version: 66.11
glider: 179
mission: 9
dive: 121
start: 7 10 112 4 25 45
data:
$ID,179
$MISSION,9
$DIVE,121
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,2.5
$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,400
$T_MISSION,420
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$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,-19607.525
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.870029
$PRESSURE_SLOPE,0.0001164844
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,100712,042114,4654.494,-12457.794,105,2.5,125,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-79.1
$GPS2,100712,042536,4654.443,-12457.806,11,1.2,11,18.4
$SPEED_LIMITS,0.082,0.220
$TGT_NAME,OMEGA
$TGT_LATLONG,4654.000,-12456.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,54.1,2428,-16.5,-8.250
$D_GRID,472
$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,-0.83,-116.8,0.0,0.0,0,55,0.00,0.00,-41.00,0.000,2,0.000,0.000,141,2319,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.83,-116.8,3.3,-5.5,7,98,11.98,2.33,-20.30,0.000,4,0.256,0.054,2723,888,3217,0,0,0,0,0,0,24.86,25.66,26.24
$GC,232,-0.72,-116.8,38.6,-14.7,41,241,0.12,2.28,0.00,0.000,6,0.143,0.044,2759,2286,3220,0,0,0,0,0,0,25.40,25.72,28.83
$GC,540,-0.67,-116.8,79.0,-11.6,102,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2286,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-0.65,-116.8,112.6,-10.6,163,851,0.12,0.00,0.00,0.000,6,0.161,0.000,2792,2286,3223,0,0,0,0,0,0,26.10,28.83,28.83
$GC,1150,-0.67,-116.8,140.6,-8.9,224,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2286,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1455,-0.71,-116.8,165.1,-7.4,285,1462,0.00,2.33,0.00,0.000,4,0.000,0.063,2792,3677,3223,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1487,-0.75,-116.8,167.4,-7.7,291,1494,0.08,2.17,0.00,0.000,6,0.063,0.038,2749,2287,3223,0,0,0,0,0,0,26.11,26.23,28.83
$GC,1794,-0.72,-116.8,198.6,-11.0,352,1800,0.00,2.17,0.00,0.000,4,0.000,0.043,2749,897,3223,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1838,-0.69,-116.8,203.2,-11.6,358,1846,0.00,2.25,0.00,0.000,6,0.000,0.044,2749,2296,3223,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2144,-0.68,-116.8,239.3,-10.9,389,2145,0.12,0.00,0.00,0.000,6,0.158,0.000,2781,2296,3223,0,0,0,0,0,0,26.25,28.83,28.83
$GC,2444,-0.70,-116.8,266.1,-8.8,419,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2296,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,-0.73,-116.8,292.4,-9.1,449,2748,0.00,2.28,0.00,0.000,4,0.000,0.063,2781,3684,3222,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2794,-0.77,-116.8,297.0,-9.2,454,2797,0.00,2.17,0.00,0.000,6,0.000,0.040,2781,2296,3222,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3104,-0.80,-116.8,325.3,-8.9,485,3105,0.12,0.00,0.00,0.000,6,0.093,0.000,2729,2296,3222,0,0,0,0,0,0,26.50,28.83,28.83
$GC,3404,-0.76,-116.8,361.4,-11.8,515,3407,0.00,2.20,0.00,0.000,4,0.000,0.042,2729,904,3222,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3448,-0.72,-116.8,366.3,-12.1,519,3456,0.10,2.25,0.00,0.000,6,0.133,0.047,2760,2295,3221,0,0,0,0,0,0,25.27,25.17,28.83
$GC,3753,-0.72,-116.8,396.7,-8.8,550,3757,0.00,2.30,0.00,0.000,4,0.000,0.064,2760,3674,3220,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3824,-0.74,-116.8,403.0,-9.2,557,3827,0.00,2.15,0.00,0.000,6,0.000,0.040,2760,2304,3220,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4134,-0.74,-116.8,429.0,-8.1,588,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2304,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.74,-116.8,452.9,-8.1,618,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2304,3219,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4696,-0.21,0.0,472.4,-7.4,644,4806,0.50,0.00,102.18,0.826,6,0.112,0.000,2925,1992,2736,0,0,0,0,0,0,25.60,28.83,23.62
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4808,0.83,116.8,475.2,0.0,655,4918,0.98,2.35,102.57,0.806,4,0.060,0.045,3284,610,2259,0,0,0,0,0,0,24.94,24.32,23.19
$GC,5058,0.71,116.8,455.9,12.2,680,5062,0.17,2.28,0.00,0.000,6,0.163,0.039,3237,2004,2252,0,0,0,0,0,0,24.89,25.30,28.83
$GC,5368,0.64,116.8,424.9,9.8,711,5372,0.12,2.28,0.00,0.000,4,0.183,0.047,3214,603,2249,0,0,0,0,0,0,25.72,25.76,28.83
