version: 66.11
glider: 178
mission: 14
dive: 125
start: 7 11 112 12 45 12
data:
$ID,178
$MISSION,14
$DIVE,125
$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,-15390.162
$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,52
$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
$GPS1,110712,124005,4652.889,-12454.979,47,1.2,48,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-74.1
$GPS2,110712,124502,4652.854,-12454.976,13,1.4,13,18.4
$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,333.2,273,-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,-62.75,0.000,2,0.000,0.000,160,2601,2826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.92,-47.3,3.7,-13.8,11,97,10.45,2.25,-1.95,0.000,4,0.268,0.050,2345,1189,2934,0,0,0,0,0,0,24.63,25.47,25.69
$GC,172,-0.90,-47.3,34.7,-21.5,29,178,0.00,2.33,0.00,0.000,6,0.000,0.050,2337,2608,2937,0,0,0,0,0,0,28.83,25.48,28.83
$GC,477,-0.90,-47.3,81.5,-12.9,90,484,0.00,1.95,0.00,0.000,4,0.000,0.060,2328,3771,2940,0,0,0,0,0,0,28.83,25.13,28.83
$GC,533,-0.90,-47.3,89.1,-14.3,101,540,0.00,1.83,0.00,0.000,6,0.000,0.034,2331,2604,2940,0,0,0,0,0,0,28.83,25.79,28.83
$GC,839,-0.93,-47.3,127.5,-11.8,162,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2605,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-0.97,-47.3,164.2,-12.8,223,1152,0.00,2.22,0.00,0.000,4,0.000,0.038,2328,1205,2941,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1271,-1.01,-47.3,179.4,-11.7,248,1278,0.00,2.25,0.00,0.000,6,0.000,0.050,2318,2602,2942,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1582,-1.04,-47.3,215.5,-11.6,297,1586,0.00,1.95,0.00,0.000,4,0.000,0.057,2309,3776,2942,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1617,-1.06,-47.3,219.3,-12.6,300,1624,0.00,1.83,0.00,0.000,6,0.000,0.033,2308,2602,2942,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1922,-1.08,-47.3,257.2,-12.4,331,1926,0.00,2.20,0.00,0.000,4,0.000,0.035,2309,1205,2941,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2002,-1.11,-47.3,267.9,-13.9,339,2006,0.00,2.28,0.00,0.000,6,0.000,0.044,2298,2594,2941,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2312,-1.12,-47.3,308.7,-12.2,370,2316,0.00,2.20,0.00,0.000,4,0.000,0.035,2298,1211,2941,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2422,-1.14,-47.3,321.8,-12.3,381,2426,0.00,2.28,0.00,0.000,6,0.000,0.043,2288,2603,2941,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2732,-1.14,-47.3,361.6,-13.0,412,2736,0.00,1.95,0.00,0.000,4,0.000,0.057,2279,3773,2940,0,0,0,0,0,0,28.83,25.56,28.83
$STATE,2761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2761,begin apogee
$GC,2766,-0.17,0.0,365.5,-12.8,415,2815,1.08,0.00,43.40,0.868,6,0.170,0.000,2574,2092,2737,0,0,0,0,0,0,24.94,28.83,23.83
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2816,begin climb
$GC,2817,0.92,47.3,367.7,0.0,420,2867,1.02,2.35,43.28,0.845,4,0.070,0.041,2947,707,2544,0,0,0,0,0,0,25.13,24.79,23.54
$GC,3092,1.04,151.8,374.8,-3.7,448,3194,0.00,2.28,93.15,0.863,6,0.000,0.041,2948,2103,2117,0,0,0,0,0,0,28.83,24.56,23.42
$GC,3492,1.08,151.8,338.4,11.3,488,3496,0.12,2.33,0.00,0.000,4,0.094,0.052,2997,3510,2108,0,0,0,0,0,0,25.55,25.27,28.83
