version: 66.12
glider: 187
mission: 8
dive: 710
start: 1 6 116 20 29 50
data:
$ID,187
$MISSION,8
$DIVE,710
$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,28
$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
$GPS1,060116,201740,4751.0630,-12512.8555,16,1.7,25,16.5,1.4,234.9,9,8.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.8
$GPS2,060116,202922,4751.0884,-12512.8281,4,1.6,7,16.5,0.5,92.0,10,9.8
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,218.6,165154,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,33,-0.39,-107.1,71,1950,1208,1416,0.0,0.0,0,116,0.00,0.00,-78.60,0.000,16390,0.000,0.000,69,1951,3378,3375,3382,0,0,0,0,0,0,14.47,12.59,14.33
$GC,123,-0.39,-107.1,69,1951,3375,3382,1.5,-1.7,2,149,14.57,2.53,0.00,0.000,2564,0.366,0.094,3257,568,3381,3376,3387,0,0,0,0,0,0,13.73,13.98,14.09
$GC,359,-0.39,-107.1,3258,570,3372,3393,45.4,-10.0,47,367,0.00,2.58,0.00,0.000,1030,0.000,0.088,3258,1984,3382,3372,3393,0,0,0,0,0,0,14.05,13.92,14.10
$GC,713,-0.39,-107.1,3257,1981,3370,3393,81.6,-10.3,56,720,0.00,2.62,0.00,0.000,260,0.000,0.103,3257,3380,3382,3371,3394,0,0,0,0,0,0,14.40,13.78,14.42
$GC,781,-0.39,-107.1,3258,3380,3370,3393,88.7,-10.2,68,789,0.00,2.58,0.00,0.000,1030,0.000,0.081,3258,1976,3382,3370,3394,0,0,0,0,0,0,14.02,13.88,14.06
$GC,1152,-0.39,-107.1,3262,1975,3371,3394,124.8,-9.3,85,1159,0.00,2.60,0.00,0.000,516,0.000,0.095,3258,561,3382,3370,3394,0,0,0,0,0,0,14.38,13.81,14.40
$GC,1205,-0.39,-107.1,3257,561,3370,3393,130.3,-9.8,94,1213,0.00,2.55,0.00,0.000,1030,0.000,0.083,3258,1965,3380,3366,3394,0,0,0,0,0,0,14.02,13.87,14.09
$GC,1531,-0.39,-107.1,3257,1969,3369,3394,159.0,-8.8,102,1539,0.00,2.60,0.00,0.000,516,0.000,0.093,3258,552,3381,3369,3394,0,0,0,0,0,0,14.41,13.82,14.42
$GC,1579,-0.39,-107.1,3263,552,3374,3393,163.4,-8.7,110,1588,0.00,2.60,0.00,0.000,1030,0.000,0.083,3258,1984,3381,3369,3394,0,0,0,0,0,0,14.00,13.87,14.05
$GC,1910,-0.39,-107.1,3257,1984,3369,3394,190.3,-8.2,119,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1984,3381,3370,3393,0,0,0,0,0,0,14.40,14.42,14.42
$GC,2211,-0.39,-107.1,3257,1984,3370,3395,210.7,-7.0,124,2218,0.00,2.62,0.00,0.000,260,0.000,0.102,3258,3376,3382,3370,3395,0,0,0,0,0,0,14.39,13.82,14.40
$GC,2279,-0.39,-107.1,3257,3375,3369,3395,215.4,-6.7,136,2287,0.00,2.58,0.00,0.000,1030,0.000,0.080,3258,1961,3383,3371,3395,0,0,0,0,0,0,14.00,13.87,14.04
$GC,2654,-0.39,-107.1,3257,1961,3369,3395,241.1,-6.8,153,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1961,3382,3369,3395,0,0,0,0,0,0,14.38,14.40,14.40
