version: 66.11
glider: 189
mission: 30
dive: 26
start: 1 20 114 16 46 43
data:
$ID,189
$MISSION,30
$DIVE,26
$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,-58149.719
$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
$GPS1,200114,163958,4737.467,-12530.988,40,0.9,40,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.5
$GPS2,200114,164542,4737.471,-12531.065,21,0.9,21,17.2
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,JUANDEFUCA
$TGT_LATLONG,4748.000,-12539.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,0.174
$KALMAN_X,14993.6,-219.0,122.8,-54324.7,517.3
$KALMAN_Y,-1255.5,-171.9,-390.5,70844.2,2955.3
$MHEAD_RNG_PITCHd_Wd,294.9,21856,-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,13,begin dive
$GC,16,-0.63,-146.6,145,2126,1790,1619,0.0,0.0,0,50,0.00,0.00,-32.45,0.000,16386,0.000,0.000,145,2126,2619,2635,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.63,-146.6,145,2126,2636,2603,2.4,-3.4,3,91,7.82,2.28,-25.25,0.000,18692,0.210,0.058,2275,3524,3531,3585,3478,0,0,0,0,0,0,25.87,26.04,26.32
$GC,330,-0.49,-146.6,2274,3524,3580,3485,45.4,-17.8,31,339,0.15,2.22,0.00,0.000,3078,0.134,0.030,2325,2077,3532,3579,3485,0,0,0,0,0,0,26.03,26.16,28.83
$GC,649,-0.49,-146.6,2324,2077,3580,3486,83.0,-10.3,62,655,0.00,2.33,0.00,0.000,2308,0.000,0.043,2316,3524,3532,3579,3486,0,0,0,0,0,0,28.83,26.19,28.83
$GC,717,-0.49,-146.6,2315,3524,3579,3486,89.6,-10.9,65,722,0.05,2.25,0.00,0.000,3078,0.179,0.029,2331,2066,3532,3579,3486,0,0,0,0,0,0,26.13,26.22,28.83
$GC,1020,-0.49,-146.6,2332,2065,3579,3486,116.3,-9.0,80,1025,0.00,2.30,0.00,0.000,4356,0.000,0.041,2322,3517,3532,3579,3486,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1060,-0.49,-146.6,2322,3517,3579,3486,120.0,-9.2,82,1065,0.00,2.22,0.00,0.000,3078,0.000,0.029,2322,2072,3532,3579,3486,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1380,-0.49,-146.6,2322,2072,3579,3487,150.5,-8.8,98,1385,0.00,2.22,0.00,0.000,2564,0.000,0.042,2322,665,3533,3579,3487,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1440,-0.49,-146.6,2322,665,3579,3487,156.5,-9.3,100,1446,0.05,2.28,0.00,0.000,3078,0.187,0.031,2328,2135,3533,3579,3487,0,0,0,0,0,0,26.22,26.32,28.83
$GC,1770,-0.49,-146.6,2328,2135,3579,3487,185.6,-8.7,111,1775,0.00,2.22,0.00,0.000,2308,0.000,0.043,2319,3533,3533,3579,3487,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1818,-0.49,-146.6,2319,3534,3580,3487,188.3,-8.6,112,1822,0.00,2.25,0.00,0.000,3078,0.000,0.029,2319,2068,3533,3580,3487,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2120,-0.49,-146.6,2319,2067,3579,3487,215.9,-8.4,122,2125,0.00,2.17,0.00,0.000,2564,0.000,0.042,2319,677,3533,3579,3487,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2188,-0.49,-146.6,2319,677,3579,3487,221.6,-9.0,124,2192,0.08,2.25,0.00,0.000,3078,0.156,0.031,2334,2132,3533,3579,3488,0,0,0,0,0,0,26.29,26.39,28.83
$GC,2501,-0.56,-146.6,2334,2132,3579,3487,246.6,-7.4,135,2507,0.10,2.17,0.00,0.000,4356,0.090,0.041,2269,3524,3533,3579,3487,0,0,0,0,0,0,26.41,26.38,28.83
$GC,2561,-0.56,-146.6,2269,3524,3578,3487,252.4,-8.5,137,2567,0.10,2.20,0.00,0.000,3078,0.122,0.028,2305,2066,3533,3579,3487,0,0,0,0,0,0,26.31,26.41,28.83
