version: 66.03
glider: 126
mission: 7
dive: 82
start: 3 5 108 1 53 1
data:
$ID,126
$MISSION,7
$DIVE,82
$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,-621067.75
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,013438,1302.217,12030.336,37,0.9,37,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.77
$_SM_ANGLEo,-55.1
$GPS2,015209,1302.128,12030.334,12,1.1,12,-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,158.4,10201,-22.0,-7.990
$D_GRID,1084
$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,-67.0,0.0,0.0,0,99,0.00,0.00,-73.78,0.000,6,0.000,0.000,418,2337,3102
$GC,101,-2.33,-67.0,1.5,-16.8,15,119,10.05,1.83,0.00,0.000,4,0.172,0.035,2199,1260,3102
$GC,237,-2.22,-67.0,36.8,-20.8,39,244,0.15,1.75,0.00,0.000,6,0.123,0.028,2227,2326,3102
$GC,583,-2.15,-67.0,96.0,-16.5,100,589,0.00,1.80,0.00,0.000,4,0.000,0.035,2226,1266,3103
$GC,652,-2.08,-67.0,108.0,-17.4,112,659,0.10,1.70,0.00,0.000,6,0.111,0.026,2249,2293,3103
$GC,997,-2.08,-67.0,158.3,-13.3,173,1003,0.00,1.83,0.00,0.000,4,0.000,0.045,2250,3365,3103
$GC,1256,-2.08,-67.0,190.3,-12.9,219,1262,0.00,1.80,0.00,0.000,6,0.000,0.025,2250,2248,3104
$GC,1599,-2.08,-67.0,228.2,-11.0,280,1605,0.00,1.95,0.00,0.000,4,0.000,0.044,2250,3363,3104
$GC,1857,-2.08,-67.0,256.4,-10.5,321,1861,0.00,1.75,0.00,0.000,6,0.000,0.028,2250,2286,3103
$GC,2188,-2.11,-67.0,290.1,-10.3,352,2192,0.00,1.88,0.00,0.000,4,0.000,0.047,2250,3366,3102
$GC,2260,-2.11,-67.0,297.9,-10.4,358,2266,0.00,1.73,0.00,0.000,6,0.000,0.028,2250,2325,3102
$GC,2586,-2.13,-67.0,329.6,-9.1,389,2589,0.00,1.83,0.00,0.000,4,0.000,0.049,2250,3370,3099
$GC,2653,-2.13,-67.0,336.7,-10.3,395,2656,0.00,1.70,0.00,0.000,6,0.000,0.030,2249,2334,3098
$GC,2983,-2.16,-67.0,369.0,-9.6,426,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2334,3096
$GC,3302,-2.20,-67.0,400.2,-9.7,456,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2330,3094
$GC,3620,-2.23,-67.0,430.5,-9.5,486,3624,0.12,1.83,0.00,0.000,4,0.069,0.051,2216,3369,3092
$GC,3714,-2.23,-67.0,440.9,-11.0,494,3721,0.00,1.73,0.00,0.000,6,0.000,0.033,2216,2365,3091
$GC,4040,-2.23,-67.0,473.8,-9.8,525,4043,0.00,1.92,0.00,0.000,4,0.000,0.062,2216,1280,3089
$GC,4100,-2.23,-67.0,480.1,-10.5,530,4107,0.00,1.83,0.00,0.000,6,0.000,0.035,2216,2338,3088
$GC,4433,-2.23,-67.0,513.7,-10.3,556,4436,0.00,1.85,0.00,0.000,4,0.000,0.061,2216,3366,3085
$GC,4533,-2.23,-67.0,524.9,-11.1,560,4537,0.00,1.73,0.00,0.000,6,0.000,0.035,2216,2344,3085
$GC,4854,-2.23,-67.0,555.7,-9.3,576,4857,0.00,1.90,0.00,0.000,4,0.000,0.067,2216,1284,3083
$GC,4908,-2.23,-67.0,561.2,-9.3,578,4913,0.00,1.88,0.00,0.000,6,0.000,0.048,2216,2342,3082
$GC,5230,-2.23,-67.0,593.0,-10.2,594,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2342,3080
$GC,5538,-2.23,-67.0,624.4,-10.3,609,5542,0.00,1.95,0.00,0.000,4,0.000,0.091,2216,3373,3078
$GC,5621,-2.23,-67.0,633.2,-10.6,612,5628,0.00,1.88,0.00,0.000,6,0.000,0.068,2216,2372,3078
$GC,5937,-2.23,-67.0,663.7,-9.4,628,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2371,3076
$GC,6246,-2.23,-67.0,692.7,-9.1,643,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2371,3075
$GC,6558,-2.23,-67.0,720.6,-9.1,658,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2371,3073
$GC,6864,-2.23,-67.0,748.9,-9.0,673,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2371,3071
$GC,7173,-2.23,-67.0,777.0,-8.6,688,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2362,3071
