version: 66.03
glider: 126
mission: 7
dive: 77
start: 3 3 108 17 1 56
data:
$ID,126
$MISSION,7
$DIVE,77
$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,413
$T_MISSION,496
$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,500
$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,-620979.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$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,2325
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,52
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,164626,1312.649,12025.138,42,1.3,42,-0.9
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.01
$_SM_ANGLEo,-58.4
$GPS2,170103,1312.732,12025.136,14,1.5,14,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,SANTA_CRUZ_SB
$TGT_LATLONG,1257.040,12032.500
$TGT_RADIUS,1000.000
$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,156.3,31957,-22.0,-7.990
$D_GRID,1041
$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,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-66.47,0.000,6,0.000,0.000,418,2346,3101
$GC,91,-2.33,-67.0,0.9,-16.9,13,108,10.15,1.80,0.00,0.000,4,0.175,0.033,2198,1279,3102
$GC,317,-2.22,-67.0,57.4,-18.4,53,323,0.15,1.70,0.00,0.000,6,0.129,0.026,2225,2326,3103
$GC,661,-2.16,-67.0,117.6,-17.6,114,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2326,3104
$GC,1005,-2.14,-67.0,168.5,-12.5,175,1011,0.00,1.77,0.00,0.000,4,0.000,0.041,2225,3379,3104
$GC,1264,-2.14,-67.0,199.6,-10.4,221,1270,0.00,1.67,0.00,0.000,6,0.000,0.025,2225,2328,3105
$GC,1607,-2.14,-67.0,235.5,-10.9,282,1613,0.00,1.83,0.00,0.000,4,0.000,0.043,2225,3373,3105
$GC,1865,-2.14,-67.0,266.1,-11.4,317,1869,0.00,1.62,0.00,0.000,6,0.000,0.028,2225,2373,3104
$GC,2195,-2.14,-67.0,301.4,-10.4,348,2199,0.00,1.73,0.00,0.000,4,0.000,0.046,2225,3369,3103
$GC,2296,-2.14,-67.0,312.4,-10.9,357,2300,0.10,1.62,0.00,0.000,6,0.127,0.029,2243,2367,3102
$GC,2626,-2.14,-67.0,346.8,-10.2,388,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2361,3100
$GC,2945,-2.16,-67.0,379.6,-10.2,418,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2361,3097
$GC,3263,-2.19,-67.0,410.9,-10.1,448,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2361,3095
$GC,3582,-2.22,-67.0,441.8,-9.9,478,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2361,3093
$GC,3900,-2.25,-67.0,472.6,-9.7,508,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2361,3090
$GC,4218,-2.28,-67.0,502.1,-9.1,537,4220,0.15,0.00,0.00,0.000,6,0.067,0.000,2205,2360,3088
$GC,4526,-2.28,-67.0,533.1,-10.5,552,4529,0.00,1.80,0.00,0.000,4,0.000,0.061,2205,3366,3086
$GC,4626,-2.28,-67.0,543.9,-10.9,556,4630,0.00,1.70,0.00,0.000,6,0.000,0.037,2205,2392,3085
$GC,4947,-2.28,-67.0,576.3,-9.5,572,4950,0.00,1.77,0.00,0.000,4,0.000,0.072,2205,3356,3083
$GC,4991,-2.28,-67.0,580.7,-10.1,574,4994,0.00,1.70,0.00,0.000,6,0.000,0.049,2204,2392,3082
$GC,5322,-2.28,-67.0,613.1,-10.2,590,5326,0.00,1.83,0.00,0.000,4,0.000,0.085,2204,3352,3080
$GC,5376,-2.28,-67.0,618.8,-10.4,592,5381,0.00,1.75,0.00,0.000,6,0.000,0.063,2204,2414,3080
$GC,5698,-2.28,-67.0,649.2,-10.1,608,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2412,3078
$GC,6007,-2.28,-67.0,679.7,-9.7,623,6010,0.00,2.17,0.00,0.000,4,0.000,0.114,2204,1315,3076
$GC,6089,-2.28,-67.0,687.7,-10.1,626,6096,0.00,2.03,0.00,0.000,6,0.000,0.095,2205,2338,3076
$GC,6405,-2.28,-67.0,716.6,-9.0,642,6409,0.00,2.17,0.00,0.000,4,0.000,0.133,2205,3389,3074
