version: 66.11
glider: 192
mission: 2
dive: 515
start: 12 22 113 15 8 31
data:
$ID,192
$MISSION,2
$DIVE,515
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,549.71729
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12201.854
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$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,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,221213,123537,6656.317,-5830.021,0,5105.6,0,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-15.7
$GPS2,221213,123537,6656.317,-5830.021,181,99.0,181,-33.6
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,279.1,87859,-15.5,-8.250,-18.49,2720
$D_GRID,991
$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,21,-0.89,-146.0,140,2498,529,438,0.0,0.0,0,132,0.00,0.00,-108.68,0.000,16386,0.000,0.000,140,2498,2538,2609,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-0.89,-146.0,140,2498,2609,2468,3.1,-1.1,18,178,10.52,1.65,-22.33,0.000,18692,0.428,0.163,2208,3355,3340,3506,3174,0,0,0,0,0,0,13.83,14.24,14.76
$GC,411,-0.78,-146.0,2208,3355,3509,3173,65.0,-25.1,68,418,0.20,1.50,0.00,0.000,3078,0.297,0.083,2252,2492,3341,3509,3173,0,0,0,0,0,0,13.84,14.26,28.83
$GC,736,-0.71,-146.0,2251,2492,3509,3173,126.9,-17.6,115,740,0.00,1.58,0.00,0.000,260,0.000,0.129,2247,3348,3341,3509,3173,0,0,0,0,0,0,28.83,14.11,28.83
$GC,804,-0.64,-146.0,1408,3346,3501,3169,138.5,-17.5,121,812,0.22,1.50,0.00,0.000,3078,0.266,0.084,2299,2485,3340,3509,3172,0,0,0,0,0,0,13.89,14.26,28.83
$GC,1115,-0.62,-146.0,2300,2486,3510,3172,179.4,-12.9,152,1118,0.00,1.50,0.00,0.000,516,0.000,0.099,2299,1632,3340,3509,3171,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1150,-0.60,-146.0,2300,1632,3509,3171,183.9,-12.4,155,1153,0.00,1.58,0.00,0.000,1030,0.000,0.117,2295,2500,3340,3509,3171,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1466,-0.57,-146.0,2295,2500,3509,3171,223.9,-13.1,186,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2500,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1783,-0.55,-146.0,2295,2500,3509,3171,261.6,-11.7,217,1787,0.12,1.48,0.00,0.000,2564,0.288,0.096,2327,1660,3340,3509,3171,0,0,0,0,0,0,14.07,14.16,28.83
$GC,1829,-0.55,-146.0,2327,1660,3509,3171,267.6,-11.2,221,1833,0.00,1.52,0.00,0.000,1030,0.000,0.122,2322,2499,3340,3509,3171,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2144,-0.55,-146.0,2322,2499,3509,3171,299.7,-10.5,252,2148,0.00,1.60,0.00,0.000,260,0.000,0.136,2316,3346,3340,3509,3171,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2220,-0.55,-146.0,2316,3346,3509,3171,307.2,-9.7,259,2224,0.00,1.50,0.00,0.000,1030,0.000,0.086,2316,2504,3340,3509,3171,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2537,-0.55,-146.0,2316,2503,3510,3171,339.0,-10.1,290,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2503,3340,3510,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.55,-146.0,2316,2504,3511,3171,370.6,-10.0,321,2856,0.00,1.62,0.00,0.000,260,0.000,0.135,2310,3346,3341,3512,3171,0,0,0,0,0,0,28.83,13.98,28.83
$GC,2920,-0.55,-146.0,2310,3346,3512,3171,377.5,-9.9,327,2927,0.00,1.50,0.00,0.000,1030,0.000,0.084,2310,2490,3341,3511,3171,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3230,-0.55,-146.0,2310,2490,3513,3171,408.9,-9.7,358,3233,0.00,1.50,0.00,0.000,516,0.000,0.097,2310,1643,3342,3514,3171,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3268,-0.55,-146.0,1440,1641,3506,3168,412.5,-10.0,361,3275,0.00,1.60,0.00,0.000,1030,0.000,0.120,2304,2508,3342,3514,3171,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3578,-0.55,-146.0,2305,2508,3514,3171,444.1,-10.0,392,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