version: 66.03
glider: 126
mission: 7
dive: 20
start: 2 20 108 8 54 17
data:
$ID,126
$MISSION,7
$DIVE,20
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51702
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,548.98138
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-620045.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,2825
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.942498
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,083407,1252.466,12038.773,41,1.2,41,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.62
$_SM_ANGLEo,-47.4
$GPS2,085326,1252.749,12038.423,15,1.6,20,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,SANTA_CRUZ
$TGT_LATLONG,1257.040,12032.500
$TGT_RADIUS,2000.000
$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,307.4,13320,-23.3,-10.000
$D_GRID,1004
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.46,-86.6,0.0,0.0,0,99,0.00,0.00,-76.80,0.000,6,0.000,0.000,416,2255,3180
$GC,101,-2.46,-86.6,1.4,-21.5,15,118,9.95,1.88,0.00,0.000,4,0.175,0.042,2165,3335,3180
$GC,371,-2.34,-86.6,74.2,-23.3,63,378,0.17,1.73,0.00,0.000,6,0.133,0.025,2195,2271,3181
$GC,715,-2.32,-86.6,135.2,-15.3,124,721,0.00,1.70,0.00,0.000,4,0.000,0.038,2195,1263,3182
$GC,872,-2.32,-86.6,158.9,-12.9,152,878,0.00,1.67,0.00,0.000,6,0.000,0.027,2196,2275,3182
$GC,1217,-2.32,-86.6,207.1,-13.8,213,1223,0.00,1.83,0.00,0.000,4,0.000,0.045,2196,3348,3182
$GC,1301,-2.32,-86.6,218.9,-13.3,228,1307,0.00,1.75,0.00,0.000,6,0.000,0.028,2195,2288,3182
$GC,1644,-2.32,-86.6,262.7,-13.3,281,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2281,3181
$GC,1963,-2.32,-86.6,302.8,-11.9,311,1966,0.00,1.73,0.00,0.000,4,0.000,0.044,2195,1275,3181
$GC,2041,-2.32,-86.6,312.3,-12.0,318,2044,0.00,1.75,0.00,0.000,6,0.000,0.031,2196,2312,3180
$GC,2371,-2.32,-86.6,351.3,-12.3,349,2374,0.00,1.80,0.00,0.000,4,0.000,0.052,2196,3352,3178
$GC,2487,-2.32,-86.6,366.7,-13.4,359,2494,0.00,1.73,0.00,0.000,6,0.000,0.031,2196,2334,3177
$GC,2813,-2.34,-86.6,403.2,-11.2,390,2816,0.00,1.88,0.00,0.000,4,0.000,0.054,2195,1260,3175
$GC,2913,-2.37,-86.6,414.7,-11.6,399,2917,0.00,1.77,0.00,0.000,6,0.000,0.035,2195,2315,3174
$GC,3244,-2.40,-86.6,453.1,-12.0,430,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2316,3171
$GC,3562,-2.43,-86.6,490.3,-11.8,460,3565,0.00,1.83,0.00,0.000,4,0.000,0.061,2196,3349,3168
$GC,3610,-2.43,-86.6,496.4,-12.2,464,3618,0.00,1.80,0.00,0.000,6,0.000,0.035,2195,2310,3168
$GC,3938,-2.46,-86.6,533.3,-10.9,482,3942,0.12,1.90,0.00,0.000,4,0.077,0.065,2166,3355,3166
$GC,3991,-2.46,-86.6,539.7,-11.9,484,3996,0.00,1.80,0.00,0.000,6,0.000,0.041,2166,2332,3165
$GC,4313,-2.46,-86.6,574.9,-11.0,500,4316,0.00,2.00,0.00,0.000,4,0.000,0.078,2166,1242,3163
$GC,4384,-2.46,-86.6,583.0,-11.6,503,4389,0.00,1.92,0.00,0.000,6,0.000,0.058,2166,2301,3163
$GC,4711,-2.46,-86.6,618.4,-10.9,519,4714,0.00,2.03,0.00,0.000,4,0.000,0.095,2166,3363,3161
$GC,4789,-2.46,-86.6,627.4,-11.6,522,4793,0.00,1.92,0.00,0.000,6,0.000,0.074,2166,2331,3160
$GC,5109,-2.46,-86.6,662.2,-10.8,538,5112,0.00,2.15,0.00,0.000,4,0.000,0.114,2166,1242,3158
