version: 66.07
glider: 513
mission: 7
dive: 56
start: 7 10 111 21 7 26
data:
$ID,513
$MISSION,7
$DIVE,56
$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,-421679.16
$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,2631
$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,56
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3000
$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,55
$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
$GPS1,100711,205507,1848.387,-15635.224,31,0.9,31,9.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,7
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.0
$GPS2,100711,210632,1848.265,-15635.258,10,1.6,10,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.164,0.168
$KALMAN_X,15503.6,350.4,-30.1,-25292.4,-2575.0
$KALMAN_Y,-144804.3,621.7,153.8,50272.2,-6656.1
$MHEAD_RNG_PITCHd_Wd,34.8,161523,-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,-117.2,0.0,0.0,0,93,0.00,0.00,-60.67,0.000,6,0.000,0.000,38,2222,3477,0,0,0,0,0,0
$GC,97,-0.93,-117.2,3.0,-5.8,10,112,9.55,2.08,0.00,0.000,4,0.252,0.050,2309,3559,3479,0,0,0,0,0,0
$GC,243,-0.93,-117.2,47.4,-23.7,30,247,0.00,2.08,0.00,0.000,6,0.000,0.036,2309,2185,3482,0,0,0,0,0,0
$GC,507,-0.93,-117.2,112.2,-21.6,54,511,0.00,2.15,0.00,0.000,4,0.000,0.041,2309,772,3483,0,0,0,0,0,0
$GC,625,-0.93,-117.2,139.7,-22.3,64,633,0.08,2.12,0.00,0.000,6,0.187,0.046,2320,2146,3484,0,0,0,0,0,0
$GC,892,-0.93,-117.2,186.0,-16.6,89,896,0.00,2.05,0.00,0.000,4,0.000,0.041,2321,767,3486,0,0,0,0,0,0
$GC,933,-0.93,-117.2,193.1,-16.4,92,937,0.00,2.15,0.00,0.000,6,0.000,0.046,2312,2185,3486,0,0,0,0,0,0
$GC,1188,-0.93,-117.2,233.9,-15.1,106,1192,0.00,2.12,0.00,0.000,4,0.000,0.053,2301,3598,3487,0,0,0,0,0,0
$GC,1295,-0.93,-117.2,249.5,-13.4,111,1299,0.00,2.08,0.00,0.000,6,0.000,0.033,2300,2167,3487,0,0,0,0,0,0
$GC,1560,-0.93,-117.2,282.5,-12.0,124,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2161,3489,0,0,0,0,0,0
$GC,1827,-0.93,-117.2,316.0,-12.7,134,1831,0.00,2.05,0.00,0.000,4,0.000,0.042,2301,772,3488,0,0,0,0,0,0
$GC,2011,-0.93,-117.2,339.4,-14.1,138,2016,0.15,2.12,0.00,0.000,6,0.192,0.047,2328,2179,3490,0,0,0,0,0,0
$GC,2290,-0.93,-117.2,369.5,-10.7,145,2293,0.00,2.08,0.00,0.000,4,0.000,0.041,2328,777,3489,0,0,0,0,0,0
$GC,2311,-0.93,-117.2,371.9,-9.7,145,2316,0.00,2.15,0.00,0.000,6,0.000,0.046,2319,2192,3489,0,0,0,0,0,0
$GC,2572,-0.93,-117.2,399.3,-10.7,152,2576,0.00,2.10,0.00,0.000,4,0.000,0.041,2319,775,3488,0,0,0,0,0,0
$GC,2768,-0.93,-117.2,420.1,-10.1,156,2772,0.00,2.12,0.00,0.000,6,0.000,0.047,2308,2180,3485,0,0,0,0,0,0
$GC,3035,-0.93,-117.2,445.3,-9.4,163,3039,0.00,2.17,0.00,0.000,4,0.000,0.056,2298,3601,3486,0,0,0,0,0,0
$GC,3076,-0.93,-117.2,449.0,-9.1,164,3081,0.12,2.10,0.00,0.000,6,0.193,0.035,2328,2172,3485,0,0,0,0,0,0
$GC,3359,-0.93,-117.2,472.1,-8.0,171,3363,0.00,2.05,0.00,0.000,4,0.000,0.042,2328,782,3483,0,0,0,0,0,0
$GC,3573,-0.93,-117.2,491.3,-9.3,175,3577,0.00,2.15,0.00,0.000,6,0.000,0.048,2319,2191,3481,0,0,0,0,0,0
$GC,3823,-0.93,-117.2,514.1,-9.1,181,3827,0.00,2.10,0.00,0.000,4,0.000,0.041,2319,784,3477,0,0,0,0,0,0
$GC,3855,-0.93,-117.2,517.8,-11.4,181,3859,0.00,2.15,0.00,0.000,6,0.000,0.048,2308,2190,3479,0,0,0,0,0,0
