version: 66.07
glider: 513
mission: 7
dive: 59
start: 7 11 111 9 8 26
data:
$ID,513
$MISSION,7
$DIVE,59
$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,-421722.88
$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,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,46
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3060
$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,58
$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
$GPS1,110711,085107,1849.170,-15633.929,34,1.1,35,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.3
$GPS2,110711,090732,1849.044,-15633.874,14,1.3,14,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.084,0.219
$KALMAN_X,13999.7,597.3,-59.5,-21591.7,-1200.3
$KALMAN_Y,-153815.4,735.6,169.6,60594.0,-6514.3
$MHEAD_RNG_PITCHd_Wd,11.4,160360,-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,-62.53,0.000,6,0.000,0.000,38,2133,3539,0,0,0,0,0,0
$GC,97,-0.93,-117.2,2.7,-4.9,10,111,9.57,2.12,0.00,0.000,4,0.249,0.055,2331,3493,3541,0,0,0,0,0,0
$GC,186,-0.93,-117.2,34.1,-30.0,25,190,0.00,2.08,0.00,0.000,6,0.000,0.038,2340,2112,3544,0,0,0,0,0,0
$GC,452,-0.93,-117.2,104.8,-21.5,49,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2109,3544,0,0,0,0,0,0
$GC,714,-0.93,-117.2,155.5,-16.4,74,718,0.00,2.15,0.00,0.000,4,0.000,0.041,2344,683,3545,0,0,0,0,0,0
$GC,832,-0.93,-117.2,175.1,-15.7,84,836,0.00,2.15,0.00,0.000,6,0.000,0.051,2336,2082,3546,0,0,0,0,0,0
$GC,1100,-0.93,-117.2,216.3,-14.2,104,1104,0.00,2.08,0.00,0.000,4,0.000,0.040,2336,681,3548,0,0,0,0,0,0
$GC,1164,-0.93,-117.2,226.8,-17.7,107,1168,0.00,2.17,0.00,0.000,6,0.000,0.050,2327,2107,3546,0,0,0,0,0,0
$GC,1428,-0.93,-117.2,270.9,-16.5,120,1432,0.00,2.12,0.00,0.000,4,0.000,0.054,2315,3513,3552,0,0,0,0,0,0
$GC,1456,-0.93,-117.2,275.5,-16.0,121,1460,0.12,2.08,0.00,0.000,6,0.188,0.031,2344,2075,3549,0,0,0,0,0,0
$GC,1735,-0.93,-117.2,310.1,-11.1,133,1739,0.00,2.20,0.00,0.000,4,0.000,0.055,2335,3516,3549,0,0,0,0,0,0
$GC,1779,-0.93,-117.2,315.1,-11.0,134,1783,0.00,2.05,0.00,0.000,6,0.000,0.033,2335,2111,3547,0,0,0,0,0,0
$GC,2062,-0.93,-117.2,348.5,-12.5,141,2066,0.00,2.10,0.00,0.000,4,0.000,0.041,2335,692,3549,0,0,0,0,0,0
$GC,2203,-0.93,-117.2,367.0,-12.1,144,2207,0.00,2.15,0.00,0.000,6,0.000,0.051,2325,2102,3549,0,0,0,0,0,0
$GC,2475,-0.93,-117.2,401.4,-12.3,151,2478,0.00,2.10,0.00,0.000,4,0.000,0.042,2325,695,3549,0,0,0,0,0,0
$GC,2520,-0.93,-117.2,406.8,-10.8,152,2524,0.12,2.12,0.00,0.000,6,0.193,0.051,2344,2100,3549,0,0,0,0,0,0
$GC,2797,-0.93,-117.2,436.1,-10.3,159,2801,0.00,2.15,0.00,0.000,4,0.000,0.054,2335,3517,3547,0,0,0,0,0,0
$GC,2875,-0.93,-117.2,445.1,-11.3,160,2880,0.00,2.08,0.00,0.000,6,0.000,0.034,2335,2090,3545,0,0,0,0,0,0
$GC,3125,-0.93,-117.2,472.4,-11.0,167,3129,0.00,2.20,0.00,0.000,4,0.000,0.056,2326,3519,3545,0,0,0,0,0,0
$GC,3153,-0.93,-117.2,476.0,-12.7,167,3157,0.00,2.08,0.00,0.000,6,0.000,0.035,2326,2097,3544,0,0,0,0,0,0
$GC,3408,-0.93,-117.2,506.0,-11.8,174,3412,0.00,2.10,0.00,0.000,4,0.000,0.044,2326,698,3543,0,0,0,0,0,0
$GC,3463,-0.93,-117.2,512.9,-12.3,175,3468,0.15,2.15,0.00,0.000,6,0.189,0.051,2352,2102,3542,0,0,0,0,0,0
$GC,3736,-0.93,-117.2,539.4,-9.6,182,3740,0.00,2.12,0.00,0.000,4,0.000,0.044,2354,684,3540,0,0,0,0,0,0
