version: 66.11
glider: 189
mission: 30
dive: 25
start: 1 20 114 11 10 24
data:
$ID,189
$MISSION,30
$DIVE,25
$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,-58148.453
$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,2486
$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,0.02
$PITCH_ADJ_DBAND,2.5
$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
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$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
$GPS1,200114,110304,4734.853,-12528.766,33,0.8,33,17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.0
$GPS2,200114,110923,4734.911,-12528.775,14,1.1,15,17.1
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,JUANDEFUCA
$TGT_LATLONG,4748.000,-12539.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.185,0.182
$KALMAN_X,14007.0,371.5,-235.7,-50668.3,562.8
$KALMAN_Y,-2665.1,-489.9,216.4,67220.8,2188.9
$MHEAD_RNG_PITCHd_Wd,297.5,27376,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,148,2080,1838,1682,0.0,0.0,0,40,0.00,0.00,-21.67,0.000,16386,0.000,0.000,148,2081,2358,2408,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.63,-146.6,148,2081,2408,2308,2.0,-4.2,2,93,7.88,2.35,-37.08,0.000,18692,0.211,0.057,2276,3522,3530,3586,3474,0,0,0,0,0,0,25.79,25.98,26.25
$GC,281,-0.51,-146.6,2275,3522,3581,3483,32.9,-17.6,26,291,0.15,2.25,0.00,0.000,3078,0.145,0.029,2323,2076,3531,3580,3483,0,0,0,0,0,0,25.96,26.07,28.83
$GC,591,-0.51,-146.6,2323,2074,3590,3475,73.2,-11.8,57,600,0.00,2.25,0.00,0.000,4612,0.000,0.042,2323,664,3532,3590,3474,0,0,0,0,0,0,28.83,26.14,28.83
$GC,641,-0.46,-146.6,2323,664,3590,3474,79.4,-12.8,62,651,0.08,2.28,0.00,0.000,3078,0.167,0.031,2338,2123,3532,3590,3474,0,0,0,0,0,0,26.06,26.17,28.83
$GC,951,-0.46,-146.6,2338,2123,3591,3474,110.6,-8.5,78,957,0.00,2.30,0.00,0.000,4612,0.000,0.042,2338,674,3532,3591,3473,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1071,-0.46,-146.6,2338,674,3592,3474,120.7,-8.3,84,1077,0.00,2.25,0.00,0.000,3078,0.000,0.031,2329,2125,3533,3592,3474,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1391,-0.46,-146.6,2329,2125,3593,3474,146.6,-9.0,100,1397,0.00,2.25,0.00,0.000,2308,0.000,0.041,2319,3531,3532,3592,3473,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1451,-0.46,-146.6,2319,3531,3592,3473,152.3,-9.6,103,1458,0.05,2.25,0.00,0.000,3078,0.172,0.029,2337,2067,3533,3593,3473,0,0,0,0,0,0,26.21,26.29,28.83
$GC,1781,-0.46,-146.6,2337,2067,3593,3473,178.1,-7.4,114,1782,0.00,0.00,0.00,0.000,4102,0.000,0.000,2337,2067,3533,3593,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2082,-0.52,-146.6,2337,2067,3594,3473,202.2,-8.4,124,2088,0.08,2.17,0.00,0.000,4612,0.108,0.042,2290,675,3533,3594,3473,0,0,0,0,0,0,26.38,26.34,28.83
$GC,2119,-0.52,-146.6,2289,675,3593,3473,205.2,-8.7,125,2124,0.12,2.25,0.00,0.000,3078,0.139,0.031,2320,2130,3533,3593,3473,0,0,0,0,0,0,26.27,26.36,28.83
$GC,2432,-0.52,-146.6,2320,2130,3594,3473,230.9,-7.4,136,2433,0.00,0.00,0.00,0.000,4102,0.000,0.000,2320,2130,3533,3594,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.52,-146.6,2320,2129,3594,3473,255.4,-8.6,146,2733,0.00,0.00,0.00,0.000,4102,0.000,0.000,2321,2130,3533,3594,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.57,-146.6,2320,2129,3594,3473,281.9,-8.7,156,3039,0.08,2.28,0.00,0.000,4612,0.109,0.041,2273,676,3533,3594,3472,0,0,0,0,0,0,26.44,26.40,28.83
$GC,3139,-0.57,-146.6,2273,675,3594,3472,291.6,-10.4,159,3144,0.12,2.25,0.00,0.000,3078,0.142,0.032,2305,2130,3533,3594,3473,0,0,0,0,0,0,26.33,26.43,28.83
