version: 66.12
glider: 187
mission: 8
dive: 709
start: 1 6 116 17 59 53
data:
$ID,187
$MISSION,8
$DIVE,709
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,060116,174041,4751.0332,-12512.5596,42,1.8,45,16.5,0.9,347.6,6,9.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.5
$GPS2,060116,175920,4751.1577,-12512.3936,4,1.8,8,16.5,0.2,0.0,6,9.9
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,218.8,165677,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.39,-107.1,69,1950,1195,1417,0.0,0.0,0,117,0.00,0.00,-78.97,0.000,16390,0.000,0.000,68,1949,3378,3375,3381,0,0,0,0,0,0,14.48,12.60,14.36
$GC,124,-0.39,-107.1,68,1949,3376,3382,1.3,-1.7,2,150,14.12,2.58,0.00,0.000,2564,0.350,0.096,3258,560,3380,3376,3385,0,0,0,0,0,0,13.68,14.06,14.02
$GC,355,-0.39,-107.1,3257,560,3374,3393,45.0,-10.3,45,367,0.00,2.58,0.00,0.000,1030,0.000,0.085,3257,1972,3383,3373,3393,0,0,0,0,0,0,14.05,13.90,14.09
$GC,723,-0.39,-107.1,3257,1969,3371,3394,83.5,-10.4,56,734,0.00,2.65,0.00,0.000,260,0.000,0.099,3258,3389,3382,3371,3394,0,0,0,0,0,0,14.44,13.78,14.45
$GC,781,-0.39,-107.1,3257,3388,3371,3394,89.1,-9.3,65,793,0.00,2.60,0.00,0.000,1030,0.000,0.080,3257,1975,3382,3371,3394,0,0,0,0,0,0,13.93,13.80,13.99
$GC,1109,-0.39,-107.1,3257,1973,3371,3394,121.0,-10.0,73,1121,0.00,2.62,0.00,0.000,516,0.000,0.095,3258,555,3382,3370,3395,0,0,0,0,0,0,14.47,13.82,14.47
$GC,1151,-0.39,-107.1,3257,555,3370,3394,125.4,-10.7,79,1162,0.00,2.62,0.00,0.000,1030,0.000,0.085,3258,1983,3381,3369,3394,0,0,0,0,0,0,14.02,13.85,14.07
$GC,1500,-0.39,-107.1,3257,1983,3370,3394,157.2,-9.0,90,1512,0.00,2.62,0.00,0.000,260,0.000,0.099,3258,3393,3381,3368,3394,0,0,0,0,0,0,14.44,13.81,14.48
$GC,1562,-0.39,-107.1,3258,3389,3370,3394,163.2,-7.7,100,1573,0.00,2.60,0.00,0.000,1030,0.000,0.079,3258,1971,3382,3370,3394,0,0,0,0,0,0,14.00,13.85,14.06
$GC,1886,-0.39,-107.1,3257,1965,3370,3395,188.5,-7.9,107,1897,0.00,2.60,0.00,0.000,516,0.000,0.094,3258,556,3381,3369,3393,0,0,0,0,0,0,14.42,13.76,14.44
$GC,1923,-0.39,-107.1,3257,557,3370,3395,191.8,-8.5,112,1934,0.00,2.58,0.00,0.000,1030,0.000,0.086,3258,1966,3382,3370,3395,0,0,0,0,0,0,14.00,13.86,14.04
$GC,2276,-0.39,-107.1,3257,1965,3369,3396,216.7,-7.1,124,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1964,3382,3370,3395,0,0,0,0,0,0,14.44,14.45,14.45
$GC,2570,-0.39,-107.1,3257,1965,3369,3395,238.1,-7.3,129,2582,0.00,2.67,0.00,0.000,260,0.000,0.099,3257,3390,3384,3368,3400,0,0,0,0,0,0,14.48,13.81,14.50
$GC,2628,-0.39,-107.1,3257,3390,3369,3401,242.4,-7.4,138,2639,0.00,2.62,0.00,0.000,1030,0.000,0.079,3258,1953,3382,3369,3395,0,0,0,0,0,0,13.97,13.81,14.02