$GC,7483,-2.25,-67.0,804.2,-8.8,703,7487,0.00,1.80,0.00,0.000,4,0.000,0.058,2216,3383,3069
$GC,7538,-2.25,-67.0,809.6,-9.9,705,7542,0.00,1.83,0.00,0.000,6,0.000,0.035,2216,2321,3069
$GC,7861,-2.28,-67.0,837.7,-8.4,721,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2321,3068
$GC,8169,-2.30,-67.0,863.7,-8.3,736,8172,0.00,1.83,0.00,0.000,4,0.000,0.058,2216,1285,3066
$GC,8223,-2.30,-67.0,868.4,-8.2,738,8228,0.00,1.85,0.00,0.000,6,0.000,0.039,2216,2352,3066
$GC,8545,-2.30,-71.0,893.7,-7.6,754,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2352,3065
$GC,8854,-2.33,-71.0,917.7,-8.3,769,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2352,3064
$GC,9165,-2.35,-71.0,944.0,-8.4,784,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2352,3063
$GC,9473,-2.39,-78.5,966.2,-7.3,799,9477,0.12,1.90,0.00,0.000,4,0.079,0.054,2186,1285,3062
$GC,9561,-2.39,-78.5,973.6,-8.5,803,9565,0.00,1.80,0.00,0.000,6,0.000,0.041,2186,2333,3061
$STATE,9768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9768,begin apogee
$GC,9773,-0.51,0.0,990.9,8.4,813,9830,2.00,0.00,51.80,1.434,6,0.109,0.000,2597,1970,2825
$STATE,9831,end apogee,CONTROL_FINISHED_OK
$STATE,9831,begin climb
$GC,9833,2.35,78.5,992.1,0.0,816,9910,2.88,0.00,69.97,1.402,6,0.069,0.000,3223,1970,2504
$GC,10219,2.32,86.2,966.0,7.3,835,10229,0.00,0.00,8.00,1.190,6,0.000,0.000,3223,1969,2473
$GC,10528,2.28,87.7,942.8,7.8,850,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1970,2472
$GC,10838,2.24,92.3,919.6,7.6,865,10851,0.12,2.03,6.80,1.137,4,0.121,0.068,3201,910,2448
$GC,10930,2.20,92.3,912.2,8.0,869,10934,0.00,1.85,0.00,0.000,6,0.000,0.036,3200,1962,2448
$GC,11258,2.19,97.6,887.1,7.5,885,11266,0.00,0.00,6.38,1.114,6,0.000,0.000,3201,1962,2426
$GC,11566,2.16,97.6,862.0,8.1,900,11569,0.00,1.85,0.00,0.000,4,0.000,0.053,3201,3020,2425
$GC,11730,2.13,97.6,848.6,8.0,907,11734,0.15,1.83,0.00,0.000,6,0.120,0.040,3173,1969,2425
$GC,12055,2.14,103.5,823.9,7.4,923,12066,0.00,1.95,6.47,1.100,4,0.000,0.064,3173,906,2403
$GC,12167,2.14,107.4,814.9,7.6,928,12177,0.00,1.90,5.43,1.026,6,0.000,0.036,3173,1992,2386
$GC,12493,2.16,117.6,791.6,7.0,944,12506,0.00,0.00,10.68,1.220,6,0.000,0.000,3173,1992,2345
$GC,12802,2.16,117.6,765.8,8.4,959,12805,0.00,1.77,0.00,0.000,4,0.000,0.052,3173,3010,2344
$GC,12862,2.16,117.6,760.5,8.6,961,12868,0.00,1.80,0.00,0.000,6,0.000,0.039,3173,1988,2344
$GC,13177,2.16,117.6,733.2,9.0,977,13181,0.00,1.80,0.00,0.000,4,0.000,0.050,3173,3010,2343
$GC,13277,2.16,117.6,723.8,9.1,981,13281,0.00,1.80,0.00,0.000,6,0.000,0.039,3173,1986,2343
$GC,13598,2.16,117.6,696.2,8.4,997,13599,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1986,2343
$GC,13907,2.17,121.5,671.3,7.6,1012,13917,0.00,1.83,4.82,0.907,4,0.000,0.050,3173,3008,2329
$GC,13980,2.17,122.2,665.8,7.9,1015,13984,0.00,1.77,0.00,0.000,6,0.000,0.038,3173,1978,2329
$GC,14306,2.18,125.9,639.9,7.6,1031,14316,0.00,1.95,5.80,0.981,4,0.000,0.065,3173,911,2311
$GC,14479,2.18,125.9,624.9,8.8,1039,14483,0.00,1.85,0.00,0.000,6,0.000,0.035,3173,1994,2311
$GC,14811,2.18,126.2,598.3,8.0,1055,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1994,2310
$GC,15120,2.19,131.5,574.5,7.5,1070,15128,0.00,0.00,6.57,0.985,6,0.000,0.000,3173,1995,2288
$GC,15429,2.19,131.5,549.7,8.4,1085,15432,0.00,1.98,0.00,0.000,4,0.000,0.060,3173,905,2288
$GC,15489,2.19,134.3,544.7,7.7,1087,15499,0.00,1.88,4.12,0.780,6,0.000,0.034,3173,1992,2277
