version: 66.11
glider: 189
mission: 30
dive: 16
start: 1 18 114 12 51 48
data:
$ID,189
$MISSION,30
$DIVE,16
$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,-58137.008
$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
$GPS1,180114,124534,4716.840,-12506.167,27,1.1,27,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.0
$GPS2,180114,125047,4716.858,-12506.103,16,1.1,17,17.0
$SPEED_LIMITS,0.100,0.259
$TGT_NAME,QUINAULT_N
$TGT_LATLONG,4724.000,-12515.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.150,0.211
$KALMAN_X,4480.1,-166.2,18.5,-12229.7,1203.4
$KALMAN_Y,-16670.5,-201.5,-19.6,47731.7,-2096.0
$MHEAD_RNG_PITCHd_Wd,307.6,17302,-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,-0.63,-146.6,145,2119,1543,1353,0.0,0.0,0,51,0.00,0.00,-32.80,0.000,16386,0.000,0.000,144,2121,2381,2426,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.63,-146.6,144,2121,2426,2337,2.1,-3.9,3,102,7.88,2.35,-33.55,0.000,18948,0.212,0.057,2284,664,3530,3601,3459,0,0,0,0,0,0,25.84,26.01,26.28
$GC,232,-0.45,-146.6,2283,664,3603,3459,29.5,-17.0,21,240,0.17,2.28,0.00,0.000,3078,0.139,0.034,2343,2123,3531,3603,3459,0,0,0,0,0,0,25.95,26.08,28.83
$GC,541,-0.45,-146.6,2343,2123,3604,3459,64.8,-9.8,52,550,0.00,2.33,0.00,0.000,4612,0.000,0.041,2344,669,3530,3603,3458,0,0,0,0,0,0,28.83,26.14,28.83
$GC,843,-0.45,-146.6,2343,669,3604,3458,94.3,-9.3,75,847,0.00,2.22,0.00,0.000,3078,0.000,0.033,2334,2131,3531,3604,3458,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1163,-0.45,-146.6,2334,2131,3604,3458,120.5,-7.9,91,1167,0.00,2.25,0.00,0.000,2564,0.000,0.042,2334,673,3531,3604,3458,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1251,-0.45,-146.6,2334,673,3604,3458,127.8,-8.0,95,1257,0.05,2.25,0.00,0.000,3078,0.138,0.033,2343,2126,3531,3604,3459,0,0,0,0,0,0,26.18,26.28,28.83
$GC,1573,-0.50,-146.6,2343,2125,3604,3458,148.6,-6.3,111,1575,0.08,0.00,0.00,0.000,4102,0.107,0.000,2296,2125,3531,3604,3458,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1880,-0.50,-146.6,2296,2125,3604,3458,178.0,-10.1,122,1887,0.10,2.30,0.00,0.000,2564,0.145,0.041,2329,669,3531,3605,3458,0,0,0,0,0,0,26.26,26.32,28.83
$GC,1959,-0.50,-146.6,2329,669,3605,3458,183.5,-9.6,124,1963,0.00,2.25,0.00,0.000,3078,0.000,0.032,2321,2125,3531,3604,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2261,-0.50,-146.6,2320,2125,3605,3458,209.8,-8.4,134,2267,0.00,2.30,0.00,0.000,2564,0.000,0.041,2321,672,3532,3605,3459,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2309,-0.50,-146.6,2320,671,3604,3458,212.8,-8.8,135,2313,0.05,2.25,0.00,0.000,3078,0.186,0.032,2328,2125,3531,3604,3458,0,0,0,0,0,0,26.29,26.38,28.83
$GC,2611,-0.50,-146.6,2327,2125,3605,3458,241.2,-8.4,145,2616,0.00,2.28,0.00,0.000,4612,0.000,0.042,2328,680,3531,3605,3458,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2679,-0.50,-146.6,2328,680,3605,3458,246.0,-8.1,147,2683,0.00,2.25,0.00,0.000,3078,0.000,0.032,2320,2133,3531,3604,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2991,-0.50,-146.6,2319,2133,3605,3458,271.0,-7.6,158,2997,0.00,2.33,0.00,0.000,2564,0.000,0.041,2320,653,3531,3604,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3059,-0.50,-146.6,2319,652,3604,3458,275.8,-7.6,160,3063,0.05,2.28,0.00,0.000,3078,0.186,0.032,2327,2124,3531,3605,3458,0,0,0,0,0,0,26.32,26.42,28.83
$GC,3372,-0.56,-146.6,2326,2125,3604,3458,297.9,-6.7,171,3378,0.08,2.25,0.00,0.000,4612,0.109,0.041,2281,679,3531,3605,3458,0,0,0,0,0,0,26.45,26.41,28.83
