version: 66.11
glider: 178
mission: 14
dive: 124
start: 7 11 112 10 41 37
data:
$ID,178
$MISSION,14
$DIVE,124
$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,-15388.809
$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,53
$R_STBD_OVSHOOT,33
$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
$GPS1,110712,103703,4653.301,-12455.630,16,99.0,36,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-72.7
$GPS2,110712,104127,4653.277,-12455.624,13,6.3,32,18.4
$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,115.8,942,-25.2,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.90,-49.0,0.0,0.0,0,79,0.00,0.00,-65.05,0.000,2,0.000,0.000,155,2590,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.90,-49.0,4.3,-16.1,11,100,10.62,2.20,-0.47,0.000,4,0.271,0.049,2350,1192,2941,0,0,0,0,0,0,24.57,25.52,25.67
$GC,324,-0.92,-49.0,53.5,-13.8,59,331,0.00,2.30,0.00,0.000,6,0.000,0.050,2342,2591,2946,0,0,0,0,0,0,28.83,25.46,28.83
$GC,630,-0.94,-49.0,100.2,-12.4,120,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2591,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.98,-49.0,139.0,-11.9,181,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2591,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1241,-1.02,-49.0,170.9,-9.8,242,1247,0.00,1.98,0.00,0.000,4,0.000,0.058,2333,3770,2949,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1281,-1.05,-49.0,175.4,-10.8,250,1288,0.00,1.83,0.00,0.000,6,0.000,0.034,2333,2604,2949,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1592,-1.09,-49.0,207.9,-11.0,305,1596,0.15,2.22,0.00,0.000,4,0.082,0.035,2273,1194,2949,0,0,0,0,0,0,25.76,25.71,28.83
$GC,1672,-1.07,-49.0,218.5,-13.7,313,1677,0.10,2.28,0.00,0.000,6,0.184,0.041,2288,2598,2949,0,0,0,0,0,0,25.25,25.67,28.83
$GC,1982,-1.07,-49.0,259.9,-13.4,344,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2597,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-1.07,-49.0,296.1,-11.8,374,2286,0.00,1.95,0.00,0.000,4,0.000,0.057,2282,3786,2948,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2337,-1.05,-49.0,302.7,-13.1,379,2344,0.00,1.88,0.00,0.000,6,0.000,0.034,2282,2595,2948,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2642,-1.05,-49.0,341.1,-12.4,410,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2595,2948,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2841,begin apogee
$GC,2845,-0.17,0.0,365.1,-12.0,430,2895,1.08,0.00,45.10,0.864,6,0.166,0.000,2579,2094,2737,0,0,0,0,0,0,24.92,28.83,23.80
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin climb
$GC,2896,0.90,49.0,366.6,0.0,435,2945,1.02,0.00,45.50,0.843,6,0.071,0.000,2936,2094,2538,0,0,0,0,0,0,25.11,28.83,23.51
$GC,3242,1.02,147.7,372.9,-2.7,470,3335,0.00,2.38,87.68,0.860,4,0.000,0.043,2947,709,2133,0,0,0,0,0,0,28.83,24.66,23.45
$GC,3559,1.06,147.7,348.1,10.5,501,3567,0.08,2.28,0.00,0.000,6,0.252,0.036,2986,2105,2125,0,0,0,0,0,0,24.29,25.44,28.83
$GC,3864,1.06,147.7,308.7,12.7,532,3868,0.00,2.28,0.00,0.000,4,0.000,0.042,2997,712,2122,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3899,1.06,147.7,304.8,12.6,535,3906,0.00,2.25,0.00,0.000,6,0.000,0.036,2997,2108,2122,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4204,1.04,147.7,264.7,13.3,566,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2107,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,1.03,147.7,224.9,13.1,596,4508,0.00,2.28,0.00,0.000,4,0.000,0.053,2997,3503,2121,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4564,0.97,147.7,215.9,15.3,602,4568,0.17,2.20,0.00,0.000,6,0.275,0.032,2962,2103,2120,0,0,0,0,0,0,23.68,25.78,28.83
$GC,4869,0.99,147.7,180.4,10.7,650,4876,0.00,2.25,0.00,0.000,4,0.000,0.044,2969,709,2119,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4985,0.99,147.7,168.3,9.9,673,4993,0.00,2.25,0.00,0.000,6,0.000,0.042,2970,2106,2119,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5292,1.01,147.7,136.3,10.6,734,5299,0.00,2.33,0.00,0.000,4,0.000,0.060,2970,3501,2118,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5328,0.99,147.7,132.4,11.0,741,5336,0.00,2.22,0.00,0.000,6,0.000,0.039,2981,2094,2119,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5634,0.99,147.7,101.7,10.0,802,5642,0.00,2.25,0.00,0.000,4,0.000,0.045,2991,711,2118,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5721,0.99,147.7,93.0,10.9,819,5728,0.10,2.25,0.00,0.000,6,0.174,0.043,2965,2100,2118,0,0,0,0,0,0,25.24,25.56,28.83
$GC,6027,1.05,168.7,69.4,5.3,880,6052,0.00,2.35,17.12,0.666,4,0.000,0.059,2965,3505,2048,0,0,0,0,0,0,28.83,25.56,24.25
$GC,6101,1.05,168.7,63.7,9.5,894,6108,0.00,2.22,0.00,0.000,6,0.000,0.037,2974,2097,2047,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6407,1.12,189.2,43.1,5.4,955,6432,0.00,2.22,19.25,0.653,4,0.000,0.041,2984,705,1965,0,0,0,0,0,0,28.83,25.53,24.25
$GC,6446,1.19,213.3,41.0,5.0,962,6477,0.08,2.28,22.50,0.646,6,0.068,0.035,3023,2104,1866,0,0,0,0,0,0,25.43,25.49,24.06
$GC,6776,1.31,272.5,14.3,1.4,1027,6832,0.12,2.38,51.17,0.648,4,0.099,0.044,3083,700,1624,0,0,0,0,0,0,25.60,25.12,24.01
$GC,6930,1.33,272.5,4.5,10.0,1056,6937,0.00,2.30,0.00,0.000,6,0.000,0.043,3083,2101,1620,0,0,0,0,0,0,28.83,25.34,28.83
$STATE,6945,end climb,SURFACE_DEPTH_REACHED
$STATE,6945,begin surface coast
$FINISH,-0.1,1.023485
$STATE,6976,end surface coast,CONTROL_FINISHED_OK
$STATE,6976,begin surface
$SM_CCo,6990,47.92,0.538,1,0,1309,350.04
$SM_GC,0.40,8.18,0.80,47.92,0.054,0.052,0.538,164,2597,1309,-7.69,-1.16,350.04,0,0,0,0,1,0,25.22,25.38,23.98
$IRIDIUM_FIX,4641.78,-12604.89,110712,080815
$TT8_MAMPS,0.048685,0.048685
$HUMID,41.69
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.40
$XPDR_PINGS,37
$24V_AH,23.5,41.632
$10V_AH,9.8,34.635
$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,21.700,59.125,288.325,47.925,0.000,27.907,34.863,103.028,9.250,0.000,34.540,0.000,4511.037,454.947,2245.615,85.339,0.000,1265.025,0.000,1608.412,0.000,0.529,0.000
$DEVICE_MAMPS,274.635,59.670,864.450,537.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,730.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297392
$DATA_FILE_SIZE,43327,1065
$CAP_FILE_SIZE,96295,0
$CFSIZE,260165632,244707328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,  5.2,1
$GPS,110712,124005,4652.889,-12454.979,47,1.2,48,18.4