version: 66.12
glider: 187
mission: 8
dive: 707
start: 1 6 116 12 58 49
data:
$ID,187
$MISSION,8
$DIVE,707
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,060116,124302,4751.1611,-12512.5723,96,0.9,96,16.5,0.9,10.0,9,4.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-73.2
$GPS2,060116,125819,4751.3389,-12512.5977,2,0.9,3,16.5,0.3,219.4,9,7.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,173.5,165658,-14.8,-7.333,-19.49,2243
$D_GRID,280
$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,25,begin dive
$GC,30,-0.39,-107.1,70,1990,1202,1419,0.0,0.0,0,115,0.00,0.00,-77.88,0.000,16390,0.000,0.000,70,1985,3381,3380,3382,0,0,0,0,0,0,14.47,12.56,14.38
$GC,123,-0.39,-107.1,70,1985,3380,3383,1.3,-1.8,2,149,14.25,2.62,0.00,0.000,2564,0.353,0.089,3264,555,3382,3381,3383,0,0,0,0,0,0,13.75,14.08,14.10
$GC,200,-0.39,-107.1,3263,555,3375,3393,32.0,-10.7,15,211,0.00,2.58,0.00,0.000,1030,0.000,0.084,3264,1968,3385,3376,3394,0,0,0,0,0,0,14.12,13.97,14.16
$GC,542,-0.39,-107.1,3264,1969,3371,3390,63.3,-10.2,28,553,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1969,3385,3375,3395,0,0,0,0,0,0,14.43,14.45,14.45
$GC,839,-0.39,-107.1,3264,1969,3375,3395,92.4,-9.7,33,849,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1969,3385,3375,3395,0,0,0,0,0,0,14.48,14.47,14.47
$GC,1138,-0.39,-107.1,3263,1969,3375,3395,121.8,-9.6,38,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1969,3385,3375,3395,0,0,0,0,0,0,14.45,14.47,14.46
$GC,1437,-0.39,-107.1,3263,1969,3375,3395,147.8,-8.7,43,1449,0.00,2.67,0.00,0.000,260,0.000,0.102,3263,3389,3385,3375,3395,0,0,0,0,0,0,14.47,13.84,14.48
$GC,1515,-0.39,-107.1,3267,3389,3374,3395,153.1,-6.4,56,1526,0.00,2.60,0.00,0.000,1030,0.000,0.080,3264,1961,3384,3374,3395,0,0,0,0,0,0,14.03,13.90,14.07
$GC,1888,-0.39,-107.1,3263,1960,3374,3395,181.5,-8.1,72,1899,0.00,2.70,0.00,0.000,260,0.000,0.096,3262,3389,3385,3375,3396,0,0,0,0,0,0,14.49,13.82,14.48
$GC,1956,-0.39,-107.1,3264,3388,3375,3396,187.2,-7.6,83,1968,0.00,2.60,0.00,0.000,1030,0.000,0.080,3264,1974,3384,3374,3395,0,0,0,0,0,0,13.92,13.78,13.96
$GC,2261,-0.39,-107.1,3263,1975,3374,3396,209.2,-7.1,89,2273,0.00,2.62,0.00,0.000,516,0.000,0.093,3264,545,3387,3378,3396,0,0,0,0,0,0,14.47,13.80,14.49
$GC,2305,-0.39,-107.1,3263,545,3374,3393,212.4,-7.8,95,2316,0.00,2.60,0.00,0.000,1030,0.000,0.081,3264,1971,3384,3374,3395,0,0,0,0,0,0,14.00,13.84,14.03
$GC,2648,-0.39,-107.1,3263,1971,3373,3396,233.9,-6.1,106,2659,0.00,2.65,0.00,0.000,260,0.000,0.099,3264,3386,3384,3373,3396,0,0,0,0,0,0,14.46,13.81,14.47
