version: 66.07
glider: 513
mission: 7
dive: 46
start: 7 9 111 6 41 8
data:
$ID,513
$MISSION,7
$DIVE,46
$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,-421460.47
$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,42
$R_STBD_OVSHOOT,56
$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,45
$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
$GPS1,090711,062931,1850.332,-15641.660,37,1.5,38,9.6
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.7
$GPS2,090711,064014,1850.188,-15641.732,12,1.2,12,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,0.211
$KALMAN_X,28542.4,-492.4,39.7,-48853.9,-1705.4
$KALMAN_Y,-115697.5,1054.7,151.6,24299.6,-7264.0
$MHEAD_RNG_PITCHd_Wd,16.1,157175,-19.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.93,-116.9,0.0,0.0,0,93,0.00,0.00,-61.15,0.000,6,0.000,0.000,34,2201,3434,0,0,0,0,0,0
$GC,97,-0.93,-117.2,2.6,-5.2,10,111,9.38,2.12,0.00,0.000,4,0.251,0.051,2270,3572,3438,0,0,0,0,0,0
$GC,309,-0.93,-117.2,72.7,-30.2,37,313,0.00,2.10,0.00,0.000,6,0.000,0.036,2272,2174,3439,0,0,0,0,0,0
$GC,573,-0.93,-117.2,147.9,-27.6,61,577,0.00,2.10,0.00,0.000,4,0.000,0.043,2273,769,3442,0,0,0,0,0,0
$GC,605,-0.93,-117.2,156.8,-23.6,63,613,0.00,2.17,0.00,0.000,6,0.000,0.054,2265,2148,3443,0,0,0,0,0,0
$GC,866,-0.93,-117.2,209.5,-18.9,86,870,0.00,2.05,0.00,0.000,4,0.000,0.040,2265,766,3444,0,0,0,0,0,0
$GC,899,-0.93,-117.2,215.6,-17.2,87,905,0.12,2.17,0.00,0.000,6,0.214,0.052,2283,2188,3444,0,0,0,0,0,0
$GC,1152,-0.93,-117.2,249.3,-12.7,100,1156,0.00,2.10,0.00,0.000,4,0.000,0.040,2285,771,3445,0,0,0,0,0,0
$GC,1209,-0.93,-117.2,256.3,-12.0,102,1214,0.00,2.17,0.00,0.000,6,0.000,0.051,2275,2187,3446,0,0,0,0,0,0
$GC,1462,-0.93,-117.2,284.6,-11.1,115,1466,0.00,2.10,0.00,0.000,4,0.000,0.041,2277,770,3447,0,0,0,0,0,0
$GC,1518,-0.93,-117.2,291.6,-12.1,117,1523,0.00,2.15,0.00,0.000,6,0.000,0.050,2266,2188,3444,0,0,0,0,0,0
$GC,1790,-0.93,-117.2,327.2,-12.5,126,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2188,3446,0,0,0,0,0,0
$GC,2033,-0.93,-117.2,353.8,-10.5,132,2037,0.00,2.12,0.00,0.000,4,0.000,0.058,2255,3595,3447,0,0,0,0,0,0
$GC,2180,-0.93,-117.2,371.6,-12.9,135,2185,0.12,2.08,0.00,0.000,6,0.213,0.034,2283,2166,3447,0,0,1,0,0,0
$GC,2446,-0.93,-117.2,408.1,-13.8,142,2450,0.00,2.08,0.00,0.000,4,0.000,0.042,2295,772,3446,0,0,0,0,0,0
$GC,2660,-0.93,-117.2,438.0,-11.7,146,2664,0.00,2.15,0.00,0.000,6,0.000,0.051,2285,2187,3445,0,0,0,0,0,0
$GC,2909,-0.93,-117.2,464.6,-10.2,152,2913,0.00,2.10,0.00,0.000,4,0.000,0.044,2287,778,3443,0,0,0,0,0,0
$GC,2949,-0.93,-117.2,468.4,-9.2,153,2953,0.00,2.12,0.00,0.000,6,0.000,0.051,2279,2176,3443,0,0,0,0,0,0
$GC,3233,-0.93,-117.2,492.2,-8.0,160,3237,0.00,2.08,0.00,0.000,4,0.000,0.043,2279,781,3441,0,0,0,0,0,0
$GC,3403,-0.93,-117.2,507.1,-8.9,163,3408,0.00,2.12,0.00,0.000,6,0.000,0.051,2268,2182,3440,0,0,0,0,0,0
$GC,3654,-0.93,-117.2,529.7,-9.1,170,3657,0.00,2.10,0.00,0.000,4,0.000,0.044,2268,783,3438,0,0,0,0,0,0
$GC,3670,-0.93,-117.2,531.3,-9.1,170,3675,0.12,2.12,0.00,0.000,6,0.216,0.051,2286,2177,3438,0,0,0,0,0,0
$GC,3936,-0.93,-117.2,554.3,-8.5,177,3940,0.00,2.17,0.00,0.000,4,0.000,0.061,2277,3594,3436,0,0,0,0,0,0
$GC,3982,-0.93,-117.2,558.4,-9.2,178,3986,0.00,2.08,0.00,0.000,6,0.000,0.036,2279,2181,3436,0,0,0,0,0,0
$GC,4260,-0.93,-117.2,582.0,-8.7,185,4264,0.00,2.08,0.00,0.000,4,0.000,0.044,2281,781,3433,0,0,0,0,0,0
