version: 66.03
glider: 126
mission: 7
dive: 83
start: 3 5 108 8 26 54
data:
$ID,126
$MISSION,7
$DIVE,83
$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,475
$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,-621084.94
$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,47
$R_STBD_OVSHOOT,56
$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
$GPS1,081037,1259.825,12031.494,28,1.2,28,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.89
$_SM_ANGLEo,-56.4
$GPS2,082602,1259.761,12031.517,11,1.7,16,-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,161.5,5343,-22.0,-7.990
$D_GRID,952
$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,-73.70,0.000,6,0.000,0.000,414,2326,3101
$GC,97,-2.33,-67.0,-0.0,-13.4,14,115,10.10,1.75,0.00,0.000,4,0.173,0.038,2194,3354,3102
$GC,368,-2.22,-67.0,64.8,-19.1,62,375,0.12,1.70,0.00,0.000,6,0.117,0.024,2222,2295,3103
$GC,714,-2.15,-67.0,125.3,-16.2,123,720,0.00,1.83,0.00,0.000,4,0.000,0.041,2222,3367,3104
$GC,789,-2.09,-67.0,136.9,-15.6,136,795,0.12,1.67,0.00,0.000,6,0.111,0.025,2250,2320,3104
$GC,1133,-2.09,-67.0,183.7,-11.1,197,1139,0.00,1.67,0.00,0.000,4,0.000,0.035,2250,1312,3104
$GC,1191,-2.09,-67.0,190.5,-12.7,207,1197,0.00,1.67,0.00,0.000,6,0.000,0.026,2250,2341,3105
$GC,1534,-2.09,-67.0,228.3,-11.0,268,1540,0.00,1.77,0.00,0.000,4,0.000,0.044,2250,3370,3105
$GC,1680,-2.09,-67.0,243.8,-10.3,294,1687,0.00,1.65,0.00,0.000,6,0.000,0.027,2250,2348,3104
$GC,2009,-2.12,-67.0,276.2,-9.9,330,2012,0.00,1.75,0.00,0.000,4,0.000,0.039,2250,1316,3104
$GC,2080,-2.12,-67.0,283.8,-10.5,336,2087,0.00,1.73,0.00,0.000,6,0.000,0.029,2250,2342,3103
$GC,2406,-2.14,-67.0,318.1,-10.9,367,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2342,3101
$GC,2726,-2.17,-67.0,351.1,-10.3,397,2730,0.00,1.77,0.00,0.000,4,0.000,0.042,2250,1312,3099
$GC,2805,-2.19,-67.0,359.6,-10.6,404,2808,0.00,1.75,0.00,0.000,6,0.000,0.031,2249,2357,3098
$GC,3135,-2.22,-67.0,391.0,-9.7,435,3137,0.12,0.00,0.00,0.000,6,0.069,0.000,2216,2358,3095
$GC,3453,-2.22,-67.0,423.7,-9.8,465,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2358,3093
$GC,3771,-2.22,-67.0,455.8,-10.2,495,3775,0.00,1.83,0.00,0.000,4,0.000,0.052,2216,1327,3090
$GC,3871,-2.22,-67.0,466.4,-10.9,504,3875,0.00,1.73,0.00,0.000,6,0.000,0.035,2216,2346,3090
$GC,4202,-2.22,-67.0,499.7,-10.4,535,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2346,3087
$GC,4521,-2.22,-67.0,532.1,-10.2,551,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2346,3085
$GC,4830,-2.22,-67.0,563.0,-9.8,566,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2346,3082
$GC,5139,-2.22,-67.0,593.4,-9.6,581,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2347,3081
$GC,5448,-2.22,-67.0,622.7,-9.4,596,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2347,3078
$GC,5761,-2.22,-67.0,651.9,-9.3,611,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2347,3077
$GC,6067,-2.22,-67.0,679.9,-9.2,626,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2347,3075
$GC,6376,-2.22,-67.0,706.8,-8.7,641,6380,0.00,2.08,0.00,0.000,4,0.000,0.128,2216,3361,3074
$GC,6453,-2.22,-67.0,714.0,-9.3,644,6458,0.00,1.95,0.00,0.000,6,0.000,0.107,2216,2410,3073
$GC,6775,-2.22,-67.0,743.1,-9.5,660,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2410,3072
