version: 66.07
glider: 513
mission: 7
dive: 49
start: 7 9 111 18 27 45
data:
$ID,513
$MISSION,7
$DIVE,49
$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,-421549.84
$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,71
$R_STBD_OVSHOOT,39
$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,48
$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
$GPS1,090711,181654,1849.550,-15639.787,23,1.8,41,9.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.9
$GPS2,090711,182652,1849.452,-15639.821,14,2.2,33,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.006,0.235
$KALMAN_X,21784.5,727.7,226.1,-40170.6,-4881.8
$KALMAN_Y,-124458.3,738.1,373.3,31780.4,-6639.8
$MHEAD_RNG_PITCHd_Wd,349.0,158690,-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,-117.2,0.0,0.0,0,95,0.00,0.00,-61.28,0.000,6,0.000,0.000,36,2149,3436,0,0,0,0,0,0
$GC,99,-0.93,-117.2,2.4,-3.9,10,114,9.43,2.25,0.00,0.000,4,0.253,0.054,2271,3587,3438,0,0,0,0,0,0
$GC,355,-0.93,-117.2,91.0,-30.9,41,362,0.00,2.10,0.00,0.000,6,0.000,0.037,2274,2209,3441,0,0,0,0,0,0
$GC,619,-0.93,-117.2,159.2,-22.8,66,623,0.00,2.15,0.00,0.000,4,0.000,0.041,2280,775,3443,0,0,0,0,0,0
$GC,649,-0.93,-117.2,165.8,-20.7,68,653,0.00,2.15,0.00,0.000,6,0.000,0.050,2271,2179,3443,0,0,0,0,0,0
$GC,910,-0.93,-117.2,210.4,-15.4,89,914,0.00,2.12,0.00,0.000,4,0.000,0.043,2271,769,3444,0,0,0,0,0,0
$GC,1040,-0.93,-117.2,229.3,-14.0,95,1044,0.00,2.17,0.00,0.000,6,0.000,0.053,2261,2191,3445,0,0,0,0,0,0
$GC,1304,-0.93,-117.2,265.9,-13.6,108,1308,0.00,2.12,0.00,0.000,4,0.000,0.054,2250,3585,3447,0,0,0,0,0,0
$GC,1561,-0.93,-117.2,303.2,-14.3,119,1567,0.15,2.05,0.00,0.000,6,0.217,0.033,2284,2174,3447,0,0,0,0,0,0
$GC,1812,-0.93,-117.2,332.8,-11.5,126,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2168,3447,0,0,0,0,0,0
$GC,2056,-0.93,-117.2,355.8,-9.1,132,2059,0.00,2.08,0.00,0.000,4,0.000,0.043,2295,783,3447,0,0,0,0,0,0
$GC,2117,-0.93,-117.2,362.3,-10.4,133,2121,0.00,2.08,0.00,0.000,6,0.000,0.048,2286,2172,3447,0,0,0,0,0,0
$GC,2384,-0.93,-117.2,388.7,-9.8,140,2388,0.00,2.15,0.00,0.000,4,0.000,0.054,2275,3600,3447,0,0,0,0,0,0
$GC,2406,-0.93,-117.2,391.2,-10.5,140,2410,0.00,2.10,0.00,0.000,6,0.000,0.034,2275,2168,3447,0,0,0,0,0,0
$GC,2667,-0.93,-117.2,419.5,-10.6,147,2671,0.00,2.17,0.00,0.000,4,0.000,0.056,2264,3595,3445,0,0,0,0,0,0
$GC,2778,-0.93,-117.2,433.3,-12.7,149,2782,0.00,2.08,0.00,0.000,6,0.000,0.035,2266,2173,3445,0,0,0,0,0,0
$GC,3040,-0.93,-117.2,464.0,-11.6,156,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2168,3443,0,0,0,0,0,0
$GC,3283,-0.93,-117.2,490.2,-10.4,162,3287,0.00,2.05,0.00,0.000,4,0.000,0.044,2266,785,3441,0,0,0,0,0,0
$GC,3304,-0.93,-117.2,492.6,-10.5,162,3309,0.12,2.12,0.00,0.000,6,0.219,0.051,2282,2185,3441,0,0,0,0,0,0
$GC,3566,-0.93,-117.2,516.0,-8.8,169,3570,0.00,2.10,0.00,0.000,4,0.000,0.044,2282,778,3439,0,0,0,0,0,0
$GC,3667,-0.93,-117.2,525.4,-9.3,171,3671,0.00,2.12,0.00,0.000,6,0.000,0.051,2273,2176,3438,0,0,0,0,0,0
$GC,3933,-0.93,-117.2,550.3,-9.2,178,3937,0.00,2.17,0.00,0.000,4,0.000,0.058,2264,3592,3436,0,0,0,0,0,0
$GC,4190,-0.93,-117.2,576.8,-10.8,183,4194,0.00,2.08,0.00,0.000,6,0.000,0.036,2262,2182,3434,0,0,0,0,0,0
