version: 66.12
glider: 187
mission: 8
dive: 706
start: 1 6 116 10 35 22
data:
$ID,187
$MISSION,8
$DIVE,706
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,060116,102303,4751.1748,-12512.4033,63,0.9,65,16.5,0.9,324.9,12,7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-63.2
$GPS2,060116,103453,4751.2783,-12512.4443,4,0.9,6,16.5,0.5,310.9,10,7.2
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.1,165752,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,33,-0.39,-107.1,72,1953,1208,1411,0.0,0.0,0,116,0.00,0.00,-79.00,0.000,16390,0.000,0.000,69,1952,3379,3380,3379,0,0,0,0,0,0,14.47,12.59,14.33
$GC,124,-0.39,-107.1,69,1947,3380,3379,1.3,-1.6,2,146,14.40,2.67,0.00,0.000,2820,0.359,0.090,3249,3390,3381,3381,3382,0,0,0,0,0,0,13.74,13.98,14.09
$GC,356,-0.39,-107.1,3255,3389,3376,3389,45.9,-10.1,46,364,0.00,2.60,0.00,0.000,1030,0.000,0.082,3249,1973,3383,3377,3389,0,0,0,0,0,0,14.04,13.90,14.09
$GC,715,-0.39,-107.1,3249,1974,3378,3387,85.9,-11.1,56,723,0.00,2.60,0.00,0.000,516,0.000,0.094,3249,560,3380,3374,3386,0,0,0,0,0,0,14.40,13.83,14.42
$GC,784,-0.39,-107.1,3246,560,3374,3398,93.0,-10.3,68,792,0.00,2.60,0.00,0.000,1030,0.000,0.085,3249,1982,3379,3368,3391,0,0,0,0,0,0,14.02,13.88,14.08
$GC,1154,-0.39,-107.1,3249,1981,3373,3392,132.1,-10.7,85,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1982,3382,3373,3392,0,0,0,0,0,0,14.39,14.40,14.40
$GC,1454,-0.39,-107.1,3249,1980,3373,3393,158.4,-8.6,90,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1981,3383,3373,3393,0,0,0,0,0,0,14.40,14.42,14.40
$GC,1753,-0.39,-107.1,3249,1980,3372,3399,182.5,-8.1,95,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1981,3380,3368,3393,0,0,0,0,0,0,14.40,14.42,14.42
$GC,2054,-0.39,-107.1,3249,1981,3373,3394,206.7,-8.0,100,2062,0.00,2.62,0.00,0.000,260,0.000,0.099,3249,3375,3386,3379,3394,0,0,0,0,0,0,14.40,13.82,14.42
$GC,2083,-0.39,-107.1,3249,3375,3373,3393,209.3,-8.4,104,2090,0.00,2.58,0.00,0.000,1030,0.000,0.081,3250,1967,3383,3373,3394,0,0,0,0,0,0,14.02,13.88,14.04
$GC,2433,-0.39,-107.1,3249,1967,3372,3394,238.2,-8.3,117,2441,0.00,2.62,0.00,0.000,516,0.000,0.094,3249,549,3383,3372,3394,0,0,0,0,0,0,14.39,13.82,14.40
$GC,2487,-0.39,-107.1,3249,549,3372,3394,243.1,-8.9,126,2495,0.00,2.60,0.00,0.000,1030,0.000,0.086,3249,1966,3383,3372,3394,0,0,0,0,0,0,13.97,13.83,14.02
$GC,2811,-0.39,-107.1,3249,1966,3371,3394,269.8,-8.3,134,2819,0.00,2.67,0.00,0.000,260,0.000,0.099,3249,3390,3382,3371,3393,0,0,0,0,0,0,14.42,13.80,14.43
$GC,2886,-0.39,-107.1,3249,3391,3371,3394,275.7,-8.0,147,2894,0.00,2.60,0.00,0.000,1030,0.000,0.080,3249,1973,3382,3371,3393,0,0,0,0,0,0,13.97,13.83,14.02
$STATE,2939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2939,begin apogee
$GC,2951,-0.16,0.0,3249,2256,3372,3393,280.4,-7.9,157,3042,0.30,0.00,86.22,1.047,10246,0.151,0.000,3340,2257,2941,2881,3002,0,0,0,0,0,0,13.67,14.04,13.40
$STATE,3045,end apogee,CONTROL_FINISHED_OK
$STATE,3045,begin climb
$GC,3052,0.39,107.1,3341,2256,2876,3000,283.5,0.0,158,3154,0.50,2.60,84.65,1.037,10500,0.109,0.098,3518,3664,2502,2377,2627,0,0,0,0,0,0,13.93,13.78,13.29
$GC,3210,0.43,192.3,3518,3664,2372,2622,283.2,3.4,187,3290,0.00,2.60,66.40,1.031,9222,0.000,0.080,3518,2233,2153,1999,2307,0,0,0,0,0,0,14.09,13.97,13.31
$GC,3618,0.46,238.5,3517,2236,2001,2307,264.1,5.2,211,3663,0.00,0.00,36.97,1.014,8454,0.000,0.000,3514,2236,1965,1814,2116,0,0,0,0,0,0,14.47,14.10,13.47
