version: 66.07
glider: 513
mission: 7
dive: 60
start: 7 11 111 13 2 2
data:
$ID,513
$MISSION,7
$DIVE,60
$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,653.95917
$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,-421741.47
$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,45
$R_STBD_OVSHOOT,41
$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,59
$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
$GPS1,110711,123006,1849.521,-15633.396,40,0.9,40,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.7
$GPS2,110711,130108,1849.252,-15633.260,15,1.7,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.128,0.197
$KALMAN_X,13315.2,811.7,9.5,-20122.6,-1841.9
$KALMAN_Y,-157147.8,337.9,515.3,64369.2,-7135.7
$MHEAD_RNG_PITCHd_Wd,23.4,160109,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.93,-117.2,0.0,0.0,0,95,0.00,0.00,-60.75,0.000,6,0.000,0.000,36,2112,3540,0,0,0,0,0,0
$GC,100,-0.93,-117.2,2.9,-4.9,10,114,9.55,2.17,0.00,0.000,4,0.250,0.053,2330,3509,3539,0,0,0,0,0,0
$GC,306,-0.93,-117.2,67.3,-28.4,36,310,0.00,2.10,0.00,0.000,6,0.000,0.039,2336,2108,3542,0,0,0,0,0,0
$GC,571,-0.93,-117.2,125.1,-18.7,60,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2102,3543,0,0,0,0,0,0
$GC,835,-0.93,-117.2,173.1,-17.4,85,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2106,3544,0,0,0,0,0,0
$GC,1084,-0.93,-117.2,212.6,-15.1,105,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3544,0,0,0,0,0,0
$GC,1331,-0.93,-117.2,248.0,-13.9,117,1335,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,684,3544,0,0,0,0,0,0
$GC,1381,-0.93,-117.2,254.7,-13.9,119,1385,0.00,2.15,0.00,0.000,6,0.000,0.052,2327,2091,3545,0,0,0,0,0,0
$GC,1634,-0.93,-117.2,290.2,-14.4,131,1638,0.00,2.10,0.00,0.000,4,0.000,0.041,2327,676,3544,0,0,0,0,0,0
$GC,1712,-0.93,-117.2,300.9,-13.3,134,1719,0.12,2.17,0.00,0.000,6,0.191,0.054,2346,2097,3545,0,0,0,0,0,0
$GC,1963,-0.93,-117.2,328.7,-11.0,141,1967,0.00,2.10,0.00,0.000,4,0.000,0.041,2347,685,3544,0,0,0,0,0,0
$GC,1973,-0.93,-117.2,330.0,-10.9,141,1977,0.00,2.17,0.00,0.000,6,0.000,0.050,2338,2109,3543,0,0,0,0,0,0
$GC,2251,-0.93,-117.2,363.5,-12.3,148,2255,0.00,2.12,0.00,0.000,4,0.000,0.053,2327,3511,3544,0,0,0,0,0,0
$GC,2312,-0.93,-117.2,370.6,-11.9,149,2316,0.00,2.08,0.00,0.000,6,0.000,0.034,2327,2086,3544,0,0,0,0,0,0
$GC,2573,-0.93,-117.2,399.8,-11.1,156,2577,0.00,2.05,0.00,0.000,4,0.000,0.042,2327,696,3542,0,0,0,0,0,0
$GC,2628,-0.93,-117.2,406.0,-10.8,157,2633,0.12,2.12,0.00,0.000,6,0.193,0.051,2347,2100,3541,0,0,0,0,0,0
$GC,2896,-0.93,-117.2,433.8,-10.6,164,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2099,3540,0,0,0,0,0,0
$GC,3138,-0.93,-117.2,461.1,-11.2,170,3142,0.00,2.15,0.00,0.000,4,0.000,0.054,2338,3515,3538,0,0,0,0,0,0
$GC,3205,-0.93,-117.2,468.8,-11.3,171,3209,0.00,2.08,0.00,0.000,6,0.000,0.035,2337,2095,3538,0,0,0,0,0,0
$GC,3462,-0.93,-117.2,494.3,-9.7,178,3466,0.00,2.08,0.00,0.000,4,0.000,0.044,2338,697,3534,0,0,0,0,0,0
$GC,3568,-0.93,-117.2,504.9,-9.3,180,3572,0.00,2.17,0.00,0.000,6,0.000,0.050,2329,2114,3534,0,0,0,0,0,0
$GC,3829,-0.93,-117.2,529.6,-9.7,187,3833,0.00,2.12,0.00,0.000,4,0.000,0.044,2329,698,3532,0,0,0,0,0,0