$GC,4447,-0.93,-117.2,602.9,-10.1,190,4451,0.00,2.17,0.00,0.000,4,0.000,0.058,2252,3598,3432,0,0,0,0,0,0
$GC,4480,-0.93,-117.2,606.7,-10.9,190,4486,0.15,2.10,0.00,0.000,6,0.215,0.035,2287,2172,3432,0,0,0,0,0,0
$GC,4730,-0.93,-117.2,628.7,-8.6,197,4734,0.00,2.08,0.00,0.000,4,0.000,0.044,2298,773,3430,0,0,0,0,0,0
$GC,4763,-0.93,-117.2,631.7,-8.8,197,4769,0.00,2.17,0.00,0.000,6,0.000,0.051,2289,2192,3430,0,0,0,0,0,0
$GC,5014,-0.93,-117.2,652.6,-8.2,204,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2195,3428,0,0,0,0,0,0
$GC,5257,-0.93,-117.2,672.4,-8.0,210,5261,0.00,2.12,0.00,0.000,4,0.000,0.056,2278,3592,3426,0,0,0,0,0,0
$GC,5301,-0.93,-117.2,676.4,-8.9,211,5305,0.00,2.08,0.00,0.000,6,0.000,0.036,2278,2181,3425,0,0,0,0,0,0
$GC,5579,-0.93,-117.2,699.9,-8.6,218,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2175,3424,0,0,0,0,0,0
$GC,5822,-0.93,-117.2,721.3,-8.7,224,5826,0.00,2.08,0.00,0.000,4,0.000,0.044,2278,779,3423,0,0,0,0,0,0
$GC,5917,-0.93,-117.2,729.9,-8.8,226,5921,0.00,2.12,0.00,0.000,6,0.000,0.051,2267,2174,3422,0,0,0,0,0,0
$GC,6196,-0.93,-117.2,753.6,-8.7,233,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2173,3420,0,0,0,0,0,0
$GC,6439,-0.93,-117.2,773.1,-7.8,239,6443,0.00,2.10,0.00,0.000,4,0.000,0.044,2267,776,3419,0,0,0,0,0,0
$GC,6575,-0.93,-117.2,783.7,-7.6,242,6580,0.12,2.17,0.00,0.000,6,0.220,0.053,2285,2191,3418,0,0,0,0,0,0
$GC,6859,-0.93,-117.2,801.6,-6.3,249,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2190,3417,0,0,0,0,0,0
$GC,7102,-0.93,-117.2,816.0,-5.8,255,7106,0.00,2.12,0.00,0.000,4,0.000,0.045,2288,771,3416,0,0,0,0,0,0
$GC,7169,-0.93,-117.2,819.7,-5.1,256,7173,0.00,2.15,0.00,0.000,6,0.000,0.052,2280,2174,3416,0,0,0,0,0,0
$GC,7424,-0.93,-117.2,833.8,-5.6,263,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2174,3414,0,0,0,0,0,0
$GC,7668,-0.93,-117.2,847.5,-5.7,269,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2173,3413,0,0,0,0,0,0
$GC,7912,-0.93,-117.2,862.3,-6.1,275,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2174,3413,0,0,0,0,0,0
$GC,8155,-0.93,-117.2,877.6,-6.3,281,8159,0.00,2.10,0.00,0.000,4,0.000,0.047,2279,779,3412,0,0,0,0,0,0
$GC,8272,-0.93,-117.2,885.6,-6.6,283,8276,0.00,2.15,0.00,0.000,6,0.000,0.053,2269,2185,3416,0,0,0,0,0,0
$STATE,8519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8519,begin apogee
$GC,8527,-0.28,0.0,902.3,6.7,289,8625,0.80,0.00,95.22,1.168,6,0.187,0.000,2496,1984,2963,0,0,0,0,0,0
$STATE,8628,end apogee,CONTROL_FINISHED_OK
$STATE,8628,begin climb
$GC,8630,0.93,117.2,903.3,0.0,291,8748,1.17,2.35,105.15,1.123,4,0.105,0.045,2890,596,2487,0,0,0,0,0,0
$GC,8764,0.93,117.2,877.6,25.6,294,8768,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1996,2480,0,0,1,0,0,0
$GC,9042,0.93,117.2,799.7,28.4,301,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2000,2472,0,0,0,0,0,0
$GC,9286,0.93,117.2,731.4,27.9,307,9290,0.00,2.17,0.00,0.000,4,0.000,0.045,2897,584,2474,0,0,0,0,0,0
$GC,9308,0.93,117.2,724.9,30.2,307,9312,0.00,2.15,0.00,0.000,6,0.000,0.038,2901,1990,2470,0,0,0,0,0,0
$GC,9563,0.93,117.2,651.8,28.6,314,9567,0.00,2.20,0.00,0.000,4,0.000,0.055,2901,3396,2470,0,0,0,0,0,0
