version: 66.12
glider: 187
mission: 8
dive: 6
start: 6 16 115 22 51 38
data:
$ID,187
$MISSION,8
$DIVE,6
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53361
$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,400
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3455
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$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,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,160615,224421,4744.4731,-12506.6006,16,0.9,30,16.5,0.3,266.4,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.0
$GPS2,160615,225108,4744.4346,-12506.5752,2,0.9,3,16.5,0.5,233.0,8,9.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,241.2,165216,-16.9,-10.000,-20.75,2244
$D_GRID,266
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,29,-0.57,-146.6,99,1914,971,1172,0.0,0.0,0,110,0.00,0.00,-77.30,0.000,16386,0.000,0.000,99,1909,3137,3107,3167,0,0,0,0,0,0,14.68,28.83,14.70
$GC,117,-0.57,-146.6,99,1908,3109,3168,3.7,-5.2,8,143,14.65,2.83,-2.60,0.000,18692,0.415,2.238,3251,3315,3301,3269,3333,0,0,0,0,0,0,14.27,13.64,14.45
$GC,308,-0.49,-146.6,3256,3314,3268,3337,44.5,-14.3,43,319,0.15,2.53,0.00,0.000,3078,0.239,0.103,3293,1905,3302,3268,3337,0,0,0,0,0,0,14.40,14.45,14.54
$GC,500,-0.55,-146.6,3293,1905,3268,3339,65.9,-11.2,62,507,0.00,2.53,0.00,0.000,260,0.000,0.113,3293,3312,3303,3268,3338,0,0,0,0,0,0,14.69,14.48,14.72
$GC,624,-0.61,-146.6,3293,3311,3268,3339,77.3,-7.9,84,632,0.10,2.53,0.00,0.000,5126,0.142,0.103,3239,1890,3303,3268,3338,0,0,0,0,0,0,14.54,14.51,14.61
$GC,824,-0.55,-146.6,3242,1889,3268,3339,100.4,-11.2,104,832,0.08,0.00,0.00,0.000,2054,0.291,0.000,3266,1888,3304,3269,3339,0,0,0,0,0,0,14.45,14.62,14.55
$GC,1013,-0.55,-146.6,3266,1887,3268,3340,119.8,-9.7,123,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1888,3304,3268,3340,0,0,0,0,0,0,14.75,14.77,14.76
$GC,1204,-0.59,-146.6,3266,1888,3268,3340,135.5,-7.3,142,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1887,3303,3268,3339,0,0,0,0,0,0,14.76,14.81,14.78
$GC,1394,-0.63,-146.6,3266,1888,3268,3339,150.8,-9.0,161,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1888,3303,3268,3339,0,0,0,0,0,0,14.77,14.79,14.78
$GC,1584,-0.68,-146.6,3266,1888,3268,3339,165.8,-6.8,180,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1885,3306,3273,3339,0,0,0,0,0,0,14.77,14.79,14.79
$GC,1774,-0.74,-146.6,3267,1885,3268,3336,178.2,-6.5,199,1783,0.10,0.00,0.00,0.000,4102,0.145,0.000,3208,1884,3304,3267,3341,0,0,0,0,0,0,14.62,14.66,14.62
$GC,1964,-0.64,-146.6,3207,1888,3268,3339,201.0,-11.2,218,1973,0.10,0.00,0.00,0.000,2054,0.273,0.000,3240,1887,3302,3268,3336,0,0,0,0,0,0,14.48,14.64,14.59
$GC,2154,-0.64,-146.6,3240,1886,3267,3339,218.7,-9.2,237,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1887,3303,3267,3339,0,0,0,0,0,0,14.79,14.84,14.81
$GC,2345,-0.64,-146.6,3240,1887,3266,3339,233.0,-6.4,256,2352,0.00,2.50,0.00,0.000,516,0.000,0.122,3240,493,3300,3262,3339,0,0,0,0,0,0,14.79,14.56,14.81
$GC,2432,-0.58,-146.6,3240,494,3261,3340,241.1,-10.5,271,2442,0.00,2.47,0.00,0.000,1030,0.000,0.103,3240,1897,3303,3266,3340,0,0,0,0,0,0,14.67,14.57,14.69
$GC,2629,-0.54,-146.6,3240,1900,3265,3340,257.1,-7.1,284,2633,0.12,0.00,0.00,0.000,2054,0.249,0.000,3277,1900,3303,3267,3340,0,0,0,0,0,0,14.51,14.69,14.66
$STATE,2768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2768,begin apogee