$GC,7085,-2.22,-67.0,770.4,-8.3,675,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2409,3071
$GC,7393,-2.24,-67.0,797.3,-8.6,690,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2409,3069
$GC,7703,-2.27,-67.0,823.1,-8.5,705,7707,0.00,2.53,0.00,0.000,4,0.000,0.193,2216,1339,3068
$GC,7774,-2.27,-67.6,828.9,-7.9,708,7778,0.00,2.28,0.00,0.000,6,0.000,0.171,2216,2327,3068
$GC,8095,-2.29,-67.6,856.9,-8.9,724,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2326,3066
$GC,8405,-2.31,-67.6,882.7,-8.4,739,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2338,3064
$GC,8714,-2.35,-71.8,907.1,-7.6,754,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2337,3064
$GC,9024,-2.37,-71.8,931.4,-8.0,769,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2337,3063
$STATE,9289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9289,begin apogee
$GC,9294,-0.51,0.0,953.0,8.4,782,9352,1.83,0.00,51.75,1.407,6,0.104,0.000,2595,2012,2825
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9353,begin climb
$GC,9354,2.34,71.8,954.5,0.0,785,9423,2.88,0.00,63.67,1.380,6,0.069,0.000,3221,2011,2532
$GC,9721,2.32,86.2,935.0,6.6,803,9740,0.00,0.00,13.85,1.292,6,0.000,0.000,3221,2011,2473
$GC,10050,2.28,88.9,908.3,7.7,819,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2011,2471
$GC,10359,2.24,91.0,884.5,7.8,834,10367,0.12,0.00,5.68,1.051,6,0.122,0.000,3199,2011,2453
$GC,10668,2.24,102.2,862.3,6.9,849,10684,0.00,2.05,11.27,1.253,4,0.000,0.064,3199,907,2408
$GC,10734,2.22,116.2,857.5,6.7,851,10754,0.00,1.88,13.93,1.265,6,0.000,0.035,3199,1996,2351
$GC,11081,2.22,116.2,828.3,8.6,868,11084,0.00,2.00,0.00,0.000,4,0.000,0.061,3199,903,2348
$GC,11158,2.20,116.2,821.1,10.0,871,11163,0.00,1.83,0.00,0.000,6,0.000,0.035,3199,1949,2348
$GC,11479,2.20,116.2,793.0,9.0,887,11482,0.00,1.90,0.00,0.000,4,0.000,0.061,3199,909,2348
$GC,11511,2.17,116.2,789.8,9.5,888,11515,0.00,1.80,0.00,0.000,6,0.000,0.035,3199,1943,2348
$GC,11832,2.17,116.2,760.5,8.7,904,11836,0.00,1.85,0.00,0.000,4,0.000,0.052,3198,3004,2347
$GC,11901,2.14,116.2,754.8,8.3,907,11905,0.12,1.85,0.00,0.000,6,0.120,0.041,3176,1941,2347
$GC,12232,2.14,116.2,727.9,8.2,923,12235,0.00,1.88,0.00,0.000,4,0.000,0.050,3176,3007,2346
$GC,12371,2.14,116.2,715.6,8.9,929,12375,0.00,1.83,0.00,0.000,6,0.000,0.040,3176,1967,2346
$GC,12698,2.14,116.2,688.5,8.4,945,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1967,2346
$GC,13007,2.14,116.2,663.5,8.0,960,13010,0.00,1.83,0.00,0.000,4,0.000,0.048,3177,3012,2346
$GC,13112,2.14,116.2,654.8,8.7,964,13118,0.00,1.80,0.00,0.000,6,0.000,0.038,3176,1981,2346
$GC,13427,2.14,116.2,628.3,8.6,980,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1981,2346
$GC,13737,2.14,116.2,603.0,8.0,995,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1981,2346
$GC,14046,2.14,116.2,577.7,8.3,1010,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1981,2346
$GC,14355,2.14,116.2,553.2,8.1,1025,14358,0.00,1.80,0.00,0.000,4,0.000,0.048,3176,3012,2346
$GC,14415,2.14,117.1,548.4,7.9,1027,14422,0.00,1.80,0.00,0.000,6,0.000,0.038,3176,1977,2346
$GC,14731,2.15,120.3,524.2,7.7,1043,14737,0.00,0.00,4.32,0.782,6,0.000,0.000,3176,1977,2334
$GC,15040,2.16,126.7,500.0,7.4,1058,15053,0.00,1.88,7.18,0.972,4,0.000,0.047,3176,3008,2308
