version: 66.11
glider: 179
mission: 9
dive: 128
start: 7 11 112 0 52 34
data:
$ID,179
$MISSION,9
$DIVE,128
$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,440
$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,-19616.346
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,110712,004736,4654.003,-12456.106,24,1.8,25,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.2
$GPS2,110712,005225,4653.946,-12456.109,16,1.7,16,18.4
$SPEED_LIMITS,0.075,0.213
$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,28.4,171,-42.8,-7.500
$D_GRID,555
$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,13,-1.81,-17.1,0.0,0.0,0,67,0.00,0.00,-52.22,0.000,2,0.000,0.000,144,2307,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.81,-24.2,3.4,-5.4,9,93,10.50,2.28,-5.97,0.000,4,0.255,0.056,2409,902,2839,0,0,0,0,0,0,24.79,25.65,26.14
$GC,272,-1.78,-24.2,68.2,-27.3,49,279,0.00,2.25,0.00,0.000,6,0.000,0.046,2401,2293,2842,0,0,0,0,0,0,28.83,25.72,28.83
$GC,578,-1.75,-24.2,138.6,-22.3,110,585,0.15,2.20,0.00,0.000,4,0.227,0.042,2431,903,2843,0,0,0,0,0,0,25.61,25.91,28.83
$GC,594,-1.72,-24.2,142.0,-21.7,113,601,0.00,2.25,0.00,0.000,6,0.000,0.044,2422,2308,2843,0,0,0,0,0,0,28.83,25.86,28.83
$GC,905,-1.72,-24.2,202.5,-19.9,174,909,0.00,2.22,0.00,0.000,4,0.000,0.042,2422,907,2844,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1135,-1.72,-24.2,245.4,-19.1,197,1140,0.08,2.22,0.00,0.000,6,0.207,0.044,2430,2295,2844,0,0,0,0,0,0,25.54,25.94,28.83
$GC,1445,-1.72,-24.2,305.5,-20.0,228,1449,0.00,2.22,0.00,0.000,4,0.000,0.044,2429,898,2843,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1675,-1.72,-24.2,351.4,-19.7,251,1679,0.00,2.25,0.00,0.000,6,0.000,0.044,2421,2309,2844,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1985,-1.72,-24.2,410.9,-19.2,282,1989,0.00,2.22,0.00,0.000,4,0.000,0.043,2422,903,2844,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2020,-1.72,-24.2,416.7,-19.4,285,2027,0.10,2.22,0.00,0.000,6,0.206,0.044,2436,2293,2844,0,0,0,0,0,0,25.45,25.97,28.83
$GC,2325,-1.74,-24.2,470.7,-17.0,316,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2293,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-1.76,-24.2,520.9,-16.4,346,2629,0.00,2.17,0.00,0.000,4,0.000,0.044,2436,902,2844,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2710,-1.78,-24.2,534.0,-16.4,354,2717,0.00,2.25,0.00,0.000,6,0.000,0.047,2428,2300,2843,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,2834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2834,begin apogee
$GC,2837,-0.21,0.0,555.3,-16.6,367,2868,1.88,0.00,25.25,0.851,6,0.190,0.000,2926,1997,2737,0,0,0,0,0,0,24.81,28.83,24.32
$STATE,2868,end apogee,CONTROL_FINISHED_OK
$STATE,2868,begin climb
$GC,2870,1.81,24.2,556.9,0.0,370,2898,1.80,0.00,23.98,0.826,6,0.057,0.000,3589,1997,2638,0,0,0,0,0,0,25.82,28.83,24.03
$GC,3195,1.83,63.9,560.7,-4.2,403,3238,0.00,2.25,37.05,0.853,4,0.000,0.044,3600,604,2477,0,0,0,0,0,0,28.83,25.27,23.96
$GC,3461,1.79,63.9,532.0,16.1,429,3469,0.00,2.25,0.00,0.000,6,0.000,0.040,3599,2015,2471,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3767,1.74,63.9,482.7,14.0,460,3771,0.15,2.25,0.00,0.000,4,0.241,0.048,3574,616,2471,0,0,0,0,0,0,25.44,25.75,28.83
$GC,3997,1.73,63.9,457.1,10.0,483,4001,0.00,2.17,0.00,0.000,6,0.000,0.041,3569,1994,2470,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4306,1.73,63.9,426.0,10.5,514,4310,0.00,2.22,0.00,0.000,4,0.000,0.046,3577,600,2469,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4537,1.71,63.9,402.0,10.5,537,4541,0.00,2.20,0.00,0.000,6,0.000,0.041,3571,1998,2469,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4847,1.71,63.9,366.4,11.4,568,4850,0.00,2.22,0.00,0.000,4,0.000,0.047,3579,607,2468,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5077,1.69,63.9,340.4,11.1,591,5081,0.10,2.17,0.00,0.000,6,0.218,0.041,3549,1995,2467,0,0,0,0,0,0,25.44,26.05,28.83
