version: 66.12
glider: 187
mission: 8
dive: 702
start: 1 6 116 0 41 42
data:
$ID,187
$MISSION,8
$DIVE,702
$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,450
$T_MISSION,570
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-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,8
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$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,1970
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,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
$GPS1,060116,002802,4750.1401,-12513.7324,34,0.8,41,16.5,0.3,34.1,10,4.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-75.5
$GPS2,060116,004113,4750.2686,-12513.6230,6,0.9,7,16.5,0.5,174.9,9,7.6
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,42.7,5180,-14.8,-7.333,-19.49,2243
$D_GRID,338
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,34,-0.39,-107.1,73,1954,1215,1412,0.0,0.0,0,115,0.00,0.00,-77.05,0.000,16390,0.000,0.000,69,1953,3378,3375,3381,0,0,0,0,0,0,14.47,12.57,14.31
$GC,123,-0.39,-107.1,69,1954,3375,3383,1.6,-2.1,2,145,14.38,2.67,0.00,0.000,2308,0.356,0.096,3252,3387,3382,3379,3386,0,0,0,0,0,0,13.69,14.00,14.06
$GC,349,-0.39,-107.1,3251,3387,3375,3392,44.6,-10.3,45,357,0.00,2.58,0.00,0.000,1030,0.000,0.083,3252,1982,3382,3374,3391,0,0,0,0,0,0,13.95,13.82,13.99
$GC,714,-0.39,-107.1,3252,1978,3371,3390,86.9,-11.8,56,721,0.00,2.62,0.00,0.000,516,0.000,0.096,3252,546,3383,3371,3395,0,0,0,0,0,0,14.37,13.81,14.38
$GC,754,-0.39,-107.1,3257,550,3374,3394,91.4,-11.1,62,761,0.00,2.60,0.00,0.000,1030,0.000,0.085,3252,1966,3382,3370,3395,0,0,0,0,0,0,14.02,13.85,14.04
$GC,1093,-0.39,-107.1,3251,1966,3370,3395,125.6,-9.6,73,1101,0.00,2.65,0.00,0.000,260,0.000,0.100,3252,3390,3382,3370,3395,0,0,0,0,0,0,14.40,13.77,14.42
$GC,1183,-0.39,-107.1,3251,3390,3370,3395,133.0,-7.5,89,1192,0.00,2.58,0.00,0.000,1030,0.000,0.081,3252,1973,3382,3370,3395,0,0,0,0,0,0,13.87,13.78,13.93
$GC,1534,-0.39,-107.1,3252,1973,3371,3395,159.2,-7.4,102,1542,0.00,2.60,0.00,0.000,516,0.000,0.093,3257,559,3386,3377,3395,0,0,0,0,0,0,14.36,13.76,14.38
$GC,1657,-0.39,-107.1,3247,559,3370,3395,169.7,-8.6,124,1664,0.00,2.60,0.00,0.000,1030,0.000,0.083,3252,1980,3382,3370,3395,0,0,0,0,0,0,14.01,13.88,14.04
$GC,1977,-0.39,-107.1,3251,1981,3370,3395,196.5,-8.4,131,1984,0.00,2.62,0.00,0.000,260,0.000,0.099,3252,3390,3383,3371,3395,0,0,0,0,0,0,14.36,13.78,14.38
$GC,2085,-0.39,-107.1,3251,3389,3369,3395,205.9,-8.5,151,2092,0.00,2.60,0.00,0.000,1030,0.000,0.079,3252,1960,3382,3369,3395,0,0,0,0,0,0,13.97,13.85,14.01
$GC,2415,-0.39,-107.1,3252,1961,3370,3395,232.0,-7.8,160,2422,0.00,2.58,0.00,0.000,516,0.000,0.096,3252,563,3386,3377,3396,0,0,0,0,0,0,14.37,13.77,14.38
$GC,2473,-0.39,-107.1,3251,563,3368,3396,236.7,-8.0,170,2481,0.00,2.58,0.00,0.000,1030,0.000,0.084,3252,1966,3383,3370,3396,0,0,0,0,0,0,13.96,13.81,14.01
