version: 66.03
glider: 126
mission: 7
dive: 22
start: 2 20 108 19 46 55
data:
$ID,126
$MISSION,7
$DIVE,22
$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,-620071.38
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,193556,1255.357,12035.127,40,1.7,40,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.29
$_SM_ANGLEo,-56.2
$GPS2,194603,1255.609,12034.989,13,1.3,13,-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,301.3,5217,-23.3,-10.000
$D_GRID,1049
$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,-86.6,0.0,0.0,0,89,0.00,0.00,-67.70,0.000,6,0.000,0.000,417,2301,3180
$GC,91,-2.46,-86.6,0.2,-19.3,13,103,10.05,0.00,0.00,0.000,6,0.178,0.000,2165,2301,3180
$GC,442,-2.37,-86.6,91.1,-19.6,75,448,0.12,1.77,0.00,0.000,4,0.142,0.041,2186,3344,3182
$GC,701,-2.33,-86.6,134.9,-16.5,121,707,0.00,1.67,0.00,0.000,6,0.000,0.025,2186,2302,3184
$GC,1043,-2.33,-86.6,185.9,-15.2,182,1049,0.00,1.83,0.00,0.000,4,0.000,0.044,2186,3341,3185
$GC,1173,-2.33,-86.6,205.9,-15.3,205,1179,0.00,1.60,0.00,0.000,6,0.000,0.028,2186,2350,3185
$GC,1522,-2.33,-86.6,251.4,-12.1,266,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2344,3185
$GC,1839,-2.33,-86.6,293.0,-13.6,296,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2344,3184
$GC,2158,-2.33,-86.6,333.0,-12.2,326,2161,0.00,1.73,0.00,0.000,4,0.000,0.049,2186,3340,3183
$GC,2224,-2.33,-86.6,341.1,-11.8,332,2228,0.00,1.62,0.00,0.000,6,0.000,0.031,2186,2369,3182
$GC,2554,-2.33,-86.6,379.0,-11.7,363,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2367,3181
$GC,2873,-2.33,-86.6,414.4,-11.8,393,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3179
$GC,3192,-2.35,-86.6,451.0,-11.4,423,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2366,3177
$GC,3511,-2.37,-86.6,486.8,-11.8,453,3514,0.00,1.92,0.00,0.000,4,0.000,0.060,2186,1281,3175
$GC,3611,-2.40,-86.6,499.2,-12.5,462,3615,0.00,1.83,0.00,0.000,6,0.000,0.038,2186,2351,3174
$GC,3932,-2.42,-86.6,534.3,-10.9,478,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3172
$GC,4241,-2.44,-86.6,568.4,-11.0,493,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2352,3170
$GC,4551,-2.46,-86.6,602.1,-10.9,508,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2352,3168
$GC,4860,-2.49,-86.6,635.7,-10.9,523,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2352,3167
$GC,5169,-2.51,-86.6,670.0,-11.0,538,5174,0.12,2.12,0.00,0.000,4,0.082,0.114,2157,1285,3165
$GC,5348,-2.51,-86.6,691.0,-11.2,546,5352,0.00,2.05,0.00,0.000,6,0.000,0.104,2157,2323,3164
$GC,5679,-2.51,-86.6,726.5,-10.4,562,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2324,3162
$GC,5990,-2.51,-86.6,759.9,-10.7,577,5995,0.00,2.30,0.00,0.000,4,0.000,0.166,2157,3355,3160
$GC,6096,-2.51,-86.6,771.9,-12.1,581,6102,0.00,2.12,0.00,0.000,6,0.000,0.151,2157,2396,3160