$GC,3469,-0.56,-146.6,2281,678,3604,3458,303.5,-8.0,173,3474,0.12,2.25,0.00,0.000,3078,0.141,0.032,2311,2133,3531,3605,3458,0,0,0,0,0,0,26.33,26.44,28.83
$GC,3783,-0.56,-146.6,2311,2133,3605,3458,333.4,-8.2,179,3784,0.00,0.00,0.00,0.000,4102,0.000,0.000,2312,2133,3531,3604,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,-0.56,-146.6,2311,2133,3604,3458,357.6,-8.1,184,4088,0.00,2.33,0.00,0.000,4612,0.000,0.042,2312,670,3531,3605,3458,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4180,-0.56,-146.6,2311,670,3604,3458,362.9,-8.2,185,4184,0.00,2.25,0.00,0.000,3078,0.000,0.032,2303,2126,3531,3604,3458,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4492,-0.56,-146.6,2303,2126,3604,3457,395.8,-9.4,191,4498,0.00,2.30,0.00,0.000,2564,0.000,0.042,2303,664,3531,3605,3457,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4552,-0.56,-146.6,2303,663,3605,3457,402.1,-9.7,192,4559,0.05,2.25,0.00,0.000,3078,0.187,0.032,2310,2124,3530,3604,3457,0,0,0,0,0,0,26.37,26.47,28.83
$GC,4913,-0.62,-146.6,2310,2124,3605,3457,435.6,-9.2,198,4915,0.08,0.00,0.00,0.000,4102,0.109,0.000,2264,2124,3531,3605,3457,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5212,-0.62,-146.6,2264,2124,3604,3457,466.4,-10.3,203,5218,0.08,2.30,0.00,0.000,2564,0.158,0.042,2290,665,3530,3604,3456,0,0,0,0,0,0,26.42,26.46,28.83
$GC,5310,-0.62,-146.6,2290,665,3604,3456,472.5,-10.2,204,5314,0.00,2.25,0.00,0.000,3078,0.000,0.032,2281,2123,3530,3605,3456,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5623,-0.62,-146.6,2281,2123,3604,3456,504.4,-9.0,210,5628,0.00,2.22,0.00,0.000,2308,0.000,0.044,2271,3526,3530,3604,3456,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5660,-0.62,-146.6,2270,3526,3605,3455,504.4,-9.0,210,5665,0.05,2.22,0.00,0.000,3078,0.178,0.028,2288,2064,3530,3605,3456,0,0,0,0,0,0,26.41,26.50,28.83
$GC,5976,-0.68,-146.6,2288,2065,3604,3455,532.4,-7.8,216,5978,0.08,0.00,0.00,0.000,4102,0.110,0.000,2244,2064,3529,3604,3455,0,0,0,0,0,0,26.51,28.83,28.83
$GC,6275,-0.68,-146.6,2244,2064,3605,3455,564.9,-11.1,221,6280,0.08,2.25,0.00,0.000,2308,0.161,0.043,2259,3522,3529,3604,3454,0,0,0,0,0,0,26.43,26.48,28.83
$GC,6325,-0.68,-146.6,2259,3523,3604,3454,570.1,-11.0,222,6329,0.00,2.15,0.00,0.000,3078,0.000,0.031,2259,2070,3529,3604,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6674,-0.68,-146.6,2259,2070,3606,3454,604.0,-9.6,228,6679,0.00,2.17,0.00,0.000,2564,0.000,0.044,2259,675,3528,3604,3453,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6781,-0.68,-146.6,2259,675,3605,3454,610.4,-9.9,229,6785,0.08,2.25,0.00,0.000,3078,0.165,0.032,2274,2135,3529,3605,3453,0,0,0,0,0,0,26.41,26.51,28.83
$GC,7084,-0.74,-146.6,2273,2134,3604,3453,641.4,-8.4,234,7086,0.08,0.00,0.00,0.000,4102,0.111,0.000,2230,2134,3529,3605,3453,0,0,0,0,0,0,26.52,28.83,28.83
$GC,7385,-0.74,-146.6,2230,2134,3604,3453,671.8,-10.3,239,7390,0.08,2.22,0.00,0.000,2564,0.158,0.044,2255,674,3529,3605,3453,0,0,0,0,0,0,26.45,26.50,28.83
$GC,7460,-0.74,-146.6,2255,674,3604,3452,676.7,-10.4,240,7464,0.00,2.25,0.00,0.000,3078,0.000,0.034,2246,2130,3528,3604,3453,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7783,-0.74,-146.6,2246,2130,3604,3452,708.7,-9.0,246,7789,0.00,2.30,0.00,0.000,2564,0.000,0.044,2246,673,3528,3605,3452,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7831,-0.74,-146.6,2246,673,3604,3452,708.7,-9.0,246,7835,0.05,2.25,0.00,0.000,3078,0.193,0.033,2253,2129,3528,3604,3452,0,0,0,0,0,0,26.42,26.52,28.83
