version: 66.12
glider: 187
mission: 4
dive: 827
start: 1 21 115 16 41 53
data:
$ID,187
$MISSION,4
$DIVE,827
$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,350
$N_FILEKB,8
$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,-1595498.2
$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,38
$R_STBD_OVSHOOT,26
$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,49
$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
$GPS1,210115,163136,4753.399,-12514.274,36,1.5,36,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.2
$GPS2,210115,164124,4753.434,-12514.305,12,1.5,17,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,181.7,166178,-14.0,-7.333,-18.81,2445
$D_GRID,257
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.59,-116.8,391,2403,1535,1328,0.0,0.0,0,81,0.00,0.00,-46.65,0.000,16386,0.000,0.000,391,2404,2617,2703,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-116.8,391,2400,2704,2537,3.1,-1.4,5,124,12.23,0.00,-17.02,0.000,18950,0.355,0.000,3125,2404,3339,3388,3291,0,0,0,0,0,0,13.78,28.83,14.41
$GC,366,-0.59,-116.8,3125,2404,3382,3294,37.7,-11.8,33,377,0.00,2.58,0.00,0.000,260,0.000,0.083,3125,3807,3336,3382,3291,0,0,0,0,0,0,28.83,13.89,28.83
$GC,408,-0.59,-116.8,3125,3804,3382,3294,43.2,-12.8,37,419,0.00,2.47,0.00,0.000,1030,0.000,0.057,3125,2405,3338,3382,3294,0,0,0,0,0,0,28.83,13.99,28.83
$GC,659,-0.59,-116.8,3125,2401,3382,3294,75.3,-11.0,62,670,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.59,-116.8,3125,2401,3383,3294,98.8,-10.0,87,922,0.00,2.60,0.00,0.000,260,0.000,0.082,3123,3811,3336,3383,3290,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1003,-0.59,-116.8,3125,3814,3382,3294,108.9,-11.5,96,1014,0.00,2.50,0.00,0.000,1030,0.000,0.056,3125,2389,3338,3382,3294,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1255,-0.59,-116.8,3125,2385,3383,3294,133.1,-9.0,121,1266,0.00,2.50,0.00,0.000,516,0.000,0.070,3125,996,3339,3383,3295,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1338,-0.59,-116.8,3127,996,3383,3296,141.3,-10.3,129,1349,0.00,2.53,0.00,0.000,1030,0.000,0.067,3125,2405,3339,3383,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1592,-0.59,-116.8,3124,2405,3387,3295,164.4,-7.6,154,1603,0.00,2.55,0.00,0.000,260,0.000,0.082,3129,3813,3338,3382,3295,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1698,-0.59,-116.8,3125,3813,3382,3295,172.6,-8.1,164,1710,0.00,2.50,0.00,0.000,1030,0.000,0.057,3125,2406,3339,3383,3295,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1951,-0.59,-116.8,3125,2403,3382,3294,191.9,-7.8,189,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3339,3383,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.59,-116.8,3125,2403,3383,3295,211.5,-8.0,214,2214,0.00,2.62,0.00,0.000,260,0.000,0.083,3125,3812,3338,3383,3294,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2256,-0.59,-116.8,3128,3811,3383,3295,215.7,-8.1,219,2267,0.00,2.53,0.00,0.000,1030,0.000,0.058,3125,2389,3339,3383,3296,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2508,-0.59,-116.8,3125,2384,3383,3295,233.5,-7.3,244,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2384,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-0.59,-116.8,3125,2384,3383,3294,252.9,-7.5,268,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2824,begin apogee
$GC,2837,-0.25,0.0,3125,2335,3383,3291,257.4,-7.4,270,2937,0.40,0.00,92.80,0.990,10246,0.174,0.000,3238,2339,2856,2927,2785,0,0,0,0,0,0,13.61,28.83,13.52
$STATE,2940,end apogee,CONTROL_FINISHED_OK
$STATE,2940,begin climb
$GC,2945,0.59,116.8,3238,2335,2926,2783,261.4,0.0,273,3046,0.85,0.00,93.65,0.974,10246,0.128,0.000,3512,2338,2380,2507,2254,0,0,0,0,0,0,13.89,28.83,13.40
