version: 66.03
glider: 126
mission: 7
dive: 78
start: 3 3 108 23 28 23
data:
$ID,126
$MISSION,7
$DIVE,78
$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,-620991.88
$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,60
$R_STBD_OVSHOOT,37
$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
$GPS1,232155,1310.778,12026.363,24,1.1,42,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.06
$_SM_ANGLEo,-54.1
$GPS2,232732,1310.768,12026.338,11,1.6,11,-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,157.3,27750,-22.0,-7.990
$D_GRID,1030
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-68.05,0.000,6,0.000,0.000,419,2270,3101
$GC,92,-2.33,-67.0,0.1,-14.2,13,109,10.10,1.65,0.00,0.000,4,0.173,0.032,2198,1294,3102
$GC,256,-2.22,-67.0,43.0,-21.6,42,263,0.10,1.73,0.00,0.000,6,0.122,0.025,2220,2335,3103
$GC,602,-2.15,-67.0,104.3,-18.2,103,608,0.10,1.75,0.00,0.000,4,0.131,0.038,2238,3372,3105
$GC,642,-2.09,-67.0,111.6,-17.4,110,649,0.00,1.73,0.00,0.000,6,0.000,0.025,2238,2306,3105
$GC,986,-2.09,-67.0,162.0,-13.5,171,992,0.00,1.83,0.00,0.000,4,0.000,0.041,2238,3373,3106
$GC,1245,-2.09,-67.0,194.3,-12.0,217,1251,0.00,1.62,0.00,0.000,6,0.000,0.025,2238,2337,3107
$GC,1588,-2.09,-67.0,231.2,-11.2,278,1594,0.00,1.80,0.00,0.000,4,0.000,0.043,2238,3370,3106
$GC,1847,-2.09,-67.0,260.3,-11.8,317,1851,0.00,1.65,0.00,0.000,6,0.000,0.027,2238,2358,3107
$GC,2178,-2.09,-67.0,296.2,-10.9,348,2182,0.00,1.77,0.00,0.000,4,0.000,0.046,2238,3365,3106
$GC,2267,-2.09,-67.0,306.4,-11.0,356,2270,0.00,1.62,0.00,0.000,6,0.000,0.028,2237,2373,3105
$GC,2597,-2.09,-67.0,341.1,-10.1,387,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2367,3104
$GC,2915,-2.09,-67.0,373.7,-10.5,417,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2367,3102
$GC,3235,-2.11,-67.0,406.5,-10.2,447,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2367,3100
$GC,3553,-2.14,-67.0,437.2,-9.6,477,3556,0.00,1.75,0.00,0.000,4,0.000,0.051,2238,3371,3098
$GC,3658,-2.14,-67.0,448.2,-10.5,486,3665,0.00,1.67,0.00,0.000,6,0.000,0.031,2238,2381,3097
$GC,3984,-2.16,-67.0,480.7,-10.1,517,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2379,3095
$GC,4309,-2.19,-67.0,512.7,-9.8,542,4313,0.00,1.75,0.00,0.000,4,0.000,0.059,2238,3358,3093
$GC,4488,-2.19,-67.0,531.3,-10.2,550,4492,0.00,1.65,0.00,0.000,6,0.000,0.036,2238,2408,3091
$GC,4821,-2.22,-67.0,563.1,-9.8,566,4825,0.00,1.75,0.00,0.000,4,0.000,0.069,2238,3362,3088
$GC,4881,-2.22,-67.0,569.3,-9.4,568,4888,0.00,1.65,0.00,0.000,6,0.000,0.043,2238,2429,3088
$GC,5198,-2.25,-67.0,599.1,-9.3,584,5201,0.00,1.75,0.00,0.000,4,0.000,0.080,2238,3359,3086
$GC,5254,-2.27,-67.0,604.5,-9.4,586,5258,0.00,1.65,0.00,0.000,6,0.000,0.057,2238,2439,3086
$GC,5575,-2.30,-67.0,634.8,-9.1,602,5577,0.15,0.00,0.00,0.000,6,0.069,0.000,2201,2439,3084
$GC,5883,-2.30,-67.0,664.8,-9.6,617,5887,0.00,1.83,0.00,0.000,4,0.000,0.106,2201,3358,3082
$GC,6050,-2.30,-67.0,681.5,-10.1,624,6055,0.00,1.77,0.00,0.000,6,0.000,0.091,2201,2463,3081
$GC,6371,-2.30,-67.0,713.2,-10.0,640,6375,0.00,2.33,0.00,0.000,4,0.000,0.129,2201,1326,3080
$GC,6455,-2.30,-67.0,721.6,-9.7,644,6459,0.00,2.10,0.00,0.000,6,0.000,0.110,2200,2367,3080
$GC,6786,-2.30,-67.0,753.2,-10.4,660,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2367,3078
$GC,7096,-2.30,-67.0,781.3,-8.9,675,7100,0.00,2.38,0.00,0.000,4,0.000,0.166,2201,1325,3076
