version: 66.11
glider: 187
mission: 2
dive: 616
start: 2 20 113 14 57 59
data:
$ID,187
$MISSION,2
$DIVE,616
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588800.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,200213,144706,4745.810,-12530.833,36,1.4,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.8
$GPS2,200213,145725,4745.813,-12530.911,15,1.5,15,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,56.0,28037,-13.3,-7.021,-18.50
$D_GRID,900
$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,17,-0.47,-136.3,0.0,0.0,0,120,0.00,0.00,-100.65,0.000,2,0.000,0.000,117,2195,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.47,-136.3,3.2,-1.9,18,156,11.62,2.30,-14.48,0.000,4,0.215,0.065,3034,793,3352,0,0,0,0,0,0,24.60,25.46,26.22
$GC,362,-0.47,-136.3,39.2,-13.3,63,369,0.00,2.22,0.00,0.000,6,0.000,0.053,3025,2208,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,674,-0.47,-136.3,84.6,-12.0,124,682,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,781,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,729,-0.47,-136.3,91.5,-13.0,134,736,0.00,2.25,0.00,0.000,6,0.000,0.051,3015,2205,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1050,-0.47,-136.3,129.1,-11.3,187,1059,0.00,2.33,0.00,0.000,4,0.000,0.063,3005,3617,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1120,-0.47,-136.3,136.9,-11.0,194,1130,0.12,2.28,0.00,0.000,6,0.133,0.043,3041,2183,3355,0,0,0,0,0,0,25.55,25.74,28.83
$GC,1433,-0.47,-136.3,163.1,-7.9,215,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2182,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.47,-136.3,187.4,-7.8,235,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2183,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.47,-136.3,212.0,-8.1,253,2041,0.00,2.20,0.00,0.000,4,0.000,0.050,3041,804,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2103,-0.47,-136.3,217.0,-8.4,256,2107,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2200,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2405,-0.47,-136.3,243.4,-8.6,271,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2708,-0.47,-136.3,268.8,-8.4,286,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3006,-0.47,-136.3,292.7,-8.0,301,3011,0.00,2.30,0.00,0.000,4,0.000,0.063,3025,3603,3355,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3046,-0.47,-136.3,296.0,-8.1,303,3051,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2210,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3366,-0.47,-136.3,322.9,-8.7,319,3371,0.00,2.30,0.00,0.000,4,0.000,0.063,3014,3600,3355,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3406,-0.47,-136.3,326.6,-9.0,321,3411,0.00,2.22,0.00,0.000,6,0.000,0.044,3014,2199,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3726,-0.47,-136.3,359.1,-10.0,337,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4026,-0.47,-136.3,387.7,-9.5,352,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-0.47,-136.3,417.9,-9.4,365,4351,0.00,2.22,0.00,0.000,4,0.000,0.052,3014,803,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4393,-0.47,-136.3,420.7,-9.4,366,4398,0.12,2.28,0.00,0.000,6,0.135,0.053,3041,2207,3354,0,0,0,0,0,0,25.38,25.49,28.83
$GC,4696,-0.47,-136.3,442.6,-6.4,376,4701,0.00,2.30,0.00,0.000,4,0.000,0.064,3033,3599,3354,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4765,-0.47,-136.3,446.5,-6.4,378,4770,0.00,2.25,0.00,0.000,6,0.000,0.045,3033,2193,3353,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5086,-0.47,-136.3,469.3,-7.0,389,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-0.47,-136.3,489.6,-6.5,399,5391,0.00,2.35,0.00,0.000,4,0.000,0.064,3023,3604,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5447,-0.47,-136.3,493.8,-6.6,401,5451,0.00,2.22,0.00,0.000,6,0.000,0.046,3023,2205,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5776,-0.47,-136.3,515.9,-6.6,412,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,-0.47,-136.3,536.5,-7.1,422,6081,0.00,2.35,0.00,0.000,4,0.000,0.065,3012,3606,3352,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6113,-0.47,-136.3,538.7,-7.2,423,6118,0.12,2.28,0.00,0.000,6,0.122,0.045,3050,2188,3352,0,0,0,0,0,0,25.50,25.64,28.83
$GC,6427,-0.47,-136.3,556.6,-5.5,434,6432,0.00,2.35,0.00,0.000,4,0.000,0.066,3042,3603,3352,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6465,-0.47,-136.3,558.4,-5.7,435,6469,0.00,2.25,0.00,0.000,6,0.000,0.046,3042,2202,3351,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6778,-0.47,-136.3,577.6,-6.0,446,6783,0.00,2.33,0.00,0.000,4,0.000,0.066,3032,3601,3351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6807,-0.47,-136.3,579.4,-6.0,447,6813,0.00,2.25,0.00,0.000,6,0.000,0.046,3032,2192,3351,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7137,-0.47,-136.3,599.5,-5.9,458,7143,0.00,2.35,0.00,0.000,4,0.000,0.065,3022,3602,3351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7176,-0.47,-136.3,601.3,-5.9,459,7182,0.00,2.25,0.00,0.000,6,0.000,0.046,3022,2199,3351,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7497,-0.47,-136.3,621.1,-5.9,470,7503,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,3606,3351,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7527,-0.47,-136.3,622.8,-5.9,471,7533,0.00,2.25,0.00,0.000,6,0.000,0.046,3011,2195,3351,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7859,-0.47,-136.3,644.5,-6.9,482,7863,0.12,2.20,0.00,0.000,4,0.135,0.054,3048,791,3351,0,0,0,0,0,0,26.03,25.40,28.83