$GC,15826,2.19,134.3,516.8,8.3,1104,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1993,2276
$GC,16138,2.19,134.6,491.8,8.0,1123,16142,0.00,1.75,0.00,0.000,4,0.000,0.050,3173,3006,2276
$GC,16232,2.19,134.6,483.8,8.6,1131,16239,0.00,1.77,0.00,0.000,6,0.000,0.038,3173,1984,2276
$GC,16559,2.19,134.6,456.5,8.1,1162,16563,0.00,1.80,0.00,0.000,4,0.000,0.048,3173,3016,2277
$GC,16649,2.19,134.6,449.1,8.9,1170,16652,0.00,1.77,0.00,0.000,6,0.000,0.037,3173,1978,2276
$GC,16979,2.20,138.9,424.4,7.6,1201,16991,0.00,1.95,5.97,0.866,4,0.000,0.062,3173,902,2258
$GC,17170,2.21,146.9,409.3,7.2,1218,17185,0.00,1.85,8.23,0.943,6,0.000,0.033,3173,1992,2226
$GC,17510,2.21,146.9,381.6,8.4,1250,17513,0.00,1.95,0.00,0.000,4,0.000,0.058,3173,912,2225
$GC,17615,2.21,146.9,371.7,8.8,1259,17621,0.00,1.80,0.00,0.000,6,0.000,0.032,3173,1962,2225
$GC,17941,2.25,154.3,344.4,7.3,1290,17956,0.12,1.88,8.15,0.891,4,0.080,0.050,3205,3008,2195
$GC,18064,2.25,154.3,332.8,9.5,1301,18067,0.00,1.80,0.00,0.000,6,0.000,0.037,3205,1960,2195
$GC,18394,2.25,154.3,304.1,8.6,1332,18395,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1960,2195
$GC,18712,2.25,154.3,277.2,8.9,1362,18713,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1959,2195
$GC,19031,2.26,161.6,250.9,7.3,1392,19043,0.00,1.95,7.80,0.818,4,0.000,0.058,3205,903,2166
$GC,19235,2.26,161.6,233.1,9.2,1427,19240,0.00,1.80,0.00,0.000,6,0.000,0.031,3205,1979,2165
$GC,19578,2.26,163.0,206.3,7.9,1488,19583,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1979,2166
$GC,19921,2.33,187.8,183.5,5.6,1549,19948,0.00,1.85,23.02,0.849,4,0.000,0.051,3205,3004,2059
$GC,20174,2.41,218.5,166.8,5.1,1594,20207,0.10,1.83,26.27,0.825,6,0.056,0.031,3239,1932,1934
$GC,20545,2.44,224.2,140.4,7.4,1660,20556,0.00,0.00,6.28,0.667,6,0.000,0.000,3239,1930,1910
$GC,20894,2.52,245.8,114.0,6.0,1722,20918,0.00,1.85,18.98,0.756,4,0.000,0.048,3239,917,1822
$GC,20986,2.55,245.8,107.1,8.1,1738,20992,0.08,1.70,0.00,0.000,6,0.058,0.026,3268,1943,1822
$GC,21333,2.58,251.1,79.9,7.5,1799,21345,0.00,1.80,5.90,0.592,4,0.000,0.044,3269,917,1801
$GC,21592,2.59,257.6,59.9,7.4,1845,21604,0.00,1.60,7.18,0.615,6,0.000,0.025,3269,1908,1774
$GC,21943,2.68,286.3,36.6,5.3,1907,21976,0.10,1.88,24.52,0.670,4,0.071,0.038,3301,2983,1656
$GC,22229,2.71,292.0,15.8,7.5,1958,22241,0.00,1.73,6.07,0.539,6,0.000,0.026,3301,1942,1634
$STATE,22397,end climb,SURFACE_DEPTH_REACHED
$STATE,22397,begin surface coast
$FINISH,-0.5,1.021614
$STATE,22422,end surface coast,CONTROL_FINISHED_OK
$STATE,22422,begin surface
$SM_CCo,22443,149.85,0.623,0,0,587,548.98
$SM_GC,-5.27,0.00,0.00,149.85,0.000,0.000,0.623,414,2324,587,-10.56,-0.03,548.98
$IRIDIUM_FIX,1256.52,12031.64,300597,010142
$TT8_MAMPS,0.026078
$HUMID,1664
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.60
$XPDR_PINGS,412
$24V_AH,23.1,12.239
$10V_AH,10.2,9.890
$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,28.650,118.375,335.225,149.850,0.000,124.809,250.434,305.160,115.500,0.000,0.000,12.358,3281.772,15181.818,633.359,3547.225,1018.029,0.000,2288.130,0.000,3522.537,0.000,91.482
$DEVICE_MAMPS,171.808,91.273,1433.523,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1353.214,786.144,745.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107102,1992
$CAP_FILE_SIZE,205247,0
$CFSIZE,260165632,250306560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050308,081037,1259.825,12031.494,28,1.2,28,-0.9