version: 66.03
glider: 126
mission: 7
dive: 21
start: 2 20 108 14 23 18
data:
$ID,126
$MISSION,7
$DIVE,21
$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,475
$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,-620057.06
$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,35
$R_STBD_OVSHOOT,50
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$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
$GPS1,141102,1253.636,12037.171,38,1.6,38,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.28
$_SM_ANGLEo,-49.3
$GPS2,142227,1253.833,12036.964,10,2.0,10,-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,307.2,10010,-23.3,-10.000
$D_GRID,998
$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,-86.6,0.0,0.0,0,100,0.00,0.00,-78.60,0.000,6,0.000,0.000,414,2305,3179
$GC,101,-2.46,-86.6,-0.4,-16.6,15,119,10.05,1.77,0.00,0.000,4,0.177,0.038,2165,3338,3179
$GC,372,-2.34,-86.6,71.6,-24.5,63,379,0.15,1.73,0.00,0.000,6,0.138,0.025,2191,2267,3180
$GC,715,-2.34,-86.6,133.3,-15.1,124,721,0.00,1.67,0.00,0.000,4,0.000,0.037,2191,1273,3181
$GC,973,-2.34,-86.6,172.4,-14.2,170,980,0.00,1.75,0.00,0.000,6,0.000,0.027,2191,2325,3182
$GC,1317,-2.34,-86.6,218.9,-12.0,231,1322,0.00,1.80,0.00,0.000,4,0.000,0.038,2191,1262,3183
$GC,1400,-2.34,-86.6,229.4,-12.2,246,1407,0.00,1.83,0.00,0.000,6,0.000,0.029,2191,2351,3183
$GC,1734,-2.34,-86.6,272.1,-13.0,291,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2350,3182
$GC,2052,-2.34,-86.6,313.7,-12.7,321,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2350,3181
$GC,2371,-2.34,-86.6,352.1,-12.0,351,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2351,3180
$GC,2691,-2.36,-86.6,388.5,-12.1,381,2694,0.00,1.88,0.00,0.000,4,0.000,0.047,2191,1271,3177
$GC,2729,-2.39,-86.6,393.2,-11.2,384,2736,0.00,1.80,0.00,0.000,6,0.000,0.032,2191,2334,3176
$GC,3054,-2.41,-86.6,430.1,-11.8,415,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2334,3175
$GC,3373,-2.44,-86.6,464.7,-10.8,445,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2335,3172
$GC,3691,-2.46,-86.6,496.7,-10.0,475,3695,0.00,1.92,0.00,0.000,4,0.000,0.060,2191,1259,3169
$GC,3758,-2.49,-86.6,503.7,-10.9,480,3762,0.12,1.85,0.00,0.000,6,0.079,0.038,2162,2343,3169
$GC,4090,-2.49,-86.6,541.2,-11.7,496,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2343,3167
$GC,4398,-2.49,-86.6,577.5,-11.5,511,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2343,3165
$GC,4707,-2.49,-86.6,612.3,-11.2,526,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2343,3163
$GC,5017,-2.49,-87.2,643.4,-9.9,541,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2343,3161
$GC,5326,-2.49,-87.2,676.3,-10.5,556,5329,0.00,2.15,0.00,0.000,4,0.000,0.119,2162,1282,3160
$GC,5393,-2.49,-87.2,683.5,-10.7,559,5396,0.00,2.03,0.00,0.000,6,0.000,0.100,2162,2316,3159
$GC,5724,-2.49,-87.2,718.0,-10.2,575,5728,0.00,2.20,0.00,0.000,4,0.000,0.141,2162,3362,3158