$GC,6511,-2.28,-67.0,726.8,-9.9,647,6515,0.00,1.98,0.00,0.000,6,0.000,0.115,2204,2427,3073
$GC,6843,-2.28,-67.0,757.7,-9.5,663,6847,0.00,1.95,0.00,0.000,4,0.000,0.050,2204,1295,3072
$GC,6981,-2.28,-67.0,770.7,-9.6,669,6986,0.00,1.88,0.00,0.000,6,0.000,0.035,2204,2385,3072
$GC,7309,-2.28,-67.0,799.5,-8.7,685,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2385,3071
$GC,7617,-2.28,-67.0,826.0,-8.3,700,7621,0.00,1.80,0.00,0.000,4,0.000,0.058,2204,3406,3070
$GC,7689,-2.28,-67.0,832.5,-9.0,703,7693,0.00,1.75,0.00,0.000,6,0.000,0.035,2204,2391,3070
$GC,8017,-2.28,-67.0,860.9,-8.9,719,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2389,3068
$GC,8325,-2.28,-67.0,887.8,-8.6,734,8328,0.00,1.80,0.00,0.000,4,0.000,0.058,2204,3396,3066
$GC,8374,-2.28,-67.0,892.0,-9.2,736,8379,0.00,1.73,0.00,0.000,6,0.000,0.036,2204,2398,3066
$GC,8700,-2.28,-67.0,919.3,-8.4,752,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2398,3065
$GC,9009,-2.28,-67.0,945.4,-8.5,767,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2398,3064
$GC,9319,-2.28,-67.0,971.8,-8.5,782,9323,0.00,1.80,0.00,0.000,4,0.000,0.059,2205,3401,3064
$GC,9423,-2.28,-67.0,980.9,-8.8,786,9430,0.00,1.75,0.00,0.000,6,0.000,0.036,2204,2393,3063
$STATE,9532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9532,begin apogee
$GC,9537,-0.51,0.0,990.1,8.6,792,9594,1.90,0.00,51.92,1.440,6,0.104,0.000,2599,1988,2825
$STATE,9595,end apogee,CONTROL_FINISHED_OK
$STATE,9595,begin climb
$GC,9597,2.33,67.0,991.9,0.0,795,9662,2.85,0.00,60.05,1.405,6,0.067,0.000,3222,1988,2551
$GC,9963,2.32,84.5,973.3,6.3,813,9983,0.00,0.00,16.40,1.345,6,0.000,0.000,3222,1988,2480
$GC,10292,2.28,88.4,948.9,7.6,829,10299,0.00,0.00,5.12,1.027,6,0.000,0.000,3222,1988,2464
$GC,10601,2.24,88.4,923.9,8.3,844,10603,0.12,0.00,0.00,0.000,6,0.122,0.000,3200,1988,2463
$GC,10911,2.23,93.3,900.3,7.5,859,10918,0.00,0.00,5.75,1.078,6,0.000,0.000,3200,1987,2444
$GC,11219,2.23,94.4,876.2,7.9,874,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1987,2444
$GC,11529,2.23,106.5,854.0,6.8,889,11548,0.00,0.00,13.25,1.291,6,0.000,0.000,3200,1987,2390
$GC,11857,2.24,109.1,828.5,7.7,905,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1987,2389
$GC,12166,2.24,109.1,803.7,8.1,920,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1987,2388
$GC,12475,2.24,109.1,778.5,8.5,935,12479,0.00,1.88,0.00,0.000,4,0.000,0.053,3200,3047,2388
$GC,12553,2.24,109.1,771.9,8.2,938,12557,0.00,1.92,0.00,0.000,6,0.000,0.041,3199,1957,2387
$GC,12874,2.25,118.1,748.0,7.1,954,12890,0.00,1.95,11.32,1.213,4,0.000,0.067,3200,909,2343
$GC,13026,2.23,120.4,736.3,7.8,960,13030,0.00,1.83,0.00,0.000,6,0.000,0.037,3199,1971,2342
$GC,13359,2.23,120.4,709.2,8.6,976,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1972,2341
$GC,13667,2.24,124.5,684.3,7.6,991,13680,0.00,2.05,7.00,1.067,4,0.000,0.064,3200,897,2317
$GC,13781,2.22,124.5,674.5,8.8,996,13785,0.00,1.80,0.00,0.000,6,0.000,0.036,3199,1931,2317
$GC,14107,2.22,124.5,647.4,8.3,1012,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1932,2316
$GC,14417,2.22,124.5,621.2,8.6,1027,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1932,2316
$GC,14726,2.22,125.2,595.5,7.9,1042,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1932,2316
$GC,15035,2.23,132.9,572.7,7.3,1057,15049,0.00,1.95,9.00,1.067,4,0.000,0.053,3199,3012,2283
$GC,15117,2.23,132.9,565.8,8.4,1060,15123,0.00,1.95,0.00,0.000,6,0.000,0.048,3200,1908,2282