$GC,3991,0.48,288.6,3518,2236,1814,2112,244.9,5.0,228,4042,0.00,2.50,39.03,0.990,8708,0.000,0.093,3518,841,1760,1612,1909,0,0,0,0,0,0,14.50,13.95,13.44
$GC,4283,0.48,288.6,3518,840,1612,1908,227.6,7.4,283,4294,0.00,2.55,0.00,0.000,1030,0.000,0.086,3518,2253,1761,1614,1908,0,0,0,0,0,0,14.16,14.03,14.21
$GC,4621,0.48,288.6,3518,2252,1612,1908,201.2,7.7,293,4632,0.00,2.62,0.00,0.000,260,0.000,0.099,3518,3664,1760,1612,1908,0,0,0,0,0,0,14.54,13.93,14.52
$GC,4867,0.48,288.6,3518,3664,1611,1908,180.8,10.1,339,4878,0.00,2.58,0.00,0.000,1030,0.000,0.082,3518,2246,1759,1611,1908,0,0,0,0,0,0,14.16,14.02,14.21
$GC,5191,0.48,288.6,3517,2242,1612,1907,155.2,7.7,346,5202,0.00,2.67,0.00,0.000,260,0.000,0.099,3519,3665,1759,1611,1908,0,0,0,0,0,0,14.49,13.90,14.53
$GC,5439,0.50,288.6,3517,3665,1611,1907,137.0,6.5,392,5451,0.12,2.58,0.00,0.000,3078,0.135,0.082,3564,2253,1759,1611,1907,0,0,0,0,0,0,13.95,13.92,14.08
$GC,5767,0.52,288.6,3563,2251,1611,1907,117.3,6.0,399,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2251,1759,1611,1907,0,0,0,0,0,0,14.50,14.51,14.50
$GC,6062,0.55,288.6,3564,2251,1611,1907,99.4,5.8,404,6074,0.00,2.67,0.00,0.000,260,0.000,0.100,3564,3664,1759,1611,1907,0,0,0,0,0,0,14.49,13.89,14.49
$GC,6188,0.59,288.6,3563,3664,1611,1909,92.5,5.6,425,6199,0.00,2.58,0.00,0.000,1030,0.000,0.080,3564,2245,1760,1610,1910,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6518,0.61,335.6,3564,2244,1611,1906,75.2,5.2,433,6566,0.00,2.53,35.28,0.808,8708,0.000,0.093,3564,838,1569,1420,1718,0,0,0,0,0,0,14.48,14.18,13.61
$GC,6661,0.64,382.0,3563,839,1418,1717,67.5,5.2,459,6709,0.10,2.55,35.58,0.792,11270,0.122,0.086,3648,2247,1378,1234,1523,0,0,0,0,0,0,14.12,14.04,13.55
$GC,7020,0.64,382.0,3648,2247,1237,1521,36.8,9.3,476,7032,0.15,2.58,0.00,0.000,4612,0.193,0.092,3608,843,1376,1232,1521,0,0,0,0,0,0,13.86,13.93,13.96
$GC,7079,0.64,382.0,3608,843,1232,1521,32.5,7.1,485,7090,0.00,2.55,0.00,0.000,1030,0.000,0.084,3608,2247,1380,1239,1521,0,0,0,0,0,0,14.08,13.93,14.12
$GC,7412,0.64,382.0,3608,2250,1232,1521,5.0,8.0,498,7423,0.00,2.58,0.00,0.000,516,0.000,0.097,3609,843,1377,1234,1521,0,0,0,0,0,0,14.49,13.92,14.50
$STATE,7430,end climb,SURFACE_DEPTH_REACHED
$STATE,7430,begin surface coast
$FINISH,-0.2,1.024755
$STATE,7460,end surface coast,CONTROL_FINISHED_OK
$STATE,7460,begin surface
$SM_CCo,7499,6.78,0.079,0,0,1309,400.08
$SM_GC,0.49,9.85,2.10,6.78,0.034,0.081,0.079,88,1983,1309,-10.25,-0.40,400.08,0,0,0,0,0,0,14.18,14.03,14.08
$IRIDIUM_FIX,4732.49,-12513.98,060116,075854
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.74
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3644864
$24V_AH,12.59,205.254
$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,25.425,67.550,384.125,6.775,0.000,0.000,0.000,390.825,0.000,0.000,7.838,938.429,4965.341,458.118,1339.791,509.790,0.000,1446.226,0.000,753.193,0.000,0.538,0.000
$DEVICE_MAMPS,358.785,100.215,1047.285,78.795,0.000,0.000,0.000,150.705,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7526.000,3099.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.570,9.245,0.000,0.000
$MEM,286260
$DATA_FILE_SIZE,16771,506
$CAP_FILE_SIZE,83815,0
$CFSIZE,260034560,168382464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,2.31,1
$GPS,060116,124302,4751.161,-12512.572,96,0.9,96,16.5,0.9,10.0,9,4.6