version: 66.11
glider: 178
mission: 14
dive: 122
start: 7 11 112 6 15 34
data:
$ID,178
$MISSION,14
$DIVE,122
$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,-15386.196
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,110712,061100,4652.819,-12455.215,88,1.1,89,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-73.2
$GPS2,110712,061525,4652.789,-12455.258,14,1.1,14,18.4
$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,27.8,509,-25.7,-7.500
$D_GRID,365
$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,-0.92,-47.3,0.0,0.0,0,77,0.00,0.00,-62.80,0.000,2,0.000,0.000,161,2610,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.92,-47.3,3.8,-14.0,11,97,10.43,2.22,-1.77,0.000,4,0.265,0.047,2346,1199,2936,0,0,0,0,0,0,24.58,25.49,25.71
$GC,106,-0.46,-47.3,18.4,-45.5,16,113,0.57,2.33,0.00,0.000,6,0.204,0.049,2489,2594,2935,0,0,0,0,0,0,24.75,25.42,28.83
$GC,412,-0.66,-59.1,48.3,-6.2,77,421,0.20,2.00,-0.45,0.000,4,0.068,0.081,2397,3796,2983,0,0,0,0,0,0,25.67,25.49,25.83
$GC,495,-0.73,-59.1,56.8,-11.2,93,503,0.00,1.90,0.00,0.000,6,0.000,0.034,2397,2594,2987,0,0,0,0,0,0,28.83,25.75,28.83
$GC,802,-0.83,-59.1,87.7,-8.9,154,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2594,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1107,-0.95,-59.1,116.1,-9.1,215,1114,0.17,2.22,0.00,0.000,4,0.080,0.037,2325,1202,2987,0,0,0,0,0,0,25.75,25.69,28.83
$GC,1183,-0.98,-59.1,125.4,-13.1,230,1190,0.00,2.28,0.00,0.000,6,0.000,0.043,2314,2601,2987,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1489,-1.01,-59.1,165.8,-13.2,291,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2601,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-1.04,-59.1,204.2,-12.3,349,1798,0.00,2.22,0.00,0.000,4,0.000,0.035,2314,1201,2986,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1864,-1.08,-59.1,212.6,-11.8,356,1868,0.00,2.30,0.00,0.000,6,0.000,0.047,2304,2602,2986,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2174,-1.10,-59.1,251.6,-13.5,387,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2603,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-1.13,-59.1,286.6,-12.5,417,2478,0.00,1.98,0.00,0.000,4,0.000,0.067,2294,3792,2986,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2499,-1.15,-59.1,288.6,-11.1,419,2506,0.00,1.88,0.00,0.000,6,0.000,0.034,2295,2593,2986,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2804,-1.17,-59.1,330.2,-12.9,450,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2590,2986,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3083,begin apogee
$GC,3087,-0.17,0.0,365.9,-12.2,478,3147,1.02,0.00,52.75,0.867,6,0.164,0.000,2579,2092,2737,0,0,0,0,0,0,24.91,28.83,23.74
$STATE,3147,end apogee,CONTROL_FINISHED_OK
$STATE,3147,begin climb
$GC,3149,0.93,59.1,367.7,0.0,484,3210,1.02,2.35,54.80,0.848,4,0.073,0.041,2949,708,2494,0,0,0,0,0,0,25.03,24.67,23.44
$GC,3434,1.00,118.9,367.2,1.1,513,3496,0.00,2.28,52.50,0.848,6,0.000,0.041,2949,2107,2251,0,0,0,0,0,0,28.83,25.37,23.61