$GC,2681,-0.39,-107.1,3263,3389,3373,3396,235.6,-5.2,110,2693,0.00,2.60,0.00,0.000,1030,0.000,0.079,3264,1961,3384,3374,3395,0,0,0,0,0,0,13.99,13.86,14.03
$GC,3038,-0.39,-107.1,3263,1962,3374,3402,255.5,-5.8,123,3049,0.00,2.58,0.00,0.000,516,0.000,0.093,3264,563,3384,3372,3396,0,0,0,0,0,0,14.40,13.83,14.41
$GC,3065,-0.39,-107.1,3263,563,3373,3396,257.5,-6.0,126,3077,0.00,2.58,0.00,0.000,1030,0.000,0.082,3264,1970,3382,3373,3392,0,0,0,0,0,0,13.98,13.86,14.03
$GC,3428,-0.39,-107.1,3264,1970,3371,3396,277.8,-5.6,140,3439,0.00,2.67,0.00,0.000,260,0.000,0.100,3264,3392,3385,3375,3395,0,0,0,0,0,0,14.44,13.83,14.43
$STATE,3455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3455,begin apogee
$GC,3468,-0.16,0.0,3262,2252,3371,3397,280.1,-6.0,144,3563,0.25,0.00,86.30,1.043,10246,0.149,0.000,3340,2249,2940,2879,3002,0,0,0,0,0,0,13.68,14.06,13.43
$STATE,3565,end apogee,CONTROL_FINISHED_OK
$STATE,3565,begin climb
$GC,3572,0.39,107.1,3344,2249,2874,3000,282.2,0.0,145,3666,0.47,0.00,85.03,1.038,10246,0.104,0.000,3515,2249,2500,2375,2625,0,0,0,0,0,0,13.93,13.92,13.28
$GC,3947,0.42,176.7,3515,2249,2370,2628,270.7,4.1,152,4013,0.00,2.55,54.53,1.021,8708,0.000,0.090,3515,841,2216,2063,2369,0,0,0,0,0,0,14.43,13.88,13.40
$GC,4062,0.46,251.3,3515,841,2063,2367,266.0,3.9,173,4132,0.00,2.55,57.75,1.019,9222,0.000,0.086,3515,2252,1915,1773,2058,0,0,0,0,0,0,14.14,14.01,13.34
$GC,4448,0.48,251.3,3515,2253,1766,2055,243.3,6.5,193,4460,0.08,2.65,0.00,0.000,2308,0.154,0.099,3582,3665,1913,1772,2055,0,0,0,0,0,0,14.15,13.95,14.16
$GC,4548,0.48,251.3,3582,3665,1771,2055,234.4,9.8,210,4559,0.00,2.60,0.00,0.000,1030,0.000,0.083,3582,2238,1913,1771,2055,0,0,0,0,0,0,14.14,14.00,14.18
$GC,4901,0.48,251.3,3580,2237,1771,2055,206.0,8.1,222,4913,0.08,2.55,0.00,0.000,4612,0.239,0.092,3556,843,1913,1771,2055,0,0,0,0,0,0,13.95,13.93,14.01
$GC,5012,0.48,251.3,3560,843,1772,2055,197.5,7.3,241,5023,0.00,2.55,0.00,0.000,1030,0.000,0.085,3558,2251,1913,1772,2055,0,0,0,0,0,0,14.13,13.99,14.18
$GC,5356,0.49,251.3,3556,2250,1771,2056,174.7,6.7,251,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2250,1910,1771,2050,0,0,0,0,0,0,14.47,14.50,14.50
$GC,5650,0.52,251.3,3555,2251,1770,2055,156.4,5.9,256,5661,0.00,2.65,0.00,0.000,260,0.000,0.100,3556,3665,1912,1770,2055,0,0,0,0,0,0,14.50,13.84,14.52
$GC,5708,0.54,251.3,3556,3665,1769,2054,152.8,6.5,265,5721,0.00,2.55,0.00,0.000,1030,0.000,0.083,3556,2257,1911,1769,2054,0,0,0,0,0,0,14.02,13.93,14.06
