version: 66.07
glider: 513
mission: 7
dive: 50
start: 7 9 111 22 19 14
data:
$ID,513
$MISSION,7
$DIVE,50
$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,-421565.62
$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,58
$R_STBD_OVSHOOT,54
$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,49
$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
$GPS1,090711,220431,1849.730,-15639.939,64,1.1,65,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.9
$GPS2,090711,221820,1849.600,-15640.057,13,1.6,13,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3aa
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.022
$KALMAN_X,21734.1,403.1,588.9,-40589.9,-3843.7
$KALMAN_Y,-128085.8,780.7,205.2,35820.8,-7113.8
$MHEAD_RNG_PITCHd_Wd,75.0,158393,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.93,-117.2,0.0,0.0,0,92,0.00,0.00,-60.80,0.000,6,0.000,0.000,36,2205,3440,0,0,0,0,0,0
$GC,97,-0.93,-117.2,2.7,-4.5,10,110,9.35,0.00,0.00,0.000,6,0.251,0.000,2278,2202,3440,0,0,0,0,0,0
$GC,365,-0.93,-117.2,85.9,-31.3,43,368,0.00,2.10,0.00,0.000,4,0.000,0.051,2269,3581,3445,0,0,0,0,0,0
$GC,448,-0.93,-117.2,110.5,-29.7,50,452,0.00,2.05,0.00,0.000,6,0.000,0.033,2272,2185,3446,0,0,0,0,0,0
$GC,713,-0.93,-117.2,171.5,-20.3,74,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2179,3447,0,0,0,0,0,0
$GC,971,-0.93,-117.2,218.5,-17.0,94,975,0.00,2.08,0.00,0.000,4,0.000,0.040,2277,774,3448,0,0,0,0,0,0
$GC,1118,-0.93,-117.2,239.4,-12.5,100,1123,0.00,2.10,0.00,0.000,6,0.000,0.048,2268,2173,3448,0,0,0,0,0,0
$GC,1371,-0.93,-117.2,269.9,-11.4,113,1375,0.00,2.15,0.00,0.000,4,0.000,0.054,2257,3580,3449,0,0,0,0,0,0
$GC,1460,-0.93,-117.2,281.4,-14.0,117,1465,0.12,2.08,0.00,0.000,6,0.216,0.033,2284,2171,3449,0,0,0,0,0,0
$GC,1737,-0.93,-117.2,313.7,-10.9,128,1741,0.00,2.05,0.00,0.000,4,0.000,0.041,2300,782,3451,0,0,0,0,0,0
$GC,1945,-0.93,-117.2,335.8,-9.9,132,1949,0.00,2.12,0.00,0.000,6,0.000,0.049,2287,2175,3450,0,0,0,0,0,0
$GC,2200,-0.93,-117.2,360.3,-9.5,139,2204,0.00,2.08,0.00,0.000,4,0.000,0.040,2295,770,3450,0,0,0,0,0,0
$GC,2260,-0.93,-117.2,367.2,-12.1,140,2265,0.00,2.10,0.00,0.000,6,0.000,0.048,2286,2182,3450,0,0,1,0,0,0
$GC,2528,-0.93,-117.2,395.6,-10.8,147,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2177,3449,0,0,0,0,0,0
$GC,2771,-0.93,-117.2,423.4,-11.3,153,2775,0.00,2.08,0.00,0.000,4,0.000,0.040,2287,767,3448,0,0,0,0,0,0
$GC,2831,-0.93,-117.2,430.2,-10.8,154,2836,0.00,2.17,0.00,0.000,6,0.000,0.049,2279,2174,3447,0,0,0,0,0,0