2508,3343,3515,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3888,-0.55,-146.0,2305,2508,3516,3171,474.9,-10.0,423,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2508,3343,3516,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.55,-146.0,2304,2508,3516,3171,504.9,-9.4,454,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2508,3344,3517,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.55,-146.0,2304,2508,3518,3171,534.3,-9.3,485,4514,0.00,1.55,0.00,0.000,260,0.000,0.130,2298,3347,3344,3517,3171,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4558,-0.55,-146.0,1440,3346,3510,3168,538.9,-10.2,489,4566,0.10,1.52,0.00,0.000,3078,0.229,0.084,2325,2503,3344,3517,3171,0,0,0,0,0,0,13.85,14.16,28.83
$GC,4869,-0.57,-146.0,2326,2503,3518,3171,565.0,-8.7,520,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2503,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5178,-0.58,-146.0,2325,2503,3518,3171,590.9,-8.6,551,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2503,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.60,-146.0,2325,2503,3519,3171,617.8,-8.3,569,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2503,3344,3518,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,-0.61,-146.0,2325,2503,3519,3171,642.2,-8.1,579,5802,0.00,1.60,0.00,0.000,260,0.000,0.132,2321,3348,3345,3519,3171,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5842,-0.63,-146.0,2321,3348,3519,3171,645.0,-8.2,580,5846,0.00,1.50,0.00,0.000,1030,0.000,0.085,2321,2498,3345,3519,3171,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6174,-0.64,-146.0,2321,2498,3519,3172,672.5,-8.2,591,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2498,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.65,-146.0,2321,2498,3519,3171,697.5,-8.3,601,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2498,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6769,-0.67,-146.0,2321,2498,3519,3171,721.3,-8.1,611,6773,0.00,1.65,0.00,0.000,260,0.000,0.132,2315,3344,3345,3519,3171,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6793,-0.68,-146.0,2315,3345,3519,3171,721.3,-8.1,611,6797,0.00,1.50,0.00,0.000,1030,0.000,0.084,2315,2491,3345,3519,3171,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7109,-0.68,-146.0,2315,2492,3519,3171,750.6,-8.5,622,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2492,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,-0.68,-146.0,2314,2492,3519,3171,775.8,-8.5,632,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2492,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7710,-0.69,-146.0,2315,2492,3517,3171,802.0,-9.0,642,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2492,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,-0.70,-146.0,2315,2492,3519,3171,828.4,-8.7,652,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2492,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.70,-146.0,2315,2492,3519,3171,855.0,-8.8,662,8313,0.00,1.62,0.00,0.000,260,0.000,0.133,2308,3348,3345,3519,3171,0,0,0,0,0,0,28.83,14.00,28.83
$GC,8367,-0.70,-146.0,2309,3348,3519,3171,858.3,-8.9,663,8374,0.00,1.50,0.00,0.000,1030,0.000,0.085,2308,2499,3345,3519,3171,0,0,0,0,0,0,28.83,14.18,28.83
$GC,8675,-0.70,-146.0,2309,2499,3519,3171,888.4,-9.1,674,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2499,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8975,-0.70,-146.0,2309,2499,3519,3171,915.6,-9.1,684,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2500,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9275,-0.70,-146.0,2309,2499,3519,3171,943.0,-9.2,694,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2499,3345,3519,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,-0.70,-146.0,2309,2499,3519,3171,969.9,-8.9,704,9578,0.00,1.60,0.00,0.000,260,0.000,0.132,2303,3348,3345,3519,3171,0,0,0,0,0,0,28.83,14.00,28.83
