version: 66.12
glider: 187
mission: 8
dive: 95
start: 7 6 115 0 40 13
data:
$ID,187
$MISSION,8
$DIVE,95
$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,510
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$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,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,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,21
$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
$GPS1,060715,003127,4750.6245,-12511.9033,46,1.1,53,16.5,0.6,140.6,9,7.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-77.5
$GPS2,060715,003940,4750.5347,-12511.8945,3,1.1,5,16.5,0.7,161.4,9,7.3
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,235.2,165539,-14.8,-7.333,-19.49,2243
$D_GRID,312
$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,-0.39,-107.1,85,1886,1411,1618,0.0,0.0,0,91,0.00,0.00,-56.17,0.000,16386,0.000,0.000,86,1886,3010,2980,3041,0,0,0,0,0,0,14.65,28.83,14.65
$GC,98,-0.39,-107.1,86,1886,2981,3043,3.2,-4.5,6,130,13.50,2.83,-5.93,0.000,18692,0.366,2.222,3252,3298,3381,3353,3410,0,0,0,0,0,0,14.25,13.57,14.49
$GC,205,-0.39,-107.1,3257,3297,3356,3411,32.0,-16.4,24,216,0.00,2.50,0.00,0.000,1030,0.000,0.099,3251,1902,3383,3355,3412,0,0,0,0,0,0,14.49,14.40,14.50
$GC,407,-0.39,-107.1,3254,1902,3355,3413,64.6,-16.8,44,418,0.00,2.55,0.00,0.000,260,0.000,0.106,3251,3319,3384,3356,3413,0,0,0,0,0,0,14.66,14.44,14.66
$GC,459,-0.39,-107.1,3250,3318,3356,3413,71.9,-13.7,52,470,0.00,2.53,0.00,0.000,1030,0.000,0.096,3250,1895,3384,3356,3413,0,0,0,0,0,0,14.58,14.47,14.57
$GC,661,-0.39,-107.1,3250,1894,3356,3414,97.4,-12.5,72,672,0.00,2.50,0.00,0.000,516,0.000,0.111,3250,478,3385,3356,3414,0,0,0,0,0,0,14.69,14.47,14.71
$GC,697,-0.39,-107.1,3250,478,3356,3414,102.6,-14.2,77,710,0.00,2.47,0.00,0.000,1030,0.000,0.090,3250,1896,3384,3354,3414,0,0,0,0,0,0,14.59,14.50,14.61
$GC,891,-0.39,-107.1,3250,1896,3356,3415,127.2,-12.2,96,902,0.00,2.53,0.00,0.000,260,0.000,0.102,3250,3320,3385,3356,3415,0,0,0,0,0,0,14.72,14.51,14.73
$GC,963,-0.39,-107.1,3250,3320,3357,3414,135.7,-11.9,108,975,0.00,2.50,0.00,0.000,1030,0.000,0.096,3250,1904,3386,3357,3415,0,0,0,0,0,0,14.61,14.52,14.63
$GC,1165,-0.39,-107.1,3250,1903,3357,3415,158.9,-10.8,128,1177,0.00,2.50,0.00,0.000,516,0.000,0.109,3251,487,3385,3356,3414,0,0,0,0,0,0,14.74,14.52,14.76
$GC,1231,-0.39,-107.1,3250,491,3357,3415,166.3,-11.4,139,1243,0.00,2.47,0.00,0.000,1030,0.000,0.091,3250,1913,3386,3357,3415,0,0,0,0,0,0,14.63,14.56,14.65
$GC,1425,-0.39,-107.1,3250,1913,3357,3415,186.1,-9.8,158,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1913,3386,3357,3415,0,0,0,0,0,0,14.76,14.77,14.77
$GC,1617,-0.39,-107.1,3250,1912,3357,3414,204.1,-9.1,177,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1913,3386,3357,3415,0,0,0,0,0,0,14.76,14.78,14.78