$GC,8133,-0.74,-146.6,2252,2129,3604,3451,736.7,-7.9,251,8134,0.00,0.00,0.00,0.000,4102,0.000,0.000,2253,2129,3527,3604,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-0.74,-146.6,2252,2129,3604,3450,759.8,-7.8,256,8439,0.00,2.30,0.00,0.000,4612,0.000,0.044,2253,671,3527,3604,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8481,-0.74,-146.6,2252,670,3604,3450,759.8,-7.8,256,8485,0.00,2.25,0.00,0.000,3078,0.000,0.033,2244,2126,3526,3604,3449,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8783,-0.74,-146.6,2244,2126,3604,3449,788.7,-8.3,261,8784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2245,2126,3526,3604,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-0.74,-146.6,2244,2126,3604,3448,812.8,-8.0,266,9089,0.00,2.30,0.00,0.000,2564,0.000,0.045,2244,669,3525,3603,3448,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9151,-0.74,-146.6,2244,669,3603,3448,818.3,-8.1,267,9155,0.05,2.25,0.00,0.000,3078,0.191,0.033,2251,2125,3525,3603,3448,0,0,0,0,0,0,26.44,26.53,28.83
$GC,9496,-0.80,-146.6,2251,2124,3603,3448,849.9,-9.0,273,9498,0.08,0.00,0.00,0.000,4102,0.113,0.000,2206,2125,3525,3603,3447,0,0,0,0,0,0,26.55,28.83,28.83
$GC,9794,-0.80,-146.6,2206,2125,3602,3447,883.0,-11.1,278,9796,0.08,0.00,0.00,0.000,2054,0.158,0.000,2231,2124,3524,3602,3447,0,0,0,0,0,0,26.46,28.83,28.83
$GC,10094,-0.80,-146.6,2231,2124,3602,3447,909.0,-8.6,283,10099,0.00,2.30,0.00,0.000,4612,0.000,0.044,2231,674,3524,3602,3447,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10142,-0.80,-146.6,2231,673,3602,3447,909.0,-8.6,283,10146,0.00,2.25,0.00,0.000,3078,0.000,0.034,2223,2128,3524,3602,3447,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10446,-0.80,-146.6,2223,2128,3602,3447,941.3,-9.1,288,10447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2128,3524,3602,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10744,-0.80,-146.6,2222,2128,3601,3447,970.0,-9.7,293,10745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,2128,3524,3601,3447,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10862,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10862,begin apogee
$GC,10867,-0.18,0.0,2222,2128,3601,3447,982.4,-10.2,295,10990,0.57,0.00,119.18,1.655,10246,0.112,0.000,2427,2128,2931,3005,2857,0,0,0,0,0,0,26.44,28.83,23.15
$STATE,10991,end apogee,CONTROL_FINISHED_OK
$STATE,10991,begin climb
$GC,10993,0.63,146.6,2427,2128,3006,2858,986.6,0.0,297,11127,0.75,2.50,126.68,1.631,10500,0.052,0.041,2699,3528,2333,2418,2248,0,0,0,0,0,0,24.22,23.91,22.94
$GC,11184,0.63,146.6,2699,3528,2414,2248,981.4,5.6,300,11189,0.10,2.42,0.00,0.000,5126,0.190,0.032,2684,2076,2331,2414,2248,0,0,0,0,0,0,24.53,24.65,28.83
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$STATE,20102,end climb,SURFACE_DEPTH_REACHED
$STATE,20102,begin surface coast
$FINISH,0.6,1.023978
$STATE,20145,end surface coast,CONTROL_FINISHED_OK
$STATE,20145,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,50.00
$INTERNAL_PRESSURE,8.41442
$TCM_TEMP,17.40
$XPDR_PINGS,15
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$10V_AH,10.0,3.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313200
$DATA_FILE_SIZE,40458,557
$CAP_FILE_SIZE,159305,0
$CFSIZE,260165632,254701568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4556.27,0x212c64,0,24
$GPS,180114,182953,4719.394,-12508.073,38,0.9,38,17.0