$GC,3853,-0.93,-117.2,551.9,-10.3,184,3857,0.00,2.17,0.00,0.000,6,0.000,0.052,2345,2108,3539,0,0,0,0,0,0
$GC,4111,-0.93,-117.2,576.9,-9.8,191,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2107,3536,0,0,0,0,0,0
$GC,4353,-0.93,-117.2,599.5,-9.1,197,4357,0.00,2.15,0.00,0.000,4,0.000,0.048,2345,686,3535,0,0,0,0,0,0
$GC,4447,-0.93,-117.2,608.7,-10.1,199,4451,0.00,2.17,0.00,0.000,6,0.000,0.053,2335,2099,3534,0,0,0,0,0,0
$GC,4727,-0.93,-117.2,635.1,-9.6,206,4730,0.00,2.12,0.00,0.000,4,0.000,0.046,2340,695,3532,0,0,0,0,0,0
$GC,4816,-0.93,-117.2,644.2,-10.1,208,4820,0.00,2.17,0.00,0.000,6,0.000,0.051,2324,2118,3532,0,0,0,0,0,0
$GC,5101,-0.93,-117.2,671.8,-9.7,215,5105,0.00,2.15,0.00,0.000,4,0.000,0.045,2324,694,3529,0,0,0,0,0,0
$GC,5128,-0.93,-117.2,674.6,-10.0,215,5133,0.12,2.15,0.00,0.000,6,0.201,0.051,2342,2096,3528,0,0,0,0,0,0
$GC,5378,-0.93,-117.2,696.4,-8.6,221,5382,0.00,2.15,0.00,0.000,4,0.000,0.047,2343,685,3527,0,0,0,0,0,0
$GC,5462,-0.93,-117.2,704.0,-8.5,222,5468,0.00,2.17,0.00,0.000,6,0.000,0.052,2334,2099,3526,0,0,0,0,0,0
$GC,5712,-0.93,-117.2,726.1,-8.9,229,5716,0.00,2.12,0.00,0.000,4,0.000,0.044,2340,686,3525,0,0,0,0,0,0
$GC,5740,-0.93,-117.2,728.7,-9.4,229,5744,0.00,2.17,0.00,0.000,6,0.000,0.051,2324,2097,3524,0,0,0,0,0,0
$GC,5996,-0.93,-117.2,751.8,-9.2,236,6000,0.00,2.12,0.00,0.000,4,0.000,0.045,2323,689,3523,0,0,0,0,0,0
$GC,6023,-0.93,-117.2,754.7,-9.9,236,6028,0.12,2.20,0.00,0.000,6,0.200,0.054,2342,2099,3523,0,0,0,0,0,0
$GC,6273,-0.93,-117.2,775.4,-8.3,242,6277,0.00,2.15,0.00,0.000,4,0.000,0.048,2342,695,3522,0,0,0,0,0,0
$GC,6386,-0.93,-117.2,784.8,-8.8,244,6390,0.00,2.17,0.00,0.000,6,0.000,0.052,2334,2106,3521,0,0,0,0,0,0
$GC,6647,-0.93,-117.2,804.6,-7.5,251,6651,0.00,2.15,0.00,0.000,4,0.000,0.048,2334,698,3519,0,0,0,0,0,0
$GC,6770,-0.93,-117.2,814.8,-8.6,253,6774,0.00,2.17,0.00,0.000,6,0.000,0.052,2323,2098,3519,0,0,0,0,0,0
$GC,7020,-0.93,-117.2,835.3,-8.2,259,7024,0.00,2.15,0.00,0.000,4,0.000,0.047,2323,694,3518,0,0,0,0,0,0
$GC,7178,-0.93,-117.2,849.5,-9.5,262,7183,0.15,2.22,0.00,0.000,6,0.194,0.057,2349,2113,3517,0,0,0,0,0,0
$GC,7445,-0.93,-117.2,869.4,-7.2,269,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2112,3515,0,0,0,0,0,0
$GC,7688,-0.93,-117.2,886.9,-7.1,275,7692,0.00,2.20,0.00,0.000,4,0.000,0.053,2352,696,3514,0,0,0,0,0,0
$GC,7778,-0.93,-117.2,894.0,-7.9,277,7782,0.00,2.17,0.00,0.000,6,0.000,0.052,2344,2101,3511,0,0,0,0,0,0
$STATE,7891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7891,begin apogee
$GC,7899,-0.28,0.0,902.6,7.4,280,7997,0.70,0.00,95.05,1.159,6,0.166,0.000,2552,1977,3063,0,0,0,0,0,0
$STATE,7999,end apogee,CONTROL_FINISHED_OK
$STATE,7999,begin climb
$GC,8002,0.93,117.2,903.9,0.0,282,8117,1.17,2.38,104.60,1.111,4,0.094,0.054,2948,3401,2583,0,0,0,0,0,0
$GC,8128,0.93,117.2,877.9,29.0,285,8132,0.00,2.20,0.00,0.000,6,0.000,0.031,2953,1996,2581,0,0,0,0,0,0
$GC,8412,0.93,117.2,793.1,30.0,292,8416,0.00,2.17,0.00,0.000,4,0.000,0.042,2969,586,2574,0,0,0,0,0,0
$GC,8440,0.93,117.2,783.9,32.6,292,8444,0.00,2.22,0.00,0.000,6,0.000,0.044,2969,1996,2572,0,0,0,0,0,0
$GC,8690,0.93,117.2,706.3,31.1,298,8693,0.00,2.20,0.00,0.000,4,0.000,0.055,2967,3400,2569,0,0,0,0,0,0
