version: 66.12
glider: 187
mission: 8
dive: 703
start: 1 6 116 3 35 30
data:
$ID,187
$MISSION,8
$DIVE,703
$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,32
$R_STBD_OVSHOOT,14
$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
$GPS1,060116,032202,4751.2397,-12511.9570,24,0.8,41,16.5,0.6,57.5,10,3.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.0
$GPS2,060116,033459,4751.3521,-12511.8604,4,0.9,5,16.5,1.0,96.6,9,5.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,199.0,166436,-14.8,-7.333,-19.49,2243
$D_GRID,250
$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,30,-0.39,-107.1,82,1947,1195,1426,0.0,0.0,0,116,0.00,0.00,-77.93,0.000,16390,0.000,0.000,82,1948,3377,3373,3382,0,0,0,0,0,0,14.47,12.56,14.37
$GC,123,-0.39,-107.1,82,1948,3377,3383,1.4,-1.3,2,152,14.52,2.53,0.00,0.000,2564,0.366,0.095,3257,570,3382,3377,3387,0,0,0,0,0,0,13.71,14.03,14.09
$GC,243,-0.39,-107.1,3257,570,3374,3393,34.8,-10.8,23,254,0.00,2.58,0.00,0.000,1030,0.000,0.086,3257,1985,3383,3374,3393,0,0,0,0,0,0,14.08,13.95,14.12
$GC,574,-0.39,-107.1,3257,1980,3373,3395,69.3,-10.6,33,586,0.00,2.60,0.00,0.000,260,0.000,0.101,3257,3371,3384,3373,3395,0,0,0,0,0,0,14.41,13.81,14.42
$GC,632,-0.39,-107.1,3257,3370,3372,3394,75.0,-8.8,42,644,0.00,2.53,0.00,0.000,1030,0.000,0.081,3257,1981,3383,3372,3395,0,0,0,0,0,0,14.04,13.90,14.09
$GC,960,-0.39,-107.1,3257,1980,3372,3395,108.3,-10.2,50,971,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1980,3385,3375,3395,0,0,0,0,0,0,14.47,14.50,14.50
$GC,1262,-0.39,-107.1,3257,1980,3373,3395,135.8,-9.0,55,1273,0.00,2.65,0.00,0.000,516,0.000,0.096,3263,560,3382,3371,3394,0,0,0,0,0,0,14.47,13.83,14.48
$GC,1309,-0.39,-107.1,3257,560,3372,3395,140.1,-8.9,62,1321,0.00,2.58,0.00,0.000,1030,0.000,0.084,3259,1968,3383,3372,3395,0,0,0,0,0,0,14.01,13.85,14.07
$GC,1647,-0.39,-107.1,3257,1968,3371,3396,166.5,-7.7,72,1658,0.00,2.65,0.00,0.000,260,0.000,0.101,3257,3393,3384,3372,3397,0,0,0,0,0,0,14.45,13.82,14.46
$GC,1710,-0.39,-107.1,3257,3388,3374,3396,171.1,-7.1,82,1722,0.00,2.58,0.00,0.000,1030,0.000,0.079,3257,1974,3383,3371,3396,0,0,0,0,0,0,14.01,13.86,14.06
$GC,2033,-0.39,-107.1,3257,1972,3371,3396,194.7,-7.3,89,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1972,3383,3371,3396,0,0,0,0,0,0,14.42,14.45,14.45
$GC,2335,-0.39,-107.1,3257,1970,3371,3396,215.1,-6.8,94,2347,0.00,2.62,0.00,0.000,516,0.000,0.095,3260,556,3383,3371,3396,0,0,0,0,0,0,14.45,13.84,14.47
$GC,2373,-0.39,-107.1,3257,556,3371,3396,218.1,-8.4,99,2384,0.00,2.60,0.00,0.000,1030,0.000,0.084,3257,1977,3384,3371,3397,0,0,0,0,0,0,13.99,13.85,14.04
$GC,2727,-0.39,-107.1,3257,1977,3377,3396,242.3,-6.8,111,2738,0.00,2.62,0.00,0.000,260,0.000,0.100,3257,3386,3383,3370,3396,0,0,0,0,0,0,14.42,13.78,14.44
$GC,2783,-0.39,-107.1,3257,3386,3370,3396,246.4,-6.5,120,2794,0.00,2.62,0.00,0.000,1030,0.000,0.080,3257,1962,3383,3370,3396,0,0,0,0,0,0,14.00,13.87,14.05
$STATE,2865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2865,begin apogee
$GC,2877,-0.16,0.0,3254,2252,3370,3396,252.3,-7.0,124,2970,0.25,0.00,85.05,1.017,10246,0.151,0.000,3337,2253,2939,2878,3001,0,0,0,0,0,0,13.67,14.06,13.43
$STATE,2973,end apogee,CONTROL_FINISHED_OK
$STATE,2973,begin climb
$GC,2979,0.39,107.1,3337,2252,2875,3002,255.3,0.0,125,3083,0.50,2.67,83.53,1.008,10500,0.110,0.101,3515,3665,2499,2373,2626,0,0,0,0,0,0,13.91,13.93,13.29
$GC,3135,0.44,201.9,3514,3668,2372,2625,255.3,3.0,153,3219,0.00,2.58,72.28,1.008,9222,0.000,0.082,3515,2252,2118,1962,2274,0,0,0,0,0,0,14.07,13.93,13.30
