version: 66.07
glider: 513
mission: 7
dive: 57
start: 7 11 111 0 57 32
data:
$ID,513
$MISSION,7
$DIVE,57
$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,639.24139
$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,-421693.97
$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,2651
$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,2100
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,44
$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,56
$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
$GPS1,110711,003637,1848.644,-15634.443,40,0.9,40,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-79.9
$GPS2,110711,005638,1848.522,-15634.561,12,1.5,12,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.020,0.234
$KALMAN_X,13935.8,-287.1,492.7,-22395.5,-3602.8
$KALMAN_Y,-147811.5,946.6,600.4,52979.4,-7426.5
$MHEAD_RNG_PITCHd_Wd,345.4,161182,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.93,-117.2,0.0,0.0,0,92,0.00,0.00,-60.25,0.000,6,0.000,0.000,36,2159,3477,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.0,-6.1,10,111,9.62,2.10,0.00,0.000,4,0.252,0.051,2332,3502,3479,0,0,0,0,0,0
$GC,353,-0.93,-117.2,74.3,-23.3,41,360,0.00,2.10,0.00,0.000,6,0.000,0.034,2339,2118,3482,0,0,0,0,0,0
$GC,615,-0.93,-117.2,130.0,-20.5,66,619,0.00,2.15,0.00,0.000,4,0.000,0.041,2350,686,3483,0,0,0,0,0,0
$GC,667,-0.93,-117.2,139.5,-19.5,70,671,0.00,2.12,0.00,0.000,6,0.000,0.043,2341,2095,3484,0,0,0,0,0,0
$GC,930,-0.93,-117.2,179.2,-14.2,94,934,0.00,2.15,0.00,0.000,4,0.000,0.051,2331,3506,3487,0,0,0,0,0,0
$GC,1049,-0.93,-117.2,198.2,-15.0,104,1057,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,2091,3485,0,0,0,0,0,0
$GC,1314,-0.93,-117.2,232.2,-11.4,118,1318,0.00,2.17,0.00,0.000,4,0.000,0.053,2320,3509,3486,0,0,0,0,0,0
$GC,1346,-0.93,-117.2,236.2,-12.2,119,1353,0.12,2.05,0.00,0.000,6,0.194,0.031,2349,2090,3489,0,0,0,0,0,0
$GC,1601,-0.93,-117.2,262.5,-10.8,132,1605,0.00,2.15,0.00,0.000,4,0.000,0.051,2340,3508,3487,0,0,0,0,0,0
$GC,1730,-0.93,-117.2,275.7,-10.1,138,1734,0.00,2.05,0.00,0.000,6,0.000,0.032,2340,2094,3487,0,0,0,0,0,0
$GC,1994,-0.93,-117.2,301.8,-10.2,151,1998,0.00,2.05,0.00,0.000,4,0.000,0.041,2341,705,3487,0,0,0,0,0,0
$GC,2143,-0.93,-117.2,318.1,-10.0,154,2146,0.00,2.10,0.00,0.000,6,0.000,0.048,2333,2101,3487,0,0,0,0,0,0
$GC,2415,-0.93,-117.2,348.8,-11.1,161,2419,0.00,2.15,0.00,0.000,4,0.000,0.061,2323,3504,3486,0,0,0,0,0,0
$GC,2425,-0.93,-117.2,350.0,-11.3,161,2429,0.00,2.08,0.00,0.000,6,0.000,0.033,2322,2091,3486,0,0,0,0,0,0