$GC,9618,-0.70,-146.0,2303,3348,3519,3171,972.9,-8.7,705,9622,0.00,1.50,0.00,0.000,1030,0.000,0.085,2302,2495,3345,3520,3171,0,0,0,0,0,0,28.83,14.18,28.83
$STATE,9817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9817,begin apogee
$GC,9830,-0.22,0.0,2303,2495,3519,3171,992.7,-9.2,712,10019,0.47,0.00,177.57,2.876,10246,0.222,0.000,2431,2494,2740,2855,2625,0,0,0,0,0,0,13.81,28.83,11.71
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10027,0.89,146.0,2431,2494,2856,2626,1000.2,0.0,718,10234,1.27,0.00,197.65,2.795,11014,0.167,0.000,2785,2494,2145,2239,2052,0,0,0,0,0,0,13.11,28.83,11.23
$GC,10539,0.85,146.0,2785,2494,2239,2041,962.8,9.3,736,10543,0.00,1.65,0.00,0.000,260,0.000,0.134,2785,3366,2140,2239,2041,0,0,0,0,0,0,28.83,13.98,28.83
$GC,10594,0.81,146.0,2785,3366,2238,2041,959.1,9.6,737,10597,0.00,1.52,0.00,0.000,1030,0.000,0.090,2791,2507,2139,2238,2041,0,0,0,0,0,0,28.83,14.19,28.83
$GC,10910,0.76,146.0,2791,2507,2238,2039,926.5,9.6,748,10912,0.15,0.00,0.00,0.000,4102,0.256,0.000,2756,2507,2138,2238,2039,0,0,0,0,0,0,14.24,28.83,28.83
$GC,11210,0.74,148.6,2756,2508,2238,2037,902.1,8.2,758,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2507,2137,2238,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11510,0.74,157.0,2756,2507,2238,2036,878.3,7.9,768,11527,0.00,1.60,11.82,2.533,8452,0.000,0.138,2756,3350,2100,2203,1998,0,0,0,0,0,0,28.83,14.37,13.09
$GC,11570,0.72,159.6,2756,3350,2203,1998,873.2,8.2,770,11579,0.00,1.52,4.55,1.887,9222,0.000,0.090,2761,2479,2090,2192,1988,0,0,0,0,0,0,28.83,14.41,12.90
$GC,11901,0.70,161.7,2761,2479,2190,1987,846.5,8.2,781,11907,0.00,0.00,4.12,1.795,8198,0.000,0.000,2760,2480,2081,2184,1979,0,0,0,0,0,0,28.83,28.83,12.98
$GC,12196,0.68,161.7,2761,2479,2183,1979,821.6,8.3,791,12198,0.12,0.00,0.00,0.000,4102,0.261,0.000,2733,2479,2081,2184,1979,0,0,0,0,0,0,14.31,28.83,28.83
$GC,12496,0.73,200.3,2733,2479,2184,1978,801.0,6.8,801,12545,0.00,0.00,46.42,2.698,8198,0.000,0.000,2733,2479,1924,2030,1818,0,0,0,0,0,0,28.83,28.83,12.81
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$STATE,21042,end climb,FINISH_DEPTH_REACHED
$STATE,21043,begin subsurface finish
$FINISH1,8.7,1.026466,51
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$FINISH2,6.9
$STATE,21109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,21109,begin surface
$RAFOS_CLK,1124
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$RAFOS,3,1387743902,20.433332,20.417223,79,74,68,66,58,56,789,213,161,197,231,130
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$RAFOS,1,1387742943,20.166666,20.150833,61,59,53,52,51,51,199,221,114,126,145,182
$RAFOS,0,1387742461,20.033333,20.016945,61,58,57,57,55,55,214,150,197,173,136,183
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$RAFOS,0,1387728064,16.033333,16.017778,59,58,57,51,50,49,153,216,192,126,183,115
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$IRIDIUM_FIX,6625.71,-5802.00,211213,050555
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$HUMID,44.32
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,12.50
$XPDR_PINGS,108
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$10V_AH,11.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,69964,1589
$CAP_FILE_SIZE,193396,0
$CFSIZE,259252224,210956288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.773, 33.6,1
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