version: 66.12
glider: 187
mission: 8
dive: 711
start: 1 6 116 23 13 37
data:
$ID,187
$MISSION,8
$DIVE,711
$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,18
$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
$GPS1,060116,225756,4750.6699,-12513.5547,34,1.3,34,16.5,0.7,218.7,6,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-76.8
$GPS2,060116,231307,4750.6304,-12513.6104,3,1.2,4,16.5,0.4,62.3,6,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.9,163858,-14.8,-7.333,-19.49,2243
$D_GRID,380
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,31,-0.39,-107.1,82,1957,1205,1412,0.0,0.0,0,115,0.00,0.00,-77.72,0.000,16390,0.000,0.000,82,1957,3378,3375,3381,0,0,0,0,0,0,14.47,12.55,14.38
$GC,123,-0.39,-107.1,82,1958,3376,3383,1.5,-2.2,2,149,14.52,2.60,0.00,0.000,2564,0.366,0.095,3260,548,3381,3377,3386,0,0,0,0,0,0,13.74,14.04,14.11
$GC,254,-0.39,-107.1,3260,546,3374,3398,34.1,-9.5,25,267,0.00,2.60,0.00,0.000,1030,0.000,0.086,3260,1965,3386,3379,3393,0,0,0,0,0,0,14.05,13.90,14.11
$GC,561,-0.39,-107.1,3260,1965,3372,3393,63.1,-9.6,34,572,0.00,2.67,0.00,0.000,260,0.000,0.101,3260,3388,3383,3373,3394,0,0,0,0,0,0,14.46,13.78,14.47
$GC,635,-0.39,-107.1,3260,3390,3372,3394,70.1,-9.3,46,646,0.00,2.60,0.00,0.000,1030,0.000,0.081,3260,1973,3383,3371,3395,0,0,0,0,0,0,14.02,13.88,14.07
$GC,1013,-0.39,-107.1,3260,1973,3370,3395,108.2,-10.5,63,1024,0.00,2.60,0.00,0.000,516,0.000,0.094,3260,556,3382,3371,3394,0,0,0,0,0,0,14.46,13.83,14.46
$GC,1051,-0.39,-107.1,3257,559,3371,3394,112.7,-10.6,68,1062,0.00,2.58,0.00,0.000,1030,0.000,0.083,3265,1974,3382,3371,3394,0,0,0,0,0,0,13.93,13.79,13.98
$GC,1403,-0.39,-107.1,3260,1974,3370,3394,142.0,-8.5,80,1414,0.00,2.62,0.00,0.000,516,0.000,0.094,3260,559,3382,3370,3395,0,0,0,0,0,0,14.43,13.84,14.45
$GC,1447,-0.39,-107.1,3260,559,3370,3395,145.9,-9.0,86,1458,0.00,2.58,0.00,0.000,1030,0.000,0.085,3260,1967,3382,3370,3395,0,0,0,0,0,0,13.93,13.78,13.98
$GC,1793,-0.39,-107.1,3260,1966,3370,3394,173.3,-7.9,97,1805,0.00,2.65,0.00,0.000,260,0.000,0.103,3261,3387,3382,3370,3395,0,0,0,0,0,0,14.42,13.84,14.42
$GC,1825,-0.39,-107.1,3258,3387,3370,3395,176.3,-8.3,101,1837,0.00,2.60,0.00,0.000,1030,0.000,0.080,3260,1959,3382,3370,3395,0,0,0,0,0,0,14.00,13.86,14.04
$GC,2185,-0.39,-107.1,3260,1955,3370,3395,203.2,-7.6,114,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1955,3382,3370,3395,0,0,0,0,0,0,14.40,14.41,14.44
$GC,2479,-0.39,-107.1,3260,1955,3370,3396,224.3,-6.9,119,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1955,3384,3370,3399,0,0,0,0,0,0,14.45,14.47,14.47
$GC,2780,-0.39,-107.1,3259,1955,3370,3395,244.2,-6.8,124,2791,0.00,2.70,0.00,0.000,260,0.000,0.099,3260,3386,3383,3370,3396,0,0,0,0,0,0,14.45,13.82,14.43
$GC,2827,-0.39,-107.1,3260,3388,3370,3395,247.9,-7.7,131,2838,0.00,2.60,0.00,0.000,1030,0.000,0.080,3260,1970,3382,3370,3395,0,0,0,0,0,0,13.99,13.80,14.04
$GC,3166,-0.39,-107.1,3260,1972,3369,3395,274.4,-7.9,141,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1970,3382,3369,3395,0,0,0,0,0,0,14.45,14.46,14.46