$GC,3627,1.04,151.8,319.9,14.3,501,3634,0.10,2.22,0.00,0.000,6,0.183,0.031,2982,2102,2107,0,0,0,0,0,0,25.25,25.65,28.83
$GC,3932,1.04,151.8,280.0,13.3,532,3936,0.00,2.25,0.00,0.000,4,0.000,0.043,2990,712,2106,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4057,1.04,151.8,265.2,11.9,544,4064,0.00,2.25,0.00,0.000,6,0.000,0.035,2990,2107,2105,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4362,1.04,151.8,227.8,12.4,575,4366,0.00,2.28,0.00,0.000,4,0.000,0.041,3000,706,2104,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4407,1.04,151.8,222.9,12.2,579,4415,0.00,2.25,0.00,0.000,6,0.000,0.035,3000,2106,2104,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4712,1.04,151.8,185.3,11.7,622,4719,0.00,2.30,0.00,0.000,4,0.000,0.058,3000,3497,2104,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4723,1.02,151.8,183.9,12.3,624,4730,0.12,2.20,0.00,0.000,6,0.185,0.034,2978,2097,2104,0,0,0,0,0,0,25.22,25.70,28.83
$GC,5030,1.04,151.8,149.8,11.4,685,5036,0.00,2.25,0.00,0.000,4,0.000,0.045,2986,714,2103,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5260,1.06,151.8,122.4,11.8,731,5268,0.00,2.22,0.00,0.000,6,0.000,0.036,2986,2095,2102,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5567,1.07,151.8,93.4,7.7,792,5574,0.00,2.28,0.00,0.000,4,0.000,0.043,2997,701,2102,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5728,1.09,151.8,80.8,8.8,824,5735,0.00,2.28,0.00,0.000,6,0.000,0.043,2997,2108,2102,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6034,1.11,167.5,61.1,5.8,885,6053,0.00,2.28,12.77,0.649,4,0.000,0.057,2997,3516,2052,0,0,0,0,0,0,28.83,25.62,24.22
$GC,6278,1.13,186.0,41.3,5.5,933,6302,0.00,2.25,17.75,0.649,6,0.000,0.032,3008,2089,1977,0,0,0,0,0,0,28.83,25.71,24.23
$GC,6602,1.23,234.3,21.5,2.3,997,6651,0.00,2.25,42.72,0.653,4,0.000,0.041,3018,709,1779,0,0,0,0,0,0,28.83,25.24,24.10
$GC,6666,1.33,265.8,19.7,4.1,1008,6702,0.10,2.28,28.30,0.632,6,0.069,0.040,3070,2095,1652,0,0,0,0,0,0,25.21,25.28,23.91
$STATE,6870,end climb,SURFACE_DEPTH_REACHED
$STATE,6870,begin surface coast
$FINISH,0.3,1.023496
$STATE,6895,end surface coast,CONTROL_FINISHED_OK
$STATE,6895,begin surface
$SM_CCo,6909,58.33,0.469,1,0,1309,350.04
$SM_GC,0.56,8.73,0.82,58.33,0.088,0.053,0.469,154,2601,1309,-7.71,-0.90,350.04,0,0,0,0,1,0,25.37,25.44,23.99
$IRIDIUM_FIX,4641.78,-12557.93,110712,101017
$TT8_MAMPS,0.055426,0.055426
$HUMID,41.49
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.30
$XPDR_PINGS,44
$24V_AH,23.4,41.716
$10V_AH,9.8,34.684
$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,21.725,71.750,281.375,58.325,0.000,31.158,38.285,146.045,11.000,0.000,14.312,0.000,4391.154,464.292,2322.682,83.425,0.000,1301.135,0.000,1648.359,0.000,0.529,0.000
$DEVICE_MAMPS,267.750,59.670,868.275,468.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,721.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297364
$DATA_FILE_SIZE,43321,1053
$CAP_FILE_SIZE,97875,0
$CFSIZE,260165632,244654080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.009, 17.5,1
$GPS,110712,144239,4653.362,-12454.995,37,2.9,56,18.4