$GC,2794,-0.39,-107.1,3256,1966,3369,3396,258.1,-6.5,177,2802,0.00,2.65,0.00,0.000,260,0.000,0.099,3252,3388,3382,3369,3395,0,0,0,0,0,0,14.35,13.78,14.37
$GC,2864,-0.39,-107.1,3251,3388,3376,3396,262.6,-6.3,189,2873,0.00,2.60,0.00,0.000,1030,0.000,0.080,3252,1974,3382,3369,3396,0,0,0,0,0,0,13.97,13.83,14.01
$GC,3239,-0.39,-107.1,3252,1973,3369,3395,286.8,-6.5,206,3246,0.00,2.65,0.00,0.000,516,0.000,0.096,3252,546,3382,3369,3395,0,0,0,0,0,0,14.33,13.78,14.35
$GC,3283,-0.39,-107.1,3252,546,3376,3396,290.1,-7.2,213,3292,0.00,2.62,0.00,0.000,1030,0.000,0.085,3252,1968,3382,3369,3396,0,0,0,0,0,0,13.97,13.83,14.02
$GC,3618,-0.39,-107.1,3251,1968,3368,3396,311.7,-6.7,223,3626,0.00,2.67,0.00,0.000,260,0.000,0.101,3252,3390,3382,3368,3397,0,0,0,0,0,0,14.38,13.78,14.39
$GC,3713,-0.39,-107.1,3252,3390,3368,3395,317.9,-6.5,240,3720,0.00,2.62,0.00,0.000,1030,0.000,0.082,3252,1957,3381,3367,3396,0,0,0,0,0,0,13.96,13.83,14.00
$STATE,4051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4052,begin apogee
$GC,4063,-0.16,0.0,3251,2268,3366,3396,340.0,-6.5,252,4155,0.30,0.00,86.62,1.129,10246,0.145,0.000,3344,2272,2940,2880,3001,0,0,0,0,0,0,13.66,14.01,13.34
$STATE,4158,end apogee,CONTROL_FINISHED_OK
$STATE,4158,begin climb
$GC,4165,0.39,107.1,3344,2267,2876,3000,342.3,0.0,253,4267,0.47,2.67,84.68,1.117,10500,0.104,0.099,3516,3664,2505,2376,2635,0,0,0,0,0,0,13.90,13.93,13.22
$GC,4369,0.42,167.8,3517,3664,2375,2626,337.9,4.5,290,4430,0.00,2.58,48.28,1.105,9222,0.000,0.083,3516,2252,2253,2101,2405,0,0,0,0,0,0,14.08,13.95,13.28
$GC,4796,0.45,222.5,3516,2258,2104,2404,317.9,4.8,318,4851,0.00,2.53,44.08,1.084,8708,0.000,0.093,3517,842,2028,1875,2182,0,0,0,0,0,0,14.47,13.90,13.40
$GC,4947,0.46,222.5,3516,842,1875,2182,309.4,6.5,346,4959,0.00,2.55,0.00,0.000,1030,0.000,0.086,3516,2247,2028,1875,2182,0,0,0,0,0,0,14.08,13.93,14.11
$GC,5307,0.50,222.5,3516,2246,1876,2182,289.8,5.4,359,5318,0.10,0.00,0.00,0.000,2054,0.119,0.000,3596,2247,2027,1874,2180,0,0,0,0,0,0,14.19,14.26,14.23
$GC,5600,0.50,222.5,3595,2246,1877,2182,263.7,9.0,364,5612,0.12,2.60,0.00,0.000,4612,0.208,0.093,3569,835,2029,1874,2185,0,0,0,0,0,0,13.87,13.94,13.95
$GC,5634,0.50,222.5,3568,835,1875,2182,260.6,8.9,368,5645,0.00,2.58,0.00,0.000,1030,0.000,0.087,3569,2247,2028,1874,2182,0,0,0,0,0,0,14.14,14.00,14.19
$GC,5992,0.50,222.5,3568,2246,1875,2181,233.5,7.6,381,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2247,2028,1875,2182,0,0,0,0,0,0,14.47,14.50,14.50
$GC,6286,0.50,222.5,3565,2251,1876,2181,211.2,7.4,386,6298,0.00,2.67,0.00,0.000,260,0.000,0.102,3568,3665,2029,1876,2182,0,0,0,0,0,0,14.49,13.88,14.50
$GC,6320,0.50,222.5,3568,3665,1876,2182,208.5,8.0,390,6332,0.00,2.60,0.00,0.000,1030,0.000,0.084,3566,2246,2026,1871,2182,0,0,0,0,0,0,14.13,13.99,14.17
$GC,6678,0.52,222.5,3568,2244,1876,2182,185.0,6.5,403,6690,0.00,2.58,0.00,0.000,516,0.000,0.096,3570,843,2029,1876,2182,0,0,0,0,0,0,14.48,13.91,14.50