$GC,5386,1.69,63.9,307.8,10.9,622,5390,0.00,2.20,0.00,0.000,4,0.000,0.046,3558,605,2467,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5617,1.69,63.9,287.4,8.7,645,5621,0.00,2.20,0.00,0.000,6,0.000,0.041,3557,2001,2466,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5926,1.69,63.9,262.5,8.1,676,5930,0.00,2.22,0.00,0.000,4,0.000,0.047,3565,603,2465,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6156,1.69,63.9,243.7,7.7,699,6160,0.00,2.20,0.00,0.000,6,0.000,0.041,3561,2001,2466,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6466,1.69,63.9,219.1,7.7,730,6470,0.00,2.25,0.00,0.000,4,0.000,0.048,3569,598,2465,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6696,1.69,67.9,203.4,6.3,753,6701,0.00,2.20,0.00,0.000,6,0.000,0.042,3565,1997,2465,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7002,1.70,76.2,188.8,5.1,807,7016,0.00,2.25,10.68,0.606,4,0.000,0.047,3573,603,2425,0,0,0,0,0,0,28.83,26.08,24.49
$GC,7240,1.70,76.2,169.3,7.5,854,7247,0.00,2.20,0.00,0.000,6,0.000,0.041,3569,1997,2423,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7546,1.72,89.6,152.0,3.6,915,7566,0.00,2.22,13.00,0.600,4,0.000,0.048,3578,599,2370,0,0,0,0,0,0,28.83,26.03,24.63
$GC,7790,1.72,89.6,129.9,10.9,963,7798,0.00,2.22,0.00,0.000,6,0.000,0.041,3573,2006,2368,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8097,1.72,92.6,102.0,6.6,1024,8104,0.00,2.28,0.00,0.000,4,0.000,0.056,3569,3404,2367,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8258,1.71,106.2,92.8,3.5,1056,8283,0.00,2.20,15.52,0.575,6,0.000,0.041,3578,2007,2302,0,0,0,0,0,0,28.83,26.06,24.68
$GC,8582,1.72,114.6,71.9,5.0,1120,8595,0.00,2.30,8.40,0.522,4,0.000,0.048,3588,586,2269,0,0,0,0,0,0,28.83,25.96,24.56
$GC,8705,1.73,123.0,65.5,5.0,1144,8718,0.00,2.22,8.93,0.521,6,0.000,0.040,3584,2011,2235,0,0,0,0,0,0,28.83,25.89,24.56
$GC,9017,1.75,128.3,44.0,5.9,1206,9031,0.00,2.25,6.32,0.470,4,0.000,0.053,3584,3408,2212,0,0,0,0,0,0,28.83,25.90,24.50
$GC,9120,1.76,134.1,37.1,5.8,1226,9134,0.00,2.20,6.50,0.477,6,0.000,0.039,3593,1989,2189,0,0,0,0,0,0,28.83,25.98,24.52
$GC,9434,1.83,167.7,28.9,-2.4,1288,9468,0.00,0.00,29.52,0.546,6,0.000,0.000,3593,1989,2051,0,0,0,0,0,0,28.83,28.83,24.64
$GC,9768,1.91,187.6,18.5,1.6,1354,9792,0.00,2.33,16.65,0.522,4,0.000,0.055,3593,3395,1971,0,0,0,0,0,0,28.83,25.77,24.65
$GC,10017,1.96,205.8,12.1,2.2,1403,10036,0.00,2.17,15.82,0.513,6,0.000,0.038,3603,1996,1898,0,0,0,0,0,0,28.83,25.93,24.65
$STATE,10164,end climb,SURFACE_DEPTH_REACHED
$STATE,10164,begin surface coast
$FINISH,0.9,1.023701
$STATE,10194,end surface coast,CONTROL_FINISHED_OK
$STATE,10194,begin surface
$SM_CCo,10209,102.28,0.488,1,0,1310,350.04
$SM_GC,2.13,9.57,0.47,102.28,0.051,0.057,0.488,136,2297,1310,-8.89,-1.22,350.04,0,0,0,0,1,0,25.68,25.88,24.18
$IRIDIUM_FIX,4629.23,-12454.63,100712,212157
$TT8_MAMPS,0.050183,0.050183
$HUMID,41.45
$INTERNAL_PRESSURE,9.11483
$TCM_TEMP,19.90
$XPDR_PINGS,254
$24V_AH,24.0,46.458
$10V_AH,9.9,35.726
$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,24.325,85.575,217.625,102.275,0.000,30.196,45.862,122.733,63.500,0.000,17.778,0.000,6806.687,461.075,3195.900,123.739,0.000,1607.281,0.000,2382.831,0.000,0.536,0.000
$DEVICE_MAMPS,254.745,56.610,852.975,488.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,989.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297340
$DATA_FILE_SIZE,60051,1438
$CAP_FILE_SIZE,132828,0
$CFSIZE,260165632,243924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.041,216.5,1
$GPS,110712,034530,4653.928,-12455.971,41,1.3,42,18.4