version: 66.11
glider: 178
mission: 14
dive: 120
start: 7 11 112 0 26 21
data:
$ID,178
$MISSION,14
$DIVE,120
$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,440
$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,-15383.674
$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,2600
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,31
$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
$GPS1,110712,002105,4652.436,-12458.761,124,1.4,130,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-74.2
$GPS2,110712,002612,4652.371,-12458.765,15,1.5,26,18.4
$SPEED_LIMITS,0.130,0.205
$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,79.3,4906,-14.3,-7.500
$D_GRID,498
$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,-0.63,-126.5,0.0,0.0,0,70,0.00,0.00,-56.70,0.000,2,0.000,0.000,162,2608,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.63,-126.5,3.3,-11.3,10,97,10.82,2.30,-10.32,0.000,4,0.262,0.050,2428,1201,3256,0,0,0,0,0,0,24.53,25.43,25.72
$GC,226,-0.59,-126.5,37.1,-13.4,40,233,0.00,2.30,0.00,0.000,6,0.000,0.044,2420,2595,3258,0,0,0,0,0,0,28.83,25.44,28.83
$GC,533,-0.54,-126.5,76.7,-12.0,101,539,0.17,1.98,0.00,0.000,4,0.159,0.066,2457,3779,3262,0,0,0,0,0,0,25.27,25.41,28.83
$GC,578,-0.54,-126.5,81.1,-9.0,110,585,0.00,1.85,0.00,0.000,6,0.000,0.033,2457,2601,3262,0,0,0,0,0,0,28.83,25.71,28.83
$GC,884,-0.57,-126.5,103.8,-6.8,171,892,0.00,2.00,0.00,0.000,4,0.000,0.059,2449,3779,3263,0,0,0,0,0,0,28.83,25.45,28.83
$GC,906,-0.60,-126.5,105.3,-6.8,175,914,0.00,1.85,0.00,0.000,6,0.000,0.034,2449,2601,3263,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1213,-0.62,-126.5,126.4,-6.7,236,1220,0.00,2.22,0.00,0.000,4,0.000,0.038,2448,1205,3263,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1244,-0.66,-126.5,128.5,-7.4,242,1251,0.00,2.28,0.00,0.000,6,0.000,0.043,2440,2597,3263,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1551,-0.68,-126.5,150.5,-6.5,303,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2597,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.71,-126.5,171.8,-7.1,364,1863,0.00,2.22,0.00,0.000,4,0.000,0.041,2440,1195,3263,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1902,-0.74,-126.5,175.1,-7.5,373,1909,0.08,2.30,0.00,0.000,6,0.059,0.046,2383,2594,3263,0,0,0,0,0,0,25.51,25.54,28.83
$GC,2213,-0.70,-126.5,206.3,-10.4,429,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2594,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-0.67,-126.5,238.4,-11.1,459,2515,0.17,0.00,0.00,0.000,6,0.157,0.000,2428,2594,3263,0,0,0,0,0,0,25.33,28.83,28.83
$GC,2813,-0.69,-126.5,262.7,-7.7,489,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2594,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3114,-0.71,-126.5,286.8,-7.9,519,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2594,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,-0.73,-126.5,310.2,-7.3,549,3417,0.00,2.20,0.00,0.000,4,0.000,0.041,2428,1204,3262,0,0,0,0,0,0,28.83,24.80,28.83
$GC,3458,-0.76,-126.5,313.3,-7.7,553,3465,0.00,2.28,0.00,0.000,6,0.000,0.043,2423,2595,3261,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3763,-0.78,-126.5,336.0,-6.9,584,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2595,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4064,-0.80,-126.5,357.7,-6.8,614,4065,0.12,0.00,0.00,0.000,6,0.090,0.000,2367,2595,3260,0,0,0,0,0,0,25.73,28.83,28.83
