version: 66.12
glider: 187
mission: 8
dive: 708
start: 1 6 116 15 24 58
data:
$ID,187
$MISSION,8
$DIVE,708
$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,26
$R_STBD_OVSHOOT,14
$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
$GPS1,060116,151259,4750.9673,-12512.2324,21,1.6,23,16.5,0.9,98.5,5,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-74.2
$GPS2,060116,152429,4751.0918,-12512.1738,3,1.5,5,16.5,0.5,319.9,5,5.2
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,220.0,165835,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,33,-0.39,-107.1,72,1951,1207,1414,0.0,0.0,0,116,0.00,0.00,-78.60,0.000,16390,0.000,0.000,73,1951,3380,3374,3386,0,0,0,0,0,0,14.47,12.59,14.34
$GC,124,-0.39,-107.1,73,1952,3375,3385,1.4,-2.0,2,146,14.15,2.50,0.00,0.000,2564,0.350,0.090,3258,566,3380,3376,3385,0,0,0,0,0,0,13.69,14.01,13.93
$GC,246,-0.39,-107.1,3255,564,3382,3395,32.7,-9.0,24,254,0.00,2.58,0.00,0.000,1030,0.000,0.083,3258,1981,3382,3373,3392,0,0,0,0,0,0,14.08,13.95,14.12
$GC,567,-0.39,-107.1,3258,1981,3371,3396,63.7,-9.9,34,570,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1981,3383,3371,3396,0,0,0,0,0,0,14.40,14.40,14.41
$GC,865,-0.39,-107.1,3257,1982,3371,3398,94.9,-10.0,39,872,0.00,2.65,0.00,0.000,260,0.000,0.102,3261,3390,3384,3372,3396,0,0,0,0,0,0,14.42,13.82,14.42
$GC,893,-0.39,-107.1,3257,3390,3370,3396,97.9,-10.5,43,900,0.00,2.58,0.00,0.000,1030,0.000,0.080,3258,1976,3385,3375,3396,0,0,0,0,0,0,14.03,13.90,14.07
$GC,1243,-0.39,-107.1,3257,1974,3370,3396,132.4,-9.8,56,1251,0.00,2.62,0.00,0.000,516,0.000,0.093,3258,563,3383,3370,3396,0,0,0,0,0,0,14.38,13.82,14.41
$GC,1296,-0.39,-107.1,3257,562,3371,3397,137.9,-9.8,65,1305,0.00,2.58,0.00,0.000,1030,0.000,0.082,3257,1976,3387,3370,3404,0,0,0,0,0,0,14.03,13.89,14.09
$GC,1621,-0.39,-107.1,3257,1976,3370,3397,166.8,-8.9,73,1630,0.00,2.65,0.00,0.000,260,0.000,0.100,3261,3389,3383,3370,3397,0,0,0,0,0,0,14.42,13.80,14.44
$GC,1713,-0.39,-107.1,3257,3389,3370,3393,173.8,-7.7,89,1722,0.00,2.60,0.00,0.000,1030,0.000,0.080,3258,1965,3385,3370,3400,0,0,0,0,0,0,13.95,13.81,13.98
$GC,2064,-0.39,-107.1,3257,1965,3370,3397,198.4,-6.6,102,2071,0.00,2.70,0.00,0.000,260,0.000,0.099,3258,3389,3383,3370,3397,0,0,0,0,0,0,14.42,13.80,14.43
$GC,2098,-0.39,-107.1,3259,3389,3373,3397,200.7,-6.4,107,2106,0.00,2.60,0.00,0.000,1030,0.000,0.078,3258,1961,3381,3370,3393,0,0,0,0,0,0,13.97,13.83,14.00
$GC,2442,-0.39,-107.1,3257,1961,3370,3397,223.5,-6.7,119,2449,0.00,2.58,0.00,0.000,516,0.000,0.095,3258,563,3383,3370,3397,0,0,0,0,0,0,14.40,13.79,14.42
