version: 66.03
glider: 126
mission: 7
dive: 81
start: 3 4 108 19 17 30
data:
$ID,126
$MISSION,7
$DIVE,81
$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,-621054.75
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,185856,1304.245,12029.157,39,1.8,39,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,-4.88
$_SM_ANGLEo,-52.3
$GPS2,191639,1304.288,12029.093,16,1.5,16,-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,156.3,14766,-22.0,-7.990
$D_GRID,1237
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,96,0.00,0.00,-73.40,0.000,6,0.000,0.000,419,2346,3101
$GC,98,-2.33,-67.0,0.3,-14.2,14,116,10.07,1.83,0.00,0.000,4,0.173,0.032,2195,1266,3103
$GC,269,-2.22,-67.0,43.5,-20.5,44,276,0.12,1.75,0.00,0.000,6,0.114,0.026,2222,2322,3103
$GC,614,-2.14,-67.0,103.6,-17.1,105,620,0.10,0.00,0.00,0.000,6,0.129,0.000,2240,2321,3103
$GC,956,-2.11,-67.0,154.9,-13.8,166,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2321,3104
$GC,1300,-2.11,-67.0,198.9,-12.0,227,1306,0.00,1.80,0.00,0.000,4,0.000,0.047,2240,3375,3105
$GC,1486,-2.11,-67.0,220.5,-11.9,260,1492,0.00,1.83,0.00,0.000,6,0.000,0.026,2240,2267,3105
$GC,1825,-2.11,-67.0,256.5,-10.1,315,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2259,3105
$GC,2143,-2.11,-67.0,289.8,-10.5,345,2147,0.00,1.92,0.00,0.000,4,0.000,0.048,2240,3371,3103
$GC,2204,-2.11,-67.0,296.8,-11.8,350,2210,0.00,1.85,0.00,0.000,6,0.000,0.028,2240,2264,3103
$GC,2529,-2.11,-67.0,330.3,-10.2,381,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2262,3100
$GC,2850,-2.13,-67.0,363.3,-10.8,411,2853,0.00,1.95,0.00,0.000,4,0.000,0.049,2240,3375,3098
$GC,2950,-2.13,-67.0,374.4,-10.0,420,2954,0.00,1.83,0.00,0.000,6,0.000,0.031,2240,2277,3097
$GC,3283,-2.16,-67.0,407.8,-10.3,451,3286,0.00,1.92,0.00,0.000,4,0.000,0.051,2241,3371,3094
$GC,3417,-2.16,-67.0,421.9,-9.7,463,3421,0.00,1.80,0.00,0.000,6,0.000,0.033,2240,2305,3093
$GC,3748,-2.19,-67.0,453.5,-10.0,494,3751,0.00,1.83,0.00,0.000,4,0.000,0.062,2240,1276,3092
$GC,3849,-2.22,-67.0,463.4,-9.2,503,3852,0.00,1.73,0.00,0.000,6,0.000,0.036,2240,2297,3090
$GC,4180,-2.25,-67.0,494.7,-9.5,534,4183,0.00,1.90,0.00,0.000,4,0.000,0.056,2240,3379,3088
$GC,4279,-2.27,-67.0,504.8,-9.9,541,4284,0.08,1.85,0.00,0.000,6,0.063,0.034,2213,2305,3087
$GC,4601,-2.27,-67.0,536.8,-10.2,557,4604,0.00,1.92,0.00,0.000,4,0.000,0.063,2214,3367,3085
$GC,4730,-2.27,-67.0,550.0,-10.5,562,4735,0.00,1.83,0.00,0.000,6,0.000,0.040,2213,2308,3084
$GC,5046,-2.27,-67.0,580.2,-9.3,578,5049,0.00,1.88,0.00,0.000,4,0.000,0.072,2213,1274,3081
$GC,5106,-2.27,-67.0,586.5,-10.1,580,5113,0.00,1.83,0.00,0.000,6,0.000,0.055,2213,2284,3081
$GC,5421,-2.27,-67.0,617.3,-9.9,596,5425,0.00,2.08,0.00,0.000,4,0.000,0.089,2213,3383,3079
$GC,5533,-2.27,-67.0,629.0,-10.7,601,5537,0.00,2.00,0.00,0.000,6,0.000,0.067,2213,2303,3079
$GC,5867,-2.27,-67.0,662.0,-9.8,617,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2302,3077
$GC,6174,-2.27,-67.0,689.9,-8.6,632,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2302,3075
$GC,6483,-2.27,-67.0,717.0,-8.9,647,6487,0.00,2.28,0.00,0.000,4,0.000,0.133,2214,3380,3074
$GC,6571,-2.27,-67.0,724.8,-8.6,651,6575,0.00,2.22,0.00,0.000,6,0.000,0.116,2213,2310,3073
$GC,6899,-2.28,-73.6,750.2,-7.4,667,6903,0.00,2.25,0.00,0.000,4,0.000,0.153,2213,1257,3072
$GC,6988,-2.28,-73.6,758.1,-8.8,671,6992,0.00,2.17,0.00,0.000,6,0.000,0.132,2213,2291,3071
