version: 66.12
glider: 187
mission: 4
dive: 432
start: 10 1 114 22 56 35
data:
$ID,187
$MISSION,4
$DIVE,432
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-1593985.6
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,011014,224835,4752.545,-12514.697,48,1.3,59,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.4
$GPS2,011014,225606,4752.447,-12514.734,14,1.3,14,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,197.5,164657,-14.0,-7.333,-18.81,2445
$D_GRID,325
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.59,-116.8,401,2399,1436,1227,0.0,0.0,0,81,0.00,0.00,-48.17,0.000,16386,0.000,0.000,396,2399,2582,2671,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-116.8,396,2399,2669,2493,3.2,-1.8,5,124,12.82,2.58,-16.17,0.000,18692,0.389,0.111,3124,3804,3336,3381,3291,0,0,0,0,0,0,13.86,14.22,14.53
$GC,355,-0.59,-116.8,3124,3809,3382,3294,44.1,-12.4,32,364,0.00,2.42,0.00,0.000,1030,0.000,0.062,3124,2406,3337,3382,3292,0,0,0,0,0,0,28.83,14.26,28.83
$GC,605,-0.59,-116.8,3124,2402,3383,3295,73.8,-11.8,57,613,0.00,2.50,0.00,0.000,260,0.000,0.087,3124,3810,3339,3383,3295,0,0,0,0,0,0,28.83,14.21,28.83
$GC,844,-0.59,-116.8,3124,3813,3383,3301,102.2,-11.9,81,853,0.00,2.45,0.00,0.000,1030,0.000,0.062,3128,2394,3339,3383,3296,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1094,-0.59,-116.8,3124,2390,3383,3296,126.6,-9.2,106,1103,0.00,2.53,0.00,0.000,260,0.000,0.089,3124,3805,3339,3383,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1217,-0.59,-116.8,3124,3809,3383,3296,137.6,-8.8,118,1226,0.00,2.42,0.00,0.000,1030,0.000,0.063,3124,2400,3337,3378,3296,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1466,-0.59,-116.8,3124,2398,3382,3296,162.5,-10.4,143,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-0.59,-116.8,3124,2399,3383,3296,186.3,-9.0,168,1725,0.00,2.47,0.00,0.000,516,0.000,0.075,3124,983,3339,3383,3296,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1776,-0.59,-116.8,3124,983,3383,3296,192.3,-10.0,174,1786,0.00,2.50,0.00,0.000,1030,0.000,0.070,3130,2404,3339,3383,3296,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2026,-0.59,-116.8,3124,2404,3383,3295,216.3,-10.3,199,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,3339,3383,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.59,-116.8,3121,2404,3383,3295,239.1,-8.3,224,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2526,-0.59,-116.8,3124,2404,3383,3294,261.0,-8.9,241,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-0.59,-116.8,3124,2404,3381,3290,288.2,-9.1,251,2834,0.00,2.47,0.00,0.000,516,0.000,0.077,3124,989,3337,3382,3293,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2865,-0.59,-116.8,3124,993,3383,3293,292.0,-9.2,255,2874,0.00,2.47,0.00,0.000,1030,0.000,0.074,3124,2397,3338,3383,3294,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3189,-0.59,-116.8,3124,2399,3383,3288,320.9,-9.1,267,3197,0.00,2.50,0.00,0.000,260,0.000,0.091,3124,3815,3337,3383,3292,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,3233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3233,begin apogee
$GC,3245,-0.25,0.0,3124,2328,3383,3292,325.7,-9.5,272,3342,0.40,0.00,92.43,1.084,10246,0.183,0.000,3240,2328,2859,2934,2784,0,0,0,0,0,0,14.09,28.83,13.55
$STATE,3346,end apogee,CONTROL_FINISHED_OK
$STATE,3346,begin climb
$GC,3349,0.59,116.8,3240,2327,2932,2779,330.0,0.0,275,3453,0.82,0.00,94.50,1.063,10246,0.134,0.000,3506,2327,2379,2512,2246,0,0,0,0,0,0,14.07,28.83,13.41
$GC,3748,0.61,116.8,3506,2328,2510,2247,311.5,6.4,289,3758,0.00,2.53,0.00,0.000,260,0.000,0.087,3506,3745,2376,2510,2243,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3917,0.61,116.8,3506,3745,2510,2243,298.2,8.1,306,3928,0.00,2.47,0.00,0.000,1030,0.000,0.067,3506,2323,2376,2510,2242,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4232,0.64,116.8,3506,2319,2510,2241,278.7,6.0,317,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2319,2373,2505,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,0.66,116.8,3506,2319,2510,2245,260.6,5.9,327,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2319,2372,2505,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4828,0.70,172.4,3506,2319,2515,2237,244.6,5.0,343,4881,0.12,2.53,43.03,0.988,10756,0.135,0.086,3575,920,2152,2297,2007,0,0,0,0,0,0,14.39,14.31,13.76