$GC,2780,-0.19,0.0,3278,2103,3265,3340,266.8,-6.1,289,2896,0.35,0.00,109.93,1.010,10246,0.188,0.000,3388,2103,2698,2611,2785,0,0,0,0,0,0,14.54,14.16,13.74
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin climb
$GC,2904,0.57,146.6,3388,2103,2606,2783,268.3,0.0,293,3034,0.75,2.72,109.40,0.979,10756,0.143,0.119,3636,682,2094,1946,2242,0,0,0,0,0,0,14.12,13.91,13.58
$GC,3219,0.42,146.6,3636,681,1945,2240,230.9,15.1,353,3231,0.17,2.58,0.00,0.000,5126,0.241,0.104,3595,2113,2092,1945,2240,0,0,0,0,0,0,14.23,14.33,14.38
$GC,3422,0.42,146.6,3595,2112,1945,2240,206.9,10.8,373,3433,0.00,2.55,0.00,0.000,260,0.000,0.116,3595,3515,2092,1945,2240,0,0,0,0,0,0,14.62,14.39,14.64
$GC,3499,0.38,146.6,3595,3515,1945,2240,198.8,11.8,385,3510,0.00,2.55,0.00,0.000,1030,0.000,0.104,3602,2098,2091,1946,2237,0,0,0,0,0,0,14.53,14.43,14.55
$GC,3701,0.34,146.6,3599,2098,1948,2240,176.2,11.6,405,3712,0.10,0.00,0.00,0.000,4102,0.270,0.000,3569,2097,2097,1948,2247,0,0,0,0,0,0,14.42,14.58,14.52
$GC,3895,0.41,148.3,3569,2097,1948,2240,157.1,9.9,424,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2098,2091,1944,2239,0,0,0,0,0,0,14.73,14.75,14.75
$GC,4087,0.50,178.7,3569,2097,1949,2240,139.5,8.6,443,4126,0.10,2.58,25.48,0.874,10500,0.146,0.112,3629,3514,1963,1824,2103,0,0,0,0,0,0,14.57,14.40,14.10
$GC,4211,0.40,178.7,3629,3514,1828,2095,123.4,15.7,464,4223,0.20,2.55,0.00,0.000,5126,0.247,0.104,3586,2090,1959,1823,2095,0,0,0,0,0,0,14.39,14.46,14.54
$GC,4405,0.47,201.6,3586,2090,1823,2095,104.5,9.0,483,4433,0.00,0.00,18.55,0.839,8198,0.000,0.000,3586,2090,1871,1725,2018,0,0,0,0,0,0,14.72,14.49,14.11
$GC,4616,0.54,201.6,3586,2090,1719,2007,83.2,10.2,504,4627,0.10,0.00,0.00,0.000,2054,0.142,0.000,3647,2091,1863,1719,2007,0,0,0,0,0,0,14.52,14.57,14.55
$GC,4809,0.46,201.6,3646,2090,1719,2007,56.8,12.6,523,4821,0.12,2.60,0.00,0.000,4356,0.243,0.112,3612,3518,1863,1719,2007,0,0,0,0,0,0,14.45,14.50,14.54
$GC,4972,0.51,214.6,3609,3517,1718,2006,38.5,9.4,552,4989,0.00,2.53,5.10,0.748,9222,0.000,0.103,3611,2107,1827,1678,1976,0,0,0,0,0,0,14.64,14.54,14.16
$GC,5181,0.61,274.5,3611,2105,1705,1976,23.3,7.3,573,5240,0.12,0.00,49.10,0.728,10758,0.140,0.000,3675,2105,1568,1420,1717,0,0,0,0,0,0,14.59,14.42,14.09
$STATE,5347,end climb,SURFACE_DEPTH_REACHED
$STATE,5347,begin surface coast
$FINISH,0.5,1.024063
$STATE,5379,end surface coast,CONTROL_FINISHED_OK
$STATE,5379,begin surface
$SM_CCo,5410,52.88,0.085,0,0,1068,400.08
$SM_GC,1.10,10.20,0.40,52.88,0.068,0.114,0.085,92,1883,1068,-10.46,0.20,400.08,0,0,0,0,0,0,14.46,14.45,14.46
$IRIDIUM_FIX,4726.11,-12508.44,160615,213634
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.22
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3935744
$24V_AH,13.58,2.627
$10V_AH,13.13,0.000
$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,27.525,36.800,317.550,52.875,0.000,0.000,0.000,193.675,0.000,0.000,5.160,1336.876,2371.434,484.784,1224.668,455.118,0.000,1287.044,0.000,933.600,0.000,0.536,0.000
$DEVICE_MAMPS,415.395,2237.625,1009.800,84.915,0.000,0.000,0.000,133.875,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5390.000,2935.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.773,8.981,0.000,0.000
$MEM,286436
$DATA_FILE_SIZE,20136,596
$CAP_FILE_SIZE,100741,0
$CFSIZE,260034560,255832064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,129.18,1
$GPS,170615,002409,4744.170,-12507.325,27,0.9,33,16.5,1.2,149.5,12,6.1