version: 66.11
glider: 190
mission: 6
dive: 36
start: 9 25 112 23 57 35
data:
$ID,190
$MISSION,6
$DIVE,36
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,540
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12075.081
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250912,234734,2433.115,-3802.465,36,0.9,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-64.7
$GPS2,250912,235705,2433.096,-3802.508,16,1.1,17,-14.0
$SPEED_LIMITS,0.106,0.183
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,127.2,874,-26.5,-6.111,-30.00
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.04,-30.2,0.0,0.0,0,55,0.00,0.00,-32.47,0.000,2,0.000,0.000,144,1798,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.05,-56.5,2.2,-2.5,3,111,12.32,1.90,-33.75,0.000,4,0.447,0.129,2546,728,3220,0,0,0,0,0,0,14.51,14.66,14.89
$GC,338,-1.00,-56.5,41.6,-20.4,30,345,0.12,1.80,0.00,0.000,6,0.335,0.065,2560,1790,3221,0,0,0,0,0,0,14.63,14.78,28.83
$GC,644,-1.02,-56.5,83.0,-11.6,61,650,0.00,1.80,0.00,0.000,4,0.000,0.083,2556,2847,3223,0,0,0,0,0,0,28.83,14.81,28.83
$GC,807,-1.05,-56.5,101.7,-11.7,77,812,0.00,1.83,0.00,0.000,6,0.000,0.086,2556,1784,3224,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1121,-1.08,-56.5,139.1,-11.8,108,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1784,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-1.11,-56.5,173.4,-10.8,138,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1785,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1720,-1.15,-56.5,201.0,-8.4,168,1725,0.00,1.80,0.00,0.000,4,0.000,0.083,2549,2847,3224,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1823,-1.18,-56.5,210.0,-8.9,178,1829,0.12,1.83,0.00,0.000,6,0.156,0.086,2504,1782,3224,0,0,0,0,0,0,14.88,14.85,28.83
$GC,2136,-1.18,-56.5,248.6,-13.3,209,2141,0.00,1.88,0.00,0.000,4,0.000,0.112,2504,726,3224,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2224,-1.16,-56.5,257.8,-14.5,212,2230,0.00,1.80,0.00,0.000,6,0.000,0.068,2496,1793,3223,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2529,-1.16,-56.5,300.3,-12.9,223,2534,0.00,1.75,0.00,0.000,4,0.000,0.086,2489,2847,3222,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2741,-1.16,-56.5,327.7,-13.2,230,2746,0.00,1.83,0.00,0.000,6,0.000,0.089,2489,1784,3222,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3073,-1.16,-56.5,372.1,-13.3,241,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1783,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-1.16,-56.5,409.5,-12.1,251,3379,0.00,1.88,0.00,0.000,4,0.000,0.114,2489,726,3218,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3399,-1.16,-56.5,409.5,-12.1,251,3407,0.15,1.80,0.00,0.000,6,0.327,0.073,2513,1789,3218,0,0,0,0,0,0,14.81,14.96,28.83
$GC,3707,-1.16,-56.5,444.7,-10.5,262,3712,0.00,1.88,0.00,0.000,4,0.000,0.115,2513,723,3217,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3848,-1.16,-56.5,458.7,-11.3,266,3853,0.00,1.80,0.00,0.000,6,0.000,0.073,2506,1790,3216,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4160,-1.16,-56.5,496.0,-11.1,277,4165,0.00,1.80,0.00,0.000,4,0.000,0.090,2498,2853,3214,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4391,-1.16,-56.5,519.9,-11.5,284,4396,0.00,1.83,0.00,0.000,6,0.000,0.093,2498,1791,3213,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4703,-1.16,-56.5,559.7,-12.1,295,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1791,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