$GC,4971,0.70,172.4,3575,920,2299,2007,231.6,10.7,357,4982,0.00,2.50,0.00,0.000,1030,0.000,0.073,3574,2340,2152,2298,2007,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5223,0.70,172.4,3577,2340,2297,2007,205.0,11.3,382,5233,0.00,2.47,0.00,0.000,260,0.000,0.089,3575,3741,2151,2297,2006,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5273,0.70,172.4,3575,3741,2297,2006,199.0,12.0,387,5284,0.00,2.47,0.00,0.000,1030,0.000,0.071,3575,2321,2152,2297,2007,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5523,0.70,172.4,3575,2321,2298,2007,171.3,10.8,412,5535,0.00,2.47,0.00,0.000,516,0.000,0.090,3585,921,2152,2298,2007,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5629,0.70,172.4,3588,921,2294,2006,159.9,10.8,422,5640,0.15,2.45,0.00,0.000,5126,0.259,0.072,3552,2327,2152,2297,2007,0,0,0,0,0,0,14.04,14.31,28.83
$GC,5881,0.70,172.4,3552,2327,2298,2007,136.2,9.1,447,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2327,2152,2297,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,0.70,172.4,3554,2326,2296,2006,116.7,7.2,472,6141,0.00,2.50,0.00,0.000,260,0.000,0.087,3552,3744,2152,2297,2007,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6202,0.70,172.4,3552,3748,2297,2007,109.7,10.6,479,6212,0.00,2.45,0.00,0.000,1030,0.000,0.069,3552,2328,2154,2301,2007,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6453,0.70,172.4,3552,2328,2298,2012,87.0,8.4,504,6464,0.00,2.47,0.00,0.000,516,0.000,0.084,3552,915,2152,2298,2007,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6695,0.70,172.4,3549,914,2298,2007,69.6,7.9,528,6706,0.00,2.50,0.00,0.000,1030,0.000,0.070,3552,2340,2152,2297,2007,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6947,0.70,172.4,3552,2339,2298,2007,48.5,7.5,553,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2339,2152,2298,2006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,0.75,232.4,3552,2339,2298,2007,35.9,4.8,578,7257,0.00,2.58,45.30,0.741,8708,0.000,0.083,3552,916,1906,2047,1766,0,0,0,0,0,0,28.83,14.32,13.88
$GC,7307,0.75,232.4,3552,914,2047,1766,29.3,7.0,589,7318,0.00,2.47,0.00,0.000,1030,0.000,0.070,3552,2337,1906,2047,1766,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7558,0.82,341.8,3551,2336,2051,1767,17.2,2.7,614,7621,0.12,2.58,52.30,0.162,10756,0.135,0.083,3614,921,1466,1608,1325,0,0,0,0,0,0,14.32,14.24,14.12
$GC,7672,0.85,341.8,3614,921,1608,1325,11.9,6.2,625,7683,0.00,2.45,0.00,0.000,1030,0.000,0.072,3614,2326,1466,1608,1325,0,0,0,0,0,0,28.83,14.26,28.83
$STATE,7772,end climb,SURFACE_DEPTH_REACHED
$STATE,7772,begin surface coast
$FINISH,1.3,1.023945
$STATE,7810,end surface coast,CONTROL_FINISHED_OK
$STATE,7810,begin surface
$SM_CCo,7836,14.73,0.098,0,0,1328,375.06
$SM_GC,2.78,9.18,0.12,14.73,0.060,0.162,0.098,397,2411,1328,-9.09,-0.76,375.06,0,0,0,0,0,0,14.30,14.31,14.24
$IRIDIUM_FIX,4732.49,-12511.36,011014,202042
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.86
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3799776
$PM_FREEKB,50501376
$24V_AH,13.4,103.243
$10V_AH,13.6,0.000
$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,23.625,69.975,327.550,14.725,0.000,0.000,0.000,234.075,0.000,0.000,14.992,1542.443,4466.121,502.256,1380.466,410.505,0.000,1394.398,0.000,987.564,0.000,0.538,0.000
$DEVICE_MAMPS,388.620,162.180,1084.005,97.920,0.000,0.000,0.000,156.825,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7825.000,3381.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.419,4.114,0.000,0.000
$MEM,290864
$DATA_FILE_SIZE,20105,639
$CAP_FILE_SIZE,116098,0
$CFSIZE,260034560,215052288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7351.00,0x2378ba,7,5
$CURRENT,0.082,  9.6,1
$GPS,021014,010851,4752.206,-12515.509,14,5.3,34,18.8