$GC,8729,0.93,117.2,693.3,33.4,299,8733,0.00,2.12,0.00,0.000,6,0.000,0.035,2976,1993,2571,0,0,0,0,0,0
$GC,9013,0.93,117.2,605.4,30.8,306,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1988,2569,0,0,0,0,0,0
$GC,9256,0.93,117.2,532.1,29.9,312,9259,0.00,2.15,0.00,0.000,4,0.000,0.042,2988,576,2568,0,0,0,0,0,0
$GC,9283,0.93,117.2,523.6,31.2,312,9287,0.15,2.15,0.00,0.000,6,0.229,0.039,2955,1992,2566,0,0,0,0,0,0
$GC,9543,0.93,117.2,452.2,27.1,319,9547,0.00,2.17,0.00,0.000,4,0.000,0.053,2954,3395,2567,0,0,0,0,0,0
$GC,9572,0.93,117.2,444.3,29.3,319,9576,0.00,2.12,0.00,0.000,6,0.000,0.031,2963,1974,2567,0,0,0,0,0,0
$GC,9821,0.93,117.2,380.5,25.2,325,9825,0.00,2.20,0.00,0.000,4,0.000,0.054,2963,3396,2566,0,0,0,0,0,0
$GC,9843,0.93,117.2,374.5,26.9,325,9847,0.00,2.08,0.00,0.000,6,0.000,0.034,2973,1992,2566,0,0,0,0,0,0
$GC,10105,0.93,117.2,308.5,25.1,332,10109,0.00,2.12,0.00,0.000,4,0.000,0.041,2985,580,2565,0,0,0,0,0,0
$GC,10182,0.93,117.2,287.5,25.5,334,10187,0.12,2.12,0.00,0.000,6,0.220,0.037,2957,1994,2563,0,0,0,0,0,0
$GC,10441,0.93,117.2,230.4,21.6,347,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1998,2563,0,0,0,0,0,0
$GC,10695,0.93,117.2,177.1,20.3,364,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2002,2563,0,0,0,0,0,0
$GC,10958,0.93,117.2,132.4,16.0,389,10962,0.00,2.12,0.00,0.000,4,0.000,0.043,2966,579,2563,0,0,0,0,0,0
$GC,10976,0.93,117.2,129.5,16.0,390,10980,0.00,2.10,0.00,0.000,6,0.000,0.037,2967,1996,2563,0,0,0,0,0,0
$GC,11243,0.93,117.2,84.4,17.8,414,11247,0.00,2.15,0.00,0.000,4,0.000,0.043,2978,575,2562,0,0,0,0,0,0
$GC,11491,0.93,117.2,51.0,11.8,436,11499,0.00,2.15,0.00,0.000,6,0.000,0.038,2978,1980,2563,0,0,0,0,0,0
$GC,11754,0.93,117.2,18.4,12.8,469,11762,0.00,2.15,0.00,0.000,4,0.000,0.041,2988,578,2564,0,0,0,0,0,0
$GC,11818,0.93,117.2,9.5,15.5,480,11826,0.10,2.15,0.00,0.000,6,0.200,0.036,2960,2002,2564,0,0,0,0,0,0
$STATE,11870,end climb,SURFACE_DEPTH_REACHED
$STATE,11870,begin surface coast
$FINISH,0.0,1.010307
$STATE,11899,end surface coast,CONTROL_FINISHED_OK
$STATE,11899,begin surface
$SM_CCo,11919,85.43,0.492,0,0,1833,300.24
$SM_GC,1.10,0.00,0.00,85.43,0.000,0.000,0.492,53,2111,1833,-8.10,0.31,300.24
$IRIDIUM_FIX,1844.15,-15634.63,030113,030300
$TT8_MAMPS,0.06136
$HUMID,1078901281
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.20
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343786496
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59984412672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.984
$10V_AH,10.4,9.270
$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,20.225,133.525,199.650,85.425,0.000,60.397,65.225,587.946,3.000,0.000,16.721,1083.708,8656.996,379.699,2400.836,470.394,33.352,1158.911,0.000,1777.756,0.000,0.540,0.000
$DEVICE_MAMPS,249.275,92.040,1158.937,491.647,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.129,0.000,787.641,0.000,0.000,0.000,0.000,13798.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.619,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,23604,494
$CAP_FILE_SIZE,128085,0
$CFSIZE,260165632,202264576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,123006,1849.521,-15633.396,40,0.9,40,9.6