$GC,3930,-0.93,-117.2,540.3,-10.4,189,3934,0.12,2.15,0.00,0.000,6,0.198,0.051,2347,2094,3532,0,0,0,0,0,0
$GC,4196,-0.93,-117.2,565.7,-9.5,196,4200,0.00,2.10,0.00,0.000,4,0.000,0.042,2347,691,3529,0,0,0,0,0,0
$GC,4240,-0.93,-117.2,570.1,-10.4,197,4245,0.00,2.15,0.00,0.000,6,0.000,0.048,2339,2105,3529,0,0,0,0,0,0
$GC,4518,-0.93,-117.2,596.4,-9.2,204,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2106,3526,0,0,0,0,0,0
$GC,4762,-0.93,-117.2,619.3,-9.1,210,4766,0.00,2.12,0.00,0.000,4,0.000,0.045,2337,696,3523,0,0,0,0,0,0
$GC,4869,-0.93,-117.2,629.6,-9.4,212,4874,0.00,2.17,0.00,0.000,6,0.000,0.048,2329,2102,3523,0,0,0,0,0,0
$GC,5131,-0.93,-117.2,652.1,-8.5,219,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2102,3521,0,0,0,0,0,0
$GC,5374,-0.93,-117.2,670.7,-7.6,225,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2101,3519,0,0,0,0,0,0
$GC,5619,-0.93,-117.2,688.3,-7.2,231,5623,0.00,2.15,0.00,0.000,4,0.000,0.047,2329,696,3518,0,0,0,0,0,0
$GC,5697,-0.93,-117.2,694.9,-8.7,232,5703,0.12,2.17,0.00,0.000,6,0.200,0.049,2347,2100,3520,0,0,0,0,0,0
$GC,5947,-0.93,-117.2,713.4,-7.4,239,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2099,3513,0,0,0,0,0,0
$GC,6191,-0.93,-117.2,732.4,-7.9,245,6195,0.00,2.17,0.00,0.000,4,0.000,0.058,2339,3508,3513,0,0,0,0,0,0
$GC,6226,-0.93,-117.2,735.2,-8.4,245,6232,0.00,2.10,0.00,0.000,6,0.000,0.037,2338,2101,3513,0,0,0,0,0,0
$GC,6476,-0.93,-117.2,755.2,-7.9,252,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2094,3511,0,0,0,0,0,0
$GC,6720,-0.93,-117.2,774.2,-7.8,258,6724,0.00,2.15,0.00,0.000,4,0.000,0.049,2338,682,3508,0,0,0,0,0,0
$GC,6855,-0.93,-117.2,786.0,-8.7,261,6859,0.00,2.20,0.00,0.000,6,0.000,0.052,2329,2113,3509,0,0,0,0,0,0
$GC,7138,-0.93,-117.2,809.5,-8.4,268,7142,0.00,2.15,0.00,0.000,4,0.000,0.049,2329,694,3509,0,0,0,0,0,0
$GC,7166,-0.93,-117.2,812.1,-8.9,268,7171,0.12,2.17,0.00,0.000,6,0.201,0.051,2347,2110,3508,0,0,0,0,0,0
$GC,7416,-0.93,-117.2,831.5,-7.6,274,7420,0.00,2.17,0.00,0.000,4,0.000,0.049,2345,685,3507,0,0,0,0,0,0
$GC,7471,-0.93,-117.2,836.3,-8.3,275,7476,0.00,2.20,0.00,0.000,6,0.000,0.052,2339,2096,3507,0,0,0,0,0,0
$GC,7745,-0.93,-117.2,857.5,-7.8,282,7749,0.00,2.12,0.00,0.000,4,0.000,0.044,2338,688,3506,0,0,0,0,0,0
$GC,7910,-0.93,-117.2,871.3,-8.3,285,7914,0.00,2.20,0.00,0.000,6,0.000,0.052,2328,2115,3504,0,0,0,0,0,0
$GC,8166,-0.93,-117.2,891.9,-7.9,292,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2114,3505,0,0,0,0,0,0
$STATE,8284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8284,begin apogee
$GC,8291,-0.28,0.0,901.4,7.9,295,8387,0.77,0.00,92.88,1.159,6,0.171,0.000,2556,1961,3061,0,0,0,0,0,0
$STATE,8389,end apogee,CONTROL_FINISHED_OK
$STATE,8389,begin climb
$GC,8392,0.93,117.2,902.2,0.0,297,8505,1.15,2.40,102.70,1.115,4,0.092,0.052,2944,3399,2585,0,0,0,0,0,0
$GC,8533,0.93,117.2,872.5,29.8,300,8537,0.00,2.20,0.00,0.000,6,0.000,0.028,2954,1991,2583,0,0,0,0,0,0
$GC,8805,0.93,117.2,792.6,29.6,307,8809,0.00,2.15,0.00,0.000,4,0.000,0.040,2966,584,2577,0,0,0,0,0,0
$GC,8845,0.93,117.2,781.1,29.2,308,8849,0.00,2.17,0.00,0.000,6,0.000,0.038,2962,1991,2574,0,0,0,0,0,0
$GC,9128,0.93,117.2,696.6,29.7,315,9132,0.00,2.17,0.00,0.000,4,0.000,0.054,2968,3396,2573,0,0,0,0,0,0