$GC,5795,-2.49,-87.2,725.8,-10.8,578,5800,0.00,2.05,0.00,0.000,6,0.000,0.123,2162,2395,3158
$GC,6117,-2.49,-87.2,759.1,-10.8,594,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2395,3155
$GC,6426,-2.49,-87.2,792.3,-10.9,609,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2386,3154
$GC,6735,-2.49,-87.2,827.3,-11.0,624,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2386,3153
$GC,7046,-2.49,-87.2,859.2,-10.1,639,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2386,3152
$GC,7354,-2.50,-93.3,889.4,-9.5,654,7357,0.00,1.95,0.00,0.000,4,0.000,0.057,2162,1281,3150
$GC,7447,-2.50,-93.3,899.0,-10.8,658,7452,0.00,1.88,0.00,0.000,6,0.000,0.040,2162,2357,3150
$GC,7774,-2.50,-93.3,934.3,-10.9,674,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2358,3149
$GC,8086,-2.50,-93.3,971.4,-12.1,689,8090,0.00,1.92,0.00,0.000,4,0.000,0.058,2162,1280,3148
$GC,8141,-2.50,-93.3,978.2,-11.8,691,8146,0.00,1.85,0.00,0.000,6,0.000,0.041,2162,2341,3148
$STATE,8255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8255,begin apogee
$GC,8259,-0.50,0.0,990.4,10.6,697,8337,2.12,0.00,69.05,1.448,6,0.114,0.000,2595,1990,2825
$STATE,8338,end apogee,CONTROL_FINISHED_OK
$STATE,8338,begin climb
$GC,8339,2.47,93.3,992.3,0.0,701,8428,3.00,0.00,82.80,1.417,6,0.071,0.000,3246,1990,2444
$GC,8725,2.45,110.9,965.0,8.5,720,8746,0.00,0.00,16.27,1.324,6,0.000,0.000,3245,1990,2373
$GC,9054,2.42,110.9,931.0,10.9,736,9058,0.00,2.00,0.00,0.000,4,0.000,0.074,3245,909,2369
$GC,9283,2.37,110.9,906.8,10.4,746,9288,0.10,1.85,0.00,0.000,6,0.119,0.037,3224,1967,2369
$GC,9609,2.37,110.9,874.3,10.2,762,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1967,2367
$GC,9920,2.38,120.5,844.5,9.2,777,9934,0.00,1.90,9.05,1.209,4,0.000,0.054,3224,3008,2333
$GC,10063,2.36,120.5,830.2,10.3,783,10067,0.00,1.83,0.00,0.000,6,0.000,0.044,3223,1982,2332
$GC,10385,2.37,123.5,798.1,9.7,799,10394,0.00,2.00,4.10,0.874,4,0.000,0.069,3224,914,2321
$GC,10500,2.34,123.5,786.5,10.3,804,10504,0.00,1.83,0.00,0.000,6,0.000,0.035,3224,1964,2321
$GC,10827,2.34,124.3,755.0,9.9,820,10830,0.00,1.83,0.00,0.000,4,0.000,0.054,3224,3009,2321
$GC,10905,2.32,124.3,747.0,10.2,823,10909,0.00,1.83,0.00,0.000,6,0.000,0.044,3224,1966,2320
$GC,11226,2.30,127.0,716.1,9.8,839,11235,0.00,1.90,4.55,0.912,4,0.000,0.053,3224,3021,2307
$GC,11383,2.28,127.1,700.9,10.0,846,11388,0.08,1.85,0.00,0.000,6,0.122,0.044,3201,1980,2307
$GC,11715,2.30,137.3,669.7,9.1,862,11727,0.00,0.00,10.93,1.174,6,0.000,0.000,3201,1980,2265
$GC,12024,2.31,142.6,640.5,9.5,877,12035,0.00,1.98,6.30,1.022,4,0.000,0.068,3200,905,2243
$GC,12130,2.31,142.6,629.2,11.1,882,12134,0.00,1.88,0.00,0.000,6,0.000,0.035,3200,1982,2242
$GC,12461,2.32,150.3,596.3,9.3,898,12471,0.00,0.00,7.93,1.061,6,0.000,0.000,3200,1983,2212
$GC,12771,2.32,151.8,565.8,9.9,913,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1983,2212
$GC,13080,2.34,151.8,535.1,10.1,928,13084,0.00,1.98,0.00,0.000,4,0.000,0.064,3200,904,2212