$GC,5180,-2.46,-86.6,670.2,-11.3,541,5185,0.00,2.10,0.00,0.000,6,0.000,0.095,2166,2306,3158
$GC,5507,-2.46,-87.2,703.7,-9.9,557,5511,0.00,2.20,0.00,0.000,4,0.000,0.137,2166,3361,3155
$GC,5590,-2.46,-87.2,712.3,-10.2,561,5594,0.00,2.15,0.00,0.000,6,0.000,0.119,2166,2320,3155
$GC,5921,-2.46,-87.5,744.6,-10.0,577,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2320,3154
$GC,6231,-2.47,-91.0,774.5,-9.7,592,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2320,3153
$GC,6540,-2.47,-92.4,804.9,-9.9,607,6544,0.00,2.55,0.00,0.000,4,0.000,0.199,2166,3356,3151
$GC,6600,-2.47,-92.4,810.8,-10.5,610,6604,0.00,2.45,0.00,0.000,6,0.000,0.184,2166,2324,3151
$GC,6933,-2.47,-92.9,843.6,-10.0,626,6938,0.00,2.72,0.00,0.000,4,0.000,0.226,2166,3355,3149
$GC,6987,-2.47,-92.9,849.3,-10.2,628,6994,0.00,2.67,0.00,0.000,6,0.000,0.212,2166,2326,3149
$GC,7303,-2.47,-92.9,879.9,-10.4,644,7307,0.00,3.12,0.00,0.000,4,0.000,0.266,2166,1236,3148
$GC,7386,-2.49,-92.9,889.2,-11.9,648,7391,0.00,2.90,0.00,0.000,6,0.000,0.236,2166,2305,3147
$GC,7711,-2.49,-92.9,923.5,-10.4,664,7716,0.00,3.35,0.00,0.000,4,0.000,0.297,2166,3360,3146
$GC,7772,-2.49,-92.9,929.7,-10.7,667,7777,0.00,3.28,0.00,0.000,6,0.000,0.283,2166,2320,3146
$GC,8098,-2.53,-101.3,961.0,-9.3,683,8102,0.00,1.90,0.00,0.000,4,0.000,0.055,2166,1223,3145
$GC,8197,-2.55,-113.7,970.0,-8.9,687,8202,0.00,1.92,0.00,0.000,6,0.000,0.039,2166,2336,3144
$STATE,8434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8434,begin apogee
$GC,8439,-0.50,0.0,990.7,9.4,699,8511,2.12,0.00,68.18,1.444,6,0.116,0.000,2596,1930,2825
$STATE,8512,end apogee,CONTROL_FINISHED_OK
$STATE,8512,begin climb
$GC,8513,2.50,113.7,991.7,0.0,702,8623,2.97,1.98,99.40,1.410,4,0.071,0.073,3252,914,2361
$GC,8712,2.44,113.7,976.3,11.6,711,8717,0.00,1.85,0.00,0.000,6,0.000,0.036,3252,1969,2356
$GC,9034,2.40,113.7,940.7,11.6,727,9037,0.12,1.95,0.00,0.000,4,0.129,0.065,3230,911,2355
$GC,9173,2.37,113.7,924.8,11.1,733,9177,0.00,1.80,0.00,0.000,6,0.000,0.037,3230,1946,2354
$GC,9499,2.35,113.7,889.5,10.8,749,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1946,2353
$GC,9808,2.35,113.7,856.3,10.5,764,9812,0.00,1.90,0.00,0.000,4,0.000,0.066,3230,912,2352
$GC,9965,2.31,113.7,840.1,10.5,771,9969,0.00,1.77,0.00,0.000,6,0.000,0.036,3230,1953,2352
$GC,10296,2.32,116.1,807.1,9.8,787,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1954,2351
$GC,10606,2.30,116.1,775.4,10.1,802,10610,0.12,1.85,0.00,0.000,4,0.131,0.054,3209,3009,2351
$GC,10745,2.31,123.3,761.8,9.4,808,10761,0.00,1.85,7.75,1.139,6,0.000,0.045,3209,1965,2322
$GC,11069,2.32,131.9,731.9,9.2,824,11080,0.00,0.00,9.23,1.177,6,0.000,0.000,3208,1965,2287
$GC,11378,2.32,131.9,700.8,10.2,839,11382,0.00,1.92,0.00,0.000,4,0.000,0.070,3208,907,2286
$GC,11422,2.32,131.9,696.3,10.3,841,11426,0.00,1.85,0.00,0.000,6,0.000,0.036,3208,1974,2286
$GC,11754,2.33,139.0,665.5,9.4,857,11764,0.00,0.00,7.82,1.099,6,0.000,0.000,3208,1975,2258
$GC,12063,2.33,139.0,632.9,10.6,872,12066,0.00,1.95,0.00,0.000,4,0.000,0.066,3208,908,2258
$GC,12164,2.33,139.0,621.9,10.8,876,12167,0.00,1.80,0.00,0.000,6,0.000,0.035,3208,1972,2258
$GC,12484,2.34,140.7,589.4,9.9,892,12487,0.00,1.83,0.00,0.000,4,0.000,0.054,3208,3018,2257