$GC,3472,-0.57,-146.6,2304,2129,3594,3472,321.5,-8.3,166,3473,0.00,0.00,0.00,0.000,4102,0.000,0.000,2305,2129,3533,3594,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.57,-146.6,2305,2129,3594,3472,346.5,-8.4,171,3773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2305,2129,3533,3594,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4072,-0.63,-146.6,2305,2129,3594,3471,371.8,-8.5,176,4078,0.08,2.28,0.00,0.000,4612,0.109,0.042,2259,677,3532,3594,3471,0,0,0,0,0,0,26.48,26.44,28.83
$GC,4150,-0.63,-146.6,2258,677,3594,3471,378.4,-8.9,177,4155,0.12,2.25,0.00,0.000,3078,0.143,0.032,2289,2131,3532,3594,3471,0,0,0,0,0,0,26.36,26.46,28.83
$GC,4483,-0.63,-146.6,2289,2131,3594,3471,410.2,-8.7,183,4489,0.00,2.20,0.00,0.000,4356,0.000,0.041,2281,3522,3532,3594,3471,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4531,-0.63,-146.6,2280,3522,3594,3471,410.2,-8.7,183,4535,0.00,2.22,0.00,0.000,3078,0.000,0.029,2280,2070,3532,3594,3471,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4833,-0.63,-146.6,2280,2070,3593,3470,444.5,-10.1,188,4834,0.00,0.00,0.00,0.000,2054,0.000,0.000,2280,2070,3532,3594,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5133,-0.63,-146.6,2280,2070,3594,3471,475.0,-10.3,193,5139,0.00,2.20,0.00,0.000,2564,0.000,0.043,2280,674,3532,3594,3470,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5210,-0.63,-146.6,2280,674,3593,3470,481.2,-10.3,194,5215,0.05,2.25,0.00,0.000,3078,0.189,0.032,2287,2130,3532,3594,3470,0,0,0,0,0,0,26.39,26.49,28.83
$GC,5546,-0.68,-146.6,2287,2130,3594,3470,510.8,-8.0,200,5551,0.08,2.15,0.00,0.000,4356,0.110,0.041,2224,3524,3531,3594,3469,0,0,0,0,0,0,26.51,26.47,28.83
$GC,5571,-0.74,-146.6,2224,3524,3593,3469,510.8,-8.0,200,5576,0.08,2.22,0.00,0.000,3078,0.155,0.029,2249,2066,3531,3594,3469,0,0,0,0,0,0,26.40,26.50,28.83
$GC,5885,-0.74,-146.6,2249,2066,3593,3469,542.8,-9.4,206,5887,0.00,0.00,0.00,0.000,4102,0.000,0.000,2249,2066,3531,3594,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6185,-0.74,-146.6,2249,2066,3594,3469,571.8,-9.8,211,6186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3531,3593,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6485,-0.74,-146.6,2249,2066,3593,3468,603.5,-10.6,216,6486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3530,3593,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6785,-0.74,-146.6,2249,2066,3593,3468,635.3,-10.5,221,6786,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3530,3593,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7085,-0.74,-146.6,2249,2066,3593,3467,663.5,-9.3,226,7086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3530,3593,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7384,-0.74,-146.6,2249,2066,3593,3466,689.8,-8.7,231,7385,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3530,3594,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.74,-146.6,2249,2066,3592,3466,715.5,-8.5,236,7686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3529,3593,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,-0.74,-146.6,2249,2066,3592,3466,741.0,-8.5,241,7987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3529,3592,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,-0.74,-146.6,2249,2066,3592,3465,768.0,-9.1,246,8287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3528,3592,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8587,-0.74,-146.6,2249,2066,3592,3465,795.1,-9.1,251,8588,0.00,0.00,0.00,0.000,2054,0.000,0.000,2249,2066,3528,3592,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,-0.79,-146.6,2249,2066,3591,3465,821.6,-8.8,256,8889,0.05,0.00,0.00,0.000,4102,0.144,0.000,2213,2067,3528,3591,3465,0,0,0,0,0,0,26.56,28.83,28.83
$GC,9186,-0.79,-146.6,2212,2066,3590,3465,852.3,-10.3,261,9191,0.08,2.28,0.00,0.000,2308,0.159,0.043,2228,3531,3527,3590,3464,0,0,0,0,0,0,26.46,26.51,28.83