$GC,2957,-0.39,-107.1,3257,1953,3369,3395,265.5,-6.8,146,2968,0.00,2.58,0.00,0.000,516,0.000,0.093,3256,556,3381,3365,3397,0,0,0,0,0,0,14.42,13.85,14.44
$GC,3009,-0.39,-107.1,3257,556,3369,3395,269.2,-7.5,154,3021,0.00,2.60,0.00,0.000,1030,0.000,0.083,3258,1982,3382,3369,3395,0,0,0,0,0,0,13.99,13.87,14.04
$STATE,3217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3217,begin apogee
$GC,3230,-0.16,0.0,3258,2246,3369,3395,284.2,-7.1,161,3324,0.25,0.00,85.85,1.043,10246,0.154,0.000,3337,2246,2940,2880,3000,0,0,0,0,0,0,13.64,14.06,13.43
$STATE,3326,end apogee,CONTROL_FINISHED_OK
$STATE,3327,begin climb
$GC,3332,0.39,107.1,3337,2246,2875,2999,287.1,0.0,162,3426,0.52,0.00,84.88,1.040,10246,0.112,0.000,3519,2246,2503,2377,2629,0,0,0,0,0,0,13.90,13.91,13.28
$GC,3709,0.43,190.7,3518,2246,2371,2628,278.3,3.5,169,3789,0.00,2.60,64.72,1.026,8708,0.000,0.096,3519,846,2161,2008,2314,0,0,0,0,0,0,14.47,14.03,13.39
$GC,3859,0.46,245.8,3518,844,2008,2313,271.9,4.8,196,3917,0.00,2.55,43.92,1.017,9222,0.000,0.085,3519,2257,1935,1791,2079,0,0,0,0,0,0,14.12,14.00,13.35
$GC,4278,0.48,245.8,3518,2256,1791,2078,246.0,6.5,222,4289,0.00,2.60,0.00,0.000,516,0.000,0.091,3519,833,1935,1791,2079,0,0,0,0,0,0,14.49,13.97,14.52
$GC,4326,0.51,245.8,3519,832,1791,2078,243.2,5.8,229,4339,0.10,2.55,0.00,0.000,3078,0.126,0.086,3590,2243,1934,1791,2078,0,0,0,0,0,0,14.06,14.00,14.17
$GC,4670,0.51,245.8,3589,2245,1791,2078,219.2,7.2,239,4681,0.12,2.58,0.00,0.000,4612,0.205,0.092,3556,846,1934,1791,2078,0,0,0,0,0,0,13.90,13.93,13.97
$GC,4887,0.51,245.8,3555,842,1791,2078,203.8,6.9,279,4898,0.00,2.58,0.00,0.000,1030,0.000,0.086,3556,2266,1934,1791,2077,0,0,0,0,0,0,14.12,13.99,14.19
$GC,5246,0.53,245.8,3556,2266,1791,2080,181.3,6.4,292,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2266,1933,1791,2075,0,0,0,0,0,0,14.47,14.52,14.50
$GC,5540,0.56,245.8,3556,2266,1791,2078,165.2,5.5,297,5552,0.00,2.62,0.00,0.000,516,0.000,0.094,3556,842,1934,1791,2078,0,0,0,0,0,0,14.50,13.85,14.51
$GC,5660,0.59,302.6,3556,842,1787,2078,159.5,4.7,317,5718,0.00,2.55,43.28,0.907,9222,0.000,0.085,3556,2248,1703,1556,1851,0,0,0,0,0,0,14.07,13.93,13.54
$GC,6051,0.63,302.6,3556,2248,1555,1857,137.1,5.4,338,6063,0.08,2.60,0.00,0.000,2564,0.148,0.093,3635,841,1703,1555,1851,0,0,0,0,0,0,14.16,13.95,14.16
$GC,6108,0.63,302.6,3635,841,1556,1857,132.9,7.6,347,6120,0.12,2.55,0.00,0.000,5126,0.190,0.086,3596,2250,1703,1556,1851,0,0,0,0,0,0,13.90,14.01,14.09
