version: 66.12
glider: 187
mission: 8
dive: 7
start: 6 17 115 0 35 46
data:
$ID,187
$MISSION,8
$DIVE,7
$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,21
$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
$GPS1,170615,002409,4744.1704,-12507.3252,27,0.9,33,16.5,1.2,149.5,12,6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.9
$GPS2,170615,003512,4744.0596,-12507.2432,3,1.3,6,16.5,0.6,172.9,6,9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,239.5,164138,-16.9,-10.000,-20.75,2244
$D_GRID,315
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.57,-146.6,90,1877,979,1174,0.0,0.0,0,110,0.00,0.00,-75.57,0.000,16386,0.000,0.000,90,1881,3084,3055,3114,0,0,0,0,0,0,14.64,28.83,14.66
$GC,117,-0.57,-146.6,89,1877,3055,3115,3.4,-4.6,8,146,14.23,2.90,-3.42,0.000,18692,0.398,2.234,3259,3315,3302,3266,3338,0,0,0,0,0,0,14.26,13.59,14.42
$GC,259,-0.52,-146.6,3255,3314,3266,3341,36.7,-13.1,33,271,0.00,2.53,0.00,0.000,1030,0.000,0.103,3259,1905,3303,3266,3341,0,0,0,0,0,0,14.52,14.41,14.54
$GC,453,-0.45,-146.6,3258,1905,3266,3342,60.9,-11.3,52,465,0.12,0.00,0.00,0.000,2054,0.247,0.000,3300,1906,3307,3266,3348,0,0,0,0,0,0,14.40,14.54,14.50
$GC,647,-0.53,-146.6,3299,1904,3266,3343,77.1,-7.7,71,658,0.00,2.55,0.00,0.000,260,0.000,0.115,3299,3315,3304,3266,3343,0,0,0,0,0,0,14.72,14.50,14.73
$GC,814,-0.65,-146.6,3299,3315,3266,3343,90.8,-8.7,101,825,0.15,2.53,0.00,0.000,5126,0.109,0.101,3226,1891,3304,3266,3343,0,0,0,0,0,0,14.58,14.54,14.64
$GC,1017,-0.54,-146.6,3226,1891,3266,3344,115.2,-10.7,121,1028,0.15,0.00,0.00,0.000,2054,0.245,0.000,3273,1890,3305,3267,3343,0,0,0,0,0,0,14.47,14.62,14.58
$GC,1211,-0.60,-146.6,3273,1891,3266,3349,131.8,-8.0,140,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1888,3302,3266,3339,0,0,0,0,0,0,14.78,14.79,14.79
$GC,1403,-0.66,-146.6,3273,1890,3264,3343,146.7,-8.0,159,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1890,3302,3266,3339,0,0,0,0,0,0,14.78,14.81,14.80
$GC,1597,-0.73,-146.6,3273,1890,3266,3343,163.9,-9.3,178,1608,0.12,0.00,0.00,0.000,4102,0.128,0.000,3205,1890,3304,3266,3343,0,0,0,0,0,0,14.62,14.68,14.65
$GC,1790,-0.61,-146.6,3204,1890,3266,3343,187.8,-11.9,197,1801,0.17,0.00,0.00,0.000,2054,0.249,0.000,3251,1890,3304,3266,3343,0,0,0,0,0,0,14.51,14.66,14.62
$GC,1983,-0.61,-146.6,3251,1890,3265,3343,205.8,-8.9,216,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3304,3265,3343,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2175,-0.61,-146.6,3251,1890,3264,3343,222.4,-8.6,235,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3304,3265,3343,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2369,-0.61,-146.6,3251,1890,3265,3343,239.0,-8.6,254,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1890,3303,3264,3343,0,0,0,0,0,0,14.81,14.83,14.81
$GC,2561,-0.61,-146.6,3251,1890,3264,3342,255.8,-9.0,269,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3303,3264,3343,0,0,0,0,0,0,14.83,14.84,14.84
$GC,2865,-0.61,-146.6,3256,1889,3259,3343,283.3,-9.5,279,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1890,3303,3264,3343,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3165,-0.61,-146.6,3251,1890,3263,3342,309.5,-8.6,289,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1889,3302,3263,3342,0,0,0,0,0,0,14.83,14.85,14.85
$STATE,3246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3246,begin apogee
$GC,3257,-0.19,0.0,3251,2102,3262,3343,317.1,-8.4,292,3378,0.45,0.00,111.93,1.065,10246,0.194,0.000,3392,2102,2699,2611,2788,0,0,0,0,0,0,14.57,14.16,13.71
$STATE,3380,end apogee,CONTROL_FINISHED_OK
$STATE,3380,begin climb