$GC,3098,-0.93,-117.2,458.6,-10.6,161,3102,0.00,2.17,0.00,0.000,4,0.000,0.055,2268,3594,3443,0,0,0,0,0,0
$GC,3188,-0.93,-117.2,469.0,-12.9,163,3192,0.00,2.08,0.00,0.000,6,0.000,0.034,2267,2174,3443,0,0,0,0,0,0
$GC,3465,-0.93,-117.2,496.8,-10.1,170,3469,0.00,2.17,0.00,0.000,4,0.000,0.057,2257,3596,3442,0,0,0,0,0,0
$GC,3527,-0.93,-117.2,503.7,-11.8,171,3532,0.12,2.08,0.00,0.000,6,0.212,0.034,2285,2180,3441,0,0,0,0,0,0
$GC,3793,-0.93,-117.2,526.3,-8.3,178,3797,0.00,2.05,0.00,0.000,4,0.000,0.038,2296,779,3439,0,0,0,0,0,0
$GC,3900,-0.93,-117.2,534.9,-8.0,180,3904,0.00,2.15,0.00,0.000,6,0.000,0.050,2287,2182,3436,0,0,0,0,0,0
$GC,4162,-0.93,-117.2,553.7,-6.9,187,4166,0.00,2.15,0.00,0.000,4,0.000,0.058,2276,3597,3437,0,0,0,0,0,0
$GC,4369,-0.93,-117.2,569.4,-7.6,191,4373,0.00,2.10,0.00,0.000,6,0.000,0.035,2277,2179,3437,0,0,0,0,0,0
$GC,4620,-0.93,-117.2,586.5,-6.9,197,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2172,3432,0,0,0,0,0,0
$GC,4862,-0.93,-117.2,607.3,-8.9,203,4866,0.00,2.08,0.00,0.000,4,0.000,0.044,2276,780,3431,0,0,0,0,0,0
$GC,4963,-0.93,-117.2,617.6,-9.7,205,4967,0.00,2.15,0.00,0.000,6,0.000,0.054,2266,2183,3430,0,0,0,0,0,0
$GC,5230,-0.93,-117.2,644.5,-10.3,212,5234,0.00,2.10,0.00,0.000,4,0.000,0.044,2266,783,3428,0,0,0,0,0,0
$GC,5268,-0.93,-117.2,649.0,-11.3,212,5274,0.12,2.12,0.00,0.000,6,0.220,0.052,2283,2172,3427,0,0,0,0,0,0
$GC,5518,-0.93,-117.2,675.0,-10.4,219,5522,0.00,2.17,0.00,0.000,4,0.000,0.058,2274,3602,3425,0,0,0,0,0,0
$GC,5591,-0.93,-117.2,683.3,-11.7,220,5595,0.00,2.10,0.00,0.000,6,0.000,0.041,2275,2175,3426,0,0,0,0,0,0
$GC,5840,-0.93,-117.2,709.3,-10.3,226,5844,0.00,2.08,0.00,0.000,4,0.000,0.045,2275,778,3424,0,0,0,0,0,0
$GC,5862,-0.93,-117.2,711.7,-10.5,226,5866,0.00,2.15,0.00,0.000,6,0.000,0.052,2266,2190,3424,0,0,0,0,0,0
$GC,6124,-0.93,-117.2,737.9,-9.6,233,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2190,3424,0,0,0,0,0,0
$GC,6367,-0.93,-117.2,758.4,-8.0,239,6371,0.00,2.15,0.00,0.000,4,0.000,0.044,2266,766,3421,0,0,0,0,0,0
$GC,6412,-0.93,-117.2,762.3,-8.7,240,6416,0.12,2.17,0.00,0.000,6,0.219,0.053,2283,2185,3419,0,0,0,0,0,0
$GC,6690,-0.93,-117.2,780.2,-6.1,247,6694,0.00,2.12,0.00,0.000,4,0.000,0.046,2285,769,3419,0,0,0,0,0,0
$GC,6797,-0.93,-117.2,786.9,-6.1,249,6801,0.00,2.17,0.00,0.000,6,0.000,0.051,2277,2171,3418,0,0,0,0,0,0
$GC,7059,-0.93,-117.2,800.6,-5.1,256,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2173,3417,0,0,0,0,0,0