$GC,2698,-0.93,-117.2,380.3,-11.0,168,2702,0.00,2.20,0.00,0.000,4,0.000,0.062,2311,3514,3485,0,0,0,0,0,0
$GC,2738,-0.93,-117.2,385.0,-11.4,169,2742,0.15,2.08,0.00,0.000,6,0.187,0.035,2349,2092,3488,0,0,0,0,0,0
$GC,3022,-0.93,-117.2,409.9,-8.6,176,3025,0.00,2.08,0.00,0.000,4,0.000,0.041,2356,703,3483,0,0,0,0,0,0
$GC,3139,-0.93,-117.2,421.0,-9.3,178,3143,0.00,2.15,0.00,0.000,6,0.000,0.054,2348,2099,3484,0,0,0,0,0,0
$GC,3400,-0.93,-117.2,442.2,-8.0,185,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2097,3481,0,0,0,0,0,0
$GC,3644,-0.93,-117.2,460.3,-7.3,191,3648,0.00,2.10,0.00,0.000,4,0.000,0.043,2347,699,3478,0,0,0,0,0,0
$GC,3745,-0.93,-117.2,468.3,-7.9,193,3749,0.00,2.15,0.00,0.000,6,0.000,0.057,2341,2104,3477,0,0,0,0,0,0
$GC,4012,-0.93,-117.2,489.4,-8.0,200,4016,0.00,2.20,0.00,0.000,4,0.000,0.066,2326,3508,3475,0,0,0,0,0,0
$GC,4040,-0.93,-117.2,491.9,-8.8,200,4044,0.00,2.08,0.00,0.000,6,0.000,0.038,2327,2103,3474,0,0,0,0,0,0
$GC,4290,-0.93,-117.2,512.1,-7.9,206,4294,0.00,2.10,0.00,0.000,4,0.000,0.043,2326,697,3473,0,0,0,0,0,0
$GC,4329,-0.93,-117.2,515.5,-8.3,207,4334,0.12,2.17,0.00,0.000,6,0.203,0.057,2345,2103,3472,0,0,0,0,0,0
$GC,4614,-0.93,-117.2,537.5,-7.8,214,4617,0.00,2.10,0.00,0.000,4,0.000,0.042,2344,693,3470,0,0,0,0,0,0
$GC,4647,-0.93,-117.2,540.3,-8.5,214,4652,0.00,2.17,0.00,0.000,6,0.000,0.055,2336,2095,3469,0,0,0,0,0,0
$GC,4897,-0.93,-117.2,561.5,-8.6,221,4901,0.00,2.20,0.00,0.000,4,0.000,0.066,2325,3513,3467,0,0,0,0,0,0
$GC,4959,-0.93,-117.2,567.5,-9.6,222,4963,0.00,2.10,0.00,0.000,6,0.000,0.038,2325,2094,3467,0,0,0,0,0,0
$GC,5220,-0.93,-117.2,590.8,-8.7,229,5223,0.00,2.08,0.00,0.000,4,0.000,0.042,2325,691,3466,0,0,0,0,0,0
$GC,5276,-0.93,-117.2,596.2,-9.7,230,5281,0.12,2.17,0.00,0.000,6,0.204,0.058,2343,2102,3466,0,0,0,0,0,0
$GC,5543,-0.93,-117.2,619.3,-8.8,237,5547,0.00,2.12,0.00,0.000,4,0.000,0.042,2342,693,3464,0,0,0,0,0,0
$GC,5643,-0.93,-117.2,628.2,-8.5,239,5647,0.00,2.17,0.00,0.000,6,0.000,0.057,2334,2101,3467,0,0,0,0,0,0
$GC,5911,-0.93,-117.2,650.5,-8.5,246,5915,0.00,2.12,0.00,0.000,4,0.000,0.042,2338,694,3461,0,0,0,0,0,0
$GC,5966,-0.93,-117.2,656.0,-9.7,247,5970,0.00,2.17,0.00,0.000,6,0.000,0.055,2324,2102,3461,0,0,0,0,0,0
$GC,6232,-0.93,-117.2,681.2,-9.5,254,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2101,3459,0,0,0,0,0,0
$GC,6477,-0.93,-117.2,706.2,-10.4,260,6480,0.00,2.10,0.00,0.000,4,0.000,0.043,2324,697,3461,0,0,0,0,0,0
$GC,6577,-0.93,-117.2,716.8,-10.3,262,6582,0.05,2.22,0.00,0.000,6,0.193,0.056,2348,2104,3457,0,0,0,0,0,0
