version: 66.11
glider: 187
mission: 2
dive: 617
start: 2 20 113 21 37 25
data:
$ID,187
$MISSION,2
$DIVE,617
$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,570.07721
$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,-1588801.8
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,200213,212136,4746.733,-12527.661,77,1.1,77,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-75.1
$GPS2,200213,213654,4746.783,-12527.569,13,1.1,18,18.7
$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,77.4,23513,-13.3,-7.021,-18.50
$D_GRID,794
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.67,0.000,2,0.000,0.000,116,2209,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.2,-2.5,11,116,11.77,2.28,-13.38,0.000,4,0.216,0.061,3033,783,3354,0,0,0,0,0,0,24.46,25.42,26.28
$GC,306,-0.47,-136.3,37.9,-11.9,53,313,0.00,2.22,0.00,0.000,6,0.000,0.051,3025,2202,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,618,-0.47,-136.3,80.3,-12.1,114,625,0.00,2.28,0.00,0.000,4,0.000,0.062,3015,3617,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,673,-0.47,-136.3,87.5,-12.4,124,680,0.00,2.22,0.00,0.000,6,0.000,0.043,3015,2176,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,986,-0.47,-136.3,125.2,-11.1,179,995,0.00,2.38,0.00,0.000,4,0.000,0.062,3005,3609,3356,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1017,-0.47,-136.3,128.7,-11.1,182,1026,0.10,2.22,0.00,0.000,6,0.106,0.043,3042,2197,3356,0,0,0,0,0,0,25.46,25.70,28.83
$GC,1329,-0.47,-136.3,154.7,-8.4,203,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-0.47,-136.3,179.7,-8.1,223,1635,0.00,2.20,0.00,0.000,4,0.000,0.050,3042,804,3356,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1656,-0.47,-136.3,182.4,-8.6,226,1666,0.00,2.22,0.00,0.000,6,0.000,0.050,3036,2199,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1976,-0.47,-136.3,209.5,-8.4,246,1981,0.00,2.33,0.00,0.000,4,0.000,0.062,3025,3609,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2036,-0.47,-136.3,214.5,-8.3,249,2041,0.00,2.25,0.00,0.000,6,0.000,0.043,3025,2190,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2357,-0.47,-136.3,242.6,-8.4,265,2361,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,799,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2384,-0.47,-136.3,244.3,-8.3,266,2388,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2212,3356,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2686,-0.47,-136.3,270.7,-8.6,281,2691,0.00,2.30,0.00,0.000,4,0.000,0.063,3007,3606,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2755,-0.47,-136.3,276.2,-9.0,284,2759,0.12,2.25,0.00,0.000,6,0.129,0.043,3044,2189,3356,0,0,0,0,0,0,25.52,25.71,28.83
$GC,3056,-0.47,-136.3,299.4,-7.3,299,3061,0.00,2.35,0.00,0.000,4,0.000,0.063,3035,3606,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3084,-0.47,-136.3,300.9,-7.1,300,3088,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2191,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3387,-0.47,-136.3,324.3,-7.4,315,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.47,-136.3,346.2,-6.9,330,3691,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3606,3356,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3714,-0.47,-136.3,347.5,-6.9,331,3718,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2194,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4017,-0.47,-136.3,369.7,-7.1,346,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.47,-136.3,391.3,-7.0,361,4321,0.00,2.35,0.00,0.000,4,0.000,0.063,3015,3609,3355,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4357,-0.47,-136.3,394.3,-7.4,363,4362,0.00,2.17,0.00,0.000,6,0.000,0.045,3015,2203,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4677,-0.47,-136.3,419.9,-8.2,375,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4976,-0.47,-136.3,444.2,-7.7,385,4982,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,3607,3355,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5014,-0.47,-136.3,446.7,-7.8,386,5019,0.12,2.25,0.00,0.000,6,0.126,0.044,3041,2198,3355,0,0,0,0,0,0,25.49,25.65,28.83
$GC,5328,-0.47,-136.3,469.1,-7.2,397,5332,0.00,2.35,0.00,0.000,4,0.000,0.065,3034,3606,3354,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5357,-0.47,-136.3,471.5,-7.4,398,5363,0.00,2.25,0.00,0.000,6,0.000,0.045,3034,2201,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5687,-0.47,-136.3,499.4,-8.6,409,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-0.47,-136.3,522.8,-7.5,419,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6287,-0.47,-136.3,544.7,-7.2,429,6292,0.00,2.35,0.00,0.000,4,0.000,0.065,3024,3606,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6325,-0.47,-136.3,547.0,-7.2,430,6329,0.00,2.28,0.00,0.000,6,0.000,0.045,3024,2189,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6637,-0.47,-136.3,571.5,-7.6,441,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,-0.47,-136.3,593.9,-7.4,451,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,-0.47,-136.3,615.4,-7.1,461,7243,0.00,2.38,0.00,0.000,4,0.000,0.065,3013,3607,3352,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7275,-0.47,-136.3,617.6,-7.2,462,7279,0.00,2.28,0.00,0.000,6,0.000,0.046,3013,2188,3352,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7588,-0.47,-136.3,642.1,-7.6,473,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2186,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7887,-0.47,-136.3,666.0,-7.9,483,7892,0.00,2.38,0.00,0.000,4,0.000,0.065,3004,3609,3351,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7925,-0.47,-136.3,668.6,-8.0,484,7930,0.15,2.28,0.00,0.000,6,0.117,0.046,3049,2191,3351,0,0,0,0,0,0,25.41,25.60,28.83
