version: 66.07
glider: 513
mission: 7
dive: 45
start: 7 9 111 2 43 22
data:
$ID,513
$MISSION,7
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$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,300
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-421445.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2962
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,44
$AR_SAMPLENUM,3
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,090711,023307,1850.573,-15642.156,36,1.6,36,9.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.6
$GPS2,090711,024229,1850.484,-15642.244,16,1.8,17,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.192
$KALMAN_X,30189.8,-589.3,7.2,-51265.7,-2350.8
$KALMAN_Y,-111494.4,621.6,287.3,20943.8,-6460.0
$MHEAD_RNG_PITCHd_Wd,25.7,156596,-19.7,-10.000
$D_GRID,900
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.93,-117.2,0.0,0.0,0,92,0.00,0.00,-60.58,0.000,6,0.000,0.000,35,2178,3438,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.1,-6.8,10,110,9.48,2.20,0.00,0.000,4,0.255,0.050,2270,3596,3442,0,0,0,0,0,0
$GC,263,-0.93,-117.2,59.8,-30.1,32,267,0.00,2.10,0.00,0.000,6,0.000,0.035,2273,2176,3444,0,0,0,0,0,0
$GC,526,-0.93,-117.2,134.2,-26.2,56,530,0.00,2.08,0.00,0.000,4,0.000,0.040,2273,780,3446,0,0,0,0,0,0
$GC,633,-0.93,-117.2,161.5,-22.6,65,637,0.00,2.17,0.00,0.000,6,0.000,0.053,2267,2178,3442,0,0,0,0,0,0
$GC,891,-0.93,-117.2,216.0,-17.9,85,895,0.00,2.15,0.00,0.000,4,0.000,0.058,2253,3595,3447,0,0,0,0,0,0
$GC,969,-0.93,-117.2,230.6,-16.9,88,976,0.15,2.08,0.00,0.000,6,0.224,0.033,2287,2179,3448,0,0,0,0,0,0
$GC,1223,-0.93,-117.2,264.9,-11.8,101,1227,0.00,2.17,0.00,0.000,4,0.000,0.054,2278,3600,3449,0,0,0,0,0,0
$GC,1244,-0.93,-117.2,267.8,-13.1,102,1248,0.00,2.10,0.00,0.000,6,0.000,0.032,2278,2172,3449,0,0,0,0,0,0
$GC,1510,-0.93,-117.2,295.8,-10.8,115,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2170,3450,0,0,0,0,0,0
$GC,1754,-0.93,-117.2,322.8,-11.0,122,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2170,3454,0,0,0,0,0,0
$GC,1997,-0.93,-117.2,349.0,-10.8,128,2001,0.00,2.08,0.00,0.000,4,0.000,0.044,2278,770,3451,0,0,0,0,0,0
$GC,2227,-0.93,-117.2,374.2,-10.8,133,2231,0.00,2.20,0.00,0.000,6,0.000,0.055,2267,2184,3451,0,0,0,0,0,0
$GC,2504,-0.93,-117.2,405.1,-11.1,140,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2184,3451,0,0,0,0,0,0
$GC,2748,-0.93,-117.2,431.7,-10.6,146,2752,0.00,2.10,0.00,0.000,4,0.000,0.044,2267,780,3448,0,0,0,0,0,0
$GC,2815,-0.93,-117.2,438.5,-10.1,147,2820,0.12,2.12,0.00,0.000,6,0.214,0.053,2282,2176,3448,0,0,0,0,0,0
$GC,3070,-0.93,-117.2,460.7,-8.6,154,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2175,3446,0,0,0,0,0,0
$GC,3314,-0.93,-117.2,479.9,-8.0,160,3318,0.00,2.08,0.00,0.000,4,0.000,0.042,2295,778,3444,0,0,0,0,0,0
$GC,3359,-0.93,-117.2,483.7,-8.3,161,3363,0.00,2.12,0.00,0.000,6,0.000,0.047,2286,2190,3447,0,0,0,0,0,0
$GC,3636,-0.93,-117.2,510.0,-10.1,168,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2190,3442,0,0,0,0,0,0
$GC,3880,-0.93,-117.2,535.1,-10.4,174,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2192,3440,0,0,0,0,0,0
$GC,4125,-0.93,-117.2,557.8,-8.8,180,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2189,3438,0,0,0,0,0,0
$GC,4368,-0.93,-117.2,578.0,-8.1,186,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2190,3435,0,0,0,0,0,0
