version: 66.11
glider: 178
mission: 14
dive: 115
start: 7 10 112 2 39 10
data:
$ID,178
$MISSION,14
$DIVE,115
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,420
$T_MISSION,480
$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,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15377.365
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,100712,023223,4649.842,-12511.350,133,1.7,133,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-75.4
$GPS2,100712,023901,4649.806,-12511.357,11,1.7,11,18.4
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,OMEGA
$TGT_LATLONG,4653.000,-12455.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,-0.168
$KALMAN_X,15525.4,-319.5,282.4,-75395.2,-979.9
$KALMAN_Y,6878.8,-1189.9,-880.1,58416.4,4359.2
$MHEAD_RNG_PITCHd_Wd,55.1,21534,-15.1,-7.857
$D_GRID,784
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.66,-126.5,0.0,0.0,0,54,0.00,0.00,-40.25,0.000,2,0.000,0.000,152,2497,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.66,-126.5,3.3,-10.9,7,91,11.02,2.22,-19.35,0.000,4,0.267,0.048,2419,1107,3256,0,0,0,0,0,0,24.58,25.44,24.46
$GC,235,-0.62,-126.5,32.0,-11.1,42,242,0.00,2.28,0.00,0.000,6,0.000,0.040,2412,2507,3259,0,0,0,0,0,0,28.83,25.55,28.83
$GC,541,-0.58,-126.5,68.3,-10.0,103,548,0.15,2.10,0.00,0.000,4,0.159,0.056,2441,3768,3262,0,0,0,0,0,0,25.44,25.58,28.83
$GC,688,-0.58,-126.5,80.8,-7.5,132,694,0.00,1.95,0.00,0.000,6,0.000,0.032,2441,2513,3260,0,0,0,0,0,0,28.83,25.82,28.83
$GC,993,-0.60,-126.5,105.9,-8.1,193,1001,0.00,2.10,0.00,0.000,4,0.000,0.055,2432,3772,3263,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1025,-0.61,-126.5,108.6,-9.0,199,1032,0.00,1.98,0.00,0.000,6,0.000,0.032,2433,2502,3263,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1331,-0.63,-126.5,133.7,-8.0,260,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2501,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.66,-126.5,159.7,-8.2,321,1644,0.00,2.12,0.00,0.000,4,0.000,0.056,2423,3774,3262,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1713,-0.69,-126.5,166.4,-9.3,336,1720,0.00,2.00,0.00,0.000,6,0.000,0.041,2423,2501,3262,0,0,0,0,0,0,28.83,24.14,28.83
$GC,2019,-0.70,-126.5,192.3,-8.9,397,2027,0.00,2.12,0.00,0.000,4,0.000,0.056,2414,3770,3262,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2110,-0.70,-126.5,200.5,-8.9,415,2115,0.00,2.00,0.00,0.000,6,0.000,0.033,2415,2493,3262,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2421,-0.70,-126.5,225.8,-7.8,446,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2493,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,-0.70,-126.5,248.0,-7.1,476,2725,0.00,2.10,0.00,0.000,4,0.000,0.058,2405,3776,3260,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2785,-0.70,-126.5,252.8,-8.0,482,2793,0.00,2.00,0.00,0.000,6,0.000,0.032,2405,2495,3260,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3090,-0.70,-126.5,277.5,-8.4,513,3094,0.00,2.12,0.00,0.000,4,0.000,0.057,2395,3767,3259,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3161,-0.70,-126.5,284.0,-9.1,520,3164,0.00,1.98,0.00,0.000,6,0.000,0.033,2396,2501,3259,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3470,-0.70,-126.5,312.0,-9.0,551,3474,0.00,2.12,0.00,0.000,4,0.000,0.057,2387,3769,3258,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3501,-0.70,-126.5,315.0,-9.7,554,3505,0.00,2.00,0.00,0.000,6,0.000,0.033,2387,2493,3258,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3810,-0.70,-126.5,346.1,-9.9,585,3814,0.00,2.15,0.00,0.000,4,0.000,0.057,2377,3774,3257,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3851,-0.68,-126.5,350.3,-10.6,589,3855,0.12,2.00,0.00,0.000,6,0.142,0.033,2414,2494,3257,0,0,0,0,0,0,25.36,25.82,28.83
