version: 66.03
glider: 126
mission: 7
dive: 80
start: 3 4 108 12 39 40
data:
$ID,126
$MISSION,7
$DIVE,80
$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,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,-621037.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,54
$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
$GPS1,122608,1306.212,12028.446,35,1.3,35,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.02
$_SM_ANGLEo,-52.3
$GPS2,123850,1306.203,12028.319,13,1.3,30,-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,156.9,18572,-22.0,-7.990
$D_GRID,1327
$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,-67.0,0.0,0.0,0,95,0.00,0.00,-73.38,0.000,6,0.000,0.000,415,2333,3102
$GC,97,-2.33,-67.0,0.5,-14.9,14,115,10.18,1.77,0.00,0.000,4,0.176,0.031,2195,1276,3103
$GC,251,-2.22,-67.0,38.9,-20.2,41,258,0.15,1.70,0.00,0.000,6,0.128,0.025,2222,2327,3103
$GC,595,-2.14,-67.0,98.8,-17.7,102,602,0.10,1.77,0.00,0.000,4,0.136,0.032,2239,1278,3104
$GC,652,-2.09,-67.0,108.7,-17.2,112,659,0.00,1.67,0.00,0.000,6,0.000,0.025,2239,2296,3104
$GC,996,-2.06,-67.0,158.9,-13.8,173,1002,0.10,0.00,0.00,0.000,6,0.129,0.000,2257,2296,3106
$GC,1338,-2.06,-67.0,197.0,-10.5,234,1345,0.00,1.85,0.00,0.000,4,0.000,0.043,2257,3368,3106
$GC,1597,-2.06,-67.0,225.2,-10.8,280,1604,0.00,1.70,0.00,0.000,6,0.000,0.026,2257,2321,3106
$GC,1941,-2.09,-67.0,260.7,-10.2,333,1944,0.00,1.80,0.00,0.000,4,0.000,0.046,2257,3360,3106
$GC,2097,-2.09,-67.0,277.8,-11.3,347,2101,0.00,1.65,0.00,0.000,6,0.000,0.028,2257,2355,3105
$GC,2428,-2.12,-67.0,310.1,-9.0,378,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2349,3103
$GC,2746,-2.16,-67.0,340.5,-9.7,408,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2349,3100
$GC,3065,-2.19,-67.0,370.1,-8.6,438,3069,0.12,1.80,0.00,0.000,4,0.070,0.044,2224,1305,3099
$GC,3154,-2.19,-67.0,378.5,-9.9,446,3157,0.00,1.73,0.00,0.000,6,0.000,0.031,2223,2340,3098
$GC,3484,-2.19,-67.0,412.5,-10.3,477,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2340,3095
$GC,3801,-2.19,-67.0,445.1,-10.2,507,3805,0.00,1.80,0.00,0.000,4,0.000,0.053,2224,3371,3093
$GC,3970,-2.19,-67.0,463.2,-10.5,522,3973,0.00,1.73,0.00,0.000,6,0.000,0.034,2223,2354,3091
$GC,4300,-2.19,-67.0,495.9,-9.5,553,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2353,3089
$GC,4610,-2.19,-67.0,525.5,-9.4,570,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2353,3086
$GC,4919,-2.21,-67.0,554.9,-9.8,585,4923,0.00,1.88,0.00,0.000,4,0.000,0.069,2223,3373,3084
$GC,5081,-2.21,-67.0,570.6,-8.9,592,5085,0.00,1.85,0.00,0.000,6,0.000,0.046,2223,2340,3083
$GC,5411,-2.23,-67.0,600.4,-9.5,608,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2338,3081
$GC,5717,-2.25,-67.0,629.7,-9.3,623,5725,0.00,1.98,0.00,0.000,4,0.000,0.091,2224,3366,3080
$GC,5836,-2.25,-67.0,641.4,-10.3,628,5840,0.00,2.00,0.00,0.000,6,0.000,0.072,2223,2313,3079
$GC,6165,-2.28,-67.0,670.3,-8.4,644,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2313,3077
$GC,6474,-2.30,-67.3,695.1,-8.0,659,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2313,3075
$GC,6781,-2.33,-67.3,721.8,-8.4,674,6785,0.00,2.15,0.00,0.000,4,0.000,0.133,2223,1262,3073
$GC,6904,-2.35,-67.3,732.6,-9.3,679,6908,0.05,2.12,0.00,0.000,6,0.054,0.116,2197,2291,3073
$GC,7226,-2.35,-67.3,761.5,-9.0,695,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2292,3072
$GC,7534,-2.35,-67.3,789.1,-8.9,710,7538,0.00,2.50,0.00,0.000,4,0.000,0.174,2197,3391,3071
