version: 66.07
glider: 513
mission: 7
dive: 48
start: 7 9 111 14 36 44
data:
$ID,513
$MISSION,7
$DIVE,48
$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,-421512.88
$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,64
$R_STBD_OVSHOOT,46
$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,47
$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
$GPS1,090711,142607,1850.249,-15640.657,32,1.2,32,9.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.0
$GPS2,090711,143550,1850.156,-15640.707,16,1.2,16,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,0.086
$KALMAN_X,24113.3,864.1,74.9,-44030.6,-3647.5
$KALMAN_Y,-122060.6,599.5,671.5,30525.1,-7611.5
$MHEAD_RNG_PITCHd_Wd,59.0,157308,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.93,-117.2,0.0,0.0,0,94,0.00,0.00,-60.78,0.000,6,0.000,0.000,33,2152,3440,0,0,0,0,0,0
$GC,99,-0.93,-117.2,2.9,-5.6,10,113,9.43,2.22,0.00,0.000,4,0.253,0.051,2268,3579,3440,0,0,0,0,0,0
$GC,297,-0.93,-117.2,67.8,-28.6,35,301,0.00,2.05,0.00,0.000,6,0.000,0.035,2270,2203,3445,0,0,0,0,0,0
$GC,562,-0.93,-117.2,139.5,-24.7,59,566,0.00,2.15,0.00,0.000,4,0.000,0.044,2273,779,3446,0,0,0,0,0,0
$GC,624,-0.93,-117.2,155.7,-23.9,64,628,0.00,2.12,0.00,0.000,6,0.000,0.051,2268,2164,3443,0,0,0,0,0,0
$GC,884,-0.93,-117.2,208.9,-19.3,86,888,0.00,2.08,0.00,0.000,4,0.000,0.040,2265,776,3447,0,0,0,0,0,0
$GC,940,-0.93,-117.2,218.6,-16.5,88,944,0.00,2.17,0.00,0.000,6,0.000,0.052,2254,2181,3448,0,0,0,0,0,0
$GC,1193,-0.93,-117.2,262.5,-16.0,100,1198,0.12,2.08,0.00,0.000,4,0.226,0.039,2292,769,3449,0,0,0,0,0,0
$GC,1233,-0.93,-117.2,267.9,-13.0,102,1237,0.00,2.17,0.00,0.000,6,0.000,0.048,2283,2184,3449,0,0,0,0,0,0
$GC,1497,-0.93,-117.2,300.1,-12.5,115,1501,0.00,2.12,0.00,0.000,4,0.000,0.056,2272,3597,3451,0,0,0,0,0,0
$GC,1727,-0.93,-117.2,329.4,-10.4,120,1731,0.00,2.10,0.00,0.000,6,0.000,0.032,2272,2138,3451,0,0,0,0,0,0
$GC,2004,-0.93,-117.2,358.9,-10.9,127,2008,0.00,2.03,0.00,0.000,4,0.000,0.043,2272,795,3451,0,0,0,0,0,0
$GC,2217,-0.93,-117.2,384.3,-10.4,131,2221,0.00,2.12,0.00,0.000,6,0.000,0.054,2262,2186,3451,0,0,0,0,0,0
$GC,2472,-0.93,-117.2,408.8,-9.5,138,2476,0.00,2.08,0.00,0.000,4,0.000,0.043,2262,794,3452,0,0,0,0,0,0
$GC,2675,-0.93,-117.2,428.6,-9.4,142,2680,0.15,2.12,0.00,0.000,6,0.212,0.051,2287,2170,3451,0,0,0,0,0,0
$GC,2936,-0.93,-117.2,452.9,-9.7,149,2940,0.00,2.17,0.00,0.000,4,0.000,0.056,2278,3607,3448,0,0,0,0,0,0
$GC,2952,-0.93,-117.2,454.8,-10.2,149,2956,0.00,2.08,0.00,0.000,6,0.000,0.035,2286,2193,3446,0,0,0,0,0,0
$GC,3219,-0.93,-117.2,481.3,-10.1,156,3223,0.00,2.15,0.00,0.000,4,0.000,0.058,2277,3602,3443,0,0,0,0,0,0
$GC,3236,-0.93,-117.2,483.2,-10.3,156,3240,0.00,2.10,0.00,0.000,6,0.000,0.035,2277,2179,3445,0,0,0,0,0,0
$GC,3496,-0.93,-117.2,510.2,-10.5,163,3500,0.00,2.08,0.00,0.000,4,0.000,0.043,2277,782,3443,0,0,0,0,0,0
$GC,3609,-0.93,-117.2,522.0,-9.8,165,3613,0.00,2.15,0.00,0.000,6,0.000,0.053,2267,2190,3443,0,0,0,0,0,0
$GC,3871,-0.93,-117.2,547.1,-9.5,172,3874,0.00,2.10,0.00,0.000,4,0.000,0.057,2261,3584,3440,0,0,0,0,0,0
$GC,4040,-0.93,-117.2,564.8,-9.4,175,4046,0.12,2.08,0.00,0.000,6,0.216,0.038,2284,2176,3438,0,0,0,0,0,0
$GC,4291,-0.93,-117.2,586.5,-8.8,182,4295,0.00,2.08,0.00,0.000,4,0.000,0.043,2294,773,3437,0,0,0,0,0,0
