version: 66.11
glider: 193
mission: 2
dive: 77
start: 9 22 112 10 5 11
data:
$ID,193
$MISSION,2
$DIVE,77
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$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,370
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-877.48083
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-48.048229
$PRESSURE_SLOPE,0.0001163556
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,220912,095734,6644.673,-5953.079,37,0.8,37,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-69.3
$GPS2,220912,100427,6644.649,-5953.024,4,0.8,5,-33.8
$SPEED_LIMITS,0.075,0.246
$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,322.2,24154,-17.3,-8.919,-19.96
$D_GRID,709
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,44,0.00,0.00,-22.80,0.000,2,0.000,0.000,139,2116,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-1.50,-136.9,3.1,-1.2,4,142,11.25,2.85,-68.82,0.000,4,0.470,0.194,2338,3527,3331,0,0,0,0,0,0,14.36,14.46,14.73
$GC,281,-1.50,-136.9,34.5,-15.6,45,288,0.00,2.58,0.00,0.000,6,0.000,0.116,2338,2123,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,597,-1.50,-136.9,80.5,-14.8,106,604,0.00,2.75,0.00,0.000,4,0.000,0.171,2327,3531,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,634,-1.50,-136.9,85.9,-14.4,112,642,0.12,2.55,0.00,0.000,6,0.304,0.111,2352,2119,3333,0,0,0,0,0,0,14.53,14.62,28.83
$GC,953,-1.50,-136.9,127.4,-13.5,153,961,0.00,2.70,0.00,0.000,4,0.000,0.163,2343,3530,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1007,-1.50,-136.9,135.0,-14.1,158,1016,0.00,2.53,0.00,0.000,6,0.000,0.107,2343,2112,3333,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1317,-1.50,-136.9,180.2,-13.7,189,1326,0.00,2.53,0.00,0.000,4,0.000,0.138,2343,716,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1431,-1.50,-136.9,196.1,-14.0,200,1440,0.00,2.58,0.00,0.000,6,0.000,0.142,2334,2115,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1742,-1.50,-136.9,238.5,-13.5,231,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2115,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-1.50,-136.9,278.3,-12.5,262,2066,0.00,2.58,0.00,0.000,4,0.000,0.138,2334,708,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2146,-1.50,-136.9,290.2,-13.3,270,2155,0.12,2.60,0.00,0.000,6,0.320,0.142,2351,2121,3332,0,0,0,0,0,0,14.65,14.71,28.83
$GC,2455,-1.50,-136.9,328.1,-12.4,301,2464,0.00,2.62,0.00,0.000,4,0.000,0.158,2341,3525,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2553,-1.50,-136.9,339.9,-12.4,310,2561,0.00,2.50,0.00,0.000,6,0.000,0.105,2341,2117,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2861,-1.50,-136.9,377.0,-11.4,341,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-1.50,-136.9,413.6,-10.8,366,3197,0.00,2.53,0.00,0.000,4,0.000,0.138,2341,713,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3236,-1.50,-136.9,417.1,-10.9,367,3242,0.00,2.58,0.00,0.000,6,0.000,0.144,2333,2118,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3553,-1.50,-136.9,453.6,-11.0,378,3559,0.00,2.65,0.00,0.000,4,0.000,0.156,2323,3535,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3633,-1.50,-136.9,460.3,-10.9,380,3642,0.10,2.50,0.00,0.000,6,0.282,0.106,2349,2113,3331,0,0,0,0,0,0,14.69,14.78,28.83
$GC,3945,-1.50,-136.9,492.6,-9.6,391,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-1.50,-136.9,520.8,-9.3,401,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2113,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-1.50,-136.9,549.6,-9.8,411,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-1.50,-136.9,579.6,-9.8,421,4850,0.00,2.67,0.00,0.000,4,0.000,0.164,2340,3529,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4879,-1.50,-136.9,582.9,-10.0,422,4885,0.00,2.47,0.00,0.000,6,0.000,0.112,2340,2126,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5206,-1.50,-136.9,616.0,-9.9,433,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5506,-1.50,-136.9,645.3,-9.7,443,5512,0.00,2.67,0.00,0.000,4,0.000,0.169,2330,3533,3332,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5586,-1.50,-136.9,651.7,-9.9,445,5595,0.08,2.50,0.00,0.000,6,0.279,0.110,2349,2113,3332,0,0,0,0,0,0,14.75,14.83,28.83
$GC,5898,-1.50,-136.9,683.3,-9.6,456,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2112,3332,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6162,begin apogee
$GC,6175,-0.38,0.0,710.6,-10.4,465,6322,0.85,0.00,136.00,2.447,6,0.270,0.000,2587,2204,2774,0,0,0,0,0,0,14.79,28.83,13.08
$STATE,6323,end apogee,CONTROL_FINISHED_OK
$STATE,6323,begin climb
$GC,6329,1.50,136.9,715.1,0.0,470,6486,1.40,0.00,146.50,2.403,6,0.171,0.000,3002,2203,2214,0,0,0,0,0,0,13.88,28.83,12.74