$GC,6411,-2.51,-86.6,806.5,-11.3,597,6415,0.00,2.65,0.00,0.000,4,0.000,0.201,2156,1288,3159
$GC,6498,-2.51,-86.6,816.9,-11.4,601,6503,0.00,1.88,0.00,0.000,6,0.000,0.036,2157,2373,3158
$GC,6827,-2.51,-86.6,851.0,-10.1,617,6830,0.00,1.92,0.00,0.000,4,0.000,0.052,2157,1279,3157
$GC,6964,-2.51,-86.6,865.3,-10.6,623,6969,0.00,1.85,0.00,0.000,6,0.000,0.038,2157,2349,3156
$GC,7292,-2.52,-88.7,896.8,-9.8,639,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2350,3155
$GC,7600,-2.52,-88.7,930.9,-12.2,654,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2349,3154
$GC,7910,-2.52,-88.7,967.7,-11.7,669,7914,0.00,1.90,0.00,0.000,4,0.000,0.055,2157,1278,3153
$GC,8026,-2.52,-88.7,981.8,-12.1,674,8031,0.00,1.83,0.00,0.000,6,0.000,0.039,2157,2324,3153
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8106,begin apogee
$GC,8110,-0.50,0.0,990.1,10.7,678,8187,2.15,0.00,70.22,1.447,6,0.115,0.000,2594,1984,2825
$STATE,8188,end apogee,CONTROL_FINISHED_OK
$STATE,8188,begin climb
$GC,8189,2.46,88.7,992.2,0.0,682,8273,3.00,0.00,78.82,1.411,6,0.071,0.000,3245,1984,2463
$GC,8576,2.46,114.4,967.9,7.8,701,8602,0.00,0.00,23.33,1.355,6,0.000,0.000,3245,1984,2358
$GC,8905,2.43,114.4,934.4,11.4,717,8909,0.00,1.95,0.00,0.000,4,0.000,0.072,3245,921,2355
$GC,8972,2.38,114.4,927.2,10.7,720,8977,0.12,1.80,0.00,0.000,6,0.129,0.037,3223,1965,2355
$GC,9304,2.41,131.0,897.5,8.6,736,9325,0.00,0.00,15.50,1.309,6,0.000,0.000,3223,1965,2291
$GC,9633,2.43,142.8,866.3,9.0,752,9647,0.00,0.00,11.90,1.259,6,0.000,0.000,3223,1965,2242
$GC,9942,2.43,142.8,834.9,11.2,767,9946,0.00,1.95,0.00,0.000,4,0.000,0.074,3223,909,2240
$GC,10109,2.43,142.8,816.1,11.5,774,10114,0.00,1.80,0.00,0.000,6,0.000,0.035,3223,1947,2240
$GC,10430,2.43,142.8,783.4,10.1,790,10434,0.00,1.88,0.00,0.000,4,0.000,0.054,3223,3018,2238
$GC,10580,2.43,142.8,767.4,10.8,796,10587,0.00,1.88,0.00,0.000,6,0.000,0.044,3223,1962,2238
$GC,10896,2.43,142.8,734.8,10.2,812,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1962,2238
$GC,11206,2.43,143.0,704.5,10.0,827,11209,0.00,1.92,0.00,0.000,4,0.000,0.071,3223,906,2237
$GC,11457,2.43,143.0,678.8,10.5,838,11461,0.00,1.83,0.00,0.000,6,0.000,0.035,3223,1965,2237
$GC,11783,2.43,143.0,646.4,10.0,854,11787,0.00,1.95,0.00,0.000,4,0.000,0.066,3223,912,2237
$GC,11860,2.43,143.3,638.4,10.0,857,11865,0.00,1.80,0.00,0.000,6,0.000,0.034,3223,1956,2237
$GC,12182,2.43,143.3,605.5,10.1,873,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1956,2236
$GC,12491,2.43,145.6,574.7,9.8,888,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1958,2237
$GC,12800,2.43,145.6,544.0,10.2,903,12804,0.00,1.83,0.00,0.000,4,0.000,0.056,3223,3009,2237
$GC,12849,2.43,146.1,538.9,10.0,905,12854,0.00,1.88,0.00,0.000,6,0.000,0.043,3223,1944,2237
$GC,13176,2.43,146.1,505.7,10.7,921,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1944,2237