$GC,3340,0.63,116.8,3512,2335,2506,2253,246.6,5.4,291,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2335,2379,2506,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,0.66,116.8,3512,2332,2506,2253,232.5,5.7,316,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2333,2379,2506,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3845,0.69,116.8,3512,2335,2505,2251,218.9,5.8,341,3855,0.12,0.00,0.00,0.000,2054,0.132,0.000,3578,2335,2378,2505,2251,0,0,0,0,0,0,14.11,28.83,28.83
$GC,4098,0.71,116.8,3578,2335,2506,2252,202.8,6.2,366,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2335,2379,2506,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,0.77,191.2,3578,2335,2506,2251,190.7,4.2,391,4419,0.00,2.50,57.97,0.908,8708,0.000,0.073,3578,927,2077,2218,1936,0,0,0,0,0,0,28.83,14.19,13.59
$GC,4450,0.77,191.2,3579,927,2218,1935,184.8,7.3,401,4460,0.00,2.50,0.00,0.000,1030,0.000,0.067,3575,2341,2077,2218,1936,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4703,0.77,191.2,3578,2340,2218,1936,164.5,9.1,426,4714,0.00,2.53,0.00,0.000,260,0.000,0.082,3578,3733,2077,2219,1936,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4775,0.77,191.2,3578,3733,2218,1942,156.9,11.0,433,4786,0.00,2.47,0.00,0.000,1030,0.000,0.060,3578,2330,2077,2218,1936,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5027,0.77,191.2,3578,2334,2218,1936,132.7,9.3,458,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2330,2077,2218,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,0.77,191.2,3578,2330,2218,1935,110.5,8.5,483,5291,0.00,2.53,0.00,0.000,516,0.000,0.075,3578,931,2077,2218,1936,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5462,0.77,191.2,3579,927,2218,1935,96.4,6.9,501,5473,0.00,2.50,0.00,0.000,1030,0.000,0.066,3576,2331,2077,2218,1936,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5716,0.79,191.2,3578,2331,2218,1936,80.8,6.1,526,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2331,2077,2218,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5970,0.83,191.2,3578,2330,2218,1941,65.8,5.6,551,5981,0.00,2.55,0.00,0.000,260,0.000,0.082,3578,3746,2075,2215,1936,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6086,0.88,263.7,3579,3746,2218,1932,60.0,4.3,562,6151,0.00,2.50,55.20,0.757,9222,0.000,0.059,3575,2325,1780,1922,1638,0,0,0,0,0,0,28.83,14.00,13.66
$GC,6397,0.89,263.7,3578,2320,1920,1636,42.7,6.4,593,6407,0.10,0.00,0.00,0.000,2054,0.158,0.000,3627,2313,1776,1920,1632,0,0,0,0,0,0,14.12,28.83,28.83
$GC,6648,0.89,263.7,3632,2314,1920,1636,22.4,8.4,618,6660,0.00,2.62,0.00,0.000,260,0.000,0.081,3627,3736,1778,1920,1636,0,0,0,0,0,0,28.83,13.96,28.83
$GC,6691,0.89,263.7,3627,3736,1919,1636,18.3,9.6,622,6703,0.00,2.47,0.00,0.000,1030,0.000,0.059,3628,2332,1778,1920,1636,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,6859,end climb,SURFACE_DEPTH_REACHED
$STATE,6859,begin surface coast
$FINISH,1.4,1.006985
$STATE,6901,end surface coast,CONTROL_FINISHED_OK
$STATE,6901,begin surface
$SM_CCo,6932,37.15,0.092,0,0,1430,350.04
$SM_GC,2.96,9.32,0.12,37.15,0.057,0.145,0.092,389,2399,1430,-9.11,-0.96,350.04,1,0,0,0,0,0,14.00,14.12,14.08
$IRIDIUM_FIX,4732.49,-12511.36,210115,141430
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.57
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3673344
$PM_FREEKB,36637312
$24V_AH,13.4,208.667
$10V_AH,13.5,0.000
$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,23.025,50.750,299.625,37.150,0.000,0.000,0.000,255.675,0.000,0.000,18.259,1556.129,3468.696,489.195,1398.146,637.903,0.000,1417.723,0.000,1044.020,0.000,0.537,0.000
$DEVICE_MAMPS,354.960,216.495,989.910,91.800,0.000,0.000,0.000,155.295,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6932.000,101.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.957,5.060,0.000,0.000
$MEM,290932
$DATA_FILE_SIZE,20050,643
$CAP_FILE_SIZE,116634,0
$CFSIZE,260034560,171094016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,6233.28,0x2378ba,7,5
$CURRENT,0.144,  0.2,1
$GPS,210115,183927,4753.316,-12514.695,8,2.9,28,18.8