$GC,7230,-2.30,-67.0,794.0,-9.2,681,7234,0.00,2.40,0.00,0.000,6,0.000,0.151,2201,2400,3076
$GC,7556,-2.30,-67.0,822.8,-8.8,697,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2400,3075
$GC,7867,-2.30,-67.0,850.8,-8.9,712,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2400,3073
$GC,8176,-2.30,-67.0,879.2,-9.4,727,8180,0.00,2.58,0.00,0.000,4,0.000,0.232,2201,3380,3072
$GC,8314,-2.30,-67.0,892.9,-10.3,733,8318,0.00,1.62,0.00,0.000,6,0.000,0.035,2200,2441,3071
$GC,8635,-2.30,-67.8,919.7,-7.9,749,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2442,3071
$GC,8944,-2.30,-67.8,944.6,-8.4,764,8947,0.00,2.00,0.00,0.000,4,0.000,0.058,2200,1310,3071
$GC,9095,-2.30,-67.8,957.7,-9.0,770,9101,0.00,1.92,0.00,0.000,6,0.000,0.041,2200,2427,3070
$GC,9410,-2.30,-67.8,983.5,-8.2,786,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2428,3069
$STATE,9492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9492,begin apogee
$GC,9497,-0.51,0.0,990.4,8.3,790,9554,1.92,0.00,53.15,1.438,6,0.107,0.000,2597,1995,2825
$STATE,9555,end apogee,CONTROL_FINISHED_OK
$STATE,9555,begin climb
$GC,9557,2.34,67.8,991.8,0.0,793,9623,2.85,0.00,60.75,1.404,6,0.067,0.000,3219,1995,2548
$GC,9922,2.32,83.0,971.3,6.6,811,9942,0.00,0.00,14.48,1.324,6,0.000,0.000,3219,1995,2486
$GC,10253,2.28,83.9,946.7,7.9,827,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1995,2484
$GC,10561,2.25,89.8,923.8,7.4,842,10574,0.00,2.05,7.15,1.166,4,0.000,0.064,3219,912,2459
$GC,10828,2.19,89.8,901.4,8.8,854,10833,0.17,1.85,0.00,0.000,6,0.116,0.035,3186,1991,2459
$GC,11162,2.20,94.9,876.3,7.5,870,11172,0.00,1.80,6.22,1.106,4,0.000,0.051,3187,3009,2437
$GC,11239,2.21,99.5,870.3,7.6,873,11249,0.00,1.85,5.72,1.073,6,0.000,0.041,3187,1949,2419
$GC,11570,2.22,103.5,844.6,7.6,890,11577,0.00,0.00,5.20,1.022,6,0.000,0.000,3187,1949,2403
$GC,11879,2.22,104.3,819.9,7.9,905,11883,0.00,1.88,0.00,0.000,4,0.000,0.050,3187,3013,2403
$GC,11980,2.22,104.3,811.0,9.6,909,11983,0.00,1.83,0.00,0.000,6,0.000,0.040,3187,1960,2402
$GC,12300,2.23,109.8,785.4,7.5,925,12309,0.00,0.00,7.20,1.126,6,0.000,0.000,3187,1960,2377
$GC,12609,2.23,109.8,759.5,8.7,940,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1960,2376
$GC,12918,2.23,109.8,733.6,8.1,955,12922,0.00,1.90,0.00,0.000,4,0.000,0.066,3186,909,2376
$GC,13175,2.24,116.5,713.4,7.4,966,13188,0.00,1.83,7.50,1.104,6,0.000,0.035,3186,1961,2350
$GC,13496,2.24,119.3,688.7,7.7,982,13502,0.00,0.00,4.35,0.871,6,0.000,0.000,3186,1962,2338
$GC,13805,2.25,121.4,664.4,7.8,997,13806,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1962,2337
$GC,14114,2.25,123.8,640.4,7.8,1012,14124,0.00,1.85,5.62,0.967,4,0.000,0.051,3186,3011,2319
$GC,14235,2.25,123.8,631.0,8.2,1017,14242,0.00,1.88,0.00,0.000,6,0.000,0.041,3186,1953,2319
$GC,14551,2.25,123.8,605.8,8.0,1033,14552,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1954,2319
$GC,14860,2.26,126.0,581.1,7.8,1048,14864,0.00,1.85,0.00,0.000,4,0.000,0.048,3186,3007,2319
$GC,14954,2.26,126.0,573.3,8.4,1052,14958,0.00,1.85,0.00,0.000,6,0.000,0.046,3186,1951,2319
$GC,15281,2.26,126.0,546.9,8.1,1068,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1951,2319
$GC,15590,2.26,129.2,523.4,7.7,1083,15598,0.00,0.00,6.50,0.952,6,0.000,0.000,3186,1951,2298
$GC,15899,2.26,129.2,498.4,8.4,1098,15903,0.00,1.85,0.00,0.000,4,0.000,0.048,3186,3007,2298