$GC,3465,-0.39,-107.1,3260,1975,3369,3395,291.9,-5.6,146,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1970,3382,3369,3395,0,0,0,0,0,0,14.45,14.47,14.47
$GC,3764,-0.39,-107.1,3265,1970,3373,3395,309.2,-5.8,151,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1970,3382,3369,3395,0,0,0,0,0,0,14.45,14.47,14.47
$GC,4066,-0.39,-107.1,3260,1970,3368,3395,327.5,-6.2,156,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1970,3381,3368,3395,0,0,0,0,0,0,14.45,14.47,14.47
$GC,4364,-0.39,-107.1,3260,1970,3367,3395,343.7,-5.4,161,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1970,3381,3368,3395,0,0,0,0,0,0,14.45,14.47,14.47
$GC,4666,-0.39,-107.1,3260,1969,3366,3395,360.8,-5.8,166,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1974,3380,3366,3395,0,0,0,0,0,0,14.43,14.45,14.45
$GC,4964,-0.39,-107.1,3260,1968,3365,3395,379.2,-6.1,171,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1972,3380,3365,3395,0,0,0,0,0,0,14.42,14.43,14.43
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5032,-0.16,0.0,3260,2265,3365,3395,383.2,-6.2,172,5127,0.28,0.00,87.03,1.177,10246,0.147,0.000,3348,2265,2940,2880,3000,0,0,0,0,0,0,13.66,14.01,13.35
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5136,0.39,107.1,3348,2265,2875,2999,386.0,0.0,173,5232,0.47,0.00,87.28,1.164,10246,0.104,0.000,3517,2265,2503,2377,2629,0,0,0,0,0,0,13.88,13.91,13.22
$GC,5513,0.42,176.4,3518,2266,2371,2628,375.2,4.2,180,5577,0.00,0.00,56.08,1.144,8198,0.000,0.000,3518,2265,2219,2068,2371,0,0,0,0,0,0,14.44,14.02,13.33
$GC,5866,0.46,240.1,3518,2265,2067,2369,358.8,4.4,186,5928,0.00,2.67,50.33,1.137,8708,0.000,0.098,3517,842,1964,1823,2105,0,0,0,0,0,0,14.47,14.07,13.37
$GC,6005,0.48,295.0,3518,841,1817,2104,352.7,4.8,211,6062,0.00,2.55,44.08,1.125,9222,0.000,0.086,3518,2247,1736,1590,1882,0,0,0,0,0,0,14.14,14.00,13.32
$GC,6361,0.50,295.0,3518,2247,1588,1877,330.9,6.4,227,6372,0.08,2.60,0.00,0.000,2564,0.157,0.093,3587,830,1733,1587,1880,0,0,0,0,0,0,14.16,13.98,14.16
$GC,6518,0.50,295.0,3586,834,1588,1880,317.6,8.9,255,6529,0.15,2.58,0.00,0.000,5126,0.188,0.090,3548,2253,1734,1588,1880,0,0,0,0,0,0,13.91,14.01,14.09
$GC,6871,0.51,295.0,3548,2253,1587,1880,293.1,6.8,268,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2253,1734,1589,1880,0,0,0,0,0,0,14.47,14.51,14.51
$GC,7171,0.51,295.0,3548,2253,1586,1880,271.8,7.3,273,7182,0.00,2.62,0.00,0.000,516,0.000,0.098,3554,841,1733,1586,1880,0,0,0,0,0,0,14.51,13.92,14.52
$GC,7222,0.51,295.0,3553,840,1586,1880,267.8,8.1,281,7233,0.00,2.58,0.00,0.000,1030,0.000,0.088,3554,2263,1733,1586,1880,0,0,0,0,0,0,14.14,14.01,14.20
$GC,7556,0.51,295.0,3550,2263,1587,1880,243.0,7.2,290,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2263,1732,1585,1880,0,0,0,0,0,0,14.49,14.52,14.50
$GC,7855,0.51,295.0,3552,2263,1586,1880,219.4,8.0,295,7866,0.00,2.65,0.00,0.000,516,0.000,0.097,3554,840,1732,1584,1880,0,0,0,0,0,0,14.49,13.89,14.50
$GC,7898,0.51,295.0,3553,840,1585,1880,216.1,7.1,301,7909,0.00,2.58,0.00,0.000,1030,0.000,0.087,3553,2246,1732,1585,1880,0,0,0,0,0,0,14.12,13.97,14.16
$GC,8245,0.52,295.0,3553,2246,1585,1880,192.8,6.8,312,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2246,1732,1584,1880,0,0,0,0,0,0,14.47,14.49,14.48