$GC,13493,2.47,167.2,476.2,8.2,948,13516,0.00,0.00,21.12,1.100,6,0.000,0.000,3223,1944,2143
$GC,13831,2.47,167.2,440.5,12.0,980,13835,0.00,1.90,0.00,0.000,4,0.000,0.049,3223,3008,2141
$GC,13965,2.47,167.2,425.1,11.6,992,13968,0.00,1.88,0.00,0.000,6,0.000,0.041,3222,1923,2141
$GC,14294,2.47,167.2,391.0,10.5,1023,14298,0.00,1.90,0.00,0.000,4,0.000,0.049,3222,3010,2141
$GC,14489,2.47,167.2,369.0,11.4,1040,14497,0.00,1.85,0.00,0.000,6,0.000,0.039,3222,1954,2141
$GC,14816,2.47,167.2,335.7,10.1,1071,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1954,2141
$GC,15134,2.47,168.8,304.0,9.9,1101,15137,0.00,1.88,0.00,0.000,4,0.000,0.064,3223,906,2142
$GC,15227,2.47,168.8,293.8,10.4,1109,15235,0.00,1.83,0.00,0.000,6,0.000,0.031,3223,1980,2142
$GC,15553,2.48,176.8,262.2,9.3,1140,15565,0.10,0.00,9.55,0.872,6,0.086,0.000,3249,1980,2104
$GC,15893,2.49,181.2,228.0,9.6,1190,15905,0.00,1.95,5.53,0.733,4,0.000,0.058,3248,909,2086
$GC,16068,2.49,181.2,209.8,10.1,1221,16074,0.00,1.75,0.00,0.000,6,0.000,0.030,3248,1962,2086
$GC,16411,2.52,200.3,177.2,8.3,1282,16434,0.00,1.92,17.17,0.850,4,0.000,0.055,3249,910,2008
$GC,16567,2.52,200.3,161.6,11.5,1310,16574,0.00,1.73,0.00,0.000,6,0.000,0.028,3248,1936,2007
$GC,16912,2.59,242.3,130.6,6.4,1371,16955,0.00,1.88,35.30,0.815,4,0.000,0.042,3249,2991,1837
$GC,16985,2.64,260.8,124.9,8.4,1384,17008,0.10,1.83,16.27,0.765,6,0.058,0.031,3282,1931,1761
$GC,17347,2.64,260.8,83.2,10.7,1448,17353,0.00,1.88,0.00,0.000,4,0.000,0.041,3282,3002,1759
$GC,17556,2.71,283.3,64.3,8.1,1485,17583,0.00,1.88,19.02,0.728,6,0.000,0.030,3282,1875,1670
$GC,17921,2.81,315.3,35.7,7.2,1550,17954,0.15,1.70,27.33,0.696,4,0.066,0.049,3328,910,1538
$GC,18136,2.81,316.1,15.4,9.9,1588,18142,0.00,1.55,0.00,0.000,6,0.000,0.025,3328,1865,1537
$STATE,18269,end climb,SURFACE_DEPTH_REACHED
$STATE,18269,begin surface coast
$FINISH,-0.8,1.021921
$STATE,18294,end surface coast,CONTROL_FINISHED_OK
$STATE,18294,begin surface
$SM_CCo,18313,96.88,0.655,0,0,887,475.15
$SM_GC,-5.38,0.00,0.00,96.88,0.000,0.000,0.655,418,2301,887,-10.52,0.03,475.15
$IRIDIUM_FIX,1249.88,12032.42,160597,191921
$TT8_MAMPS,0.026078
$HUMID,1717
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.10
$XPDR_PINGS,369
$ALTIM_BOTTOM_PING,911.8,145.0
$24V_AH,23.1,3.440
$10V_AH,10.1,2.622
$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,28.725,87.625,351.075,96.875,0.000,49.902,38.718,350.901,103.000,0.000,0.000,13.702,2649.914,12039.380,568.250,3117.286,667.138,0.000,1930.323,0.000,3088.171,0.000,80.004
$DEVICE_MAMPS,177.944,200.954,1446.562,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.867,1388.791,599.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91540,1616
$CAP_FILE_SIZE,164630,0
$CFSIZE,260165632,255504384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,005456,1257.253,12033.024,37,1.6,37,-0.9