$GC,4161,-0.70,-126.5,376.4,-8.2,620,4165,0.00,2.15,0.00,0.000,4,0.000,0.057,2407,3771,3256,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4206,-0.72,-126.5,379.8,-8.6,624,4213,0.00,2.03,0.00,0.000,6,0.000,0.034,2407,2492,3256,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4510,-0.72,-126.5,405.5,-8.0,655,4514,0.00,2.15,0.00,0.000,4,0.000,0.058,2398,3780,3256,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4560,-0.72,-126.5,409.5,-8.2,660,4564,0.00,2.00,0.00,0.000,6,0.000,0.032,2398,2496,3256,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4871,-0.72,-126.5,432.6,-7.3,691,4874,0.00,2.15,0.00,0.000,4,0.000,0.058,2390,3776,3254,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4930,-0.72,-126.5,437.4,-8.0,697,4934,0.00,2.00,0.00,0.000,6,0.000,0.033,2390,2500,3254,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5240,-0.72,-126.5,462.2,-8.0,728,5244,0.00,2.12,0.00,0.000,4,0.000,0.058,2380,3767,3253,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5280,-0.72,-126.5,465.4,-8.2,732,5285,0.00,2.00,0.00,0.000,6,0.000,0.034,2380,2496,3253,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5591,-0.72,-126.5,490.1,-7.5,763,5594,0.00,2.15,0.00,0.000,4,0.000,0.059,2370,3773,3252,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5631,-0.70,-126.5,493.3,-8.3,767,5635,0.12,2.00,0.00,0.000,6,0.142,0.034,2408,2499,3252,0,0,0,0,0,0,25.30,25.77,28.83
$GC,5941,-0.72,-126.5,513.0,-6.1,798,5944,0.00,2.15,0.00,0.000,4,0.000,0.060,2400,3771,3252,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5985,-0.73,-126.5,515.7,-6.9,802,5993,0.00,2.00,0.00,0.000,6,0.000,0.034,2400,2503,3252,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6291,-0.73,-126.5,538.1,-7.7,833,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2503,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,-0.75,-126.5,561.5,-7.6,863,6594,0.00,2.12,0.00,0.000,4,0.000,0.060,2392,3777,3251,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6641,-0.75,-126.5,565.6,-8.2,868,6645,0.00,2.03,0.00,0.000,6,0.000,0.034,2392,2491,3250,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6951,-0.75,-126.5,590.7,-8.1,899,6954,0.00,2.15,0.00,0.000,4,0.000,0.059,2383,3769,3250,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7011,-0.75,-126.5,596.2,-9.2,905,7015,0.00,2.00,0.00,0.000,6,0.000,0.034,2382,2506,3250,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7320,-0.75,-126.5,624.7,-9.2,923,7324,0.00,2.12,0.00,0.000,4,0.000,0.060,2379,3764,3249,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7380,-0.75,-126.5,630.3,-9.3,926,7385,0.00,2.00,0.00,0.000,6,0.000,0.034,2373,2495,3249,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7701,-0.73,-126.5,659.4,-8.8,942,7705,0.00,2.15,0.00,0.000,4,0.000,0.060,2363,3764,3249,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7745,-0.71,-126.5,663.2,-9.1,944,7750,0.12,2.00,0.00,0.000,6,0.143,0.035,2402,2497,3249,0,0,0,0,0,0,25.23,25.72,28.83
$GC,8062,-0.74,-126.5,687.0,-6.9,960,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2497,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,-0.76,-126.5,709.6,-7.5,975,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2497,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8661,-0.79,-126.5,732.8,-7.5,990,8665,0.00,2.17,0.00,0.000,4,0.000,0.061,2395,3776,3248,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8696,-0.81,-126.5,734.3,-7.4,991,8703,0.00,2.03,0.00,0.000,6,0.000,0.035,2395,2497,3247,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9001,-0.83,-126.5,758.0,-7.2,1007,9004,0.00,2.15,0.00,0.000,4,0.000,0.061,2385,3764,3247,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9036,-0.85,-126.5,759.2,-6.9,1008,9043,0.00,2.03,0.00,0.000,6,0.000,0.035,2385,2496,3247,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9341,-0.85,-126.5,781.1,-6.6,1024,9344,0.00,2.17,0.00,0.000,4,0.000,0.060,2376,3774,3247,0,0,0,0,0,0,28.83,25.32,28.83