$GC,15432,2.23,132.9,540.6,8.1,1076,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1908,2282
$GC,15743,2.23,132.9,515.1,8.4,1091,15746,0.00,1.95,0.00,0.000,4,0.000,0.050,3200,3013,2282
$GC,15938,2.23,132.9,499.0,8.2,1099,15945,0.00,1.92,0.00,0.000,6,0.000,0.040,3200,1919,2282
$GC,16264,2.23,134.6,473.2,7.8,1130,16265,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1920,2282
$GC,16582,2.24,140.3,448.0,7.5,1160,16592,0.00,0.00,7.82,0.960,6,0.000,0.000,3199,1919,2253
$GC,16911,2.25,146.5,422.9,7.4,1191,16921,0.00,0.00,7.00,0.920,6,0.000,0.000,3199,1919,2227
$GC,17239,2.25,146.9,397.1,8.0,1222,17240,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1919,2227
$GC,17558,2.26,149.4,370.9,7.8,1252,17567,0.00,0.00,4.45,0.730,6,0.000,0.000,3200,1919,2214
$GC,17886,2.26,152.0,343.4,7.7,1283,17897,0.00,1.85,4.05,0.677,4,0.000,0.063,3200,917,2205
$GC,17987,2.26,152.0,334.7,8.4,1292,17991,0.00,1.73,0.00,0.000,6,0.000,0.034,3200,1934,2205
$GC,18317,2.28,159.8,309.9,7.2,1323,18328,0.00,0.00,8.30,0.876,6,0.000,0.000,3199,1934,2173
$GC,18647,2.30,160.8,283.0,7.9,1354,18650,0.00,1.88,0.00,0.000,4,0.000,0.051,3200,3017,2172
$GC,18729,2.30,160.8,275.7,8.3,1361,18736,0.00,1.90,0.00,0.000,6,0.000,0.037,3199,1925,2173
$GC,19057,2.33,167.3,251.8,7.4,1392,19072,0.00,1.88,8.25,0.828,4,0.000,0.061,3199,910,2142
$GC,19146,2.34,169.2,244.6,7.8,1406,19153,0.00,1.73,3.25,0.517,6,0.000,0.032,3200,1915,2135
$GC,19491,2.37,172.1,217.6,7.7,1467,19498,0.12,0.00,4.35,0.634,6,0.077,0.000,3232,1916,2123
$GC,19836,2.40,187.3,190.1,6.5,1528,19853,0.00,0.00,14.15,0.838,6,0.000,0.000,3232,1916,2061
$GC,20193,2.45,206.4,167.6,6.2,1591,20214,0.00,0.00,17.08,0.814,6,0.000,0.000,3232,1916,1982
$GC,20553,2.53,229.5,146.6,5.8,1655,20581,0.12,1.95,20.00,0.795,4,0.069,0.044,3267,3006,1889
$GC,20822,2.57,244.3,126.3,6.6,1703,20845,0.00,1.90,13.40,0.746,6,0.000,0.031,3267,1878,1829
$GC,21183,2.63,259.0,100.7,6.6,1767,21200,0.00,1.77,13.30,0.717,4,0.000,0.051,3267,904,1769
$GC,21314,2.65,259.0,90.8,8.1,1790,21321,0.00,1.67,0.00,0.000,6,0.000,0.028,3267,1908,1769
$GC,21659,2.71,266.2,64.3,7.3,1851,21672,0.15,1.95,7.82,0.627,4,0.061,0.040,3313,3018,1739
$GC,21926,2.73,281.3,43.2,6.6,1898,21944,0.00,1.90,13.57,0.660,6,0.000,0.028,3313,1883,1677
$GC,22282,2.76,283.0,19.5,7.8,1961,22288,0.00,1.92,0.00,0.000,4,0.000,0.037,3313,3020,1677
$STATE,22540,end climb,SURFACE_DEPTH_REACHED
$STATE,22540,begin surface coast
$FINISH,-0.1,1.021628
$STATE,22568,end surface coast,CONTROL_FINISHED_OK
$STATE,22568,begin surface
$SM_CCo,22589,132.68,0.624,0,0,786,500.17
$SM_GC,-5.39,0.00,0.00,132.68,0.000,0.000,0.624,419,2270,786,-10.54,-1.55,500.17
$IRIDIUM_FIX,1307.59,12024.79,280597,171721
$TT8_MAMPS,0.026078
$HUMID,1722
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.80
$XPDR_PINGS,473
$24V_AH,23.1,11.415
$10V_AH,10.1,9.194
$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,28.425,92.225,326.625,132.675,0.000,100.939,79.231,373.004,130.750,0.000,0.000,14.439,3281.609,15345.161,596.478,3527.818,865.936,0.000,2207.114,0.000,3489.883,0.000,91.485
$DEVICE_MAMPS,174.876,132.691,1439.659,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.854,794.702,754.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110280,2012
$CAP_FILE_SIZE,197807,0
$CFSIZE,260165632,250875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030308,232155,1310.778,12026.363,24,1.1,42,-0.9