$GC,4611,-0.93,-117.2,598.1,-8.3,192,4615,0.00,2.15,0.00,0.000,4,0.000,0.061,2276,3579,3434,0,0,0,0,0,0
$GC,4748,-0.93,-117.2,611.0,-9.6,195,4752,0.00,2.05,0.00,0.000,6,0.000,0.037,2272,2182,3432,0,0,0,0,0,0
$GC,5026,-0.93,-117.2,633.9,-8.0,202,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2175,3434,0,0,0,0,0,0
$GC,5270,-0.93,-117.2,652.3,-7.5,208,5274,0.00,2.08,0.00,0.000,4,0.000,0.045,2276,779,3428,0,0,0,0,0,0
$GC,5321,-0.93,-117.2,656.3,-8.1,209,5325,0.00,2.12,0.00,0.000,6,0.000,0.051,2265,2173,3428,0,0,0,0,0,0
$GC,5593,-0.93,-117.2,678.0,-8.0,216,5597,0.00,2.10,0.00,0.000,4,0.000,0.045,2262,766,3427,0,0,0,0,0,0
$GC,5654,-0.93,-117.2,683.1,-8.2,217,5658,0.12,2.20,0.00,0.000,6,0.216,0.054,2283,2189,3426,0,0,0,0,0,0
$GC,5921,-0.93,-117.2,702.9,-7.5,224,5925,0.00,2.15,0.00,0.000,4,0.000,0.059,2274,3585,3425,0,0,0,0,0,0
$GC,5970,-0.93,-117.2,707.0,-8.6,225,5974,0.00,2.10,0.00,0.000,6,0.000,0.038,2276,2184,3424,0,0,0,0,0,0
$GC,6244,-0.93,-117.2,729.0,-8.2,232,6248,0.00,2.10,0.00,0.000,4,0.000,0.044,2274,761,3424,0,0,0,0,0,0
$GC,6284,-0.93,-117.2,732.6,-9.1,233,6288,0.00,2.20,0.00,0.000,6,0.000,0.052,2265,2190,3423,0,0,0,0,0,0
$GC,6567,-0.93,-117.2,756.5,-8.5,240,6571,0.00,2.12,0.00,0.000,4,0.000,0.046,2265,769,3422,0,0,0,0,0,0
$GC,6618,-0.93,-117.2,760.8,-8.5,241,6623,0.15,2.15,0.00,0.000,6,0.213,0.054,2290,2175,3419,0,0,0,0,0,0
$GC,6890,-0.93,-117.2,780.5,-7.1,248,6894,0.00,2.12,0.00,0.000,4,0.000,0.048,2300,762,3420,0,0,0,0,0,0
$GC,6952,-0.93,-117.2,785.1,-7.3,249,6956,0.00,2.20,0.00,0.000,6,0.000,0.052,2292,2191,3417,0,0,0,0,0,0
$GC,7219,-0.93,-117.2,802.5,-6.3,256,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2191,3419,0,0,0,0,0,0
$GC,7462,-0.93,-117.2,817.0,-5.9,262,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2191,3418,0,0,0,0,0,0
$GC,7706,-0.93,-117.2,830.7,-5.7,268,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2191,3417,0,0,0,0,0,0
$GC,7950,-0.93,-117.2,843.6,-5.3,274,7954,0.00,2.12,0.00,0.000,4,0.000,0.047,2300,772,3416,0,0,0,0,0,0
$GC,8012,-0.93,-117.2,847.2,-5.9,275,8016,0.00,2.17,0.00,0.000,6,0.000,0.054,2292,2181,3416,0,0,0,0,0,0
$GC,8278,-0.93,-117.2,861.4,-5.3,282,8282,0.00,2.12,0.00,0.000,4,0.000,0.047,2300,776,3415,0,0,0,0,0,0
$GC,8452,-0.93,-117.2,871.3,-6.2,286,8456,0.00,2.17,0.00,0.000,6,0.000,0.053,2292,2190,3414,0,0,0,0,0,0
$GC,8735,-0.93,-117.2,887.8,-5.9,293,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2186,3414,0,0,0,0,0,0
$STATE,8935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8935,begin apogee
$GC,8943,-0.28,0.0,900.5,6.4,298,9041,0.70,0.00,95.43,1.171,6,0.183,0.000,2493,1963,2966,0,0,0,0,0,0
$STATE,9044,end apogee,CONTROL_FINISHED_OK
$STATE,9044,begin climb
$GC,9046,0.93,117.2,901.7,0.0,300,9160,1.17,2.40,104.62,1.127,4,0.102,0.053,2881,3397,2484,0,0,0,0,0,0
$GC,9206,0.93,117.2,869.8,27.5,303,9211,0.00,2.17,0.00,0.000,6,0.000,0.034,2891,2014,2481,0,0,0,0,0,0
$GC,9455,0.93,117.2,801.3,27.7,310,9459,0.00,2.22,0.00,0.000,4,0.000,0.046,2903,581,2476,0,0,0,0,0,0
$GC,9528,0.93,117.2,781.1,26.4,311,9532,0.00,2.20,0.00,0.000,6,0.000,0.042,2903,2003,2473,0,0,0,0,0,0
$GC,9784,0.93,117.2,710.8,27.6,318,9788,0.00,2.17,0.00,0.000,4,0.000,0.054,2903,3404,2473,0,0,0,0,0,0