$GC,2490,-0.39,-107.1,3257,563,3377,3397,226.9,-7.2,127,2497,0.00,2.58,0.00,0.000,1030,0.000,0.083,3258,1970,3384,3370,3399,0,0,0,0,0,0,13.99,13.85,14.03
$GC,2820,-0.39,-107.1,3257,1975,3369,3402,248.5,-6.7,136,2827,0.00,2.65,0.00,0.000,260,0.000,0.101,3258,3388,3383,3369,3398,0,0,0,0,0,0,14.41,13.78,14.42
$GC,2878,-0.39,-107.1,3258,3393,3370,3403,252.4,-6.5,146,2886,0.00,2.60,0.00,0.000,1030,0.000,0.079,3258,1974,3383,3369,3397,0,0,0,0,0,0,13.99,13.85,14.04
$GC,3199,-0.39,-107.1,3257,1974,3369,3397,272.7,-6.3,153,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1974,3387,3376,3399,0,0,0,0,0,0,14.40,14.42,14.41
$STATE,3312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3312,begin apogee
$GC,3324,-0.16,0.0,3258,2255,3369,3397,280.6,-6.3,155,3415,0.28,0.00,85.90,1.047,10246,0.147,0.000,3346,2256,2941,2880,3002,0,0,0,0,0,0,13.71,14.07,13.43
$STATE,3419,end apogee,CONTROL_FINISHED_OK
$STATE,3419,begin climb
$GC,3424,0.39,107.1,3345,2255,2875,3001,283.1,0.0,156,3518,0.50,0.00,84.78,1.038,10502,0.108,0.000,3517,2256,2503,2377,2630,0,0,0,0,0,0,13.99,13.94,13.31
$GC,3865,0.44,197.8,3517,2256,2372,2629,274.8,3.2,175,3947,0.00,2.60,70.38,1.027,8452,0.000,0.101,3517,3664,2129,1976,2283,0,0,0,0,0,0,14.45,13.88,13.40
$GC,3986,0.46,250.4,3517,3664,1976,2280,270.0,4.9,197,4040,0.00,2.60,41.70,1.015,9222,0.000,0.082,3517,2246,1917,1772,2062,0,0,0,0,0,0,14.12,14.00,13.33
$GC,4367,0.50,250.4,3517,2243,1773,2061,250.6,5.3,216,4379,0.08,2.58,0.00,0.000,2564,0.148,0.093,3595,833,1917,1773,2061,0,0,0,0,0,0,14.18,13.96,14.19
$GC,4488,0.50,250.4,3595,833,1774,2061,239.8,9.5,237,4501,0.15,2.60,0.00,0.000,5126,0.185,0.087,3550,2264,1917,1774,2061,0,0,0,0,0,0,13.87,13.98,14.07
$GC,4824,0.53,250.4,3549,2263,1775,2061,219.9,5.7,245,4836,0.00,2.62,0.00,0.000,516,0.000,0.093,3554,835,1918,1775,2061,0,0,0,0,0,0,14.47,13.94,14.50
$GC,4862,0.56,250.4,3553,834,1776,2061,217.1,6.1,250,4873,0.00,2.58,0.00,0.000,1030,0.000,0.086,3554,2244,1919,1777,2061,0,0,0,0,0,0,14.13,13.97,14.17
$GC,5215,0.56,250.4,3553,2246,1775,2061,192.9,6.9,262,5226,0.00,2.60,0.00,0.000,516,0.000,0.094,3554,831,1918,1776,2061,0,0,0,0,0,0,14.49,13.93,14.50
$GC,5258,0.57,250.4,3554,831,1776,2061,189.7,6.7,268,5270,0.00,2.58,0.00,0.000,1030,0.000,0.086,3554,2248,1918,1776,2061,0,0,0,0,0,0,14.09,13.96,14.17
$GC,5605,0.60,250.4,3554,2248,1775,2060,168.8,6.0,279,5617,0.00,2.65,0.00,0.000,260,0.000,0.101,3554,3665,1918,1775,2061,0,0,0,0,0,0,14.50,13.89,14.51
$GC,5669,0.60,250.4,3553,3664,1774,2060,164.5,7.1,289,5681,0.08,2.60,0.00,0.000,3078,0.145,0.083,3622,2253,1917,1775,2060,0,0,0,0,0,0,14.02,13.96,14.14