$GC,6802,1.50,136.9,666.5,12.1,486,6808,0.00,2.80,0.00,0.000,4,0.000,0.155,3002,3609,2204,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6834,1.50,136.9,662.4,12.3,487,6839,0.00,2.65,0.00,0.000,6,0.000,0.108,3013,2198,2204,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7165,1.50,136.9,620.3,12.6,498,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,1.50,136.9,584.1,12.1,508,7474,0.00,2.72,0.00,0.000,4,0.000,0.155,3013,3611,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7548,1.50,136.9,575.6,12.7,510,7556,0.00,2.58,0.00,0.000,6,0.000,0.109,3023,2197,2201,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7861,1.50,136.9,532.7,13.0,521,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8160,1.50,136.9,493.4,12.9,531,8166,0.00,2.70,0.00,0.000,4,0.000,0.151,3024,3614,2200,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8179,1.50,136.9,493.4,12.9,531,8189,0.10,2.53,0.00,0.000,6,0.285,0.109,3008,2202,2200,0,0,0,0,0,0,14.55,14.64,28.83
$GC,8491,1.50,136.9,453.8,11.7,542,8497,0.00,2.58,0.00,0.000,4,0.000,0.138,3017,785,2200,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8531,1.50,136.9,450.0,11.9,543,8536,0.00,2.55,0.00,0.000,6,0.000,0.125,3016,2204,2199,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8852,1.50,136.9,410.2,12.0,554,8858,0.00,2.60,0.00,0.000,4,0.000,0.139,3027,794,2199,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8880,1.50,136.9,410.2,12.0,554,8887,0.00,2.55,0.00,0.000,6,0.000,0.128,3027,2203,2199,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9189,1.50,136.9,369.1,12.5,581,9197,0.00,2.60,0.00,0.000,4,0.000,0.149,3027,3608,2199,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9243,1.50,136.9,361.0,14.1,586,9253,0.10,2.45,0.00,0.000,6,0.285,0.106,3011,2199,2199,0,0,0,0,0,0,14.64,14.74,28.83
$GC,9553,1.50,136.9,324.3,11.6,617,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9864,1.50,136.9,290.8,10.3,648,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10178,1.50,136.9,259.2,10.2,679,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10486,1.50,136.9,226.5,10.5,710,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2199,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10802,1.50,136.9,194.8,10.1,741,10811,0.00,2.53,0.00,0.000,4,0.000,0.136,3019,794,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10917,1.50,136.9,181.7,11.3,752,10926,0.00,2.53,0.00,0.000,6,0.000,0.131,3019,2203,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11227,1.50,136.9,147.4,11.1,783,11236,0.00,2.62,0.00,0.000,4,0.000,0.155,3019,3617,2198,0,0,0,0,0,0,28.83,14.75,28.83
$GC,11315,1.50,136.9,137.9,11.3,791,11323,0.12,2.55,0.00,0.000,6,0.305,0.110,3003,2190,2198,0,0,0,0,0,0,14.71,14.80,28.83
$GC,11624,1.56,189.8,112.6,6.6,822,11660,0.00,0.00,29.62,1.753,6,0.000,0.000,3003,2190,1998,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11969,1.58,203.4,84.2,8.3,874,11982,0.00,0.00,7.05,0.451,6,0.000,0.000,3003,2190,1940,0,0,0,0,0,0,28.83,28.83,14.45
$GC,12292,1.61,230.9,57.9,7.7,936,12311,0.10,0.00,15.00,0.361,6,0.180,0.000,3041,2190,1828,0,0,0,0,0,0,14.67,28.83,14.50
$GC,12626,1.66,265.2,22.6,7.4,999,12651,0.00,2.78,17.60,0.257,4,0.000,0.165,3041,3612,1690,0,0,0,0,0,0,28.83,14.59,14.57
$GC,12786,1.66,265.2,9.6,8.9,1028,12793,0.00,2.58,0.00,0.000,6,0.000,0.119,3050,2201,1684,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,12863,end climb,SURFACE_DEPTH_REACHED
$STATE,12864,begin surface coast
$FINISH,2.0,1.012882
$STATE,12899,end surface coast,CONTROL_FINISHED_OK
$STATE,12899,begin surface
$SM_CCo,12927,11.70,0.195,0,0,1587,290.19
$SM_GC,3.77,8.75,0.17,11.70,0.119,0.166,0.195,134,2112,1587,-11.62,0.28,290.19,0,0,0,0,0,0,14.69,14.66,14.61
$RAFOS_CLK,564
$RAFOS,6,1348318149,12.833333,12.819167,150,65,60,57,55,49,728,208,223,174,232,147
$RAFOS,5,1348317669,12.700000,12.685833,90,61,59,58,58,57,868,215,175,225,198,151
$RAFOS,4,1348317184,12.566667,12.551111,90,65,52,52,50,49,646,194,227,150,207,182
$RAFOS,3,1348316707,12.433333,12.418612,84,64,63,57,57,52,712,175,199,219,163,1577
$RAFOS,2,1348316225,12.300000,12.284722,79,65,58,53,51,51,501,216,138,192,182,159
$RAFOS,1,1348315771,12.166667,12.158611,60,60,60,56,56,55,115,217,332,163,191,139
$RAFOS,0,1348315291,12.033333,12.025278,67,57,57,53,51,48,193,152,226,205,124,91
$RAFOS_FIX,6646.780762,-5941.432129,220912,121228,4,104,1.00
$IRIDIUM_FIX,6614.97,-5932.07,220912,060642
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.69397
$TCM_TEMP,12.60
$XPDR_PINGS,6
$24V_AH,12.7,28.097
$10V_AH,13.1,0.000
$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,23.100,99.175,351.775,11.700,0.000,0.000,0.000,255.450,1.500,0.000,6.055,2699.139,7563.232,511.663,2022.956,574.266,0.000,1781.766,0.000,1802.859,2520.000,0.536,0.000
$DEVICE_MAMPS,470.475,194.310,2447.235,195.075,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.091,738.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188732
$DATA_FILE_SIZE,50012,1049
$CAP_FILE_SIZE,119402,0
$CFSIZE,259252224,245137408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.1
$CURRENT,0.200,171.0,1
$GPS,220912,134234,6643.713,-5956.607,27,0.8,27,-33.8