$GC,8541,0.55,295.0,3553,2246,1579,1880,174.8,5.9,317,8552,0.00,2.62,0.00,0.000,516,0.000,0.096,3554,837,1732,1584,1880,0,0,0,0,0,0,14.50,13.89,14.52
$GC,8605,0.55,295.0,3553,837,1584,1880,170.6,7.2,327,8616,0.00,2.58,0.00,0.000,1030,0.000,0.087,3554,2250,1732,1584,1880,0,0,0,0,0,0,14.11,13.95,14.15
$GC,8928,0.56,295.0,3553,2246,1584,1880,148.8,6.8,334,8940,0.00,2.60,0.00,0.000,516,0.000,0.096,3557,841,1730,1581,1880,0,0,0,0,0,0,14.47,13.87,14.48
$GC,8977,0.58,295.0,3554,841,1584,1880,145.7,6.6,341,8988,0.00,2.58,0.00,0.000,1030,0.000,0.086,3553,2265,1732,1584,1880,0,0,0,0,0,0,14.09,13.95,14.15
$GC,9319,0.61,352.9,3554,2263,1584,1880,128.3,4.7,351,9378,0.12,2.62,43.50,0.872,10756,0.118,0.096,3639,841,1498,1353,1644,0,0,0,0,0,0,14.09,14.11,13.57
$GC,9473,0.61,352.9,3639,841,1354,1643,114.2,9.3,379,9484,0.17,2.55,0.00,0.000,5126,0.181,0.087,3592,2242,1498,1353,1643,0,0,0,0,0,0,13.91,14.00,14.11
$GC,9831,0.61,352.9,3592,2244,1354,1644,89.3,7.0,392,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2245,1498,1354,1643,0,0,0,0,0,0,14.49,14.51,14.51
$GC,10126,0.61,352.9,3592,2245,1354,1643,68.2,7.1,397,10137,0.00,2.60,0.00,0.000,516,0.000,0.096,3594,839,1498,1354,1643,0,0,0,0,0,0,14.47,13.93,14.47
$GC,10172,0.61,352.9,3594,839,1353,1643,64.7,8.2,404,10183,0.00,2.55,0.00,0.000,1030,0.000,0.085,3595,2253,1498,1354,1643,0,0,0,0,0,0,14.13,13.99,14.16
$GC,10515,0.61,352.9,3593,2252,1354,1643,40.1,7.4,416,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2252,1498,1354,1643,0,0,0,0,0,0,14.48,14.50,14.49
$GC,10814,0.61,352.9,3594,2255,1354,1643,18.9,7.1,426,10825,0.00,2.62,0.00,0.000,516,0.000,0.096,3595,821,1499,1353,1645,0,0,0,0,0,0,14.42,13.83,14.46
$GC,10878,0.62,352.9,3594,821,1353,1643,14.2,6.8,436,10889,0.00,2.60,0.00,0.000,1030,0.000,0.084,3595,2252,1496,1354,1639,0,0,0,0,0,0,14.11,13.96,14.14
$STATE,11045,end climb,SURFACE_DEPTH_REACHED
$STATE,11045,begin surface coast
$FINISH,-0.4,1.020233
$STATE,11111,end surface coast,CONTROL_FINISHED_OK
$STATE,11111,begin surface
$SM_CCo,11144,19.90,0.077,0,0,1309,400.08
$SM_GC,1.02,9.93,0.55,19.90,0.041,0.096,0.077,87,1959,1309,-10.25,0.42,400.08,0,0,0,0,0,0,14.10,13.93,14.08
$IRIDIUM_FIX,4732.49,-12505.04,060116,230358
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.78
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3642944
$24V_AH,12.55,206.153
$10V_AH,12.70,0.000
$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,25.725,79.275,368.275,19.900,0.000,0.000,0.000,485.325,0.000,0.000,6.310,978.691,8377.655,518.931,1541.320,653.569,0.000,1755.393,0.000,676.059,0.000,0.538,0.000
$DEVICE_MAMPS,366.435,106.335,1177.335,77.265,0.000,0.000,0.000,155.295,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11177.000,275.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.993,8.134,0.000,0.000
$MEM,286232
$DATA_FILE_SIZE,16774,445
$CAP_FILE_SIZE,108913,0
$CFSIZE,260034560,167981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,92.56,1
$GPS,070116,022101,4750.194,-12514.647,21,1.3,21,16.5,1.4,204.3,7,7.7