$GC,1809,-0.39,-107.1,3250,1913,3357,3415,222.2,-9.6,196,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1913,3385,3357,3414,0,0,0,0,0,0,14.77,14.80,14.79
$GC,2001,-0.39,-107.1,3250,1914,3362,3414,240.7,-9.8,215,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1913,3385,3356,3414,0,0,0,0,0,0,14.78,14.78,14.79
$GC,2198,-0.39,-107.1,3250,1913,3355,3420,260.1,-10.1,228,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1913,3384,3355,3414,0,0,0,0,0,0,14.77,14.81,14.80
$GC,2498,-0.39,-107.1,3250,1912,3354,3414,291.0,-10.4,238,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1913,3383,3353,3414,0,0,0,0,0,0,14.80,14.81,14.81
$STATE,2698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2698,begin apogee
$GC,2710,-0.16,0.0,3250,2252,3347,3414,314.8,-11.6,245,2797,0.32,0.00,78.95,1.086,10246,0.190,0.000,3344,2252,2939,2876,3003,0,0,0,0,0,0,14.55,14.26,13.80
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2805,0.39,107.1,3344,2252,2870,3001,319.2,0.0,248,2892,0.52,0.00,78.15,1.056,10758,0.127,0.000,3520,2252,2502,2384,2620,0,0,0,0,0,0,14.22,14.04,13.62
$GC,3184,0.41,152.1,3519,2252,2380,2619,302.3,5.3,266,3226,0.00,0.00,33.95,1.049,8198,0.000,0.000,3521,2252,2319,2185,2453,0,0,0,0,0,0,14.56,14.25,13.81
$GC,3518,0.45,217.9,3518,2252,2183,2451,286.9,4.3,277,3575,0.00,0.00,48.95,1.027,8198,0.000,0.000,3520,2252,2049,1907,2192,0,0,0,0,0,0,14.60,14.23,13.80
$GC,3874,0.47,270.7,3520,2252,1907,2192,271.1,4.9,289,3927,0.00,2.67,39.42,1.019,8708,0.000,0.113,3520,831,1834,1693,1976,0,0,0,0,0,0,14.60,14.23,13.83
$GC,3966,0.50,270.7,3520,831,1693,1975,266.4,6.0,305,3979,0.08,2.55,0.00,0.000,3078,0.149,0.096,3585,2257,1834,1693,1975,0,0,0,0,0,0,14.31,14.28,14.36
$GC,4290,0.50,270.7,3584,2257,1693,1975,232.2,10.2,327,4301,0.00,2.55,0.00,0.000,260,0.000,0.111,3586,3662,1834,1693,1976,0,0,0,0,0,0,14.63,14.42,14.64
$GC,4352,0.50,270.7,3585,3662,1692,1974,225.0,12.0,337,4364,0.10,2.55,0.00,0.000,5126,0.221,0.099,3556,2251,1832,1692,1973,0,0,0,0,0,0,14.40,14.43,14.52
$GC,4555,0.50,270.7,3556,2251,1691,1974,206.5,9.5,357,4567,0.00,2.53,0.00,0.000,516,0.000,0.112,3556,838,1832,1691,1973,0,0,0,0,0,0,14.69,14.47,14.70
$GC,4613,0.50,270.7,3555,838,1691,1974,200.4,10.9,366,4627,0.00,2.47,0.00,0.000,1030,0.000,0.096,3556,2242,1832,1691,1974,0,0,0,0,0,0,14.57,14.48,14.59
$GC,4808,0.50,270.7,3556,2244,1691,1974,179.5,9.9,385,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2244,1832,1691,1974,0,0,0,0,0,0,14.71,14.72,14.72
$GC,5001,0.50,270.7,3555,2243,1690,1974,163.2,8.0,404,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2244,1831,1691,1971,0,0,0,0,0,0,14.72,14.74,14.74
$GC,5193,0.51,270.7,3555,2244,1690,1974,148.5,6.7,423,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2244,1832,1690,1974,0,0,0,0,0,0,14.73,14.76,14.75