$GC,9601,0.93,117.2,640.3,28.8,314,9607,0.00,2.12,0.00,0.000,6,0.000,0.035,2911,1995,2472,0,0,0,0,0,0
$GC,9852,0.93,117.2,567.8,29.2,321,9855,0.00,2.15,0.00,0.000,4,0.000,0.042,2923,574,2471,0,0,0,0,0,0
$GC,9891,0.93,117.2,556.0,29.9,322,9896,0.12,2.15,0.00,0.000,6,0.224,0.036,2896,1995,2469,0,0,0,0,0,0
$GC,10174,0.93,117.2,479.8,27.2,329,10178,0.00,2.17,0.00,0.000,4,0.000,0.054,2896,3386,2469,0,0,0,0,0,0
$GC,10207,0.93,117.2,470.6,28.1,329,10213,0.00,2.12,0.00,0.000,6,0.000,0.036,2905,1980,2470,0,0,0,0,0,0
$GC,10457,0.93,117.2,404.0,26.8,336,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1979,2466,0,0,0,0,0,0
$GC,10701,0.93,117.2,342.6,24.9,342,10705,0.00,2.17,0.00,0.000,4,0.000,0.050,2905,3390,2468,0,0,0,0,0,0
$GC,10756,0.93,117.2,329.5,24.5,343,10760,0.00,2.10,0.00,0.000,6,0.000,0.035,2914,1970,2469,0,0,0,0,0,0
$GC,11010,0.93,117.2,275.2,20.8,352,11013,0.00,2.05,0.00,0.000,4,0.000,0.041,2925,593,2467,0,0,0,0,0,0
$GC,11071,0.93,117.2,261.6,22.4,354,11077,0.12,2.08,0.00,0.000,6,0.213,0.035,2896,1992,2465,0,0,0,0,0,0
$GC,11324,0.93,117.2,211.5,20.5,367,11328,0.00,2.15,0.00,0.000,4,0.000,0.052,2896,3389,2466,0,0,0,0,0,0
$GC,11577,0.93,117.2,160.1,17.3,387,11585,0.00,2.10,0.00,0.000,6,0.000,0.033,2905,1994,2466,0,0,0,0,0,0
$GC,11844,0.93,117.2,123.0,12.9,412,11848,0.00,2.12,0.00,0.000,4,0.000,0.048,2906,3392,2463,0,0,0,0,0,0
$GC,11887,0.93,117.2,116.2,13.2,415,11894,0.00,2.10,0.00,0.000,6,0.000,0.031,2916,1992,2465,0,0,0,0,0,0
$GC,12153,0.93,117.2,79.6,13.9,440,12157,0.00,2.08,0.00,0.000,4,0.000,0.039,2927,581,2464,0,0,0,0,0,0
$GC,12344,0.93,117.2,51.5,12.8,457,12349,0.15,2.08,0.00,0.000,6,0.193,0.035,2891,1992,2465,0,0,0,0,0,0
$GC,12607,0.93,117.2,22.3,12.7,486,12615,0.00,2.15,0.00,0.000,4,0.000,0.048,2891,3394,2468,0,0,0,0,0,0
$GC,12663,0.93,117.2,14.9,13.4,496,12671,0.00,2.10,0.00,0.000,6,0.000,0.031,2899,1975,2468,0,0,0,0,0,0
$STATE,12755,end climb,SURFACE_DEPTH_REACHED
$STATE,12755,begin surface coast
$FINISH,0.1,1.023076
$STATE,12787,end surface coast,CONTROL_FINISHED_OK
$STATE,12787,begin surface
$SM_CCo,12806,79.32,0.495,0,0,1738,300.24
$SM_GC,0.90,0.00,0.00,79.32,0.000,0.000,0.495,49,2203,1738,-7.93,0.65,300.24
$IRIDIUM_FIX,1844.15,-15642.70,010113,080853
$TT8_MAMPS,0.060593
$HUMID,1078847087
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.90
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344114176
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59986706432
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,7.819
$10V_AH,10.2,8.235
$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,19.875,119.825,200.375,79.325,0.000,24.917,32.819,327.249,3.000,0.000,36.349,1112.316,9403.613,376.116,2244.869,348.495,33.356,1171.577,0.000,1821.726,0.000,0.541,0.000
$DEVICE_MAMPS,253.110,58.292,1168.141,494.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.690,0.000,771.167,0.000,0.000,0.000,0.000,14294.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.884,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,26931,518
$CAP_FILE_SIZE,122355,0
$CFSIZE,260165632,203010048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090711,220431,1849.730,-15639.939,64,1.1,65,9.6