$GC,5993,0.60,250.4,3622,2253,1775,2060,137.5,8.2,296,6004,0.12,2.60,0.00,0.000,4612,0.223,0.092,3595,832,1917,1774,2060,0,0,0,0,0,0,13.81,13.82,13.88
$GC,6205,0.64,250.4,3595,831,1775,2060,124.5,5.4,335,6216,0.00,2.60,0.00,0.000,1030,0.000,0.086,3596,2266,1917,1775,2060,0,0,0,0,0,0,14.07,13.95,14.14
$GC,6569,0.66,300.4,3595,2266,1775,2059,105.8,5.0,349,6614,0.00,0.00,38.45,0.843,8198,0.000,0.000,3595,2266,1716,1568,1865,0,0,0,0,0,0,14.41,14.18,13.60
$GC,6866,0.69,300.4,3595,2266,1564,1859,88.1,6.1,354,6878,0.00,2.62,0.00,0.000,516,0.000,0.093,3595,834,1711,1564,1859,0,0,0,0,0,0,14.49,13.97,14.50
$GC,6904,0.72,300.4,3595,832,1570,1859,86.0,5.5,359,6915,0.00,2.58,0.00,0.000,1030,0.000,0.086,3596,2245,1711,1564,1859,0,0,0,0,0,0,14.14,14.00,14.19
$GC,7256,0.76,300.4,3595,2245,1564,1859,66.6,5.6,371,7268,0.10,0.00,0.00,0.000,2054,0.115,0.000,3670,2245,1711,1564,1859,0,0,0,0,0,0,14.19,14.25,14.23
$GC,7554,0.76,300.4,3670,2245,1564,1860,37.1,10.6,378,7565,0.00,2.60,0.00,0.000,516,0.000,0.092,3677,818,1710,1564,1856,0,0,0,0,0,0,14.47,13.90,14.50
$GC,7586,0.76,300.4,3677,821,1563,1859,33.3,11.1,382,7598,0.12,2.58,0.00,0.000,5126,0.209,0.082,3642,2258,1711,1564,1859,0,0,0,0,0,0,13.82,14.01,14.05
$GC,7911,0.76,300.4,3642,2258,1563,1860,5.0,9.3,394,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,2258,1712,1564,1861,0,0,0,0,0,0,14.47,14.48,14.48
$STATE,7934,end climb,SURFACE_DEPTH_REACHED
$STATE,7934,begin surface coast
$FINISH,-0.2,1.024800
$STATE,7965,end surface coast,CONTROL_FINISHED_OK
$STATE,7965,begin surface
$SM_CCo,7997,41.95,0.077,0,0,1310,400.08
$SM_GC,0.81,10.18,0.55,41.95,0.051,0.093,0.077,85,1959,1310,-10.26,0.57,400.08,0,0,0,0,0,0,14.14,14.00,14.12
$IRIDIUM_FIX,4732.49,-12513.98,060116,125107
$TT8_MAMPS,0.020223,0.020223
$HUMID,51.06
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3644096
$24V_AH,12.59,205.596
$10V_AH,13.46,0.000
$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,25.750,79.125,321.200,41.950,0.000,0.000,0.000,371.700,0.000,0.000,6.475,838.186,5682.432,493.148,1190.956,522.193,0.000,1407.951,0.000,596.977,0.000,0.537,0.000
$DEVICE_MAMPS,350.370,101.745,1047.285,77.265,0.000,0.000,0.000,149.175,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8032.000,3491.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.564,9.249,0.000,0.000
$MEM,286296
$DATA_FILE_SIZE,13481,396
$CAP_FILE_SIZE,86244,0
$CFSIZE,260034560,168235008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,55.46,1
$GPS,060116,174041,4751.033,-12512.560,42,1.8,45,16.5,0.9,347.6,6,9.0