$GC,5403,0.58,116.8,422.1,10.0,714,5410,0.00,2.22,0.00,0.000,6,0.000,0.039,3214,2000,2248,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5708,0.53,116.8,393.5,8.4,745,5712,0.15,2.30,0.00,0.000,4,0.160,0.057,3177,3416,2248,0,0,0,0,0,0,25.89,25.78,28.83
$GC,5753,0.50,116.8,390.0,8.7,749,5761,0.00,2.22,0.00,0.000,6,0.000,0.040,3186,2007,2247,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6058,0.50,118.0,365.3,8.2,780,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2006,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,0.50,118.0,339.8,8.7,810,6362,0.00,2.30,0.00,0.000,4,0.000,0.058,3185,3397,2245,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6408,0.46,118.0,335.3,9.1,815,6412,0.15,2.20,0.00,0.000,6,0.139,0.039,3150,1998,2245,0,0,0,0,0,0,25.64,26.12,28.83
$GC,6718,0.55,164.9,315.1,6.0,846,6762,0.00,2.30,39.90,0.720,4,0.000,0.048,3159,602,2064,0,0,0,0,0,0,28.83,25.59,24.37
$GC,6806,0.65,198.8,309.8,6.6,854,6845,0.10,2.25,29.52,0.701,6,0.057,0.040,3214,1999,1925,0,0,0,0,0,0,25.62,25.63,24.12
$GC,7141,0.65,198.8,274.9,10.0,888,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1998,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,0.65,198.8,245.9,9.8,918,7445,0.00,2.28,0.00,0.000,4,0.000,0.057,3214,3405,1917,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7461,0.63,198.8,244.3,10.2,919,7468,0.00,2.22,0.00,0.000,6,0.000,0.037,3225,1995,1917,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7766,0.61,198.8,212.3,10.5,950,7770,0.00,2.22,0.00,0.000,4,0.000,0.049,3236,607,1916,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7811,0.59,198.8,208.1,10.5,954,7818,0.12,2.22,0.00,0.000,6,0.133,0.041,3196,2007,1915,0,0,0,0,0,0,25.63,25.96,28.83
$GC,8116,0.60,198.8,182.0,8.7,1006,8123,0.00,2.28,0.00,0.000,4,0.000,0.048,3205,595,1914,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8152,0.63,198.8,178.9,8.7,1013,8160,0.00,2.22,0.00,0.000,6,0.000,0.039,3205,2004,1914,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8459,0.63,198.8,148.7,10.3,1074,8466,0.00,2.30,0.00,0.000,4,0.000,0.057,3205,3399,1914,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8520,0.61,198.8,142.0,11.4,1086,8527,0.00,2.17,0.00,0.000,6,0.000,0.038,3215,2002,1914,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8826,0.61,198.8,111.1,9.5,1147,8833,0.00,2.25,0.00,0.000,4,0.000,0.049,3226,595,1914,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9002,0.61,198.8,94.9,9.8,1182,9009,0.00,2.22,0.00,0.000,6,0.000,0.039,3226,2005,1913,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9308,0.63,199.6,70.6,8.2,1243,9315,0.00,2.30,0.00,0.000,4,0.000,0.058,3226,3401,1913,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9379,0.63,199.6,64.5,9.0,1257,9387,0.08,2.20,0.00,0.000,6,0.148,0.038,3212,2003,1913,0,0,0,0,0,0,25.80,26.13,28.83
$GC,9687,0.73,240.5,45.9,6.3,1318,9727,0.00,2.25,33.65,0.561,4,0.000,0.048,3221,598,1755,0,0,0,0,0,0,28.83,25.81,24.64
$GC,9751,0.81,256.7,41.3,7.5,1330,9770,0.08,2.22,14.60,0.529,6,0.060,0.038,3270,1994,1690,0,0,0,0,0,0,25.75,25.81,24.50
$GC,10070,0.86,271.8,17.2,7.5,1393,10088,0.00,0.00,13.18,0.514,6,0.000,0.000,3270,1994,1627,0,0,0,0,0,0,28.83,28.83,24.63
$STATE,10351,end climb,SURFACE_DEPTH_REACHED
$STATE,10351,begin surface coast
$FINISH,0.9,1.010950
$STATE,10416,end surface coast,CONTROL_FINISHED_OK
$STATE,10416,begin surface
$SM_CCo,10430,56.70,0.460,1,0,1309,350.04
$SM_GC,2.06,8.57,0.50,56.70,0.049,0.056,0.460,143,2318,1309,-8.88,-0.71,350.04,0,0,0,0,1,0,25.81,25.98,24.51
$IRIDIUM_FIX,4632.36,-12456.43,100712,010128
$TT8_MAMPS,0.050183,0.050183
$HUMID,42.47
$INTERNAL_PRESSURE,9.10506
$TCM_TEMP,19.60
$XPDR_PINGS,225
$24V_AH,23.2,45.921
$10V_AH,9.8,35.274
$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,23.675,81.900,335.600,56.700,0.000,30.337,35.401,114.238,56.250,0.000,11.997,0.000,7094.160,523.155,3003.018,118.605,0.000,1633.734,0.000,2213.277,0.000,0.533,0.000
$DEVICE_MAMPS,255.510,64.260,826.200,459.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1005.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297320
$DATA_FILE_SIZE,59944,1462
$CAP_FILE_SIZE,132525,0
$CFSIZE,260165632,244391936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.091,194.0,1
$GPS,100712,072159,4654.246,-12456.188,58,1.9,64,18.4