$GC,6753,0.52,222.5,3569,843,1876,2182,179.9,6.9,415,6764,0.00,2.60,0.00,0.000,1030,0.000,0.090,3569,2263,2028,1876,2181,0,0,0,0,0,0,14.11,14.00,14.15
$GC,7130,0.54,222.5,3573,2263,1876,2182,155.1,6.6,432,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2263,2028,1876,2181,0,0,0,0,0,0,14.47,14.47,14.47
$GC,7427,0.56,222.5,3569,2263,1876,2182,136.4,6.2,437,7438,0.00,2.65,0.00,0.000,516,0.000,0.095,3569,842,2029,1876,2182,0,0,0,0,0,0,14.45,13.83,14.47
$GC,7568,0.57,222.5,3569,842,1877,2182,127.7,6.5,462,7580,0.00,2.58,0.00,0.000,1030,0.000,0.087,3568,2246,2031,1883,2179,0,0,0,0,0,0,14.08,13.93,14.13
$GC,7942,0.61,286.5,3569,2246,1876,2182,110.2,4.4,478,8003,0.00,2.60,47.92,0.855,8452,0.000,0.099,3569,3664,1768,1619,1917,0,0,0,0,0,0,14.45,14.15,13.56
$GC,8100,0.62,286.5,3569,3664,1618,1915,100.1,6.5,507,8111,0.00,2.58,0.00,0.000,1030,0.000,0.082,3569,2242,1766,1618,1915,0,0,0,0,0,0,14.16,14.02,14.20
$GC,8452,0.65,330.5,3566,2243,1618,1915,81.7,5.3,519,8499,0.00,2.55,32.80,0.815,8708,0.000,0.099,3570,845,1589,1442,1737,0,0,0,0,0,0,14.44,14.07,13.56
$GC,8605,0.68,330.5,3569,844,1443,1737,73.0,5.6,547,8616,0.15,2.55,0.00,0.000,3078,0.103,0.084,3653,2266,1591,1444,1738,0,0,0,0,0,0,14.15,14.04,14.23
$GC,8934,0.68,330.5,3654,2266,1443,1738,42.7,9.9,560,8946,0.12,2.60,0.00,0.000,4356,0.218,0.097,3619,3664,1590,1442,1738,0,0,0,0,0,0,13.85,13.93,13.93
$GC,8956,0.68,330.5,3618,3664,1443,1737,39.9,9.9,562,8968,0.00,2.58,0.00,0.000,1030,0.000,0.083,3622,2247,1591,1445,1738,0,0,0,0,0,0,14.14,14.01,14.19
$GC,9289,0.68,330.5,3621,2243,1443,1738,14.6,7.4,576,9300,0.00,2.60,0.00,0.000,516,0.000,0.095,3622,820,1590,1443,1737,0,0,0,0,0,0,14.50,13.92,14.54
$GC,9398,0.71,387.8,3622,824,1443,1738,7.3,4.7,594,9434,0.00,2.60,25.27,0.102,9222,0.000,0.087,3622,2250,1363,1219,1507,0,0,0,0,0,0,14.12,13.98,14.05
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.7,1.024730
$STATE,9483,end surface coast,CONTROL_FINISHED_OK
$STATE,9483,begin surface
$SM_CCo,9515,5.03,0.080,0,0,1309,400.08
$SM_GC,0.87,9.90,0.52,5.03,0.034,0.092,0.080,92,1955,1309,-10.25,0.65,400.08,0,0,0,0,0,0,14.13,14.07,14.07
$IRIDIUM_FIX,4729.30,-12521.07,050116,203823
$TT8_MAMPS,0.021721,0.021721
$HUMID,49.72
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3646400
$24V_AH,12.57,204.586
$10V_AH,12.59,0.000
$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,25.550,100.050,369.650,5.025,0.000,0.000,0.000,446.400,0.000,0.000,8.841,1130.598,6479.812,482.713,1600.311,605.136,0.000,1662.454,0.000,884.373,0.000,0.538,0.000
$DEVICE_MAMPS,356.490,101.745,1129.140,80.325,0.000,0.000,0.000,156.825,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9561.000,4245.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.274,9.264,0.000,0.000
$MEM,286288
$DATA_FILE_SIZE,20071,602
$CAP_FILE_SIZE,104865,0
$CFSIZE,260034560,168660992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,30.57,1
$GPS,060116,032202,4751.240,-12511.957,24,0.8,41,16.5,0.6,57.5,10,3.3