$GC,2891,-0.56,-146.6,2305,2066,3578,3488,280.4,-8.2,148,2892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2066,3533,3579,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.56,-146.6,2305,2066,3578,3488,307.5,-8.4,158,3223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2066,3533,3579,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.56,-146.6,2305,2066,3579,3488,334.2,-9.0,163,3522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2305,2066,3533,3579,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.56,-146.6,2305,2066,3578,3488,359.9,-8.4,168,3826,0.00,2.22,0.00,0.000,2564,0.000,0.042,2305,650,3533,3578,3488,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3868,-0.56,-146.6,2305,650,3578,3488,359.9,-8.4,168,3873,0.00,2.28,0.00,0.000,3078,0.000,0.031,2296,2126,3533,3578,3488,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4171,-0.56,-146.6,2296,2126,3578,3488,389.7,-8.4,173,4177,0.00,2.22,0.00,0.000,2308,0.000,0.041,2286,3528,3532,3577,3488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4259,-0.56,-146.6,2286,3528,3578,3488,394.8,-8.4,174,4264,0.08,2.22,0.00,0.000,3078,0.148,0.028,2312,2062,3532,3577,3488,0,0,0,0,0,0,26.39,26.48,28.83
$GC,4584,-0.64,-146.6,2312,2062,3577,3488,423.4,-8.0,180,4586,0.10,0.00,0.00,0.000,4102,0.091,0.000,2257,2062,3532,3577,3488,0,0,0,0,0,0,26.49,28.83,28.83
$GC,4882,-0.64,-146.6,2257,2062,3576,3487,455.2,-10.8,185,4884,0.08,0.00,0.00,0.000,2054,0.161,0.000,2281,2062,3532,3576,3488,0,0,0,0,0,0,26.42,28.83,28.83
$GC,5182,-0.64,-146.6,2281,2062,3576,3487,482.3,-8.9,190,5183,0.00,0.00,0.00,0.000,2054,0.000,0.000,2281,2062,3532,3576,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.64,-146.6,2281,2062,3575,3488,507.9,-8.6,195,5483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2281,2061,3532,3576,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-0.64,-146.6,2281,2062,3575,3488,533.5,-8.6,200,5784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2281,2062,3531,3575,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6084,-0.69,-146.6,2281,2062,3575,3488,559.1,-8.6,205,6089,0.05,2.25,0.00,0.000,4356,0.145,0.041,2235,3527,3531,3574,3488,0,0,0,0,0,0,26.55,26.50,28.83
$GC,6120,-0.74,-146.6,2235,3526,3574,3487,559.1,-8.6,205,6125,0.05,2.22,0.00,0.000,3078,0.181,0.028,2251,2062,3530,3574,3487,0,0,0,0,0,0,26.43,26.52,28.83
$GC,6422,-0.74,-146.6,2251,2062,3574,3488,594.1,-10.3,210,6424,0.00,0.00,0.00,0.000,4102,0.000,0.000,2251,2062,3530,3574,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.74,-146.6,2251,2062,3573,3488,623.9,-10.0,215,6724,0.00,0.00,0.00,0.000,4102,0.000,0.000,2251,2062,3530,3573,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.74,-146.6,2251,2062,3572,3488,654.2,-10.2,220,7027,0.00,2.17,0.00,0.000,4612,0.000,0.042,2251,668,3529,3572,3487,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7083,-0.74,-146.6,2251,668,3572,3488,660.6,-10.2,221,7087,0.00,2.22,0.00,0.000,3078,0.000,0.031,2243,2126,3530,3572,3488,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7442,-0.74,-146.6,2243,2125,3571,3488,695.8,-9.5,227,7447,0.00,2.20,0.00,0.000,2308,0.000,0.043,2232,3519,3529,3571,3488,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7539,-0.74,-146.6,2232,3519,3571,3488,701.4,-9.4,228,7544,0.05,2.22,0.00,0.000,3078,0.178,0.030,2250,2062,3529,3571,3488,0,0,0,0,0,0,26.44,26.53,28.83