$GC,4363,-0.75,-126.5,386.7,-9.7,644,4367,0.12,1.98,0.00,0.000,4,0.169,0.059,2389,3767,3258,0,0,0,0,0,0,25.43,25.39,28.83
$GC,4428,-0.73,-126.5,391.8,-8.3,650,4435,0.00,1.85,0.00,0.000,6,0.000,0.036,2389,2603,3260,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4733,-0.71,-126.5,415.7,-7.4,681,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2603,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.69,-126.5,441.0,-8.7,711,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2603,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.67,-126.5,468.5,-8.8,741,5335,0.12,0.00,0.00,0.000,6,0.164,0.000,2418,2603,3258,0,0,0,0,0,0,25.44,28.83,28.83
$GC,5633,-0.70,-126.5,490.6,-7.2,771,5637,0.00,2.25,0.00,0.000,4,0.000,0.037,2419,1196,3257,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5668,-0.72,-126.5,492.9,-7.6,774,5675,0.00,2.30,0.00,0.000,6,0.000,0.042,2411,2599,3257,0,0,0,0,0,0,28.83,25.49,28.83
$STATE,5732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5732,begin apogee
$GC,5736,-0.17,0.0,498.5,-8.1,781,5855,0.55,0.00,111.12,0.961,6,0.122,0.000,2578,2094,2736,0,0,0,0,0,0,25.01,28.83,23.16
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5857,0.63,126.5,503.7,0.0,793,5976,0.75,2.45,114.07,0.946,4,0.066,0.041,2855,705,2220,0,0,0,0,0,0,24.53,24.02,22.76
$GC,6011,0.67,202.0,503.8,4.4,808,6090,0.00,2.38,68.22,0.929,6,0.000,0.042,2855,2101,1912,0,0,0,0,0,0,28.83,24.37,22.77
$GC,6386,0.64,202.0,474.3,8.4,846,6390,0.00,2.35,0.00,0.000,4,0.000,0.053,2855,3498,1904,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6416,0.60,202.0,471.5,9.3,849,6420,0.10,2.22,0.00,0.000,6,0.155,0.031,2837,2101,1904,0,0,0,0,0,0,25.16,25.51,28.83
$GC,6726,0.60,202.0,446.4,8.6,880,6730,0.00,2.35,0.00,0.000,4,0.000,0.054,2837,3505,1905,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6756,0.60,202.0,443.8,8.6,883,6760,0.00,2.22,0.00,0.000,6,0.000,0.031,2846,2095,1902,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7066,0.60,202.0,418.0,8.7,914,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2092,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,0.59,202.0,392.1,8.9,944,7370,0.00,2.30,0.00,0.000,4,0.000,0.053,2846,3503,1901,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7416,0.55,202.0,387.3,9.8,949,7421,0.12,2.22,0.00,0.000,6,0.143,0.033,2819,2098,1901,0,0,0,0,0,0,25.32,25.74,28.83
$GC,7726,0.57,202.0,362.4,7.9,980,7730,0.00,2.33,0.00,0.000,4,0.000,0.053,2819,3489,1900,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7786,0.57,202.0,356.8,9.4,986,7790,0.00,2.20,0.00,0.000,6,0.000,0.032,2827,2097,1901,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8096,0.57,202.0,330.6,8.4,1017,8100,0.00,2.35,0.00,0.000,4,0.000,0.054,2827,3500,1900,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8126,0.57,202.0,327.8,9.0,1020,8130,0.00,2.20,0.00,0.000,6,0.000,0.031,2837,2101,1900,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8436,0.57,202.0,301.7,8.0,1051,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2098,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8737,0.57,202.0,277.3,8.4,1081,8740,0.00,2.25,0.00,0.000,4,0.000,0.044,2848,704,1900,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8761,0.57,202.0,275.5,8.8,1083,8769,0.00,2.25,0.00,0.000,6,0.000,0.035,2848,2101,1899,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9066,0.57,202.0,247.6,9.1,1114,9070,0.00,2.33,0.00,0.000,4,0.000,0.053,2848,3495,1899,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9111,0.54,202.0,243.5,10.2,1118,9119,0.12,2.20,0.00,0.000,6,0.148,0.032,2821,2097,1899,0,0,0,0,0,0,25.26,25.70,28.83