5004,-1.16,-56.5,596.6,-12.1,305,5009,0.00,1.80,0.00,0.000,4,0.000,0.093,2492,2851,3211,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5225,-1.16,-56.5,622.4,-11.9,312,5230,0.00,1.85,0.00,0.000,6,0.000,0.094,2492,1783,3210,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5548,-1.16,-56.5,659.8,-11.1,323,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1783,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-1.16,-56.5,691.6,-10.6,333,5852,0.00,1.85,0.00,0.000,4,0.000,0.095,2484,2853,3206,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5912,-1.16,-56.5,698.4,-10.8,335,5918,0.12,1.88,0.00,0.000,6,0.318,0.095,2511,1790,3206,0,0,0,0,0,0,14.80,14.92,28.83
$GC,6242,-1.18,-56.5,730.3,-9.3,346,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1790,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6541,-1.21,-56.5,761.0,-10.6,356,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1790,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,-1.23,-56.5,795.1,-11.4,366,6846,0.00,1.83,0.00,0.000,4,0.000,0.100,2509,2848,3201,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7033,-1.27,-56.5,815.6,-11.2,372,7038,0.00,1.85,0.00,0.000,6,0.000,0.099,2509,1791,3200,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7356,-1.30,-56.5,851.4,-10.3,383,7361,0.12,1.92,0.00,0.000,4,0.170,0.124,2462,731,3199,0,0,0,0,0,0,14.93,14.91,28.83
$GC,7419,-1.30,-56.5,859.0,-11.0,385,7424,0.00,1.83,0.00,0.000,6,0.000,0.083,2455,1788,3198,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7752,-1.28,-56.5,896.7,-11.5,396,7757,0.00,1.83,0.00,0.000,4,0.000,0.102,2447,2855,3197,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7904,-1.26,-56.5,914.4,-11.6,401,7910,0.15,1.88,0.00,0.000,6,0.323,0.099,2479,1791,3195,0,0,0,0,0,0,14.75,14.90,28.83
$GC,8237,-1.26,-56.5,951.6,-11.4,412,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1790,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8538,-1.26,-56.5,986.8,-11.7,422,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1790,3193,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8566,begin apogee
$GC,8570,-0.19,0.0,990.3,-11.5,423,8628,1.25,0.00,49.40,2.117,6,0.278,0.000,2820,1477,2984,0,0,0,0,0,0,14.76,28.83,13.82
$STATE,8629,end apogee,CONTROL_FINISHED_OK
$STATE,8629,begin climb
$GC,8631,1.05,56.5,992.3,0.0,425,8693,1.25,2.10,55.12,2.063,4,0.144,0.138,3231,423,2754,0,0,0,0,0,0,14.47,14.17,13.57
$GC,8761,1.04,67.8,987.8,4.6,429,8781,0.00,1.88,12.23,1.961,6,0.000,0.080,3231,1481,2707,0,0,0,0,0,0,28.83,14.47,13.73
$GC,9082,1.04,67.8,964.6,7.0,440,9087,0.00,1.88,0.00,0.000,4,0.000,0.106,3230,2541,2701,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9168,1.04,67.8,960.0,7.0,442,9175,0.00,1.95,0.00,0.000,6,0.000,0.119,3238,1482,2701,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9474,1.04,67.8,936.4,6.7,453,9479,0.00,1.98,0.00,0.000,4,0.000,0.144,3247,414,2699,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9706,1.00,67.8,921.2,7.1,460,9712,0.15,1.85,0.00,0.000,6,0.356,0.081,3217,1483,2698,0,0,0,0,0,0,14.68,14.85,28.83
$GC,10019,1.00,69.9,901.0,5.8,471,10024,0.00,1.98,0.00,0.000,4,0.000,0.137,3225,419,2698,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10251,0.98,69.9,887.2,6.4,478,10256,0.00,1.83,0.00,0.000,6,0.000,0.081,3225,1479,2698,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10564,0.98,69.9,866.2,6.9,489,10569,0.00,1.88,0.00,0.000,4,0.000,0.106,3225,2538,2695,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10770,0.98,69.9,852.8,7.2,495,10776,0.00,1.92,0.00,0.000,6,0.000,0.117,3232,1480,2694,0,0,0,0,0,0,28.83,14.85,28.83