$GC,7706,-2.35,-67.3,806.1,-10.4,718,7710,0.00,2.45,0.00,0.000,6,0.000,0.162,2197,2317,3071
$GC,8032,-2.35,-67.3,834.6,-8.3,734,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2305,3070
$GC,8342,-2.35,-67.3,861.7,-8.8,749,8345,0.00,1.88,0.00,0.000,4,0.000,0.055,2197,1242,3069
$GC,8458,-2.35,-67.3,872.6,-9.0,754,8463,0.00,1.90,0.00,0.000,6,0.000,0.037,2196,2335,3068
$GC,8786,-2.35,-67.3,901.4,-8.4,770,8789,0.00,1.85,0.00,0.000,4,0.000,0.060,2197,3379,3067
$GC,8875,-2.35,-67.3,909.7,-9.4,774,8880,0.00,1.85,0.00,0.000,6,0.000,0.037,2197,2303,3066
$GC,9206,-2.35,-67.3,937.1,-8.2,790,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2303,3065
$GC,9517,-2.35,-67.8,961.6,-7.9,805,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2303,3064
$GC,9826,-2.35,-67.8,985.9,-8.3,820,9830,0.00,1.92,0.00,0.000,4,0.000,0.058,2197,3380,3063
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9875,begin apogee
$GC,9882,-0.51,0.0,990.2,8.4,822,9938,1.90,0.00,52.20,1.438,6,0.110,0.000,2596,1965,2826
$STATE,9939,end apogee,CONTROL_FINISHED_OK
$STATE,9939,begin climb
$GC,9941,2.34,67.8,991.8,0.0,825,10007,2.88,0.00,60.70,1.404,6,0.068,0.000,3220,1965,2548
$GC,10308,2.32,88.4,972.2,6.0,843,10329,0.00,0.00,19.33,1.350,6,0.000,0.000,3221,1965,2464
$GC,10636,2.29,97.6,947.8,7.1,859,10650,0.00,1.92,9.52,1.243,4,0.000,0.050,3220,3019,2426
$GC,10838,2.26,109.5,932.7,6.9,868,10858,0.00,1.88,12.05,1.284,6,0.000,0.041,3221,1952,2378
$GC,11167,2.23,109.5,904.4,9.1,884,11169,0.12,0.00,0.00,0.000,6,0.123,0.000,3198,1952,2376
$GC,11475,2.23,109.5,877.6,8.9,899,11479,0.00,1.90,0.00,0.000,4,0.000,0.049,3198,3026,2375
$GC,11565,2.20,109.5,869.6,9.2,903,11569,0.00,1.85,0.00,0.000,6,0.000,0.040,3198,1957,2375
$GC,11897,2.20,109.5,841.0,8.8,919,11900,0.00,1.92,0.00,0.000,4,0.000,0.072,3198,908,2374
$GC,11965,2.17,109.5,834.9,9.0,922,11969,0.00,1.85,0.00,0.000,6,0.000,0.033,3198,1991,2374
$GC,12297,2.17,109.5,805.5,8.6,938,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1991,2374
$GC,12606,2.17,109.5,779.1,8.6,953,12609,0.00,1.77,0.00,0.000,4,0.000,0.051,3198,3012,2373
$GC,12786,2.15,109.5,763.3,9.1,961,12789,0.00,1.85,0.00,0.000,6,0.000,0.041,3198,1950,2372
$GC,13119,2.15,109.5,734.4,8.6,977,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1950,2372
$GC,13426,2.15,109.5,709.3,8.0,992,13430,0.00,1.90,0.00,0.000,4,0.000,0.067,3198,901,2372
$GC,13600,2.13,116.0,695.7,7.4,999,13612,0.12,1.77,6.47,1.039,6,0.123,0.033,3176,1955,2351
$GC,13933,2.14,121.9,671.0,7.4,1016,13946,0.00,2.00,6.90,1.059,4,0.000,0.063,3175,907,2327
$GC,14010,2.14,121.9,664.7,8.3,1019,14014,0.00,1.77,0.00,0.000,6,0.000,0.033,3175,1950,2327
$GC,14330,2.14,122.5,638.9,7.9,1035,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1951,2326
$GC,14641,2.14,122.5,614.4,8.2,1050,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1951,2326
$GC,14949,2.14,122.5,589.6,8.1,1065,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1951,2326
$GC,15258,2.15,127.1,566.5,7.6,1080,15268,0.00,1.83,6.18,0.961,4,0.000,0.048,3176,3004,2306
$GC,15464,2.17,134.9,550.2,7.3,1089,15476,0.00,1.88,8.30,1.036,6,0.000,0.048,3176,1943,2275
$GC,15784,2.17,134.9,524.0,8.6,1105,15788,0.00,1.88,0.00,0.000,4,0.000,0.047,3175,3013,2275
$GC,15906,2.17,134.9,513.4,8.8,1110,15911,0.00,1.83,0.00,0.000,6,0.000,0.037,3175,1968,2275
$GC,16233,2.17,134.9,486.1,8.2,1133,16237,0.00,1.83,0.00,0.000,4,0.000,0.056,3175,3012,2275