$GC,3794,1.02,118.9,337.4,9.6,549,3798,0.00,2.28,0.00,0.000,4,0.000,0.041,2960,711,2244,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3864,1.04,118.9,330.8,9.2,556,3868,0.00,2.25,0.00,0.000,6,0.000,0.034,2960,2105,2243,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4174,1.04,118.9,300.5,10.0,587,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2105,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,1.04,118.9,273.2,8.6,617,4478,0.00,2.25,0.00,0.000,4,0.000,0.044,2970,706,2240,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4564,1.04,118.9,263.5,10.8,626,4568,0.00,2.25,0.00,0.000,6,0.000,0.036,2970,2102,2240,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4874,1.04,118.9,234.0,9.5,657,4878,0.00,2.28,0.00,0.000,4,0.000,0.041,2980,699,2240,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4888,1.04,118.9,233.2,8.8,658,4896,0.00,2.25,0.00,0.000,6,0.000,0.034,2980,2103,2240,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5194,1.04,118.9,208.4,7.6,689,5198,0.00,2.28,0.00,0.000,4,0.000,0.041,2991,703,2239,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5324,1.04,118.9,198.9,7.6,703,5331,0.00,2.25,0.00,0.000,6,0.000,0.043,2991,2097,2238,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5630,1.02,118.9,173.3,9.0,764,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2097,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5930,1.02,118.9,147.8,8.1,824,5937,0.00,2.28,0.00,0.000,4,0.000,0.048,3001,704,2237,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6161,1.00,118.9,127.7,8.9,870,6168,0.12,2.28,0.00,0.000,6,0.171,0.043,2968,2107,2237,0,0,0,0,0,0,25.18,25.63,28.83
$GC,6467,1.02,133.3,105.3,6.0,931,6486,0.00,2.28,11.68,0.669,4,0.000,0.043,2976,699,2193,0,0,0,0,0,0,28.83,25.66,24.18
$GC,6611,1.02,136.6,95.3,7.1,959,6618,0.00,2.28,3.92,0.477,6,0.000,0.041,2976,2100,2182,0,0,0,0,0,0,28.83,25.59,23.97
$GC,6918,1.07,165.8,76.1,4.4,1020,6954,0.00,2.30,27.95,0.683,4,0.000,0.043,2987,708,2059,0,0,0,0,0,0,28.83,25.42,24.19
$GC,7178,1.11,165.8,59.4,7.7,1071,7185,0.00,2.25,0.00,0.000,6,0.000,0.042,2987,2094,2054,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7484,1.17,189.9,35.6,4.9,1132,7510,0.00,2.30,21.50,0.652,4,0.000,0.043,2997,707,1963,0,0,0,0,0,0,28.83,25.50,24.27
$GC,7724,1.27,219.2,22.5,4.4,1179,7756,0.10,2.25,26.52,0.643,6,0.066,0.043,3046,2093,1842,0,0,0,0,0,0,25.48,25.58,24.18
$GC,8055,1.34,258.0,9.4,3.3,1244,8098,0.00,2.30,34.28,0.636,4,0.000,0.042,3057,711,1683,0,0,0,0,0,0,28.83,25.29,24.16
$STATE,8166,end climb,SURFACE_DEPTH_REACHED
$STATE,8166,begin surface coast
$FINISH,-0.3,1.023453
$STATE,8201,end surface coast,CONTROL_FINISHED_OK
$STATE,8201,begin surface
$SM_CCo,8216,61.33,0.559,1,0,1309,350.04
$SM_GC,0.63,8.07,3.10,61.33,0.052,0.037,0.559,162,2605,1309,-7.70,-0.88,350.04,0,0,0,0,1,0,25.32,25.44,23.92
$IRIDIUM_FIX,4632.36,-12500.81,110712,030327
$TT8_MAMPS,0.055426,0.055426
$HUMID,40.86
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.50
$XPDR_PINGS,44
$24V_AH,23.4,41.476
$10V_AH,9.8,34.538
$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,21.725,68.375,285.900,61.325,0.000,31.059,42.989,109.657,11.000,0.000,15.849,0.000,5336.704,459.468,2641.488,96.885,0.000,1416.817,0.000,1930.953,0.000,0.528,0.000
$DEVICE_MAMPS,265.455,81.090,866.745,559.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,873.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53298,1272
$CAP_FILE_SIZE,110405,0
$CFSIZE,260165632,244789248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.042,252.1,1
$GPS,110712,083459,4653.007,-12454.823,59,1.5,65,18.4