version: 66.11
glider: 178
mission: 14
dive: 121
start: 7 11 112 3 56 52
data:
$ID,178
$MISSION,14
$DIVE,121
$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,-15384.935
$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,48
$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
$GPS1,110712,035154,4652.711,-12456.444,78,1.0,78,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-73.8
$GPS2,110712,035643,4652.660,-12456.490,15,0.9,15,18.4
$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,72.8,1989,-14.3,-7.500
$D_GRID,304
$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,-126.5,0.0,0.0,0,72,0.00,0.00,-58.90,0.000,2,0.000,0.000,162,2606,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.63,-126.5,3.1,-9.6,10,99,10.95,2.30,-10.02,0.000,4,0.267,0.047,2431,1190,3257,0,0,0,0,0,0,24.54,25.44,25.68
$GC,184,-0.59,-126.5,28.6,-11.7,31,190,0.00,2.30,0.00,0.000,6,0.000,0.046,2424,2597,3261,0,0,0,0,0,0,28.83,25.34,28.83
$GC,490,-0.53,-126.5,61.6,-12.8,92,497,0.17,0.00,0.00,0.000,6,0.164,0.000,2468,2597,3263,0,0,0,0,0,0,25.29,28.83,28.83
$GC,796,-0.57,-126.5,86.1,-7.5,153,802,0.00,1.98,0.00,0.000,4,0.000,0.067,2461,3767,3264,0,0,0,0,0,0,28.83,25.47,28.83
$GC,826,-0.61,-126.5,88.4,-7.6,159,834,0.00,1.83,0.00,0.000,6,0.000,0.034,2461,2604,3264,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1133,-0.64,-126.5,110.4,-7.3,220,1140,0.00,2.25,0.00,0.000,4,0.000,0.043,2461,1198,3264,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1160,-0.69,-126.5,112.4,-7.4,225,1167,0.08,2.28,0.00,0.000,6,0.060,0.041,2405,2598,3265,0,0,0,0,0,0,24.46,25.63,28.83
$GC,1466,-0.67,-126.5,139.7,-7.6,286,1472,0.00,1.98,0.00,0.000,4,0.000,0.059,2392,3775,3264,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1542,-0.64,-126.5,146.0,-8.4,301,1549,0.10,1.85,0.00,0.000,6,0.127,0.041,2426,2604,3265,0,0,0,0,0,0,24.75,23.99,28.83
$GC,1848,-0.64,-126.5,169.4,-7.7,362,1855,0.00,2.25,0.00,0.000,4,0.000,0.035,2426,1193,3264,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1904,-0.66,-126.5,174.0,-7.8,373,1911,0.00,2.30,0.00,0.000,6,0.000,0.050,2420,2596,3264,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2210,-0.66,-126.5,199.5,-8.0,434,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2597,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.66,-126.5,222.9,-7.7,465,2513,0.00,2.22,0.00,0.000,4,0.000,0.035,2421,1197,3264,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2550,-0.66,-126.5,226.1,-8.0,469,2553,0.00,2.30,0.00,0.000,6,0.000,0.042,2412,2601,3267,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2859,-0.66,-126.5,251.9,-9.0,500,2863,0.00,2.22,0.00,0.000,4,0.000,0.034,2411,1199,3264,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2890,-0.66,-126.5,254.7,-8.9,503,2893,0.00,2.28,0.00,0.000,6,0.000,0.043,2402,2595,3263,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3199,-0.66,-126.5,283.4,-8.4,534,3203,0.00,2.22,0.00,0.000,4,0.000,0.034,2401,1195,3263,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3224,-0.66,-126.5,285.3,-8.8,536,3233,0.10,2.30,0.00,0.000,6,0.134,0.041,2423,2600,3263,0,0,0,0,0,0,25.30,25.58,28.83
$STATE,3469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3469,begin apogee
$GC,3473,-0.17,0.0,304.5,-7.7,561,3585,0.50,0.00,108.55,0.837,6,0.118,0.000,2580,2089,2737,0,0,0,0,0,0,25.18,28.83,23.43
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3587,0.63,126.5,309.3,0.0,572,3705,0.75,2.38,110.53,0.815,4,0.070,0.041,2854,715,2220,0,0,0,0,0,0,24.49,24.30,23.12