$GC,6856,-0.93,-117.2,740.8,-8.6,269,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2103,3454,0,0,0,0,0,0
$GC,7099,-0.93,-117.2,759.2,-7.3,275,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2103,3455,0,0,0,0,0,0
$GC,7343,-0.93,-117.2,775.0,-6.3,281,7347,0.00,2.20,0.00,0.000,4,0.000,0.067,2333,3507,3453,0,0,0,0,0,0
$GC,7366,-0.93,-117.2,776.4,-6.1,281,7370,0.00,2.08,0.00,0.000,6,0.000,0.038,2335,2101,3452,0,0,0,0,0,0
$GC,7622,-0.93,-117.2,791.5,-5.8,288,7626,0.00,2.22,0.00,0.000,4,0.000,0.070,2326,3511,3452,0,0,0,0,0,0
$GC,7729,-0.93,-117.2,798.1,-6.2,290,7732,0.00,2.08,0.00,0.000,6,0.000,0.038,2326,2101,3451,0,0,0,0,0,0
$GC,7990,-0.93,-117.2,813.9,-6.0,297,7994,0.00,2.12,0.00,0.000,4,0.000,0.046,2326,695,3451,0,0,0,0,0,0
$GC,8138,-0.93,-117.2,823.9,-6.3,300,8143,0.12,2.17,0.00,0.000,6,0.202,0.056,2344,2103,3450,0,0,0,0,0,0
$GC,8405,-0.93,-117.2,839.8,-6.0,307,8408,0.00,2.12,0.00,0.000,4,0.000,0.044,2345,688,3449,0,0,0,0,0,0
$GC,8433,-0.93,-117.2,841.7,-6.3,307,8437,0.00,2.20,0.00,0.000,6,0.000,0.056,2336,2104,3449,0,0,0,0,0,0
$GC,8688,-0.93,-117.2,858.0,-6.5,314,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2103,3449,0,0,0,0,0,0
$GC,8932,-0.93,-117.2,873.2,-6.1,320,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2103,3448,0,0,0,0,0,0
$GC,9176,-0.93,-117.2,887.4,-5.7,326,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2103,3448,0,0,0,0,0,0
$STATE,9417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9417,begin apogee
$GC,9423,-0.28,0.0,900.5,5.4,332,9520,0.75,0.00,93.93,1.157,6,0.173,0.000,2556,1973,3003,0,0,0,0,0,0
$STATE,9523,end apogee,CONTROL_FINISHED_OK
$STATE,9523,begin climb
$GC,9525,0.93,117.2,900.1,0.0,334,9634,1.17,0.00,104.60,1.116,6,0.097,0.000,2948,1973,2521,0,0,0,0,0,0
$GC,9850,0.93,117.2,809.2,31.0,342,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1972,2516,0,0,0,0,0,0
$GC,10094,0.93,117.2,734.8,30.7,348,10098,0.00,2.30,0.00,0.000,4,0.000,0.062,2948,3393,2514,0,0,0,0,0,0
$GC,10121,0.93,117.2,726.0,32.7,348,10125,0.00,2.10,0.00,0.000,6,0.000,0.035,2962,2006,2514,0,0,0,0,0,0
$GC,10371,0.93,117.2,649.9,30.6,354,10375,0.00,2.15,0.00,0.000,4,0.000,0.042,2969,585,2512,0,0,0,0,0,0
$GC,10411,0.93,117.2,637.5,31.0,355,10415,0.00,2.17,0.00,0.000,6,0.000,0.045,2969,1991,2510,0,0,0,0,0,0
$GC,10694,0.93,117.2,552.1,30.2,362,10698,0.00,2.15,0.00,0.000,4,0.000,0.043,2979,581,2511,0,0,0,0,0,0
$GC,10711,0.93,117.2,547.0,29.6,362,10715,0.00,2.17,0.00,0.000,6,0.000,0.045,2979,1993,2510,0,0,0,0,0,0
$GC,10971,0.93,117.2,468.8,29.7,369,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1996,2510,0,0,0,0,0,0