$GC,13118,2.35,154.2,531.2,9.8,929,13128,0.00,1.85,5.28,0.899,6,0.000,0.034,3200,1979,2196
$GC,13445,2.35,154.2,498.0,10.5,946,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1979,2195
$GC,13764,2.37,170.7,467.8,8.6,976,13787,0.10,1.85,15.70,1.076,4,0.094,0.051,3224,3018,2129
$GC,13831,2.37,170.7,460.9,10.1,982,13835,0.00,1.85,0.00,0.000,6,0.000,0.041,3224,1956,2128
$GC,14162,2.37,170.7,424.9,11.4,1013,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1956,2127
$GC,14479,2.37,170.7,390.4,10.0,1043,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1956,2127
$GC,14798,2.37,170.7,356.6,10.5,1073,14802,0.00,1.85,0.00,0.000,4,0.000,0.051,3224,3013,2127
$GC,14831,2.37,170.7,353.0,10.5,1076,14835,0.00,1.80,0.00,0.000,6,0.000,0.039,3224,1979,2127
$GC,15161,2.38,172.0,318.9,9.9,1107,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1979,2128
$GC,15480,2.38,172.0,288.1,10.1,1137,15484,0.00,1.83,0.00,0.000,4,0.000,0.048,3224,3013,2128
$GC,15625,2.38,172.0,274.0,10.2,1150,15629,0.00,1.75,0.00,0.000,6,0.000,0.038,3224,1999,2128
$GC,15953,2.42,185.3,243.6,8.8,1186,15971,0.00,2.03,13.57,0.895,4,0.000,0.061,3224,916,2069
$GC,16189,2.42,187.9,219.4,9.8,1228,16201,0.00,1.83,4.05,0.617,6,0.000,0.031,3225,1992,2058
$GC,16541,2.46,194.7,185.8,9.4,1290,16553,0.00,1.83,7.30,0.766,4,0.000,0.048,3224,3011,2031
$GC,16582,2.50,206.6,181.6,9.0,1297,16601,0.12,1.83,11.43,0.815,6,0.077,0.035,3257,1939,1982
$GC,16937,2.52,214.8,143.1,9.3,1360,16949,0.00,0.00,8.30,0.749,6,0.000,0.000,3257,1937,1949
$GC,17288,2.55,217.5,110.1,9.8,1422,17294,0.00,0.00,4.05,0.548,6,0.000,0.000,3257,1937,1938
$GC,17634,2.73,299.2,85.7,2.9,1483,17703,0.15,0.00,66.47,0.763,6,0.063,0.000,3304,1937,1605
$GC,18042,2.76,299.2,47.5,11.0,1556,18048,0.00,1.80,0.00,0.000,4,0.000,0.051,3304,919,1601
$GC,18301,2.81,314.0,24.3,8.7,1602,18319,0.00,1.70,12.80,0.657,6,0.000,0.025,3304,1945,1545
$STATE,18548,end climb,SURFACE_DEPTH_REACHED
$STATE,18548,begin surface coast
$FINISH,-0.1,1.021963
$STATE,18566,end surface coast,CONTROL_FINISHED_OK
$STATE,18566,begin surface
$SM_CCo,18586,97.93,0.656,0,0,887,475.15
$SM_GC,-5.30,0.00,0.00,97.93,0.000,0.000,0.656,417,2300,887,-10.53,0.00,475.15
$IRIDIUM_FIX,1252.10,12033.54,160597,141426
$TT8_MAMPS,0.026078
$HUMID,1703
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.00
$XPDR_PINGS,390
$ALTIM_BOTTOM_PING,981.6,49.4
$24V_AH,23.1,3.271
$10V_AH,10.1,2.485
$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,28.675,83.600,359.925,97.925,0.000,74.067,75.124,311.392,110.250,0.000,0.000,10.770,2693.372,12333.676,562.254,3119.266,682.276,0.000,1923.320,0.000,3083.281,0.000,96.027
$DEVICE_MAMPS,177.177,141.128,1448.096,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.150,1418.145,613.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94454,1649
$CAP_FILE_SIZE,168101,0
$CFSIZE,260165632,255582208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,193556,1255.357,12035.127,40,1.7,40,-0.8