$GC,16304,2.17,134.9,480.0,8.2,1139,16311,0.00,1.80,0.00,0.000,6,0.000,0.036,3176,1977,2275
$GC,16630,2.17,134.9,453.9,8.0,1170,16634,0.00,1.80,0.00,0.000,4,0.000,0.046,3175,3012,2275
$GC,16724,2.17,134.9,445.9,8.5,1178,16731,0.00,1.73,0.00,0.000,6,0.000,0.035,3175,2015,2275
$GC,17050,2.17,134.9,419.1,8.0,1209,17051,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2015,2275
$GC,17368,2.17,137.3,395.3,7.8,1239,17380,0.00,2.03,4.12,0.706,4,0.000,0.065,3176,919,2265
$GC,17447,2.17,137.3,389.3,8.4,1246,17451,0.00,1.88,0.00,0.000,6,0.000,0.040,3175,2025,2265
$GC,17777,2.17,137.3,365.1,8.2,1277,17781,0.00,1.70,0.00,0.000,4,0.000,0.049,3176,3013,2265
$GC,18001,2.20,152.7,348.3,6.5,1297,18023,0.00,1.65,14.50,0.976,6,0.000,0.035,3175,2044,2202
$GC,18341,2.22,154.1,320.9,7.9,1329,18344,0.00,1.67,0.00,0.000,4,0.000,0.048,3176,3006,2202
$GC,18390,2.25,154.1,316.6,8.6,1333,18397,0.08,1.62,0.00,0.000,6,0.067,0.033,3202,2060,2201
$GC,18714,2.25,154.1,288.9,8.1,1364,18718,0.00,1.65,0.00,0.000,4,0.000,0.046,3201,3010,2201
$GC,18797,2.25,154.1,281.8,9.3,1371,18804,0.00,1.62,0.00,0.000,6,0.000,0.032,3201,2063,2202
$GC,19123,2.25,156.4,256.7,7.8,1402,19133,0.00,2.12,4.80,0.690,4,0.000,0.058,3202,908,2186
$GC,19217,2.25,156.4,248.5,8.7,1412,19223,0.00,1.98,0.00,0.000,6,0.000,0.031,3201,2068,2187
$GC,19561,2.26,161.8,222.1,7.5,1473,19573,0.00,2.10,6.57,0.759,4,0.000,0.053,3202,905,2164
$GC,19682,2.26,161.8,212.5,8.1,1494,19688,0.00,2.00,0.00,0.000,6,0.000,0.030,3202,2075,2164
$GC,20025,2.30,182.8,186.7,6.0,1555,20048,0.00,1.67,18.80,0.848,4,0.000,0.045,3201,3006,2079
$GC,20088,2.34,212.0,183.3,5.2,1566,20121,0.00,1.62,25.25,0.834,6,0.000,0.029,3201,2056,1960
$GC,20460,2.43,232.3,155.5,6.1,1632,20483,0.15,1.75,17.55,0.800,4,0.066,0.041,3247,3019,1878
$GC,20536,2.43,232.3,149.3,8.5,1645,20541,0.00,1.58,0.00,0.000,6,0.000,0.029,3247,2092,1877
$GC,20878,2.46,232.3,121.7,8.6,1706,20884,0.00,2.08,0.00,0.000,4,0.000,0.050,3247,902,1876
$GC,21136,2.51,251.7,101.7,6.1,1752,21159,0.00,2.03,17.48,0.743,6,0.000,0.028,3247,2107,1798
$GC,21500,2.57,256.6,75.4,7.5,1816,21511,0.00,2.10,5.65,0.584,4,0.000,0.043,3247,909,1778
$GC,21765,2.62,267.2,54.7,7.0,1863,21783,0.15,1.95,10.30,0.653,6,0.058,0.025,3291,2100,1735
$GC,22122,2.69,288.6,28.6,6.0,1926,22150,0.00,2.17,18.60,0.659,4,0.000,0.043,3291,896,1648
$GC,22403,2.73,293.3,6.7,7.5,1976,22415,0.00,1.95,5.50,0.516,6,0.000,0.025,3291,2076,1629
$STATE,22476,end climb,SURFACE_DEPTH_REACHED
$STATE,22476,begin surface coast
$FINISH,-0.2,1.021569
$STATE,22512,end surface coast,CONTROL_FINISHED_OK
$STATE,22512,begin surface
$SM_CCo,22532,149.30,0.623,0,0,586,548.98
$SM_GC,-5.22,0.00,0.00,149.30,0.000,0.000,0.623,418,2346,586,-10.54,0.59,548.98
$IRIDIUM_FIX,1303.16,12026.70,290597,121208
$TT8_MAMPS,0.026078
$HUMID,1674
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.60
$XPDR_PINGS,460
$24V_AH,23.1,11.890
$10V_AH,10.1,9.610
$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,28.600,128.075,330.775,149.300,0.000,129.646,156.291,93.202,127.500,0.000,0.000,30.778,3300.140,15112.765,620.071,3743.817,681.521,0.000,2351.732,0.000,3678.793,0.000,91.492
$DEVICE_MAMPS,176.410,174.109,1438.125,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1355.688,782.708,746.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107114,1995
$CAP_FILE_SIZE,205556,0
$CFSIZE,260165632,250507264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040308,185856,1304.245,12029.157,39,1.8,39,-0.9