$GC,3547,0.47,201.9,3514,2252,1961,2271,233.8,5.8,178,3559,0.00,2.58,0.00,0.000,516,0.000,0.093,3515,833,2116,1962,2271,0,0,0,0,0,0,14.45,13.95,14.46
$GC,3616,0.50,201.9,3514,830,1962,2271,229.9,5.8,189,3629,0.10,2.58,0.00,0.000,3078,0.115,0.085,3595,2256,2117,1963,2271,0,0,0,0,0,0,14.06,13.97,14.17
$GC,3921,0.50,201.9,3595,2255,1965,2272,206.6,7.7,195,3933,0.12,2.62,0.00,0.000,4356,0.212,0.099,3560,3663,2116,1960,2272,0,0,0,0,0,0,13.85,13.83,13.92
$GC,3965,0.50,201.9,3559,3664,1965,2272,203.2,7.7,201,3976,0.00,2.60,0.00,0.000,1030,0.000,0.083,3557,2236,2121,1972,2271,0,0,0,0,0,0,14.10,13.97,14.15
$GC,4312,0.52,201.9,3560,2236,1966,2273,181.8,6.1,212,4323,0.00,2.55,0.00,0.000,516,0.000,0.095,3567,841,2120,1964,2277,0,0,0,0,0,0,14.46,13.89,14.47
$GC,4498,0.54,201.9,3564,840,1962,2272,169.6,6.5,246,4509,0.00,2.58,0.00,0.000,1030,0.000,0.087,3568,2252,2118,1966,2271,0,0,0,0,0,0,14.12,13.96,14.16
$GC,4822,0.57,201.9,3568,2252,1967,2271,150.6,5.8,253,4834,0.00,2.65,0.00,0.000,260,0.000,0.099,3568,3665,2118,1965,2271,0,0,0,0,0,0,14.51,13.85,14.52
$GC,4859,0.60,201.9,3567,3665,1963,2271,148.3,5.8,258,4871,0.00,2.58,0.00,0.000,1030,0.000,0.081,3569,2253,2118,1965,2272,0,0,0,0,0,0,14.11,13.96,14.16
$GC,5213,0.63,252.9,3568,2254,1965,2271,130.8,5.0,270,5265,0.00,2.55,39.55,0.880,8708,0.000,0.095,3569,823,1909,1765,2053,0,0,0,0,0,0,14.45,14.17,13.57
$GC,5455,0.66,315.9,3569,824,1760,2053,119.4,4.4,316,5518,0.10,2.60,47.90,0.859,11270,0.119,0.086,3643,2264,1649,1504,1794,0,0,0,0,0,0,14.12,14.02,13.50
$GC,5840,0.66,315.9,3642,2264,1502,1790,85.7,9.2,335,5852,0.12,2.62,0.00,0.000,4612,0.218,0.090,3618,821,1647,1502,1792,0,0,0,0,0,0,13.84,13.94,13.94
$GC,5889,0.66,315.9,3622,822,1502,1796,81.4,8.3,342,5901,0.00,2.58,0.00,0.000,1030,0.000,0.084,3618,2246,1647,1502,1792,0,0,0,0,0,0,14.12,13.98,14.16
$GC,6227,0.66,315.9,3617,2245,1501,1793,54.2,8.0,352,6240,0.00,2.62,0.00,0.000,260,0.000,0.099,3617,3664,1645,1501,1789,0,0,0,0,0,0,14.47,13.86,14.47
$GC,6261,0.66,315.9,3617,3664,1501,1792,51.4,8.2,356,6272,0.00,2.58,0.00,0.000,1030,0.000,0.080,3621,2244,1646,1501,1791,0,0,0,0,0,0,14.15,14.00,14.16
$GC,6583,0.68,315.9,3621,2244,1501,1791,27.7,6.3,373,6595,0.00,2.55,0.00,0.000,516,0.000,0.095,3620,843,1646,1501,1791,0,0,0,0,0,0,14.51,13.92,14.52
$GC,6710,0.68,315.9,3621,842,1501,1791,15.7,10.1,395,6721,0.00,2.55,0.00,0.000,1030,0.000,0.086,3621,2250,1646,1501,1791,0,0,0,0,0,0,14.10,13.96,14.16
$STATE,6877,end climb,SURFACE_DEPTH_REACHED
$STATE,6877,begin surface coast
$FINISH,0.7,1.024739
$STATE,6913,end surface coast,CONTROL_FINISHED_OK
$STATE,6913,begin surface
$SM_CCo,6945,35.03,0.077,0,0,1309,400.33
$SM_GC,0.54,10.05,0.52,35.03,0.044,0.095,0.077,90,1962,1309,-10.25,0.62,400.33,0,0,0,0,0,0,14.12,14.00,14.12
$IRIDIUM_FIX,4729.30,-12516.60,060116,003336
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.11
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3646016
$24V_AH,12.56,204.743
$10V_AH,12.62,0.000
$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,25.775,78.875,328.300,35.025,0.000,0.000,0.000,402.075,0.000,0.000,6.678,782.285,4679.272,468.078,1269.521,552.909,0.000,1471.364,0.000,600.972,0.000,0.537,0.000
$DEVICE_MAMPS,365.670,100.980,1017.450,77.265,0.000,0.000,0.000,153.765,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6985.000,175.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.836,8.050,0.000,0.000
$MEM,286208
$DATA_FILE_SIZE,13428,403
$CAP_FILE_SIZE,87231,0
$CFSIZE,260034560,168595456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,42.82,1
$GPS,060116,053309,4751.381,-12511.901,9,1.7,20,16.5,0.8,181.3,8,5.3