$GC,3385,0.57,146.6,3390,2102,2601,2782,320.7,0.0,296,3511,0.77,2.65,111.75,1.037,10500,0.133,0.110,3637,3507,2093,1944,2242,0,0,0,0,0,0,14.13,13.87,13.54
$GC,3650,0.39,146.6,3637,3506,1943,2238,289.4,15.8,330,3661,0.20,2.60,0.00,0.000,5126,0.243,0.106,3584,2094,2090,1943,2237,0,0,0,0,0,0,14.15,14.22,14.30
$GC,3992,0.39,146.6,3584,2094,1951,2239,251.3,11.1,346,4004,0.00,2.60,0.00,0.000,260,0.000,0.114,3585,3511,2091,1944,2239,0,0,0,0,0,0,14.65,14.42,14.66
$GC,4189,0.39,146.6,3584,3514,1943,2239,227.7,11.3,382,4200,0.00,2.55,0.00,0.000,1030,0.000,0.106,3584,2089,2091,1944,2239,0,0,0,0,0,0,14.57,14.48,14.60
$GC,4392,0.42,184.1,3584,2091,1944,2239,209.3,8.3,402,4439,0.00,2.67,36.65,0.881,8452,0.000,0.115,3584,3508,1943,1799,2087,0,0,0,0,0,0,14.73,14.35,14.04
$GC,4569,0.42,184.1,3584,3508,1797,2078,191.0,11.5,434,4580,0.00,2.55,0.00,0.000,1030,0.000,0.107,3584,2097,1937,1796,2078,0,0,0,0,0,0,14.52,14.42,14.54
$GC,4771,0.42,184.1,3584,2097,1797,2078,169.6,10.1,454,4782,0.00,2.60,0.00,0.000,260,0.000,0.116,3584,3518,1939,1797,2081,0,0,0,0,0,0,14.69,14.47,14.70
$GC,4902,0.42,184.1,3584,3517,1797,2078,153.4,12.1,477,4913,0.00,2.55,0.00,0.000,1030,0.000,0.104,3585,2090,1937,1797,2077,0,0,0,0,0,0,14.59,14.49,14.62
$GC,5096,0.46,184.1,3584,2090,1797,2078,132.2,10.6,496,5107,0.00,2.58,0.00,0.000,260,0.000,0.113,3585,3508,1937,1797,2078,0,0,0,0,0,0,14.73,14.51,14.75
$GC,5212,0.49,184.1,3584,3508,1797,2080,118.7,11.1,516,5223,0.00,2.53,0.00,0.000,1030,0.000,0.106,3584,2106,1935,1793,2077,0,0,0,0,0,0,14.62,14.54,14.65
$GC,5415,0.54,190.9,3584,2104,1797,2078,99.1,9.7,536,5433,0.12,2.58,1.95,0.086,10500,0.150,0.112,3646,3498,1920,1780,2060,0,0,0,0,0,0,14.59,14.54,14.51
$GC,5507,0.39,190.9,3646,3497,1798,2063,86.2,15.9,551,5522,0.22,2.53,1.15,0.094,13318,0.232,0.106,3594,2087,1920,1782,2059,0,0,0,0,0,0,14.48,14.54,14.54
$GC,5704,0.49,235.0,3588,2087,1804,2066,66.6,8.0,570,5755,0.00,2.62,38.78,0.804,8452,0.000,0.111,3589,3518,1730,1582,1879,0,0,0,0,0,0,14.77,14.39,14.10
$GC,5872,0.63,258.8,3588,3517,1575,1876,53.0,8.9,600,5904,0.20,2.55,18.30,0.794,11270,0.105,0.103,3671,2104,1634,1482,1786,0,0,0,0,0,0,14.50,14.45,14.07
$GC,6096,0.55,258.8,3671,2104,1477,1782,23.2,13.1,624,6108,0.12,2.55,0.00,0.000,4612,0.252,0.117,3639,680,1629,1477,1782,0,0,0,0,0,0,14.39,14.42,14.48
$GC,6299,0.62,301.9,3638,680,1477,1782,5.6,8.0,660,6321,0.00,2.53,11.05,0.098,9218,0.000,0.103,3639,2102,1525,1376,1674,0,0,0,0,0,0,14.58,14.49,14.61
$STATE,6322,end climb,SURFACE_DEPTH_REACHED
$STATE,6322,begin surface coast
$FINISH,0.1,1.024105
$STATE,6375,end surface coast,CONTROL_FINISHED_OK
$STATE,6375,begin surface
$SM_CCo,6406,48.95,0.086,0,0,1068,400.08
$SM_GC,1.21,9.98,0.40,48.95,0.062,0.120,0.086,95,1882,1068,-10.45,0.34,400.08,0,0,0,0,0,0,14.52,14.53,14.50
$IRIDIUM_FIX,4726.11,-12501.36,170615,002813
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.47
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3935360
$24V_AH,13.54,2.784
$10V_AH,13.34,0.000
$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,27.025,52.525,331.550,48.950,0.000,0.000,0.000,346.750,0.000,0.000,8.195,1507.090,2987.710,514.431,1562.827,550.448,0.000,1599.737,0.000,1056.824,0.000,0.535,0.000
$DEVICE_MAMPS,397.800,2233.800,1064.880,86.445,0.000,0.000,0.000,139.995,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6384.000,172.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.334,6.900,0.000,0.000
$MEM,286388
$DATA_FILE_SIZE,23358,673
$CAP_FILE_SIZE,117008,0
$CFSIZE,260034560,255746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,124.21,1
$GPS,170615,022423,4743.692,-12508.140,3,1.7,6,16.5,0.4,170.6,5,10.0