$GC,5386,0.51,270.7,3555,2244,1690,1974,132.5,9.9,442,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2244,1831,1688,1974,0,0,0,0,0,0,14.74,14.76,14.76
$GC,5578,0.52,270.7,3555,2240,1690,1974,118.0,6.8,461,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2249,1831,1689,1974,0,0,0,0,0,0,14.76,14.76,14.77
$GC,5771,0.55,325.5,3555,2244,1690,1974,106.4,4.8,480,5820,0.00,0.00,39.72,0.849,8198,0.000,0.000,3556,2247,1610,1467,1754,0,0,0,0,0,0,14.75,14.45,14.04
$GC,6001,0.59,408.9,3556,2244,1466,1752,88.6,3.5,503,6073,0.00,2.65,60.62,0.812,8708,0.000,0.113,3556,822,1271,1129,1413,0,0,0,0,0,0,14.65,14.20,13.90
$GC,6104,0.63,408.9,3552,821,1129,1408,83.7,5.6,519,6115,0.10,2.55,0.00,0.000,3078,0.122,0.093,3632,2260,1269,1129,1409,0,0,0,0,0,0,14.33,14.28,14.37
$GC,6306,0.63,408.9,3631,2259,1127,1409,59.4,13.3,539,6318,0.10,2.53,0.00,0.000,4356,0.218,0.107,3595,3658,1267,1127,1408,0,0,0,0,0,0,14.35,14.37,14.40
$GC,6339,0.63,408.9,3595,3658,1127,1407,55.9,10.6,543,6350,0.00,2.55,0.00,0.000,1030,0.000,0.099,3595,2234,1269,1127,1412,0,0,0,0,0,0,14.46,14.38,14.48
$GC,6542,0.63,408.9,3595,2230,1126,1407,36.6,9.6,563,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2233,1267,1127,1407,0,0,0,0,0,0,14.63,14.66,14.66
$GC,6734,0.63,408.9,3595,2234,1126,1407,21.5,8.1,582,6745,0.00,2.50,0.00,0.000,516,0.000,0.112,3595,841,1264,1126,1403,0,0,0,0,0,0,14.68,14.45,14.70
$GC,6777,0.63,408.9,3595,842,1126,1407,17.9,8.1,588,6788,0.00,2.47,0.00,0.000,1030,0.000,0.093,3595,2256,1266,1126,1407,0,0,0,0,0,0,14.57,14.50,14.60
$GC,6979,0.66,471.5,3595,2256,1126,1407,4.7,4.5,608,6997,0.00,0.00,10.70,0.099,8450,0.000,0.000,3595,2256,1162,1018,1307,0,0,0,0,0,0,14.71,28.83,14.72
$STATE,6999,end climb,SURFACE_DEPTH_REACHED
$STATE,6999,begin surface coast
$FINISH,-0.2,1.004573
$STATE,7082,end surface coast,CONTROL_FINISHED_OK
$STATE,7082,begin surface
$SM_CCo,7173,0.00,0.000,0,0,1162,436.39
$SM_GC,1.08,9.68,0.65,0.00,0.046,0.104,0.000,91,1904,1162,-10.26,0.65,436.39,0,0,0,0,0,0,14.54,14.52,14.62
$IRIDIUM_FIX,4732.49,-12511.36,050715,224307
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.81
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3901568
$24V_AH,13.57,25.153
$10V_AH,13.81,0.000
$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,24.400,57.200,390.475,0.000,0.000,0.000,0.000,226.200,0.000,0.000,6.501,1435.263,3724.667,510.130,1433.490,557.671,0.000,1496.583,0.000,984.558,0.000,0.536,0.000
$DEVICE_MAMPS,366.435,2222.325,1085.535,0.000,0.000,0.000,0.000,143.820,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7092.000,197.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.215,6.860,0.000,0.000
$MEM,286416
$DATA_FILE_SIZE,20095,618
$CAP_FILE_SIZE,118560,0
$CFSIZE,260034560,247054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,188.96,1
$GPS,060715,024102,4749.835,-12513.339,7,0.8,26,16.5,0.7,202.2,11,4.5