$GC,7887,-0.47,-136.3,646.4,-6.9,483,7893,0.00,2.28,0.00,0.000,6,0.000,0.054,3044,2197,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8217,-0.47,-136.3,663.7,-5.4,494,8223,0.00,2.35,0.00,0.000,4,0.000,0.067,3035,3606,3350,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8278,-0.47,-136.3,667.1,-5.7,496,8283,0.00,2.25,0.00,0.000,6,0.000,0.046,3035,2194,3350,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8607,-0.47,-136.3,687.9,-6.6,507,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8908,-0.47,-136.3,707.7,-6.6,517,8913,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3607,3349,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8947,-0.47,-136.3,709.7,-6.6,518,8952,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2193,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9268,-0.47,-136.3,732.2,-6.9,529,9273,0.00,2.22,0.00,0.000,4,0.000,0.054,3025,801,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9286,-0.47,-136.3,732.2,-6.9,529,9290,0.00,2.30,0.00,0.000,6,0.000,0.054,3017,2212,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9588,-0.47,-136.3,755.3,-7.2,539,9593,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3606,3348,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9635,-0.47,-136.3,757.6,-7.3,540,9640,0.12,2.28,0.00,0.000,6,0.122,0.046,3045,2193,3348,0,0,0,0,0,0,25.44,25.58,28.83
$GC,9937,-0.47,-136.3,776.2,-5.7,550,9943,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3606,3348,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9967,-0.47,-136.3,778.0,-5.7,551,9973,0.00,2.25,0.00,0.000,6,0.000,0.047,3039,2198,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10298,-0.47,-136.3,797.2,-5.9,562,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,-0.47,-136.3,816.6,-6.4,572,10603,0.00,2.38,0.00,0.000,4,0.000,0.067,3029,3609,3347,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10635,-0.47,-136.3,818.6,-6.6,573,10640,0.00,2.28,0.00,0.000,6,0.000,0.048,3029,2201,3347,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10949,-0.47,-136.3,841.5,-6.9,584,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11248,-0.47,-136.3,861.0,-6.4,594,11253,0.00,2.25,0.00,0.000,4,0.000,0.054,3029,801,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11280,-0.47,-136.3,863.1,-6.5,595,11284,0.00,2.22,0.00,0.000,6,0.000,0.056,3029,2198,3347,0,0,0,0,0,0,28.83,25.33,28.83
$STATE,11545,end dive,NO_VERTICAL_VELOCITY
$STATE,11545,begin apogee
$GC,11552,-0.22,0.0,865.1,0.0,604,11680,0.25,0.00,124.43,1.078,6,0.083,0.000,3130,2332,2794,0,0,0,0,0,0,25.86,28.83,22.69
$STATE,11681,end apogee,CONTROL_FINISHED_OK
$STATE,11681,begin climb
$GC,11684,0.47,136.3,864.8,0.0,608,11824,0.62,2.58,131.20,1.046,4,0.071,0.066,3349,3731,2237,0,0,0,0,0,0,24.53,23.63,22.05
$GC,11928,0.47,136.3,853.6,8.1,617,11933,0.00,2.38,0.00,0.000,6,0.000,0.048,3359,2324,2230,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12258,0.47,136.3,827.0,8.0,628,12264,0.00,2.30,0.00,0.000,4,0.000,0.056,3369,920,2227,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12327,0.47,136.3,822.3,8.0,630,12331,0.00,2.30,0.00,0.000,6,0.000,0.056,3369,2322,2226,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12639,0.47,136.3,794.8,8.7,641,12645,0.00,2.35,0.00,0.000,4,0.000,0.067,3369,3734,2225,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12687,0.47,136.3,791.9,8.9,642,12692,0.12,2.30,0.00,0.000,6,0.157,0.049,3348,2322,2224,0,0,0,0,0,0,25.44,25.66,28.83
$GC,12990,0.47,136.3,766.3,7.7,652,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2317,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13289,0.47,136.3,743.8,7.3,662,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2317,2224,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22780,end climb,SURFACE_DEPTH_REACHED
$STATE,22781,begin surface coast
$FINISH,1.2,1.024530
$STATE,22822,end surface coast,CONTROL_FINISHED_OK
$STATE,22822,begin surface
$SM_CCo,22902,0.00,0.000,0,0,1452,328.95
$SM_GC,2.14,8.23,0.17,0.00,0.026,0.073,0.000,116,2208,1452,-9.45,1.24,328.95,0,0,0,0,0,0,25.98,26.11,28.83
$IRIDIUM_FIX,4726.11,-12525.20,200213,070721
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.20
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,22.0,86.239
$10V_AH,9.9,66.563
$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,22.000,216.025,426.825,0.000,0.000,26.287,35.756,393.325,0.500,0.000,16.088,3361.092,16366.354,755.172,2565.640,465.675,0.000,1955.948,0.000,2099.284,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,89.505,1077.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.530,680.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296864
$DATA_FILE_SIZE,70200,1294
$CAP_FILE_SIZE,188308,0
$CFSIZE,260165632,205762560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,290.7,1
$GPS,200213,212136,4746.733,-12527.661,77,1.1,77,18.7