$GC,7319,-2.28,-73.6,786.8,-8.8,687,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2291,3070
$GC,7628,-2.28,-73.6,813.7,-8.9,702,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2293,3069
$GC,7939,-2.28,-73.6,841.0,-9.1,717,7943,0.00,2.70,0.00,0.000,4,0.000,0.208,2213,3385,3068
$GC,8060,-2.28,-73.6,852.0,-9.0,722,8067,0.00,1.95,0.00,0.000,6,0.000,0.036,2213,2268,3067
$GC,8376,-2.30,-73.6,878.1,-8.2,738,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2268,3065
$GC,8686,-2.33,-73.6,903.0,-8.3,753,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2267,3064
$GC,8996,-2.35,-73.6,931.3,-9.0,768,9000,0.00,2.05,0.00,0.000,4,0.000,0.060,2214,3403,3064
$GC,9170,-2.35,-73.6,947.6,-9.4,775,9176,0.00,1.98,0.00,0.000,6,0.000,0.038,2213,2260,3063
$GC,9485,-2.37,-73.6,973.7,-8.2,791,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2259,3063
$STATE,9710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9710,begin apogee
$GC,9715,-0.51,0.0,991.3,7.5,802,9772,1.85,0.00,51.80,1.438,6,0.103,0.000,2599,1934,2825
$STATE,9773,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9775,2.35,73.6,992.7,0.0,805,9850,2.80,2.00,65.30,1.407,4,0.069,0.074,3222,906,2524
$GC,10007,2.31,89.7,980.2,6.5,815,10026,0.00,1.92,15.35,1.315,6,0.000,0.036,3222,1996,2459
$GC,10343,2.27,89.7,954.0,8.8,832,10346,0.00,1.80,0.00,0.000,4,0.000,0.054,3222,3020,2456
$GC,10506,2.21,89.7,939.6,8.8,839,10510,0.17,1.85,0.00,0.000,6,0.117,0.041,3190,1958,2455
$GC,10831,2.19,89.7,914.0,8.2,855,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1958,2455
$GC,11142,2.17,91.7,889.5,7.8,870,11145,0.00,1.88,0.00,0.000,4,0.000,0.051,3190,3020,2454
$GC,11292,2.14,91.7,877.5,8.2,876,11298,0.00,1.85,0.00,0.000,6,0.000,0.039,3190,1970,2454
$GC,11607,2.16,105.6,855.6,6.7,892,11629,0.00,1.98,14.52,1.297,4,0.000,0.065,3190,914,2394
$GC,11719,2.14,105.6,846.7,8.5,897,11723,0.00,1.85,0.00,0.000,6,0.000,0.036,3190,1988,2393
$GC,12050,2.15,108.7,820.6,7.7,913,12056,0.00,0.00,4.30,0.907,6,0.000,0.000,3190,1988,2381
$GC,12360,2.16,115.7,797.6,7.3,928,12369,0.00,0.00,7.82,1.150,6,0.000,0.000,3190,1988,2353
$GC,12668,2.16,115.7,772.0,8.1,943,12672,0.00,1.80,0.00,0.000,4,0.000,0.052,3190,3020,2352
$GC,12751,2.16,115.7,764.6,8.4,946,12758,0.00,1.85,0.00,0.000,6,0.000,0.041,3190,1977,2352
$GC,13067,2.16,115.7,736.9,8.8,962,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1977,2351
$GC,13376,2.16,115.7,710.5,8.1,977,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1977,2351
$GC,13685,2.16,115.7,685.6,8.1,992,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1977,2351
$GC,13996,2.16,115.7,660.2,8.2,1007,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1977,2351
$GC,14304,2.16,115.7,634.5,8.7,1022,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1977,2351
$GC,14614,2.16,119.6,609.8,7.6,1037,14623,0.00,1.88,4.85,0.879,4,0.000,0.050,3190,3012,2337
$GC,14770,2.16,119.6,596.9,8.9,1044,14774,0.00,1.80,0.00,0.000,6,0.000,0.038,3190,1969,2337
$GC,15102,2.17,121.3,571.4,7.8,1060,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1968,2337
$GC,15411,2.18,127.2,548.4,7.4,1075,15421,0.00,0.00,8.35,1.039,6,0.000,0.000,3190,1968,2306
$GC,15720,2.18,127.2,523.5,8.5,1090,15721,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1969,2305