$GC,11077,0.98,69.9,829.2,7.0,506,11082,0.00,1.95,0.00,0.000,4,0.000,0.140,3240,421,2694,0,0,0,0,0,0,28.83,14.84,28.83
$GC,11248,0.95,69.9,817.8,7.4,511,11254,0.20,1.85,0.00,0.000,6,0.352,0.083,3198,1490,2693,0,0,0,0,0,0,14.71,14.89,28.83
$GC,11562,0.97,72.9,797.5,5.7,522,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1491,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,0.99,78.5,780.2,5.4,532,11871,0.00,1.88,2.67,0.908,4,0.000,0.102,3198,2540,2673,0,0,0,0,0,0,28.83,14.88,13.89
$GC,12098,1.02,86.5,769.3,5.0,539,12118,0.00,1.95,15.55,1.957,6,0.000,0.125,3205,1479,2636,0,0,0,0,0,0,28.83,14.84,14.11
$GC,12435,1.04,86.5,746.2,6.6,551,12441,0.00,2.00,0.00,0.000,4,0.000,0.148,3213,418,2627,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12542,1.04,86.5,740.0,6.8,554,12547,0.00,1.85,0.00,0.000,6,0.000,0.083,3213,1480,2627,0,0,0,0,0,0,28.83,14.82,28.83
$GC,12859,1.06,86.5,718.9,6.5,565,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1480,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13160,1.07,86.5,697.5,7.5,575,13165,0.00,2.00,0.00,0.000,4,0.000,0.144,3221,415,2625,0,0,0,0,0,0,28.83,14.81,28.83
$GC,13290,1.07,86.5,687.3,8.3,579,13295,0.00,1.85,0.00,0.000,6,0.000,0.083,3221,1483,2626,0,0,0,0,0,0,28.83,14.87,28.83
$GC,13613,1.07,86.5,662.0,7.1,590,13619,0.00,1.88,0.00,0.000,4,0.000,0.105,3221,2546,2626,0,0,0,0,0,0,28.83,14.86,28.83
$GC,13730,1.07,86.5,655.1,7.4,593,13737,0.00,1.95,0.00,0.000,6,0.000,0.122,3229,1481,2626,0,0,0,0,0,0,28.83,14.83,28.83
$GC,14036,1.07,86.5,633.0,6.3,604,14041,0.00,1.95,0.00,0.000,4,0.000,0.143,3237,420,2626,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14267,1.05,86.5,619.7,6.2,611,14273,0.00,1.83,0.00,0.000,6,0.000,0.080,3237,1482,2626,0,0,0,0,0,0,28.83,14.88,28.83
$GC,14581,1.05,86.5,599.2,6.4,622,14586,0.00,1.95,0.00,0.000,4,0.000,0.138,3244,421,2625,0,0,0,0,0,0,28.83,14.82,28.83
$GC,14688,1.03,86.5,592.0,7.6,625,14693,0.00,1.83,0.00,0.000,6,0.000,0.079,3245,1482,2627,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15005,1.03,86.5,562.3,9.6,636,15010,0.00,1.98,0.00,0.000,4,0.000,0.137,3253,419,2627,0,0,0,0,0,0,28.83,14.82,28.83
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$STATE,22208,end climb,SURFACE_DEPTH_REACHED
$STATE,22208,begin surface coast
$FINISH,0.8,1.013592
$STATE,22233,end surface coast,CONTROL_FINISHED_OK
$STATE,22233,begin surface
$SM_CCo,22252,92.68,0.127,0,0,1561,350.04
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$TT8_MAMPS,0.023968,0.023968
$HUMID,46.77
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.10
$XPDR_PINGS,54
$SC_FREEKB,7756192
$TM_FREEKB,7578784
$24V_AH,13.6,19.355
$10V_AH,13.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.200,150.025,193.325,92.675,0.000,0.000,0.000,343.875,13.500,0.000,18.586,4176.343,14395.477,497.423,3631.398,206.432,0.000,2388.598,0.000,3075.198,0.000,0.542,0.000
$DEVICE_MAMPS,446.760,147.645,2116.755,126.990,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.645,13.333,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,40002,1105
$CAP_FILE_SIZE,262230,0
$CFSIZE,260034560,250155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,339.5,1
$GPS,260912,061108,2432.585,-3800.976,27,0.9,27,-14.0