$GC,8239,-0.47,-136.3,689.5,-6.2,495,8244,0.00,2.35,0.00,0.000,4,0.000,0.066,3041,3603,3351,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8277,-0.47,-136.3,691.5,-6.2,496,8283,0.00,2.25,0.00,0.000,6,0.000,0.047,3041,2200,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8599,-0.47,-136.3,713.3,-6.6,507,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8898,-0.47,-136.3,733.0,-6.5,517,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9200,-0.47,-136.3,750.7,-5.8,527,9204,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3604,3351,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9246,-0.47,-136.3,752.5,-5.9,528,9250,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2193,3351,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9548,-0.47,-136.3,770.5,-4.6,538,9554,0.00,2.22,0.00,0.000,4,0.000,0.054,3031,804,3351,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,9725,end dive,NO_VERTICAL_VELOCITY
$STATE,9726,begin apogee
$GC,9736,-0.22,0.0,770.7,0.0,544,9865,0.25,0.00,124.05,1.021,6,0.080,0.000,3132,2322,2793,0,0,0,0,0,0,25.86,28.83,22.80
$STATE,9866,end apogee,CONTROL_FINISHED_OK
$STATE,9866,begin climb
$GC,9868,0.47,136.3,770.5,0.0,548,10005,0.62,2.55,128.70,0.988,4,0.060,0.066,3355,3737,2237,0,0,0,0,0,0,24.70,23.89,22.32
$GC,10079,0.48,150.4,761.2,6.5,555,10098,0.00,2.35,13.85,0.904,6,0.000,0.047,3365,2326,2180,0,0,0,0,0,0,28.83,24.79,22.92
$GC,10408,0.48,150.4,732.9,8.1,567,10414,0.00,2.35,0.00,0.000,4,0.000,0.067,3365,3736,2173,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10477,0.48,150.4,727.2,8.7,569,10481,0.00,2.30,0.00,0.000,6,0.000,0.048,3375,2323,2172,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10789,0.48,150.4,700.7,8.2,580,10794,0.00,2.30,0.00,0.000,4,0.000,0.056,3386,914,2171,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10807,0.48,150.4,700.7,8.2,580,10812,0.15,2.30,0.00,0.000,6,0.138,0.056,3345,2326,2171,0,0,0,0,0,0,25.39,25.55,28.83
$GC,11110,0.48,157.2,679.0,6.7,590,11121,0.00,2.38,6.12,0.757,4,0.000,0.068,3345,3735,2152,0,0,0,0,0,0,28.83,25.51,23.83
$GC,11177,0.48,157.2,674.9,7.4,592,11181,0.00,2.30,0.00,0.000,6,0.000,0.048,3353,2314,2151,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11480,0.48,157.2,649.6,7.8,602,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2312,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11780,0.48,157.2,624.7,8.6,612,11785,0.00,2.38,0.00,0.000,4,0.000,0.067,3353,3736,2149,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11827,0.48,157.2,622.0,8.6,613,11831,0.00,2.30,0.00,0.000,6,0.000,0.048,3362,2315,2150,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12130,0.48,157.2,592.9,9.1,623,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2313,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12430,0.48,157.2,568.4,8.0,633,12435,0.00,2.38,0.00,0.000,4,0.000,0.067,3363,3736,2149,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12467,0.48,157.2,565.7,8.2,634,12471,0.00,2.30,0.00,0.000,6,0.000,0.049,3373,2318,2149,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12779,0.48,157.2,537.9,8.4,645,12785,0.00,2.40,0.00,0.000,4,0.000,0.067,3373,3743,2149,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12828,0.48,157.2,534.9,8.8,646,12833,0.12,2.30,0.00,0.000,6,0.148,0.049,3351,2326,2149,0,0,0,0,0,0,25.44,25.64,28.83
$GC,13130,0.48,157.2,510.5,7.2,656,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2322,2149,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19801,end climb,SURFACE_DEPTH_REACHED
$STATE,19801,begin surface coast
$FINISH,1.3,1.024954
$STATE,19838,end surface coast,CONTROL_FINISHED_OK
$STATE,19838,begin surface
$SM_CCo,19859,93.38,0.506,1,0,470,570.08
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$TT8_MAMPS,0.027713,0.027713
$HUMID,46.88
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,18.90
$XPDR_PINGS,5
$24V_AH,22.3,86.397
$10V_AH,9.8,66.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,188.750,491.925,93.375,0.000,137.666,375.525,0.000,1.250,0.000,19.733,3028.040,14177.631,852.774,2421.128,388.409,0.000,1911.116,0.000,1868.575,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297008
$DATA_FILE_SIZE,63588,1166
$CAP_FILE_SIZE,163062,0
$CFSIZE,260165632,205676544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.110,274.1,1
$GPS,210213,031123,4746.795,-12524.313,38,1.5,38,18.7