$GC,3784,0.63,161.9,307.1,6.1,592,3822,0.00,2.30,32.03,0.789,6,0.000,0.034,2855,2102,2075,0,0,0,0,0,0,28.83,24.93,23.41
$GC,4120,0.60,161.9,279.7,8.5,626,4123,0.00,2.35,0.00,0.000,4,0.000,0.053,2854,3506,2067,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4160,0.55,161.9,276.1,9.0,630,4164,0.15,2.22,0.00,0.000,6,0.145,0.031,2820,2103,2067,0,0,0,0,0,0,25.18,25.58,28.83
$GC,4469,0.57,185.4,255.2,6.5,661,4492,0.00,0.00,20.40,0.757,6,0.000,0.000,2820,2101,1980,0,0,0,0,0,0,28.83,28.83,24.09
$GC,4789,0.59,185.4,231.0,7.7,693,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2100,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5090,0.62,191.1,208.7,7.3,723,5102,0.00,2.33,5.38,0.594,4,0.000,0.054,2820,3502,1960,0,0,0,0,0,0,28.83,25.61,24.01
$GC,5151,0.62,191.1,203.7,8.4,729,5155,0.00,2.22,0.00,0.000,6,0.000,0.032,2828,2091,1959,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5456,0.64,191.1,180.7,8.2,785,5464,0.00,2.35,0.00,0.000,4,0.000,0.056,2829,3495,1958,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5473,0.64,191.1,179.3,8.1,788,5480,0.00,2.20,0.00,0.000,6,0.000,0.037,2839,2094,1958,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5779,0.64,191.1,154.3,9.0,849,5787,0.00,2.25,0.00,0.000,4,0.000,0.047,2850,708,1957,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5881,0.64,191.1,146.4,8.1,869,5889,0.00,2.25,0.00,0.000,6,0.000,0.042,2850,2101,1956,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6188,0.65,201.7,123.7,7.1,930,6206,0.00,2.28,11.65,0.673,4,0.000,0.053,2850,3503,1913,0,0,0,0,0,0,28.83,25.61,24.22
$GC,6270,0.62,201.7,117.2,8.1,946,6277,0.00,2.22,0.00,0.000,6,0.000,0.039,2861,2099,1912,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6576,0.62,201.7,95.3,7.9,1007,6583,0.00,2.35,0.00,0.000,4,0.000,0.059,2860,3506,1910,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6652,0.60,201.7,88.4,8.9,1022,6659,0.12,2.22,0.00,0.000,6,0.145,0.039,2834,2095,1910,0,0,0,0,0,0,25.27,25.64,28.83
$GC,6959,0.73,273.6,70.8,4.6,1083,7026,0.12,0.00,63.22,0.684,6,0.087,0.000,2888,2095,1622,0,0,0,0,0,0,25.75,28.83,23.96
$GC,7325,0.74,273.6,42.5,7.6,1154,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2100,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,0.81,292.4,20.3,6.7,1214,7650,0.00,2.35,17.02,0.627,4,0.000,0.059,2888,3505,1542,0,0,0,0,0,0,28.83,25.48,24.27
$GC,7735,0.92,339.6,13.5,5.6,1235,7784,0.12,2.22,41.03,0.639,6,0.088,0.038,2949,2088,1352,0,0,0,0,0,0,25.53,25.60,24.06
$STATE,7877,end climb,SURFACE_DEPTH_REACHED
$STATE,7877,begin surface coast
$FINISH,0.1,1.023422
$STATE,7912,end surface coast,CONTROL_FINISHED_OK
$STATE,7912,begin surface
$SM_CCo,7926,10.48,0.084,1,0,1310,350.04
$SM_GC,1.18,8.05,0.85,10.48,0.069,0.050,0.084,162,2606,1310,-7.71,-0.79,350.04,0,0,0,0,1,0,25.27,25.40,25.24
$IRIDIUM_FIX,4635.50,-12439.92,110712,000042
$TT8_MAMPS,0.054677,0.054677
$HUMID,41.14
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.50
$XPDR_PINGS,41
$24V_AH,23.1,41.393
$10V_AH,9.8,34.481
$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,21.225,72.975,409.800,10.475,0.000,29.137,43.058,126.249,10.250,0.000,16.182,0.000,4978.266,519.408,2614.405,97.924,0.000,1487.474,0.000,1890.995,0.000,0.529,0.000
$DEVICE_MAMPS,266.985,67.320,836.910,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,869.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297396
$DATA_FILE_SIZE,50063,1269
$CAP_FILE_SIZE,111879,0
$CFSIZE,260165632,244850688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,  8.0,1
$GPS,110712,061100,4652.819,-12455.215,88,1.1,89,18.4