$GC,4353,-0.93,-117.2,592.1,-8.6,183,4357,0.00,2.12,0.00,0.000,6,0.000,0.051,2286,2173,3436,0,0,0,0,0,0
$GC,4615,-0.93,-117.2,615.9,-9.4,190,4619,0.00,2.10,0.00,0.000,4,0.000,0.045,2294,766,3437,0,0,0,0,0,0
$GC,4721,-0.93,-117.2,624.8,-8.5,192,4725,0.00,2.20,0.00,0.000,6,0.000,0.053,2286,2190,3433,0,0,0,0,0,0
$GC,4982,-0.93,-117.2,644.9,-7.5,199,4986,0.00,2.12,0.00,0.000,4,0.000,0.044,2286,764,3434,0,0,0,0,0,0
$GC,5083,-0.93,-117.2,652.4,-7.1,201,5087,0.00,2.15,0.00,0.000,6,0.000,0.052,2277,2189,3430,0,0,1,0,0,0
$GC,5349,-0.93,-117.2,670.6,-7.0,208,5353,0.00,2.12,0.00,0.000,4,0.000,0.058,2262,3585,3428,0,0,0,0,0,0
$GC,5365,-0.93,-117.2,671.7,-7.1,208,5369,0.00,2.10,0.00,0.000,6,0.000,0.038,2266,2171,3428,0,0,0,0,0,0
$GC,5633,-0.93,-117.2,690.6,-7.1,215,5637,0.00,2.20,0.00,0.000,4,0.000,0.061,2255,3582,3427,0,0,0,0,0,0
$GC,5677,-0.93,-117.2,694.1,-7.5,216,5682,0.12,2.08,0.00,0.000,6,0.219,0.038,2282,2181,3426,0,0,0,0,0,0
$GC,5956,-0.93,-117.2,712.7,-6.6,223,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2173,3427,0,0,0,0,0,0
$GC,6198,-0.93,-117.2,729.3,-6.7,229,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2173,3424,0,0,0,0,0,0
$GC,6442,-0.93,-117.2,746.9,-7.3,235,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2173,3422,0,0,0,0,0,0
$GC,6686,-0.93,-117.2,765.9,-7.9,241,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2173,3422,0,0,0,0,0,0
$GC,6930,-0.93,-117.2,784.4,-7.6,247,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2173,3420,0,0,0,0,0,0
$GC,7173,-0.93,-117.2,801.8,-7.0,253,7177,0.00,2.10,0.00,0.000,4,0.000,0.044,2294,764,3417,0,0,0,0,0,0
$GC,7206,-0.93,-117.2,804.0,-7.3,253,7212,0.00,2.17,0.00,0.000,6,0.000,0.052,2285,2172,3418,0,0,0,0,0,0
$GC,7456,-0.93,-117.2,819.5,-6.1,260,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2171,3418,0,0,0,0,0,0
$GC,7701,-0.93,-117.2,834.2,-6.0,266,7705,0.00,2.17,0.00,0.000,4,0.000,0.058,2274,3599,3417,0,0,0,0,0,0
$GC,7745,-0.93,-117.2,836.9,-6.1,267,7749,0.00,2.10,0.00,0.000,6,0.000,0.036,2274,2180,3416,0,0,0,0,0,0
$GC,8022,-0.93,-117.2,853.4,-5.9,274,8026,0.00,2.10,0.00,0.000,4,0.000,0.048,2274,770,3415,0,0,0,0,0,0
$GC,8130,-0.93,-117.2,860.9,-7.2,276,8134,0.00,2.20,0.00,0.000,6,0.000,0.054,2263,2188,3414,0,0,0,0,0,0
$GC,8391,-0.93,-117.2,879.4,-7.2,283,8395,0.00,2.17,0.00,0.000,4,0.000,0.060,2253,3596,3414,0,0,0,0,0,0
$GC,8492,-0.93,-117.2,887.2,-8.2,285,8497,0.15,2.10,0.00,0.000,6,0.219,0.036,2287,2171,3413,0,0,0,0,0,0
$STATE,8715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8715,begin apogee
$GC,8721,-0.28,0.0,901.9,6.4,291,8820,0.70,0.00,95.75,1.168,6,0.185,0.000,2491,1972,2962,0,0,0,0,0,0
$STATE,8843,end apogee,CONTROL_FINISHED_OK
$STATE,8843,begin climb
$GC,8846,0.93,117.2,902.8,0.0,293,8956,1.17,0.00,105.72,1.125,6,0.100,0.000,2883,1969,2485,0,0,0,0,0,0
$GC,9176,0.93,117.2,822.6,27.5,302,9180,0.00,2.25,0.00,0.000,4,0.000,0.054,2882,3393,2476,0,0,0,0,0,0
$GC,9203,0.93,117.2,815.0,26.7,302,9207,0.00,2.17,0.00,0.000,6,0.000,0.037,2893,2003,2476,0,0,0,0,0,0
$GC,9459,0.93,117.2,745.4,27.6,309,9463,0.00,2.20,0.00,0.000,4,0.000,0.044,2905,576,2475,0,0,0,0,0,0
$GC,9480,0.93,117.2,738.7,28.2,309,9484,0.00,2.17,0.00,0.000,6,0.000,0.038,2904,1990,2474,0,0,0,0,0,0