$GC,7852,-0.74,-146.6,2249,2062,3571,3487,729.2,-7.7,234,7858,0.00,2.17,0.00,0.000,2564,0.000,0.042,2250,674,3529,3570,3488,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7913,-0.74,-146.6,2250,674,3570,3487,734.3,-7.8,235,7918,0.00,2.22,0.00,0.000,3078,0.000,0.032,2241,2129,3528,3570,3487,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8274,-0.74,-146.6,2241,2129,3570,3488,765.3,-8.7,241,8275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2241,2129,3528,3570,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8573,-0.74,-146.6,2241,2129,3570,3487,792.5,-9.1,246,8575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2241,2129,3528,3569,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8873,-0.74,-146.6,2241,2129,3569,3488,821.0,-9.5,251,8874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2241,2129,3528,3570,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9174,-0.74,-146.6,2241,2129,3569,3487,847.7,-8.9,256,9178,0.00,2.25,0.00,0.000,2564,0.000,0.044,2241,676,3527,3568,3487,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9220,-0.74,-146.6,2241,675,3569,3487,847.7,-8.9,256,9225,0.08,2.25,0.00,0.000,3078,0.157,0.034,2257,2129,3528,3569,3487,0,0,0,0,0,0,26.45,26.53,28.83
$GC,9523,-0.81,-146.6,2256,2129,3569,3487,875.8,-7.8,261,9525,0.10,0.00,0.00,0.000,4102,0.094,0.000,2203,2129,3527,3568,3486,0,0,0,0,0,0,26.53,28.83,28.83
$GC,9822,-0.81,-146.6,2203,2128,3568,3486,907.4,-10.7,266,9824,0.08,0.00,0.00,0.000,2054,0.158,0.000,2228,2128,3527,3568,3486,0,0,0,0,0,0,26.47,28.83,28.83
$GC,10123,-0.81,-146.6,2227,2128,3568,3485,935.6,-9.4,271,10125,0.00,0.00,0.00,0.000,4102,0.000,0.000,2228,2128,3526,3568,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.81,-146.6,2227,2129,3568,3485,963.8,-9.5,276,10424,0.00,0.00,0.00,0.000,4102,0.000,0.000,2228,2128,3526,3568,3485,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.18,0.0,2227,2128,3567,3484,990.1,-8.6,281,10850,0.55,0.00,119.38,1.646,10246,0.109,0.000,2426,2128,2930,3000,2860,0,0,0,0,0,0,26.46,28.83,23.22
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10853,0.63,146.6,2426,2128,3001,2862,992.0,0.0,283,10989,0.75,2.60,126.80,1.625,10756,0.051,0.044,2712,680,2333,2418,2248,0,0,0,0,0,0,24.30,23.88,22.92
$GC,11012,0.63,146.6,2711,680,2416,2248,982.6,7.7,286,11018,0.10,2.42,0.00,0.000,5126,0.164,0.031,2685,2116,2331,2415,2248,0,0,0,0,0,0,24.26,24.37,28.83
$GC,11373,0.49,146.6,2684,2116,2409,2248,932.8,14.0,292,11379,0.15,2.38,0.00,0.000,4612,0.174,0.045,2651,673,2328,2409,2248,0,0,0,0,0,0,25.26,25.37,28.83
$GC,11520,0.37,146.6,2651,673,2408,2248,918.4,13.0,294,11525,0.15,2.38,0.00,0.000,5126,0.157,0.032,2606,2127,2328,2408,2248,0,0,0,0,0,0,25.42,25.54,28.83
$GC,11843,0.37,158.2,2606,2127,2408,2247,884.7,9.5,300,11860,0.00,2.40,10.10,1.420,12804,0.000,0.047,2615,676,2285,2370,2201,0,0,0,0,0,0,28.83,25.44,24.50
$GC,11941,0.37,167.8,2615,677,2370,2200,878.8,9.6,301,11956,0.00,2.33,9.88,1.407,13318,0.000,0.031,2616,2126,2245,2332,2159,0,0,0,0,0,0,28.83,25.56,24.32
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$STATE,19893,end climb,SURFACE_DEPTH_REACHED
$STATE,19893,begin surface coast
$FINISH,0.7,1.024820
$STATE,19915,end surface coast,CONTROL_FINISHED_OK
$STATE,19915,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.84
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,17.40
$XPDR_PINGS,18
$24V_AH,22.9,6.832
$10V_AH,9.7,4.504
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,151.000,374.900,0.000,0.000,25.738,40.584,161.384,17.000,0.000,21.771,1668.024,16104.555,559.962,1775.354,220.431,33.252,1316.613,0.000,1395.695,0.000,91.597,0.000
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$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313176
$DATA_FILE_SIZE,40355,536
$CAP_FILE_SIZE,148963,0
$CFSIZE,260165632,254066688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1384.40,0x212c5c,0,24
$GPS,200114,222058,4740.233,-12533.518,38,0.9,38,17.2