$GC,9234,-0.79,-146.6,2228,3531,3590,3465,856.9,-10.1,262,9240,0.00,2.22,0.00,0.000,3078,0.000,0.030,2228,2076,3527,3590,3464,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9595,-0.79,-146.6,2227,2075,3590,3464,890.6,-9.5,268,9600,0.00,2.17,0.00,0.000,2564,0.000,0.044,2228,680,3527,3590,3464,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9654,-0.79,-146.6,2227,680,3590,3464,897.1,-9.8,269,9661,0.05,2.22,0.00,0.000,3078,0.191,0.032,2235,2125,3527,3590,3464,0,0,0,0,0,0,26.44,26.54,28.83
$GC,10017,-0.79,-146.6,2234,2125,3590,3464,930.2,-9.2,275,10021,0.00,2.17,0.00,0.000,4356,0.000,0.043,2226,3531,3526,3590,3463,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10064,-0.79,-146.6,2226,3531,3590,3464,935.0,-9.3,276,10070,0.00,2.22,0.00,0.000,3078,0.000,0.030,2226,2076,3527,3590,3464,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10424,-0.79,-146.6,2225,2076,3590,3464,968.6,-9.4,282,10426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2226,2076,3526,3590,3463,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10729,-0.18,0.0,2225,2075,3590,3463,994.1,-8.5,287,10852,0.57,0.00,119.03,1.652,10246,0.109,0.000,2430,2075,2930,3002,2859,0,0,0,0,0,0,26.45,28.83,23.22
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10856,0.63,146.6,2429,2075,3003,2860,996.2,0.0,289,10987,0.75,0.00,127.57,1.632,10246,0.048,0.000,2707,2074,2332,2416,2249,0,0,0,0,0,0,24.30,28.83,22.91
$GC,11254,0.46,146.6,2707,2074,2409,2248,951.1,15.2,296,11261,0.25,2.30,0.00,0.000,4612,0.171,0.044,2646,679,2328,2408,2248,0,0,0,0,0,0,25.08,25.21,28.83
$GC,11315,0.31,146.6,2645,679,2408,2248,943.5,14.8,297,11321,0.20,2.33,0.00,0.000,5126,0.141,0.030,2584,2125,2328,2408,2248,0,0,0,0,0,0,25.19,25.33,28.83
$GC,11674,0.31,177.2,2584,2126,2407,2248,911.6,8.6,303,11706,0.00,2.47,26.42,1.538,12804,0.000,0.046,2593,678,2207,2297,2118,0,0,0,0,0,0,28.83,24.83,23.92
$GC,11863,0.31,202.6,2593,679,2295,2118,896.5,8.8,306,11891,0.00,2.35,23.10,1.517,13318,0.000,0.030,2593,2130,2104,2202,2007,0,0,0,0,0,0,28.83,25.33,23.74
$GC,12194,0.31,222.3,2593,2130,2199,2007,864.8,9.1,311,12217,0.00,2.47,17.80,1.480,12804,0.000,0.046,2604,678,2023,2123,1924,0,0,0,0,0,0,28.83,24.91,24.01
$GC,12385,0.31,230.9,2604,678,2120,1924,848.2,9.6,314,12399,0.08,2.35,9.02,1.372,13318,0.158,0.030,2581,2130,1988,2088,1889,0,0,0,0,0,0,25.27,25.37,24.18
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$STATE,19609,end climb,SURFACE_DEPTH_REACHED
$STATE,19609,begin surface coast
$FINISH,0.7,1.024790
$STATE,19631,end surface coast,CONTROL_FINISHED_OK
$STATE,19631,begin surface
$SM_CCo,19707,0.00,0.000,0,0,1713,298.78
$SM_GC,1.83,6.85,0.00,0.00,0.045,0.000,0.000,147,2124,1713,-7.24,0.68,298.78,0,0,0,0,0,0,26.37,28.83,28.83
$IRIDIUM_FIX,4719.74,-12525.95,200114,050532
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.94
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,17.20
$XPDR_PINGS,14
$24V_AH,22.9,6.660
$10V_AH,10.0,4.442
$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,19.250,141.325,366.875,0.000,0.000,25.034,40.345,203.626,16.000,0.000,15.569,1635.955,15886.606,573.614,1770.265,211.716,33.246,1304.171,0.000,1362.257,0.000,91.596,0.000
$DEVICE_MAMPS,211.140,56.610,1652.400,0.000,0.000,48.200,160.000,223.000,420.000,0.000,26.960,11.960,2.190,11.960,37.430,45.670,61.400,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.913,332.369,828.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313192
$DATA_FILE_SIZE,40454,535
$CAP_FILE_SIZE,143983,0
$CFSIZE,260165632,254136320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200114,163958,4737.467,-12530.988,40,0.9,40,17.2