$GC,4112,-0.93,-117.2,546.1,-11.0,188,4116,0.00,2.10,0.00,0.000,4,0.000,0.042,2308,782,3477,0,0,0,0,0,0
$GC,4167,-0.93,-117.2,552.8,-11.0,189,4172,0.12,2.12,0.00,0.000,6,0.202,0.050,2327,2179,3476,0,0,0,0,0,0
$GC,4440,-0.93,-117.2,580.0,-9.7,196,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2179,3475,0,0,0,0,0,0
$GC,4684,-0.93,-117.2,600.8,-8.1,202,4687,0.00,2.08,0.00,0.000,4,0.000,0.044,2327,786,3473,0,0,0,0,0,0
$GC,4808,-0.93,-117.2,611.6,-8.8,204,4814,0.00,2.15,0.00,0.000,6,0.000,0.049,2319,2184,3472,0,0,0,0,0,0
$GC,5058,-0.93,-117.2,631.2,-7.8,211,5062,0.00,2.12,0.00,0.000,4,0.000,0.044,2318,781,3469,0,0,0,0,0,0
$GC,5200,-0.93,-117.2,642.9,-8.1,214,5204,0.00,2.12,0.00,0.000,6,0.000,0.051,2308,2176,3468,0,0,0,0,0,0
$GC,5472,-0.93,-117.2,665.4,-8.2,221,5476,0.00,2.10,0.00,0.000,4,0.000,0.042,2308,785,3467,0,0,0,0,0,0
$GC,5620,-0.93,-117.2,678.5,-9.6,224,5625,0.12,2.15,0.00,0.000,6,0.206,0.050,2327,2192,3466,0,0,0,0,0,0
$GC,5886,-0.93,-117.2,700.5,-7.9,231,5890,0.00,2.10,0.00,0.000,4,0.000,0.044,2327,785,3463,0,0,0,0,0,0
$GC,5943,-0.93,-117.2,705.5,-9.8,232,5947,0.00,2.12,0.00,0.000,6,0.000,0.048,2320,2185,3465,0,0,0,0,0,0
$GC,6209,-0.93,-117.2,727.4,-8.2,239,6213,0.00,2.10,0.00,0.000,4,0.000,0.045,2318,784,3463,0,0,1,0,0,0
$GC,6383,-0.93,-117.2,742.3,-7.9,243,6387,0.00,2.12,0.00,0.000,6,0.000,0.050,2308,2172,3462,0,0,0,0,0,0
$GC,6674,-0.93,-117.2,764.3,-7.5,250,6678,0.00,2.08,0.00,0.000,4,0.000,0.044,2308,787,3460,0,0,0,0,0,0
$GC,6701,-0.93,-117.2,766.8,-9.0,250,6706,0.12,2.15,0.00,0.000,6,0.207,0.050,2326,2189,3460,0,0,0,0,0,0
$GC,6957,-0.93,-117.2,784.9,-7.0,257,6960,0.00,2.10,0.00,0.000,4,0.000,0.044,2327,787,3459,0,0,0,0,0,0
$GC,7052,-0.93,-117.2,792.4,-8.3,259,7056,0.00,2.15,0.00,0.000,6,0.000,0.048,2317,2177,3458,0,0,0,0,0,0
$GC,7324,-0.93,-117.2,814.3,-8.2,266,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2177,3457,0,0,0,0,0,0
$GC,7569,-0.93,-117.2,835.6,-8.9,272,7573,0.00,2.10,0.00,0.000,4,0.000,0.047,2318,787,3456,0,0,0,0,0,0
$GC,7681,-0.93,-117.2,845.8,-8.4,274,7685,0.00,2.15,0.00,0.000,6,0.000,0.051,2308,2181,3459,0,0,0,0,0,0
$GC,7942,-0.93,-117.2,867.9,-8.5,281,7946,0.00,2.10,0.00,0.000,4,0.000,0.047,2307,788,3455,0,0,0,0,0,0
$GC,8101,-0.93,-117.2,881.3,-8.7,284,8105,0.00,2.15,0.00,0.000,6,0.000,0.050,2297,2183,3454,0,0,0,0,0,0
$STATE,8354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8354,begin apogee
$GC,8361,-0.28,0.0,901.0,7.7,291,8460,0.82,0.00,95.68,1.158,6,0.181,0.000,2535,1970,3000,0,0,0,0,0,0
$STATE,8475,end apogee,CONTROL_FINISHED_OK
$STATE,8475,begin climb
$GC,8478,0.93,117.2,902.1,0.0,293,8592,1.15,2.38,103.80,1.120,4,0.092,0.053,2925,3393,2523,0,0,0,0,0,0
$GC,8676,0.93,117.2,855.3,28.8,297,8681,0.00,2.15,0.00,0.000,6,0.000,0.031,2935,2003,2519,0,0,0,0,0,0
$GC,8926,0.93,117.2,782.6,29.1,303,8930,0.00,2.17,0.00,0.000,4,0.000,0.041,2947,578,2515,0,0,0,0,0,0
$GC,8941,0.93,117.2,777.8,28.5,303,8945,0.00,2.17,0.00,0.000,6,0.000,0.038,2947,1991,2513,0,0,0,0,0,0
$GC,9215,0.93,117.2,695.7,30.4,310,9219,0.00,2.20,0.00,0.000,4,0.000,0.054,2938,3405,2513,0,0,0,0,0,0