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9380,begin apogee
$GC,9385,-0.17,0.0,784.0,-7.1,1026,9503,0.70,0.00,112.47,1.157,6,0.132,0.000,2585,2191,2736,0,0,0,0,0,0,24.92,28.83,22.82
$STATE,9504,end apogee,CONTROL_FINISHED_OK
$STATE,9504,begin climb
$GC,9506,0.66,126.5,788.3,0.0,1032,9632,0.77,2.55,120.50,1.132,4,0.062,0.053,2860,3613,2220,0,0,0,0,0,0,24.30,23.75,22.39
$GC,9666,0.64,186.3,786.2,5.3,1040,9726,0.00,2.35,56.05,1.108,6,0.000,0.031,2871,2203,1979,0,0,0,0,0,0,28.83,24.35,22.46
$GC,10031,0.60,186.3,743.8,10.7,1059,10035,0.15,2.28,0.00,0.000,4,0.181,0.041,2845,815,1969,0,0,0,0,0,0,25.10,25.37,28.83
$GC,10076,0.57,186.3,739.7,10.4,1061,10080,0.00,2.28,0.00,0.000,6,0.000,0.037,2845,2205,1969,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10391,0.55,186.3,708.9,9.6,1077,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2205,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10691,0.53,186.3,679.8,9.6,1092,10695,0.15,2.28,0.00,0.000,4,0.169,0.042,2817,808,1967,0,0,0,0,0,0,25.39,25.62,28.83
$GC,10746,0.53,186.3,676.8,8.6,1094,10754,0.00,2.25,0.00,0.000,6,0.000,0.037,2817,2199,1967,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11051,0.53,186.3,652.2,7.9,1110,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2199,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11351,0.54,191.6,629.7,7.6,1125,11357,0.00,0.00,4.62,0.728,6,0.000,0.000,2817,2199,1955,0,0,0,0,0,0,28.83,28.83,23.77
$GC,11651,0.55,191.6,605.7,8.3,1140,11655,0.00,2.28,0.00,0.000,4,0.000,0.043,2827,776,1954,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11686,0.57,191.6,603.9,8.4,1141,11693,0.00,2.33,0.00,0.000,6,0.000,0.037,2827,2210,1954,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11991,0.57,191.6,575.9,8.2,1170,11995,0.00,2.33,0.00,0.000,4,0.000,0.055,2827,3607,1953,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12031,0.57,191.6,572.2,9.3,1174,12035,0.00,2.22,0.00,0.000,6,0.000,0.032,2838,2194,1953,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12341,0.57,191.6,545.7,8.8,1205,12345,0.00,2.25,0.00,0.000,4,0.000,0.044,2849,804,1953,0,0,0,0,0,0,28.83,25.59,28.83
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$GC,15152,0.56,201.2,306.8,7.4,1486,15167,0.00,2.38,9.85,0.759,4,0.000,0.057,2839,3606,1916,0,0,0,0,0,0,28.83,25.56,23.96
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$STATE,18988,end climb,SURFACE_DEPTH_REACHED
$STATE,18988,begin surface coast
$FINISH,-0.1,1.020605
$STATE,19031,end surface coast,CONTROL_FINISHED_OK
$STATE,19031,begin surface
$SM_CCo,19104,0.00,0.000,0,0,938,441.05
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$IRIDIUM_FIX,4626.10,-12506.72,090712,212156
$TT8_MAMPS,0.054677,0.054677
$HUMID,41.49
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,19.30
$XPDR_PINGS,98
$24V_AH,22.4,40.683
$10V_AH,9.8,34.018
$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,22.575,161.000,512.775,0.000,0.000,30.057,44.331,217.958,24.500,0.000,14.341,0.000,14107.314,691.542,4511.675,162.378,0.000,2349.608,0.000,3293.849,0.000,0.530,0.000
$DEVICE_MAMPS,266.985,61.200,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1458.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297372
$DATA_FILE_SIZE,86562,2115
$CAP_FILE_SIZE,211306,0
$CFSIZE,260165632,245211136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,286.6,1
$GPS,100712,075935,4650.285,-12508.596,93,1.8,104,18.4