$GC,15993,2.27,132.2,490.7,7.7,1106,16003,0.00,1.88,4.40,0.788,6,0.000,0.038,3186,1935,2286
$GC,16328,2.27,132.4,463.8,8.0,1138,16332,0.00,1.90,0.00,0.000,4,0.000,0.048,3186,3019,2285
$GC,16422,2.27,132.4,456.2,8.4,1146,16429,0.00,1.88,0.00,0.000,6,0.000,0.038,3186,1947,2285
$GC,16748,2.27,132.4,430.7,8.1,1177,16751,0.00,1.88,0.00,0.000,4,0.000,0.065,3186,905,2286
$GC,16803,2.27,134.4,426.1,7.8,1182,16815,0.00,1.80,3.95,0.703,6,0.000,0.034,3187,1967,2276
$GC,17132,2.28,141.6,403.3,7.3,1213,17144,0.00,2.00,7.80,0.930,4,0.000,0.061,3186,910,2247
$GC,17396,2.29,146.3,382.8,7.5,1236,17406,0.00,1.77,5.62,0.835,6,0.000,0.034,3186,1941,2227
$GC,17732,2.33,155.3,357.7,7.1,1268,17747,0.12,1.95,9.30,0.931,4,0.078,0.061,3217,905,2191
$GC,17999,2.33,155.3,333.4,8.1,1292,18003,0.00,1.75,0.00,0.000,6,0.000,0.032,3217,1941,2191
$GC,18329,2.33,155.3,305.5,8.0,1323,18331,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1941,2191
$GC,18647,2.33,155.3,280.1,8.3,1353,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1942,2191
$GC,18967,2.33,155.9,255.0,7.9,1383,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1943,2191
$GC,19300,2.34,160.1,227.7,7.6,1437,19312,0.00,1.85,6.00,0.739,4,0.000,0.045,3217,3012,2172
$GC,19403,2.34,165.9,220.1,7.4,1455,19415,0.00,1.88,6.55,0.759,6,0.000,0.035,3217,1913,2148
$GC,19753,2.37,180.0,192.4,6.7,1517,19770,0.00,2.00,13.25,0.834,4,0.000,0.044,3218,3014,2090
$GC,19821,2.37,180.0,186.7,8.4,1529,19827,0.00,1.83,0.00,0.000,6,0.000,0.032,3217,1944,2090
$GC,20165,2.42,196.8,164.9,6.4,1590,20187,0.00,1.92,15.25,0.815,4,0.000,0.043,3217,3011,2021
$GC,20296,2.49,217.2,156.9,6.1,1613,20320,0.15,1.80,18.10,0.802,6,0.069,0.031,3256,1946,1939
$GC,20659,2.54,234.9,131.3,6.3,1677,20682,0.00,1.90,15.73,0.772,4,0.000,0.041,3256,3010,1866
$GC,20936,2.57,235.5,109.9,7.9,1726,20942,0.00,1.75,0.00,0.000,6,0.000,0.028,3256,1976,1864
$GC,21280,2.64,256.3,87.5,6.0,1787,21304,0.12,1.92,18.52,0.727,4,0.070,0.049,3291,923,1779
$GC,21534,2.64,256.3,66.8,8.9,1832,21540,0.00,1.77,0.00,0.000,6,0.000,0.026,3291,1991,1779
$GC,21878,2.69,269.9,39.8,6.7,1893,21896,0.00,1.70,12.88,0.660,4,0.000,0.040,3291,2996,1723
$GC,22150,2.76,288.4,23.4,6.2,1941,22172,0.00,1.58,16.00,0.651,6,0.000,0.027,3291,2048,1648
$STATE,22491,end climb,SURFACE_DEPTH_REACHED
$STATE,22491,begin surface coast
$FINISH,-0.3,1.021631
$STATE,22527,end surface coast,CONTROL_FINISHED_OK
$STATE,22527,begin surface
$SM_CCo,22547,127.68,0.626,0,0,785,500.17
$SM_GC,-5.46,0.00,0.00,127.68,0.000,0.000,0.626,415,2341,785,-10.55,0.45,500.17
$IRIDIUM_FIX,1307.59,12024.79,280597,171717
$TT8_MAMPS,0.026078
$HUMID,1725
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.00
$XPDR_PINGS,408
$24V_AH,23.1,11.565
$10V_AH,10.1,9.330
$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,28.300,115.875,337.200,127.675,0.000,25.441,14.607,185.950,114.500,0.000,0.000,11.949,3314.896,14887.717,600.979,3704.648,522.126,0.000,2304.600,0.000,3671.708,0.000,92.395
$DEVICE_MAMPS,173.342,232.401,1438.125,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1364.248,798.110,753.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110329,2008
$CAP_FILE_SIZE,201898,0
$CFSIZE,260165632,250777600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040308,054732,1308.579,12027.303,38,1.8,38,-0.9