$GC,12712,2.34,140.7,565.7,10.6,902,12717,0.00,1.85,0.00,0.000,6,0.000,0.043,3208,1970,2257
$GC,13039,2.34,140.7,532.4,10.2,918,13043,0.00,1.92,0.00,0.000,4,0.000,0.068,3208,906,2257
$GC,13223,2.34,140.7,513.2,10.4,926,13227,0.00,1.83,0.00,0.000,6,0.000,0.034,3208,1971,2257
$GC,13545,2.35,148.2,482.4,9.4,950,13559,0.00,1.88,9.18,1.025,4,0.000,0.053,3208,3008,2220
$GC,13610,2.36,152.7,475.9,9.6,956,13622,0.00,1.85,5.47,0.884,6,0.000,0.043,3208,1967,2203
$GC,13939,2.36,155.0,443.7,9.8,987,13950,0.00,1.95,3.72,0.696,4,0.000,0.068,3208,916,2193
$GC,14010,2.36,155.0,436.5,10.3,993,14017,0.00,1.83,0.00,0.000,6,0.000,0.033,3208,1977,2193
$GC,14337,2.39,159.3,405.0,9.6,1024,14346,0.00,0.00,5.57,0.854,6,0.000,0.000,3208,1978,2175
$GC,14665,2.42,162.5,374.3,9.7,1055,14677,0.12,1.95,4.45,0.750,4,0.084,0.063,3238,912,2162
$GC,14795,2.42,162.5,361.0,10.3,1066,14801,0.00,1.77,0.00,0.000,6,0.000,0.032,3238,1953,2162
$GC,15121,2.42,162.5,327.8,11.1,1097,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1955,2162
$GC,15437,2.42,162.5,294.2,10.1,1127,15438,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1956,2162
$GC,15757,2.42,164.5,263.4,9.8,1157,15766,0.00,0.00,3.60,0.591,6,0.000,0.000,3238,1956,2154
$GC,16095,2.43,170.1,230.4,9.5,1205,16106,0.00,0.00,6.90,0.801,6,0.000,0.000,3238,1962,2131
$GC,16445,2.44,175.2,198.8,9.6,1267,16457,0.00,1.85,6.07,0.746,4,0.000,0.048,3238,3018,2109
$GC,16710,2.48,196.1,176.3,8.2,1314,16733,0.00,1.85,18.48,0.854,6,0.000,0.035,3238,1941,2024
$GC,17070,2.51,196.3,142.7,10.0,1378,17076,0.00,1.88,0.00,0.000,4,0.000,0.046,3238,3006,2023
$GC,17228,2.54,201.8,128.3,9.5,1406,17240,0.00,1.83,6.00,0.680,6,0.000,0.033,3238,1940,2002
$GC,17580,2.65,243.0,103.1,6.4,1468,17619,0.17,0.00,34.72,0.787,6,0.064,0.000,3288,1938,1834
$GC,17959,2.81,319.2,81.5,3.4,1535,18024,0.12,0.00,61.28,0.749,6,0.071,0.000,3322,1938,1523
$GC,18363,2.84,326.2,41.3,9.4,1607,18375,0.00,1.77,6.68,0.595,4,0.000,0.051,3322,918,1495
$GC,18432,2.84,326.2,34.3,11.2,1619,18438,0.00,1.73,0.00,0.000,6,0.000,0.026,3323,1975,1495
$STATE,18750,end climb,SURFACE_DEPTH_REACHED
$STATE,18750,begin surface coast
$FINISH,-0.3,1.022007
$STATE,18780,end surface coast,CONTROL_FINISHED_OK
$STATE,18780,begin surface
$SM_CCo,18800,132.35,0.654,0,0,586,548.98
$SM_GC,-5.52,0.00,0.00,132.35,0.000,0.000,0.654,414,2305,586,-10.54,0.14,548.98
$IRIDIUM_FIX,1247.67,12040.38,160597,080826
$TT8_MAMPS,0.026078
$HUMID,1702
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.20
$XPDR_PINGS,349
$24V_AH,23.1,3.102
$10V_AH,10.1,2.346
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.775,125.125,364.500,132.350,0.000,132.601,165.635,496.124,87.250,0.000,0.000,20.914,2757.696,12569.635,617.214,3133.530,1044.132,0.000,2120.103,0.000,3131.856,0.000,0.464
$DEVICE_MAMPS,174.876,296.829,1444.261,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.098,672.853,634.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91424,1681
$CAP_FILE_SIZE,181460,0
$CFSIZE,260165632,255651840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,141102,1253.636,12037.171,38,1.6,38,-0.8