$GC,4277,-0.93,-117.2,583.7,-9.0,185,4281,0.00,2.12,0.00,0.000,6,0.000,0.049,2270,2187,3433,0,0,0,0,0,0
$GC,4538,-0.93,-117.2,608.1,-9.3,192,4542,0.00,2.12,0.00,0.000,4,0.000,0.044,2270,781,3430,0,0,0,0,0,0
$GC,4589,-0.93,-117.2,613.3,-10.3,193,4593,0.00,2.12,0.00,0.000,6,0.000,0.051,2260,2174,3430,0,0,0,0,0,0
$GC,4866,-0.93,-117.2,641.3,-10.1,200,4871,0.12,2.12,0.00,0.000,4,0.221,0.046,2299,780,3431,0,0,0,0,0,0
$GC,5022,-0.93,-117.2,655.5,-8.6,203,5027,0.00,2.15,0.00,0.000,6,0.000,0.051,2290,2193,3429,0,0,0,0,0,0
$GC,5278,-0.93,-117.2,676.3,-8.1,210,5282,0.00,2.12,0.00,0.000,4,0.000,0.045,2298,781,3424,0,0,0,0,0,0
$GC,5339,-0.93,-117.2,681.1,-8.2,211,5343,0.00,2.12,0.00,0.000,6,0.000,0.051,2295,2187,3425,0,0,1,0,0,0
$GC,5606,-0.93,-117.2,701.7,-7.6,218,5610,0.00,2.15,0.00,0.000,4,0.000,0.061,2279,3587,3423,0,0,0,0,0,0
$GC,5796,-0.93,-117.2,717.4,-7.9,222,5800,0.00,2.08,0.00,0.000,6,0.000,0.038,2287,2178,3422,0,0,0,0,0,0
$GC,6069,-0.93,-117.2,736.3,-6.7,229,6073,0.00,2.08,0.00,0.000,4,0.000,0.044,2287,779,3420,0,0,0,0,0,0
$GC,6109,-0.93,-117.2,739.2,-7.5,230,6113,0.00,2.12,0.00,0.000,6,0.000,0.050,2278,2176,3420,0,0,0,0,0,0
$GC,6393,-0.93,-117.2,757.6,-6.4,237,6397,0.00,2.20,0.00,0.000,4,0.000,0.061,2267,3597,3416,0,0,0,0,0,0
$GC,6433,-0.93,-117.2,760.2,-6.9,238,6437,0.00,2.10,0.00,0.000,6,0.000,0.036,2267,2171,3417,0,0,0,0,0,0
$GC,6717,-0.93,-117.2,777.9,-6.2,245,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2165,3418,0,0,0,0,0,0
$GC,6962,-0.93,-117.2,793.0,-6.2,251,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2161,3415,0,0,0,0,0,0
$GC,7204,-0.93,-117.2,808.7,-6.3,257,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2164,3414,0,0,0,0,0,0
$GC,7448,-0.93,-117.2,823.7,-6.3,263,7452,0.00,2.20,0.00,0.000,4,0.000,0.061,2257,3597,3413,0,0,0,0,0,0
$GC,7492,-0.93,-117.2,826.7,-6.5,264,7497,0.12,2.12,0.00,0.000,6,0.217,0.038,2285,2178,3412,0,0,0,0,0,0
$GC,7771,-0.93,-117.2,841.6,-5.2,271,7775,0.00,2.17,0.00,0.000,4,0.000,0.061,2275,3591,3412,0,0,0,0,0,0
$GC,7810,-0.93,-117.2,844.0,-6.2,272,7814,0.00,2.10,0.00,0.000,6,0.000,0.037,2276,2167,3412,0,0,0,0,0,0
$GC,8095,-0.93,-117.2,858.6,-5.1,279,8099,0.00,2.08,0.00,0.000,4,0.000,0.049,2276,783,3411,0,0,0,0,0,0
$GC,8190,-0.93,-117.2,863.9,-5.7,281,8194,0.00,2.17,0.00,0.000,6,0.000,0.055,2265,2190,3411,0,0,0,0,0,0
$GC,8462,-0.93,-117.2,877.7,-5.2,288,8466,0.00,2.15,0.00,0.000,4,0.000,0.061,2254,3595,3411,0,0,0,0,0,0
$GC,8524,-0.93,-117.2,881.3,-6.0,289,8528,0.12,2.12,0.00,0.000,6,0.224,0.038,2282,2165,3410,0,0,0,0,0,0
$GC,8790,-0.93,-117.2,894.3,-4.9,296,8794,0.00,2.08,0.00,0.000,4,0.000,0.049,2297,781,3409,0,0,0,0,0,0
$STATE,8899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8899,begin apogee
$GC,8908,-0.28,0.0,900.3,5.5,298,9006,0.70,0.00,94.75,1.167,6,0.190,0.000,2487,1993,2962,0,0,0,0,0,0
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9011,0.93,117.2,899.5,0.0,301,9120,1.20,0.00,105.25,1.124,6,0.106,0.000,2881,1995,2484,0,0,0,0,0,0
$GC,9337,0.93,117.2,819.9,28.4,309,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1995,2476,0,0,0,0,0,0
$GC,9580,0.93,117.2,752.0,27.9,315,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1995,2474,0,0,0,0,0,0
$GC,9823,0.93,117.2,686.6,26.9,321,9827,0.00,2.20,0.00,0.000,4,0.000,0.058,2881,3398,2473,0,0,0,0,0,0