$GC,11215,0.93,117.2,396.2,30.0,375,11219,0.00,2.20,0.00,0.000,4,0.000,0.058,2969,3399,2509,0,0,0,0,0,0
$GC,11237,0.93,117.2,389.7,29.8,375,11241,0.00,2.10,0.00,0.000,6,0.000,0.032,2978,1982,2510,0,0,0,0,0,0
$GC,11491,0.93,117.2,318.6,27.2,382,11495,0.00,2.22,0.00,0.000,4,0.000,0.054,2970,3398,2509,0,0,0,0,0,0
$GC,11547,0.93,117.2,302.8,27.7,383,11551,0.00,2.10,0.00,0.000,6,0.000,0.033,2978,1992,2509,0,0,0,0,0,0
$GC,11803,0.93,117.2,240.2,25.3,395,11807,0.00,2.10,0.00,0.000,4,0.000,0.040,2990,584,2508,0,0,0,0,0,0
$GC,12034,0.93,117.2,186.6,20.2,408,12039,0.12,2.15,0.00,0.000,6,0.230,0.045,2957,1991,2503,0,0,0,0,0,0
$GC,12297,0.93,117.2,138.8,16.6,432,12301,0.00,2.17,0.00,0.000,4,0.000,0.055,2957,3407,2504,0,0,0,0,0,0
$GC,12372,0.93,117.2,125.1,17.1,438,12379,0.00,2.12,0.00,0.000,6,0.000,0.030,2966,1983,2504,0,0,0,0,0,0
$GC,12639,0.93,117.2,79.6,17.7,463,12643,0.00,2.20,0.00,0.000,4,0.000,0.054,2965,3412,2504,0,0,0,0,0,0
$GC,12670,0.93,117.2,73.3,16.4,465,12678,0.00,2.12,0.00,0.000,6,0.000,0.031,2974,1993,2505,0,0,0,0,0,0
$GC,12936,0.93,117.2,32.7,14.4,490,12940,0.00,2.08,0.00,0.000,4,0.000,0.041,2986,587,2506,0,0,0,0,0,0
$GC,13082,0.93,117.2,11.1,13.6,515,13090,0.10,2.12,0.00,0.000,6,0.206,0.035,2958,2005,2506,0,0,0,0,0,0
$STATE,13143,end climb,SURFACE_DEPTH_REACHED
$STATE,13143,begin surface coast
$FINISH,0.1,1.023045
$STATE,13168,end surface coast,CONTROL_FINISHED_OK
$STATE,13168,begin surface
$SM_CCo,13187,297.00,0.486,0,0,393,639.24
$SM_GC,0.84,0.00,0.00,297.00,0.000,0.000,0.486,43,2094,393,-8.11,-0.17,639.24
$IRIDIUM_FIX,1839.59,-15632.54,020113,191952
$TT8_MAMPS,0.060593
$HUMID,1078789023
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.80
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343852032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59984871424
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.752
$10V_AH,10.3,9.063
$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,20.150,132.775,198.525,297.000,0.000,151.001,170.775,425.770,2.500,0.000,14.178,1149.549,9980.532,599.867,2543.034,416.373,33.357,1396.343,0.000,1815.089,0.000,0.542,0.000
$DEVICE_MAMPS,252.343,105.079,1157.403,486.278,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.456,0.000,767.871,0.000,0.000,0.000,0.000,15578.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.893,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,26897,530
$CAP_FILE_SIZE,135198,0
$CFSIZE,260165632,202383360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,044354,1848.998,-15634.388,25,1.2,42,9.6