$GC,6038,0.56,300.6,3556,2258,1769,2054,135.7,5.1,273,6089,0.00,2.55,37.70,0.884,8708,0.000,0.096,3556,840,1711,1562,1860,0,0,0,0,0,0,14.48,14.17,13.58
$GC,6159,0.56,300.6,3555,839,1562,1858,127.6,7.5,295,6170,0.00,2.55,0.00,0.000,1030,0.000,0.086,3557,2261,1710,1562,1858,0,0,0,0,0,0,14.19,14.07,14.23
$GC,6482,0.59,356.2,3556,2260,1562,1854,111.2,4.8,302,6532,0.00,0.00,42.30,0.845,8198,0.000,0.000,3556,2261,1486,1340,1633,0,0,0,0,0,0,14.50,14.15,13.56
$GC,6785,0.63,356.2,3556,2261,1339,1629,94.9,5.3,307,6797,0.10,2.65,0.00,0.000,2564,0.142,0.093,3635,822,1483,1338,1628,0,0,0,0,0,0,14.17,13.95,14.19
$GC,6872,0.63,356.2,3635,821,1339,1628,87.9,9.2,321,6883,0.15,2.60,0.00,0.000,5126,0.187,0.085,3597,2257,1484,1339,1629,0,0,0,0,0,0,13.90,14.03,14.09
$GC,7235,0.63,356.2,3597,2256,1339,1628,60.7,7.1,336,7246,0.00,2.62,0.00,0.000,260,0.000,0.099,3597,3666,1481,1338,1625,0,0,0,0,0,0,14.52,13.87,14.53
$GC,7271,0.63,356.2,3597,3670,1339,1627,57.7,8.3,341,7282,0.00,2.58,0.00,0.000,1030,0.000,0.082,3597,2247,1484,1339,1629,0,0,0,0,0,0,14.15,14.02,14.20
$GC,7589,0.63,356.2,3593,2246,1339,1628,31.9,8.9,356,7600,0.00,2.58,0.00,0.000,516,0.000,0.096,3597,840,1483,1338,1629,0,0,0,0,0,0,14.50,13.92,14.51
$GC,7713,0.63,356.2,3597,840,1340,1626,19.3,10.6,378,7725,0.00,2.55,0.00,0.000,1030,0.000,0.084,3597,2247,1484,1339,1629,0,0,0,0,0,0,14.12,13.98,14.15
$STATE,7881,end climb,SURFACE_DEPTH_REACHED
$STATE,7881,begin surface coast
$FINISH,2.1,1.024802
$STATE,7918,end surface coast,CONTROL_FINISHED_OK
$STATE,7918,begin surface
$SM_CCo,7950,18.12,0.076,0,0,1309,400.08
$SM_GC,1.09,9.93,0.52,18.12,0.042,0.096,0.076,85,1962,1309,-10.27,0.68,400.08,0,0,0,0,0,0,14.07,14.00,14.11
$IRIDIUM_FIX,4732.49,-12513.98,060116,124856
$TT8_MAMPS,0.02247,0.02247
$HUMID,51.10
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3644480
$24V_AH,12.56,205.429
$10V_AH,12.72,0.000
$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,25.300,78.075,363.600,18.125,0.000,0.000,0.000,494.875,0.000,0.000,4.899,813.279,5629.421,503.495,1356.885,579.257,0.000,1601.533,0.000,582.221,0.000,0.538,0.000
$DEVICE_MAMPS,352.665,101.745,1042.695,75.735,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7984.000,195.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.580,7.905,0.000,0.000
$MEM,286256
$DATA_FILE_SIZE,13469,386
$CAP_FILE_SIZE,90545,0
$CFSIZE,260034560,168304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,57.00,1
$GPS,060116,151259,4750.967,-12512.232,21,1.6,23,16.5,0.9,98.5,5,8.6