$GC,15172,2.16,126.7,488.9,8.0,1069,15175,0.00,1.75,0.00,0.000,6,0.000,0.037,3177,1988,2308
$GC,15503,2.16,126.7,461.5,8.2,1100,15507,0.00,1.77,0.00,0.000,4,0.000,0.056,3176,3008,2308
$GC,15604,2.16,126.7,452.9,8.1,1109,15608,0.00,1.70,0.00,0.000,6,0.000,0.036,3176,2012,2308
$GC,15936,2.16,129.1,426.8,7.8,1140,15947,0.00,2.03,4.12,0.726,4,0.000,0.064,3176,916,2298
$GC,16031,2.16,129.1,418.7,8.0,1148,16037,0.00,1.90,0.00,0.000,6,0.000,0.032,3176,2018,2298
$GC,16356,2.19,141.7,394.0,6.8,1179,16370,0.00,0.00,12.10,0.997,6,0.000,0.000,3176,2018,2247
$GC,16684,2.21,141.7,369.5,8.0,1210,16687,0.00,2.00,0.00,0.000,4,0.000,0.058,3176,911,2246
$GC,16942,2.21,141.7,347.1,8.2,1233,16945,0.00,1.90,0.00,0.000,6,0.000,0.032,3176,2037,2246
$GC,17273,2.25,153.4,322.8,6.9,1264,17289,0.10,2.12,11.35,0.929,4,0.083,0.057,3203,908,2199
$GC,17540,2.25,153.4,299.8,8.2,1287,17547,0.00,1.88,0.00,0.000,6,0.000,0.031,3202,2004,2199
$GC,17867,2.25,153.4,272.7,8.3,1318,17870,0.00,1.95,0.00,0.000,4,0.000,0.056,3202,912,2198
$GC,17960,2.25,153.4,264.5,8.4,1326,17967,0.00,1.83,0.00,0.000,6,0.000,0.030,3202,1989,2198
$GC,18294,2.25,153.4,237.1,8.2,1371,18299,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1990,2199
$GC,18636,2.25,153.4,211.9,8.4,1432,18642,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1990,2199
$GC,18981,2.26,159.9,187.6,7.4,1493,18994,0.00,2.00,7.28,0.749,4,0.000,0.052,3202,906,2172
$GC,19033,2.30,180.9,184.3,6.0,1502,19056,0.00,1.83,18.88,0.836,6,0.000,0.030,3202,1983,2087
$GC,19397,2.38,208.4,162.8,5.4,1566,19425,0.12,0.00,23.42,0.818,6,0.071,0.000,3238,1985,1975
$GC,19766,2.44,229.8,138.6,6.0,1631,19788,0.00,0.00,18.62,0.782,6,0.000,0.000,3237,1985,1888
$GC,20125,2.51,246.6,111.3,6.4,1695,20148,0.00,1.98,15.02,0.740,4,0.000,0.047,3238,901,1819
$GC,20206,2.56,255.6,105.8,7.1,1709,20223,0.12,1.77,8.95,0.681,6,0.068,0.027,3275,1978,1782
$GC,20563,2.57,265.1,77.6,7.1,1772,20581,0.00,1.92,9.30,0.667,4,0.000,0.045,3275,912,1744
$GC,20833,2.57,265.1,53.5,9.3,1820,20840,0.00,1.70,0.00,0.000,6,0.000,0.025,3275,1941,1744
$GC,21177,2.66,292.3,31.5,5.4,1881,21205,0.00,1.90,23.38,0.665,4,0.000,0.043,3275,897,1633
$GC,21460,2.70,297.7,11.8,7.5,1931,21472,0.10,1.60,6.00,0.534,6,0.069,0.025,3308,1894,1611
$STATE,21572,end climb,SURFACE_DEPTH_REACHED
$STATE,21572,begin surface coast
$FINISH,0.1,1.021888
$STATE,21596,end surface coast,CONTROL_FINISHED_OK
$STATE,21596,begin surface
$SM_CCo,21616,107.90,0.627,0,0,888,475.15
$SM_GC,-5.12,0.00,0.00,107.90,0.000,0.000,0.627,418,2323,888,-10.54,-0.06,475.15
$IRIDIUM_FIX,1256.52,12030.51,300597,080809
$TT8_MAMPS,0.026078
$HUMID,1706
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.60
$XPDR_PINGS,379
$ALTIM_BOTTOM_PING,951.3,47.9
$24V_AH,23.1,12.413
$10V_AH,10.2,10.026
$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,28.450,97.825,330.075,107.900,0.000,51.151,42.622,645.427,106.500,0.000,0.000,16.570,3184.475,14461.524,573.802,3419.835,1027.392,0.000,2149.858,0.000,3376.791,0.000,86.980
$DEVICE_MAMPS,172.575,192.517,1406.678,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1327.424,789.545,743.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107121,1955
$CAP_FILE_SIZE,199582,0
$CFSIZE,260165632,250277888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050308,143008,1257.337,12032.616,34,1.4,34,-0.9