$GC,16030,2.18,127.2,496.9,8.5,1106,16033,0.00,1.83,0.00,0.000,4,0.000,0.048,3190,3016,2305
$GC,16290,2.18,127.2,474.8,8.3,1129,16293,0.00,1.77,0.00,0.000,6,0.000,0.037,3190,1976,2305
$GC,16619,2.18,131.3,448.9,7.6,1160,16631,0.00,1.80,5.40,0.848,4,0.000,0.045,3190,3016,2289
$GC,16691,2.18,131.3,443.2,8.2,1166,16698,0.00,1.80,0.00,0.000,6,0.000,0.035,3190,1977,2289
$GC,17017,2.18,131.3,416.7,8.5,1197,17021,0.00,1.92,0.00,0.000,4,0.000,0.061,3190,919,2289
$GC,17252,2.20,139.6,396.7,7.2,1218,17266,0.00,1.77,8.93,0.952,6,0.000,0.033,3190,1974,2255
$GC,17592,2.20,139.6,368.7,8.4,1250,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1974,2254
$GC,17911,2.21,147.1,343.6,7.3,1280,17923,0.00,1.85,7.60,0.881,4,0.000,0.046,3190,3008,2225
$GC,17968,2.21,147.4,339.0,8.0,1285,17972,0.00,1.83,0.00,0.000,6,0.000,0.036,3190,1946,2225
$GC,18298,2.22,149.9,312.3,7.7,1316,18308,0.00,0.00,4.30,0.687,6,0.000,0.000,3190,1946,2213
$GC,18627,2.22,149.9,285.3,8.5,1347,18630,0.00,1.85,0.00,0.000,4,0.000,0.045,3190,3015,2213
$GC,18884,2.22,152.8,265.0,7.7,1370,18896,0.00,1.80,4.62,0.685,6,0.000,0.034,3190,1952,2201
$GC,19222,2.24,162.2,238.8,7.1,1414,19240,0.00,1.90,9.30,0.837,4,0.000,0.051,3190,3010,2163
$GC,19308,2.24,162.6,231.8,8.0,1429,19314,0.00,1.77,0.00,0.000,6,0.000,0.032,3190,1961,2163
$GC,19652,2.28,174.8,206.4,6.8,1490,19668,0.00,0.00,12.10,0.838,6,0.000,0.000,3190,1961,2112
$GC,20008,2.35,193.6,182.2,6.2,1553,20031,0.15,1.90,16.95,0.832,4,0.070,0.055,3233,903,2035
$GC,20076,2.35,194.4,176.5,7.9,1565,20082,0.00,1.85,0.00,0.000,6,0.000,0.029,3233,2007,2034
$GC,20421,2.42,233.0,153.3,4.3,1626,20460,0.00,0.00,33.17,0.814,6,0.000,0.000,3233,2007,1874
$GC,20800,2.48,248.2,124.4,6.5,1693,20822,0.00,2.03,13.40,0.749,4,0.000,0.048,3234,908,1812
$GC,20857,2.53,260.0,119.9,6.9,1703,20874,0.12,1.88,10.95,0.716,6,0.067,0.028,3269,2034,1765
$GC,21214,2.56,260.0,89.2,9.2,1766,21220,0.00,1.67,0.00,0.000,4,0.000,0.041,3269,3006,1763
$GC,21299,2.56,260.0,80.9,9.3,1781,21304,0.00,1.62,0.00,0.000,6,0.000,0.027,3269,2016,1763
$GC,21643,2.59,260.0,51.2,9.3,1842,21649,0.00,1.92,0.00,0.000,4,0.000,0.045,3269,911,1765
$GC,21903,2.65,275.4,31.6,6.5,1888,21925,0.00,1.85,14.48,0.657,6,0.000,0.025,3269,2028,1702
$GC,22265,2.76,309.3,9.5,4.8,1952,22299,0.15,2.03,28.35,0.647,4,0.057,0.043,3320,911,1563
$STATE,22365,end climb,SURFACE_DEPTH_REACHED
$STATE,22365,begin surface coast
$FINISH,-0.5,1.021601
$STATE,22394,end surface coast,CONTROL_FINISHED_OK
$STATE,22394,begin surface
$SM_CCo,22417,139.38,0.622,0,0,587,548.98
$SM_GC,-5.24,0.00,0.00,139.38,0.000,0.000,0.622,418,2332,587,-10.54,0.17,548.98
$IRIDIUM_FIX,1300.95,12028.61,290597,191958
$TT8_MAMPS,0.026078
$HUMID,1680
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.50
$XPDR_PINGS,380
$24V_AH,23.1,12.065
$10V_AH,10.2,9.750
$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,28.300,118.975,341.850,139.375,0.000,132.348,120.602,427.754,107.500,0.000,0.000,16.407,3243.189,15112.276,614.040,3673.387,993.389,0.000,2325.037,0.000,3621.600,0.000,91.474
$DEVICE_MAMPS,172.575,207.857,1438.125,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1340.903,772.405,732.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107372,1975
$CAP_FILE_SIZE,207191,0
$CFSIZE,260165632,250404864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050308,013438,1302.217,12030.336,37,0.9,37,-0.9