$GC,2948,-0.39,-107.1,3257,1960,3369,3395,261.0,-6.7,158,2957,0.00,2.67,0.00,0.000,260,0.000,0.099,3258,3374,3382,3369,3395,0,0,0,0,0,0,14.41,13.82,14.42
$GC,2987,-0.39,-107.1,3257,3378,3369,3395,263.5,-6.2,164,2995,0.00,2.58,0.00,0.000,1030,0.000,0.083,3258,1972,3382,3369,3395,0,0,0,0,0,0,13.99,13.83,14.04
$GC,3328,-0.39,-107.1,3258,1972,3368,3395,282.9,-5.5,175,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1972,3381,3368,3395,0,0,0,0,0,0,14.40,14.40,14.41
$GC,3626,-0.39,-107.1,3257,1972,3368,3395,300.8,-6.2,180,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1972,3381,3368,3395,0,0,0,0,0,0,14.38,14.40,14.40
$STATE,3804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3804,begin apogee
$GC,3816,-0.16,0.0,3257,2252,3367,3394,312.1,-6.3,183,3906,0.25,0.00,85.75,1.089,10246,0.154,0.000,3337,2252,2944,2881,3007,0,0,0,0,0,0,13.70,14.04,13.41
$STATE,3910,end apogee,CONTROL_FINISHED_OK
$STATE,3910,begin climb
$GC,3916,0.39,107.1,3337,2252,2877,3000,314.6,0.0,184,4021,0.50,2.67,84.55,1.075,10500,0.112,0.103,3514,3669,2502,2377,2627,0,0,0,0,0,0,13.91,13.94,13.28
$GC,4064,0.43,182.7,3513,3663,2377,2626,313.4,3.9,210,4136,0.00,2.60,60.25,1.072,9222,0.000,0.082,3514,2234,2194,2039,2349,0,0,0,0,0,0,14.07,13.95,13.27
$GC,4485,0.46,245.6,3513,2235,2039,2345,294.8,4.5,237,4545,0.00,2.58,50.22,1.048,8708,0.000,0.094,3513,839,1936,1790,2082,0,0,0,0,0,0,14.47,14.12,13.43
$GC,4641,0.48,297.1,3513,839,1790,2080,287.5,5.0,255,4694,0.12,2.58,40.35,1.046,11270,0.115,0.086,3595,2251,1724,1576,1872,0,0,0,0,0,0,14.09,14.02,13.37
$GC,5053,0.48,297.1,3595,2251,1579,1872,252.2,9.2,279,5064,0.15,0.00,0.00,0.000,4102,0.179,0.000,3549,2252,1725,1581,1870,0,0,0,0,0,0,13.90,14.14,14.07
$GC,5350,0.48,297.1,3549,2251,1578,1870,230.2,7.2,284,5362,0.00,2.62,0.00,0.000,516,0.000,0.096,3553,839,1724,1578,1870,0,0,0,0,0,0,14.51,13.95,14.55
$GC,5399,0.48,297.1,3557,839,1578,1870,227.1,7.0,291,5411,0.00,2.55,0.00,0.000,1030,0.000,0.089,3553,2248,1724,1578,1870,0,0,0,0,0,0,14.16,14.01,14.23
$GC,5737,0.48,297.1,3553,2248,1577,1870,202.8,7.3,301,5748,0.00,2.67,0.00,0.000,260,0.000,0.102,3553,3674,1724,1577,1871,0,0,0,0,0,0,14.51,13.91,14.52
$GC,5780,0.48,297.1,3553,3674,1576,1869,198.9,9.9,307,5792,0.00,2.60,0.00,0.000,1030,0.000,0.084,3553,2254,1723,1577,1869,0,0,0,0,0,0,14.13,13.97,14.16
$GC,6129,0.50,297.1,3553,2253,1576,1875,174.7,6.7,318,6141,0.00,2.60,0.00,0.000,516,0.000,0.096,3553,838,1722,1576,1869,0,0,0,0,0,0,14.47,13.91,14.46
$GC,6232,0.52,343.9,3553,840,1576,1875,168.9,5.2,335,6280,0.00,2.58,35.62,0.925,9222,0.000,0.086,3554,2265,1535,1387,1684,0,0,0,0,0,0,14.13,14.00,13.55