$GC,7302,-0.93,-117.2,814.5,-5.7,262,7306,0.00,2.17,0.00,0.000,4,0.000,0.060,2265,3597,3417,0,0,0,0,0,0
$GC,7386,-0.93,-117.2,819.6,-6.3,264,7390,0.00,2.10,0.00,0.000,6,0.000,0.035,2265,2168,3416,0,0,0,0,0,0
$GC,7670,-0.93,-117.2,836.4,-5.8,271,7674,0.00,2.08,0.00,0.000,4,0.000,0.046,2265,780,3415,0,0,0,0,0,0
$GC,7726,-0.93,-117.2,840.5,-7.3,272,7731,0.12,2.20,0.00,0.000,6,0.221,0.054,2283,2192,3414,0,0,0,0,0,0
$GC,7992,-0.93,-117.2,858.5,-6.8,279,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2192,3411,0,0,0,0,0,0
$GC,8237,-0.93,-117.2,875.9,-7.2,285,8241,0.00,2.12,0.00,0.000,4,0.000,0.044,2284,767,3414,0,0,0,0,0,0
$GC,8326,-0.93,-117.2,882.9,-7.7,287,8330,0.00,2.17,0.00,0.000,6,0.000,0.053,2275,2189,3413,0,0,0,0,0,0
$STATE,8560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8561,begin apogee
$GC,8568,-0.28,0.0,900.2,7.3,293,8666,0.77,0.00,95.07,1.165,6,0.186,0.000,2496,1988,2965,0,0,0,0,0,0
$STATE,8669,end apogee,CONTROL_FINISHED_OK
$STATE,8669,begin climb
$GC,8671,0.93,117.2,901.9,0.0,295,8788,1.17,2.35,105.25,1.118,4,0.100,0.044,2895,594,2481,0,0,0,0,0,0
$GC,8805,0.93,117.2,876.5,26.4,298,8809,0.00,2.28,0.00,0.000,6,0.000,0.040,2895,2001,2480,0,0,0,0,0,0
$GC,9077,0.93,117.2,799.1,28.9,305,9081,0.00,2.22,0.00,0.000,4,0.000,0.054,2895,3397,2475,0,0,0,0,0,0
$GC,9098,0.93,117.2,792.6,29.4,305,9102,0.00,2.17,0.00,0.000,6,0.000,0.036,2906,2004,2474,0,0,0,0,0,0
$GC,9360,0.93,117.2,714.0,30.4,312,9364,0.00,2.17,0.00,0.000,4,0.000,0.042,2917,580,2474,0,0,0,0,0,0
$GC,9404,0.93,117.2,699.8,30.9,313,9408,0.00,2.17,0.00,0.000,6,0.000,0.038,2917,1994,2472,0,0,0,0,0,0
$GC,9688,0.93,117.2,612.1,31.4,320,9692,0.00,2.17,0.00,0.000,4,0.000,0.053,2917,3395,2475,0,0,0,0,0,0
$GC,9737,0.93,117.2,596.7,31.3,321,9742,0.15,2.10,0.00,0.000,6,0.229,0.034,2896,1984,2472,0,0,0,0,0,0
$GC,10009,0.93,117.2,524.3,25.8,328,10013,0.00,2.10,0.00,0.000,4,0.000,0.042,2905,589,2470,0,0,0,0,0,0
$GC,10030,0.93,117.2,518.6,26.2,328,10034,0.00,2.15,0.00,0.000,6,0.000,0.038,2902,2000,2469,0,0,0,0,0,0
$GC,10292,0.93,117.2,449.9,26.4,335,10296,0.00,2.15,0.00,0.000,4,0.000,0.052,2902,3394,2469,0,0,0,0,0,0
$GC,10330,0.93,117.2,439.3,25.8,335,10336,0.00,2.12,0.00,0.000,6,0.000,0.035,2911,1979,2469,0,0,0,0,0,0
$GC,10580,0.93,117.2,374.6,25.9,342,10584,0.00,2.10,0.00,0.000,4,0.000,0.043,2922,580,2469,0,0,0,0,0,0
$GC,10612,0.93,117.2,365.5,28.6,342,10619,0.12,2.15,0.00,0.000,6,0.225,0.036,2895,2003,2463,0,0,0,0,0,0
$GC,10863,0.93,117.2,306.1,23.6,349,10867,0.00,2.15,0.00,0.000,4,0.000,0.052,2895,3391,2468,0,0,0,0,0,0
