3,2857,3931,2706,2557,80.1,15.2,137,2333,0.00,0.00,0.00,0.000,4358,0.000,0.000,2857,3931,2631,2706,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,0.99,73.3,2857,3931,2706,2557,44.0,12.1,167,2640,0.00,0.00,0.00,0.000,4358,0.000,0.000,2857,3931,2631,2706,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,1.10,158.1,2857,3931,2706,2557,27.4,2.2,198,2981,0.08,0.00,29.98,0.222,10246,0.104,0.000,2906,3932,2284,2366,2202,0,0,0,0,0,0,26.10,28.83,25.71
$STATE,3141,end climb,SURFACE_DEPTH_REACHED
$STATE,3141,begin surface coast
$FINISH,0.3,1.024758
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3167,33.58,0.150,0,0,1907,250.21
$SM_GC,1.37,7.38,0.00,33.58,0.045,0.000,0.150,142,3932,1907,-7.38,0.23,250.21,0,0,0,0,0,0,25.99,28.83,25.75
$IRIDIUM_FIX,4641.78,-12459.26,160114,212107
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.89
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,17.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,23.6,3.820
$10V_AH,10.1,3.426
$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,17.225,2.950,142.675,33.575,0.000,25.115,41.063,188.709,2.000,0.000,21.020,563.939,2000.030,218.093,717.742,66.788,33.236,420.459,0.000,396.673,0.000,2.613,0.000
$DEVICE_MAMPS,221.085,47.430,1148.265,149.940,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.267,225.378,339.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313204
$DATA_FILE_SIZE,17028,219
$CAP_FILE_SIZE,32347,0
$CFSIZE,260165632,255352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170114,025703,4703.873,-12501.731,22,1.3,36,16.9