$GC,9270,0.93,117.2,678.6,28.7,311,9274,0.00,2.12,0.00,0.000,6,0.000,0.031,2948,1976,2513,0,0,0,0,0,0
$GC,9542,0.93,117.2,599.1,29.6,318,9546,0.00,2.08,0.00,0.000,4,0.000,0.039,2958,588,2508,0,0,0,0,0,0
$GC,9559,0.93,117.2,594.1,29.3,318,9563,0.00,2.15,0.00,0.000,6,0.000,0.038,2958,1993,2510,0,0,0,0,0,0
$GC,9820,0.93,117.2,519.4,28.6,325,9824,0.00,2.17,0.00,0.000,4,0.000,0.053,2956,3396,2510,0,0,0,0,0,0
$GC,9866,0.93,117.2,506.7,27.6,326,9870,0.12,2.10,0.00,0.000,6,0.240,0.035,2939,1994,2510,0,0,0,0,0,0
$GC,10154,0.93,117.2,432.5,25.4,333,10158,0.00,2.10,0.00,0.000,4,0.000,0.040,2954,585,2509,0,0,0,0,0,0
$GC,10204,0.93,117.2,419.2,27.3,334,10208,0.00,2.15,0.00,0.000,6,0.000,0.041,2948,1985,2506,0,0,0,0,0,0
$GC,10476,0.93,117.2,346.8,26.8,341,10480,0.00,2.12,0.00,0.000,4,0.000,0.040,2958,577,2508,0,0,0,0,0,0
$GC,10492,0.93,117.2,342.5,26.4,341,10496,0.00,2.17,0.00,0.000,6,0.000,0.038,2958,1991,2507,0,0,0,0,0,0
$GC,10760,0.93,117.2,277.1,24.1,350,10764,0.00,2.17,0.00,0.000,4,0.000,0.052,2955,3400,2506,0,0,0,0,0,0
$GC,10838,0.93,117.2,257.0,26.3,353,10843,0.12,2.10,0.00,0.000,6,0.242,0.032,2939,1975,2507,0,0,0,0,0,0
$GC,11098,0.93,117.2,199.7,20.9,366,11102,0.00,2.08,0.00,0.000,4,0.000,0.039,2948,583,2505,0,0,0,0,0,0
$GC,11154,0.93,117.2,189.2,17.4,371,11158,0.00,2.12,0.00,0.000,6,0.000,0.036,2946,1993,2502,0,0,0,0,0,0
$GC,11420,0.93,117.2,138.4,17.6,395,11424,0.00,2.15,0.00,0.000,4,0.000,0.051,2936,3393,2504,0,0,0,0,0,0
$GC,11516,0.93,117.2,121.7,15.3,403,11524,0.00,2.10,0.00,0.000,6,0.000,0.031,2945,1997,2504,0,0,0,0,0,0
$GC,11781,0.93,117.2,82.5,15.2,428,11785,0.00,2.10,0.00,0.000,4,0.000,0.039,2956,578,2504,0,0,0,0,0,0
$GC,11940,0.93,117.2,58.9,14.6,442,11944,0.00,2.10,0.00,0.000,6,0.000,0.033,2956,2003,2504,0,0,0,0,0,0
$GC,12204,0.93,117.2,20.9,14.5,472,12212,0.00,2.12,0.00,0.000,4,0.000,0.048,2956,3381,2507,0,0,0,0,0,0
$STATE,12328,end climb,SURFACE_DEPTH_REACHED
$STATE,12328,begin surface coast
$FINISH,0.1,1.010670
$STATE,12346,end surface coast,CONTROL_FINISHED_OK
$STATE,12347,begin surface
$SM_CCo,12368,87.32,0.500,0,0,1776,300.24
$SM_GC,1.03,0.00,0.00,87.32,0.000,0.000,0.500,60,2158,1776,-8.03,-0.62,300.24
$IRIDIUM_FIX,1839.59,-15632.54,020113,111152
$TT8_MAMPS,0.060593
$HUMID,1078934829
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.80
$XPDR_PINGS,11
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343884800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59985100800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.608
$10V_AH,10.3,8.953
$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,20.100,135.925,199.475,87.325,0.000,30.294,36.148,428.104,2.750,0.000,12.116,1123.620,8844.619,375.686,2393.925,406.011,33.354,1217.453,0.000,1913.995,0.000,0.541,0.000
$DEVICE_MAMPS,251.576,55.991,1158.170,500.084,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,341.390,0.000,751.397,0.000,0.000,0.000,0.000,13938.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.100,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,23620,498
$CAP_FILE_SIZE,127993,0
$CFSIZE,260165632,202493952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,110711,003637,1848.644,-15634.443,40,0.9,40,9.6