$GC,10890,0.93,117.2,299.6,22.3,349,10894,0.00,2.08,0.00,0.000,6,0.000,0.038,2904,1997,2468,0,0,0,0,0,0
$GC,11149,0.93,117.2,245.7,20.8,362,11153,0.00,2.12,0.00,0.000,4,0.000,0.041,2915,580,2467,0,0,0,0,0,0
$GC,11291,0.93,117.2,217.5,17.6,368,11295,0.00,2.10,0.00,0.000,6,0.000,0.035,2915,1994,2465,0,0,0,0,0,0
$GC,11550,0.93,117.2,167.4,19.6,387,11554,0.00,2.12,0.00,0.000,4,0.000,0.041,2926,572,2464,0,0,0,0,0,0
$GC,11583,0.93,117.2,160.7,19.7,389,11591,0.10,2.15,0.00,0.000,6,0.192,0.036,2898,1983,2463,0,0,0,0,0,0
$GC,11846,0.93,117.2,116.9,15.3,414,11850,0.00,2.15,0.00,0.000,4,0.000,0.050,2898,3404,2464,0,0,0,0,0,0
$GC,11899,0.93,117.2,109.6,13.8,418,11903,0.00,2.10,0.00,0.000,6,0.000,0.030,2907,1968,2464,0,0,0,0,0,0
$GC,12163,0.93,117.2,77.7,11.5,442,12167,0.00,2.03,0.00,0.000,4,0.000,0.039,2918,596,2465,0,0,0,0,0,0
$GC,12323,0.93,117.2,56.9,14.1,456,12332,0.08,2.12,0.00,0.000,6,0.186,0.035,2896,1999,2466,0,0,0,0,0,0
$GC,12588,0.93,117.2,27.6,11.4,482,12595,0.00,2.12,0.00,0.000,4,0.000,0.050,2896,3378,2468,0,0,0,0,0,0
$GC,12761,0.93,117.2,4.3,15.9,514,12769,0.00,2.08,0.00,0.000,6,0.000,0.031,2905,1993,2469,0,0,0,0,0,0
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,0.1,1.021683
$STATE,12793,end surface coast,CONTROL_FINISHED_OK
$STATE,12793,begin surface
$SM_CCo,12812,80.55,0.494,0,0,1738,300.49
$SM_GC,0.90,0.00,0.00,80.55,0.000,0.000,0.494,51,2191,1738,-7.93,0.23,300.49
$IRIDIUM_FIX,1841.87,-15637.62,010113,161619
$TT8_MAMPS,0.06136
$HUMID,1078856119
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.70
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344081408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59986477056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,7.928
$10V_AH,10.3,8.339
$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,19.750,136.825,200.325,80.550,0.000,52.492,76.034,430.841,2.500,0.000,15.141,1135.787,9392.887,382.449,2417.525,397.308,33.358,1207.647,0.000,1858.488,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,64.428,1165.073,493.948,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.503,0.000,774.474,0.000,0.000,0.000,0.000,14587.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.249,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,26990,519
$CAP_FILE_SIZE,132026,0
$CFSIZE,260165632,202924032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100711,015533,1849.027,-15638.716,11,2.5,30,9.6