$GC,9741,0.93,117.2,666.3,27.8,316,9745,0.00,2.20,0.00,0.000,4,0.000,0.054,2905,3395,2473,0,0,0,0,0,0
$GC,9757,0.93,117.2,661.4,28.2,316,9761,0.00,2.15,0.00,0.000,6,0.000,0.036,2915,1982,2473,0,0,0,0,0,0
$GC,10031,0.93,117.2,581.6,29.4,323,10035,0.00,2.15,0.00,0.000,4,0.000,0.045,2926,587,2473,0,0,0,0,0,0
$GC,10058,0.93,117.2,572.5,30.9,323,10063,0.15,2.15,0.00,0.000,6,0.225,0.041,2893,1994,2471,0,0,0,0,0,0
$GC,10308,0.93,117.2,505.6,26.6,329,10312,0.00,2.15,0.00,0.000,4,0.000,0.052,2893,3398,2471,0,0,0,0,0,0
$GC,10370,0.93,117.2,488.8,26.7,330,10374,0.00,2.12,0.00,0.000,6,0.000,0.035,2902,1992,2471,0,0,0,0,0,0
$GC,10636,0.93,117.2,421.1,24.8,337,10640,0.00,2.15,0.00,0.000,4,0.000,0.041,2914,579,2473,0,0,0,0,0,0
$GC,10685,0.93,117.2,408.5,25.2,338,10689,0.00,2.15,0.00,0.000,6,0.000,0.037,2914,1995,2469,0,0,0,0,0,0
$GC,10964,0.93,117.2,339.5,24.8,345,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2001,2469,0,0,0,0,0,0
$GC,11209,0.93,117.2,281.1,23.9,352,11213,0.00,2.15,0.00,0.000,4,0.000,0.051,2914,3399,2468,0,0,0,0,0,0
$GC,11326,0.93,117.2,250.9,24.6,357,11330,0.12,2.12,0.00,0.000,6,0.225,0.034,2897,1981,2468,0,0,0,0,0,0
$GC,11585,0.93,117.2,203.3,15.6,370,11589,0.00,2.08,0.00,0.000,4,0.000,0.043,2906,590,2467,0,0,0,0,0,0
$GC,11621,0.93,117.2,197.4,16.6,372,11625,0.00,2.12,0.00,0.000,6,0.000,0.038,2905,1996,2465,0,0,0,0,0,0
$GC,11887,0.93,117.2,152.4,16.0,396,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2004,2465,0,0,0,0,0,0
$GC,12150,0.93,117.2,109.6,14.0,421,12154,0.00,2.10,0.00,0.000,4,0.000,0.042,2914,592,2466,0,0,0,0,0,0
$GC,12336,0.93,117.2,84.8,10.9,437,12343,0.00,2.12,0.00,0.000,6,0.000,0.035,2914,1994,2466,0,0,0,0,0,0
$GC,12599,0.93,117.2,52.1,11.4,462,12603,0.00,2.12,0.00,0.000,4,0.000,0.049,2914,3403,2471,0,0,0,0,0,0
$GC,12672,0.93,117.2,42.3,13.5,468,12677,0.12,2.08,0.00,0.000,6,0.212,0.031,2897,1974,2469,0,0,0,0,0,0
$GC,12933,0.93,117.2,11.0,12.5,507,12941,0.00,2.20,0.00,0.000,4,0.000,0.049,2896,3387,2471,0,0,0,0,0,0
$STATE,12989,end climb,SURFACE_DEPTH_REACHED
$STATE,12989,begin surface coast
$FINISH,0.0,1.023087
$STATE,13011,end surface coast,CONTROL_FINISHED_OK
$STATE,13011,begin surface
$SM_CCo,13033,81.85,0.496,0,0,1742,300.24
$SM_GC,0.96,0.00,0.00,81.85,0.000,0.000,0.496,54,2152,1742,-7.91,-0.79,300.24
$IRIDIUM_FIX,1841.87,-15642.70,010113,040442
$TT8_MAMPS,0.060593
$HUMID,1078862571
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,25.00
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344146944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59986935808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,7.719
$10V_AH,10.3,8.137
$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,19.775,132.125,201.475,81.850,0.000,25.607,34.527,322.629,3.000,0.000,17.912,1142.971,9531.356,402.664,2263.884,359.830,33.354,1196.709,0.000,1843.271,0.000,0.541,0.000
$DEVICE_MAMPS,253.110,60.593,1168.141,496.249,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,357.070,0.000,771.168,0.000,0.000,0.000,0.000,14512.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.822,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,26893,521
$CAP_FILE_SIZE,126513,0
$CFSIZE,260165632,203075584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090711,181654,1849.550,-15639.787,23,1.8,41,9.6