$GC,9172,0.93,117.2,682.8,30.8,316,9176,0.00,2.10,0.00,0.000,6,0.000,0.033,2973,1988,2574,0,0,0,0,0,0
$GC,9457,0.93,117.2,598.7,29.7,323,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1984,2573,0,0,0,0,0,0
$GC,9699,0.93,117.2,529.9,28.1,329,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1984,2571,0,0,0,0,0,0
$GC,9943,0.93,117.2,463.7,26.9,335,9947,0.00,2.15,0.00,0.000,4,0.000,0.048,2964,3402,2571,0,0,0,0,0,0
$GC,9953,0.93,117.2,460.8,27.0,335,9957,0.00,2.08,0.00,0.000,6,0.000,0.028,2973,1991,2571,0,0,0,0,0,0
$GC,10226,0.93,117.2,388.8,26.3,342,10230,0.00,2.15,0.00,0.000,4,0.000,0.048,2965,3400,2570,0,0,0,0,0,0
$GC,10258,0.93,117.2,379.8,27.2,342,10264,0.00,2.08,0.00,0.000,6,0.000,0.030,2974,1989,2570,0,0,0,0,0,0
$GC,10508,0.93,117.2,314.6,25.5,349,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1982,2569,0,0,0,0,0,0
$GC,10756,0.93,117.2,256.7,20.9,359,10759,0.00,2.12,0.00,0.000,4,0.000,0.038,2986,575,2568,0,0,0,0,0,0
$GC,10773,0.93,117.2,252.7,21.7,360,10777,0.12,2.15,0.00,0.000,6,0.222,0.037,2958,1996,2566,0,0,0,0,0,0
$GC,11037,0.93,117.2,199.2,21.6,373,11041,0.00,2.12,0.00,0.000,4,0.000,0.048,2958,3400,2566,0,0,0,0,0,0
$GC,11089,0.93,117.2,188.9,22.1,377,11093,0.00,2.08,0.00,0.000,6,0.000,0.031,2966,1979,2567,0,0,0,0,0,0
$GC,11353,0.93,117.2,141.0,16.5,401,11357,0.00,2.08,0.00,0.000,4,0.000,0.040,2978,585,2565,0,0,0,0,0,0
$GC,11450,0.93,117.2,125.6,16.9,409,11454,0.00,2.12,0.00,0.000,6,0.000,0.037,2978,1994,2564,0,0,0,0,0,0
$GC,11714,0.93,117.2,84.1,14.2,433,11718,0.00,2.10,0.00,0.000,4,0.000,0.047,2980,3393,2564,0,0,0,0,0,0
$GC,11874,0.93,117.2,62.2,11.4,447,11879,0.15,2.03,0.00,0.000,6,0.225,0.028,2954,1993,2566,0,0,0,0,0,0
$GC,12137,0.93,117.2,32.1,11.3,471,12141,0.00,2.08,0.00,0.000,4,0.000,0.038,2964,584,2567,0,0,0,0,0,0
$GC,12268,0.93,117.2,16.6,11.4,493,12275,0.00,2.12,0.00,0.000,6,0.000,0.032,2964,1996,2568,0,0,0,0,0,0
$STATE,12375,end climb,SURFACE_DEPTH_REACHED
$STATE,12375,begin surface coast
$FINISH,-0.0,1.010423
$STATE,12399,end surface coast,CONTROL_FINISHED_OK
$STATE,12399,begin surface
$SM_CCo,12420,295.62,0.475,0,0,394,654.20
$SM_GC,0.99,0.00,0.00,295.62,0.000,0.000,0.475,41,2107,394,-8.11,0.20,654.20
$IRIDIUM_FIX,1841.87,-15629.54,030113,070733
$TT8_MAMPS,0.06136
$HUMID,1078756764
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.40
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343753728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59984183296
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.165
$10V_AH,10.4,9.391
$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,20.000,115.700,195.575,295.625,0.000,145.226,184.918,1050.785,2.000,0.000,17.972,1090.719,9372.312,580.381,2932.164,603.926,33.356,1320.315,0.000,1740.428,0.000,0.541,0.000
$DEVICE_MAMPS,250.042,97.409,1158.937,474.773,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.194,0.000,807.426,0.000,0.000,0.000,0.000,15520.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.874,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,26872,517
$CAP_FILE_SIZE,138234,0
$CFSIZE,260165632,202182656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,163530,1849.514,-15632.358,38,1.3,38,9.6