$GC,9806,0.93,117.2,704.4,28.2,318,9811,0.00,2.17,0.00,0.000,6,0.000,0.035,2913,1979,2473,0,0,0,0,0,0
$GC,10062,0.93,117.2,633.9,27.2,325,10066,0.00,2.12,0.00,0.000,4,0.000,0.044,2924,590,2473,0,0,0,0,0,0
$GC,10078,0.93,117.2,629.4,27.2,325,10082,0.15,2.12,0.00,0.000,6,0.226,0.039,2892,1993,2471,0,0,0,0,0,0
$GC,10345,0.93,117.2,561.4,25.7,332,10349,0.00,2.15,0.00,0.000,4,0.000,0.054,2892,3391,2471,0,0,0,0,0,0
$GC,10360,0.93,117.2,556.8,25.6,332,10364,0.00,2.12,0.00,0.000,6,0.000,0.037,2901,1993,2471,0,0,0,0,0,0
$GC,10627,0.93,117.2,487.5,25.8,339,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1989,2470,0,0,0,0,0,0
$GC,10872,0.93,117.2,425.0,25.3,345,10876,0.00,2.12,0.00,0.000,4,0.000,0.044,2912,583,2470,0,0,0,0,0,0
$GC,10933,0.93,117.2,409.1,24.3,346,10937,0.00,2.15,0.00,0.000,6,0.000,0.039,2912,1983,2468,0,0,0,0,0,0
$GC,11199,0.93,117.2,345.3,23.5,353,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1984,2468,0,0,0,0,0,0
$GC,11446,0.93,117.2,288.7,22.8,360,11450,0.00,2.15,0.00,0.000,4,0.000,0.052,2912,3393,2468,0,0,0,0,0,0
$GC,11495,0.93,117.2,276.2,24.3,362,11500,0.12,2.10,0.00,0.000,6,0.224,0.035,2896,1974,2466,0,0,0,0,0,0
$GC,11754,0.93,117.2,225.3,18.5,375,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1969,2467,0,0,0,0,0,0
$GC,12007,0.93,117.2,180.9,15.5,392,12011,0.00,2.15,0.00,0.000,4,0.000,0.048,2896,3394,2465,0,0,0,0,0,0
$GC,12038,0.93,117.2,175.3,19.0,394,12042,0.00,2.08,0.00,0.000,6,0.000,0.034,2904,1992,2466,0,0,0,0,0,0
$GC,12303,0.93,117.2,132.9,13.4,418,12307,0.00,2.08,0.00,0.000,4,0.000,0.042,2915,583,2466,0,0,0,0,0,0
$GC,12367,0.93,117.2,122.9,13.9,423,12375,0.08,2.12,0.00,0.000,6,0.189,0.035,2894,1989,2465,0,0,0,0,0,0
$GC,12630,0.93,117.2,90.1,12.3,448,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1995,2463,0,0,0,0,0,0
$GC,12885,0.93,117.2,58.4,12.0,472,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1995,2470,0,0,0,0,0,0
$GC,13139,0.93,117.2,31.3,12.6,496,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1995,2469,0,0,0,0,0,0
$STATE,13353,end climb,SURFACE_DEPTH_REACHED
$STATE,13353,begin surface coast
$FINISH,0.5,1.023067
$STATE,13375,end surface coast,CONTROL_FINISHED_OK
$STATE,13375,begin surface
$SM_CCo,13395,81.32,0.494,0,0,1738,300.49
$SM_GC,0.97,0.00,0.00,81.32,0.000,0.000,0.494,48,2203,1738,-7.93,0.65,300.49
$IRIDIUM_FIX,1844.15,-15646.89,311212,171700
$TT8_MAMPS,0.060593
$HUMID,1078834184
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,25.40
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344245248
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59987623936
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,7.405
$10V_AH,10.2,7.834
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.675,107.575,200.050,81.325,0.000,27.759,34.773,304.120,2.500,0.000,18.996,1126.629,10060.522,361.715,2144.551,349.142,33.360,1109.941,0.000,1761.863,0.000,0.542,0.000
$DEVICE_MAMPS,254.644,61.360,1171.209,493.948,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.742,0.000,784.398,0.000,0.000,0.000,0.000,14864.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.738,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,26814,539
$CAP_FILE_SIZE,119659,0
$CFSIZE,260165632,203304960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,062931,1850.332,-15641.660,37,1.5,38,9.6