$GC,6646,0.55,343.9,3549,2265,1384,1686,144.5,6.0,359,6657,0.00,2.62,0.00,0.000,516,0.000,0.096,3553,831,1533,1384,1682,0,0,0,0,0,0,14.48,13.96,14.50
$GC,6721,0.58,343.9,3550,832,1391,1682,140.4,5.7,371,6732,0.00,2.58,0.00,0.000,1030,0.000,0.085,3552,2245,1532,1382,1683,0,0,0,0,0,0,14.14,14.00,14.19
$GC,7098,0.60,343.9,3553,2245,1384,1682,117.1,6.2,388,7110,0.12,2.60,0.00,0.000,2564,0.123,0.093,3643,840,1533,1384,1683,0,0,0,0,0,0,14.12,13.88,14.14
$GC,7137,0.60,343.9,3643,840,1384,1682,113.7,8.9,393,7149,0.22,2.58,0.00,0.000,5126,0.175,0.086,3582,2261,1533,1384,1682,0,0,0,0,0,0,13.87,14.01,14.08
$GC,7490,0.62,343.9,3583,2261,1384,1682,89.8,6.6,405,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2260,1532,1383,1682,0,0,0,0,0,0,14.47,14.49,14.48
$GC,7786,0.62,343.9,3579,2260,1383,1682,69.5,6.9,410,7798,0.00,2.65,0.00,0.000,516,0.000,0.096,3582,831,1532,1383,1682,0,0,0,0,0,0,14.50,13.89,14.51
$GC,7825,0.65,343.9,3582,831,1384,1682,66.9,6.1,415,7836,0.00,2.58,0.00,0.000,1030,0.000,0.086,3582,2250,1532,1383,1682,0,0,0,0,0,0,14.11,13.96,14.16
$GC,8149,0.67,343.9,3582,2245,1384,1682,47.8,6.0,427,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2244,1532,1383,1682,0,0,0,0,0,0,14.45,14.47,14.47
$GC,8447,0.69,343.9,3582,2245,1384,1682,29.2,6.4,437,8458,0.08,0.00,0.00,0.000,2054,0.148,0.000,3650,2245,1533,1384,1682,0,0,0,0,0,0,14.17,14.23,14.21
$STATE,8714,end climb,SURFACE_DEPTH_REACHED
$STATE,8714,begin surface coast
$FINISH,-0.2,1.024758
$STATE,8739,end surface coast,CONTROL_FINISHED_OK
$STATE,8739,begin surface
$SM_CCo,8771,23.33,0.078,0,0,1309,400.08
$SM_GC,1.14,10.12,0.52,23.33,0.042,0.096,0.078,89,1967,1309,-10.25,0.62,400.08,0,0,0,0,0,0,14.14,13.95,14.10
$IRIDIUM_FIX,4732.49,-12509.51,060116,175431
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.94
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3643328
$24V_AH,12.59,205.954
$10V_AH,12.60,0.000
$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,26.150,73.825,356.750,23.325,0.000,0.000,0.000,376.200,0.000,0.000,8.449,901.514,6282.253,486.984,1280.974,536.733,0.000,1454.366,0.000,665.128,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,102.510,1088.595,78.030,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8808.000,3989.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.372,9.208,0.000,0.000
$MEM,286272
$DATA_FILE_SIZE,16735,447
$CAP_FILE_SIZE,89406,0
$CFSIZE,260034560,168083456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,75.15,1
$GPS,060116,225756,4750.670,-12513.555,34,1.3,34,16.5,0.7,218.7,6,10.0