$GC,9416,0.56,202.7,220.2,7.5,1149,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2096,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9717,0.59,202.8,196.7,7.5,1183,9724,0.00,2.35,0.00,0.000,4,0.000,0.053,2821,3517,1899,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9748,0.59,202.8,194.0,8.5,1189,9755,0.00,2.22,0.00,0.000,6,0.000,0.031,2830,2096,1902,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10054,0.60,217.8,171.3,6.9,1250,10074,0.00,2.22,13.40,0.713,4,0.000,0.042,2840,701,1847,0,0,0,0,0,0,28.83,25.59,24.07
$GC,10098,0.63,217.8,168.0,7.6,1258,10105,0.00,2.28,0.00,0.000,6,0.000,0.036,2840,2108,1849,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10404,0.63,217.8,142.4,9.3,1319,10411,0.00,2.30,0.00,0.000,4,0.000,0.044,2850,709,1844,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10430,0.63,217.8,139.9,9.7,1324,10437,0.00,2.25,0.00,0.000,6,0.000,0.034,2850,2105,1844,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10737,0.63,218.0,112.6,7.5,1385,10743,0.00,2.33,0.00,0.000,4,0.000,0.053,2850,3502,1844,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10832,0.63,218.0,104.4,8.1,1404,10839,0.00,2.22,0.00,0.000,6,0.000,0.034,2861,2094,1844,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11138,0.68,257.1,81.8,5.9,1465,11181,0.00,2.25,36.28,0.691,4,0.000,0.043,2871,707,1686,0,0,0,0,0,0,28.83,25.32,24.10
$GC,11226,0.70,257.1,75.2,8.4,1481,11232,0.00,2.25,0.00,0.000,6,0.000,0.036,2872,2099,1682,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11531,0.73,257.1,49.9,7.9,1542,11538,0.00,2.33,0.00,0.000,4,0.000,0.054,2872,3494,1682,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11592,0.73,257.1,44.5,9.1,1554,11599,0.00,2.20,0.00,0.000,6,0.000,0.037,2882,2105,1681,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11899,0.81,297.7,21.1,5.8,1615,11941,0.00,2.30,35.50,0.651,4,0.000,0.050,2892,699,1521,0,0,0,0,0,0,28.83,25.33,24.15
$GC,12001,0.93,319.4,14.3,6.6,1634,12025,0.15,2.28,19.85,0.628,6,0.080,0.037,2956,2106,1434,0,0,0,0,0,0,25.35,25.37,24.01
$STATE,12153,end climb,SURFACE_DEPTH_REACHED
$STATE,12153,begin surface coast
$FINISH,0.1,1.023393
$STATE,12193,end surface coast,CONTROL_FINISHED_OK
$STATE,12193,begin surface
$SM_CCo,12207,23.08,0.413,1,0,1309,350.04
$SM_GC,-0.07,8.07,0.80,23.08,0.070,0.050,0.413,164,2601,1309,-7.69,-0.99,350.04,0,0,0,0,1,0,25.29,25.42,24.08
$IRIDIUM_FIX,4629.23,-12528.61,100712,202010
$TT8_MAMPS,0.055426,0.055426
$HUMID,41.61
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.50
$XPDR_PINGS,53
$24V_AH,22.8,41.293
$10V_AH,9.9,34.425
$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,21.500,104.100,398.450,23.075,0.000,30.775,41.628,130.498,13.250,0.000,27.213,0.000,8411.217,567.581,3405.812,134.428,0.000,1825.196,0.000,2496.323,0.000,0.530,0.000
$DEVICE_MAMPS,262.395,65.790,960.840,413.100,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1149.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297388
$DATA_FILE_SIZE,66611,1672
$CAP_FILE_SIZE,153922,0
$CFSIZE,260165632,244862976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079, 10.6,1
$GPS,110712,035154,4652.711,-12456.444,78,1.0,78,18.4