$GC,9839,0.93,117.2,682.1,25.8,321,9843,0.00,2.12,0.00,0.000,6,0.000,0.036,2892,1986,2473,0,0,0,0,0,0
$GC,10107,0.93,117.2,610.3,26.8,328,10111,0.00,2.15,0.00,0.000,4,0.000,0.046,2903,585,2472,0,0,0,0,0,0
$GC,10128,0.93,117.2,604.2,27.2,328,10132,0.00,2.15,0.00,0.000,6,0.000,0.041,2905,1998,2471,0,0,0,0,0,0
$GC,10395,0.93,117.2,530.5,27.9,335,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2003,2471,0,0,0,0,0,0
$GC,10639,0.93,117.2,463.3,27.5,341,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2003,2471,0,0,0,0,0,0
$GC,10883,0.93,117.2,399.6,25.7,347,10887,0.00,2.15,0.00,0.000,4,0.000,0.054,2903,3395,2469,0,0,0,0,0,0
$GC,10899,0.93,117.2,395.3,24.7,347,10903,0.00,2.10,0.00,0.000,6,0.000,0.036,2913,1991,2470,0,0,0,0,0,0
$GC,11166,0.93,117.2,333.3,22.7,354,11170,0.00,2.12,0.00,0.000,4,0.000,0.043,2924,578,2472,0,0,0,0,0,0
$GC,11227,0.93,117.2,319.7,21.0,355,11232,0.12,2.12,0.00,0.000,6,0.219,0.039,2904,1993,2467,0,0,0,0,0,0
$GC,11496,0.93,117.2,263.3,22.1,366,11500,0.00,2.15,0.00,0.000,4,0.000,0.055,2897,3395,2467,0,0,0,0,0,0
$GC,11632,0.93,117.2,233.8,21.6,372,11636,0.00,2.10,0.00,0.000,6,0.000,0.037,2906,1988,2467,0,0,0,0,0,0
$GC,11895,0.93,117.2,181.9,18.9,389,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1982,2466,0,0,0,0,0,0
$GC,12150,0.93,117.2,139.1,18.2,413,12154,0.00,2.10,0.00,0.000,4,0.000,0.044,2917,576,2466,0,0,0,0,0,0
$GC,12224,0.93,117.2,127.4,14.1,419,12228,0.00,2.12,0.00,0.000,6,0.000,0.039,2918,1998,2464,0,0,0,0,0,0
$GC,12490,0.93,117.2,84.5,14.4,443,12494,0.00,2.12,0.00,0.000,4,0.000,0.043,2928,576,2468,0,0,0,0,0,0
$GC,12553,0.93,117.2,74.8,14.9,448,12558,0.15,2.10,0.00,0.000,6,0.198,0.038,2892,1983,2465,0,0,0,0,0,0
$GC,12816,0.93,117.2,42.7,10.8,472,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1988,2467,0,0,0,0,0,0
$GC,13073,0.93,117.2,17.1,13.0,506,13081,0.00,2.17,0.00,0.000,4,0.000,0.052,2892,3402,2470,0,0,0,0,0,0
$GC,13120,0.93,117.2,11.0,12.3,514,13128,0.00,2.10,0.00,0.000,6,0.000,0.031,2902,1976,2468,0,0,0,0,0,0
$STATE,13185,end climb,SURFACE_DEPTH_REACHED
$STATE,13185,begin surface coast
$FINISH,0.1,1.023066
$STATE,13208,end surface coast,CONTROL_FINISHED_OK
$STATE,13208,begin surface
$SM_CCo,13229,81.32,0.495,0,0,1738,300.24
$SM_GC,0.83,0.00,0.00,81.32,0.000,0.000,0.495,55,2198,1738,-7.91,0.57,300.24
$IRIDIUM_FIX,1841.87,-15642.70,311212,202047
$TT8_MAMPS,0.06136
$HUMID,1078852248
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.90
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344212480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59987394560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,7.508
$10V_AH,10.3,7.934
$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,19.750,131.800,200.000,81.325,0.000,29.387,36.403,382.047,2.000,0.000,14.709,1154.075,9722.083,390.453,2312.402,378.392,33.361,1195.416,0.000,1855.938,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,61.360,1167.374,495.482,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.177,0.000,767.853,0.000,0.000,0.000,0.000,14788.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.895,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,26940,530
$CAP_FILE_SIZE,130008,0
$CFSIZE,260165632,203223040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090711,102436,1850.324,-15641.508,42,1.2,43,9.6