$GC,6445,0.65,302.6,3597,2250,1555,1857,112.4,6.4,355,6456,0.00,2.60,0.00,0.000,516,0.000,0.095,3594,833,1703,1555,1851,0,0,0,0,0,0,14.49,13.87,14.50
$GC,6492,0.65,302.6,3597,839,1555,1851,108.4,7.1,362,6503,0.00,2.58,0.00,0.000,1030,0.000,0.089,3597,2255,1703,1555,1851,0,0,0,0,0,0,14.14,14.00,14.18
$GC,6829,0.65,302.6,3597,2251,1553,1851,85.6,6.9,372,6841,0.00,2.62,0.00,0.000,516,0.000,0.095,3597,835,1700,1550,1851,0,0,0,0,0,0,14.48,13.91,14.49
$GC,6868,0.66,302.6,3597,836,1555,1851,83.0,6.5,377,6880,0.00,2.58,0.00,0.000,1030,0.000,0.090,3598,2250,1703,1555,1851,0,0,0,0,0,0,14.12,13.97,14.18
$GC,7221,0.68,302.6,3597,2250,1555,1851,59.9,6.6,389,7232,0.00,2.65,0.00,0.000,260,0.000,0.099,3598,3665,1703,1555,1851,0,0,0,0,0,0,14.46,13.89,14.47
$GC,7259,0.68,302.6,3597,3665,1559,1851,56.9,7.4,394,7270,0.00,2.58,0.00,0.000,1030,0.000,0.083,3596,2253,1703,1556,1851,0,0,0,0,0,0,14.11,13.96,14.16
$GC,7577,0.69,302.6,3596,2253,1555,1851,35.4,6.6,409,7589,0.00,2.60,0.00,0.000,516,0.000,0.094,3597,827,1701,1555,1847,0,0,0,0,0,0,14.47,13.88,14.51
$GC,7671,0.69,302.6,3603,827,1555,1851,29.1,7.2,425,7682,0.00,2.60,0.00,0.000,1030,0.000,0.088,3597,2253,1703,1555,1851,0,0,0,0,0,0,14.09,13.95,14.14
$GC,7998,0.72,302.6,3595,2253,1555,1851,9.1,6.2,437,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2253,1703,1555,1851,0,0,0,0,0,0,14.45,14.47,14.47
$STATE,8078,end climb,SURFACE_DEPTH_REACHED
$STATE,8078,begin surface coast
$FINISH,0.6,1.024796
$STATE,8110,end surface coast,CONTROL_FINISHED_OK
$STATE,8110,begin surface
$SM_CCo,8143,41.12,0.078,0,0,1310,400.08
$SM_GC,0.89,9.90,0.52,41.12,0.037,0.086,0.078,84,1958,1310,-10.27,0.54,400.08,0,0,0,0,0,0,14.08,13.97,14.10
$IRIDIUM_FIX,4732.49,-12548.67,060116,174902
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.35
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3643712
$24V_AH,12.60,205.769
$10V_AH,12.72,0.000
$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,25.225,84.125,322.650,41.125,0.000,0.000,0.000,633.900,0.000,0.000,10.103,899.511,5731.966,495.619,1564.610,612.383,0.000,1775.221,0.000,659.300,0.000,0.539,0.000
$DEVICE_MAMPS,350.370,100.980,1042.695,78.030,0.000,0.000,0.000,140.760,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8176.000,194.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.602,8.344,0.000,0.000
$MEM,286236
$DATA_FILE_SIZE,13490,441
$CAP_FILE_SIZE,97991,0
$CFSIZE,260034560,168153088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3223.76,0x2137a8,2,24
$CURRENT,0.070,55.17,1
$GPS,060116,201740,4751.063,-12512.855,16,1.7,25,16.5,1.4,234.9,9,8.8