version: 66.07
glider: 513
mission: 7
dive: 61
start: 7 11 111 16 47 19
data:
$ID,513
$MISSION,7
$DIVE,61
$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,-421755.41
$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,49
$R_STBD_OVSHOOT,46
$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,60
$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
$GPS1,110711,163530,1849.514,-15632.358,38,1.3,38,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.9
$GPS2,110711,164625,1849.426,-15632.322,11,1.3,11,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.169,0.163
$KALMAN_X,12930.9,210.3,400.6,-17895.5,-2491.2
$KALMAN_Y,-160027.0,333.4,431.1,67653.2,-6865.0
$MHEAD_RNG_PITCHd_Wd,36.4,160006,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.93,-117.2,0.0,0.0,0,138,0.00,0.00,-107.22,0.000,6,0.000,0.000,37,2107,3541,0,0,0,0,0,0
$GC,142,-0.93,-117.2,2.6,-4.3,17,157,9.55,2.17,0.00,0.000,4,0.249,0.051,2328,3501,3542,0,0,0,0,0,0
$GC,263,-0.93,-117.2,41.0,-27.7,36,267,0.00,2.08,0.00,0.000,6,0.000,0.036,2335,2108,3544,0,0,0,0,0,0
$GC,528,-0.93,-117.2,106.7,-24.7,60,532,0.00,2.12,0.00,0.000,4,0.000,0.041,2343,694,3544,0,0,0,0,0,0
$GC,580,-0.93,-117.2,118.4,-19.7,64,584,0.00,2.17,0.00,0.000,6,0.000,0.049,2334,2098,3544,0,0,0,0,0,0
$GC,845,-0.93,-117.2,172.7,-21.6,88,849,0.00,2.10,0.00,0.000,4,0.000,0.040,2334,693,3545,0,0,0,0,0,0
$GC,930,-0.93,-117.2,188.8,-18.0,95,934,0.00,2.17,0.00,0.000,6,0.000,0.048,2324,2107,3545,0,0,0,0,0,0
$GC,1185,-0.93,-117.2,232.9,-15.8,110,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2107,3548,0,0,0,0,0,0
$GC,1433,-0.93,-117.2,269.1,-13.5,122,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2107,3546,0,0,0,0,0,0
$GC,1680,-0.93,-117.2,298.3,-10.8,134,1684,0.00,2.12,0.00,0.000,4,0.000,0.041,2324,688,3546,0,0,0,0,0,0
$GC,1706,-0.93,-117.2,301.5,-11.3,135,1711,0.12,2.15,0.00,0.000,6,0.191,0.052,2343,2100,3544,0,0,0,0,0,0
$GC,1968,-0.93,-117.2,330.3,-11.5,142,1972,0.00,2.10,0.00,0.000,4,0.000,0.041,2343,691,3549,0,0,0,0,0,0
$GC,2023,-0.93,-117.2,337.3,-12.9,143,2027,0.00,2.15,0.00,0.000,6,0.000,0.051,2335,2102,3549,0,0,0,0,0,0
$GC,2295,-0.93,-117.2,367.3,-11.0,150,2299,0.00,2.10,0.00,0.000,4,0.000,0.043,2334,696,3545,0,0,0,0,0,0
$GC,2401,-0.93,-117.2,381.2,-13.4,152,2406,0.00,2.15,0.00,0.000,6,0.000,0.051,2325,2105,3545,0,0,0,0,0,0
$GC,2662,-0.93,-117.2,414.6,-12.9,159,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2107,3542,0,0,0,0,0,0
$GC,2906,-0.93,-117.2,442.5,-11.4,165,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2106,3540,0,0,0,0,0,0
$GC,3150,-0.93,-117.2,465.5,-9.0,171,3154,0.00,2.15,0.00,0.000,4,0.000,0.059,2313,3503,3538,0,0,0,0,0,0
$GC,3195,-0.93,-117.2,469.9,-9.9,172,3200,0.15,2.05,0.00,0.000,6,0.186,0.035,2352,2087,3538,0,0,0,0,0,0
$GC,3472,-0.93,-117.2,492.5,-8.1,179,3476,0.00,2.08,0.00,0.000,4,0.000,0.043,2354,702,3536,0,0,0,0,0,0
$GC,3591,-0.93,-117.2,503.5,-8.9,181,3595,0.00,2.15,0.00,0.000,6,0.000,0.051,2345,2100,3534,0,0,0,0,0,0
$GC,3846,-0.93,-117.2,524.9,-8.3,188,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2100,3532,0,0,0,0,0,0
$GC,4090,-0.93,-117.2,545.4,-8.4,194,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2100,3530,0,0,0,0,0,0
$GC,4334,-0.93,-117.2,567.1,-9.1,200,4338,0.00,2.12,0.00,0.000,4,0.000,0.042,2346,697,3528,0,0,0,0,0,0
$GC,4425,-0.93,-117.2,576.4,-10.3,202,4429,0.00,2.15,0.00,0.000,6,0.000,0.048,2335,2106,3527,0,0,0,0,0,0
$GC,4702,-0.93,-117.2,605.9,-10.8,209,4706,0.00,2.15,0.00,0.000,4,0.000,0.046,2335,695,3525,0,0,0,0,0,0
$GC,4836,-0.93,-117.2,621.1,-10.9,212,4841,0.00,2.17,0.00,0.000,6,0.000,0.048,2325,2103,3523,0,0,0,0,0,0
$GC,5114,-0.93,-117.2,650.3,-10.4,219,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2102,3521,0,0,0,0,0,0
$GC,5358,-0.93,-117.2,673.3,-9.4,225,5362,0.00,2.12,0.00,0.000,4,0.000,0.045,2324,697,3519,0,0,0,0,0,0
$GC,5398,-0.93,-117.2,677.3,-10.6,225,5404,0.12,2.15,0.00,0.000,6,0.202,0.048,2342,2101,3519,0,0,0,0,0,0
$GC,5648,-0.93,-117.2,697.6,-7.8,232,5652,0.00,2.15,0.00,0.000,4,0.000,0.044,2342,699,3517,0,0,0,0,0,0
$GC,5698,-0.93,-117.2,701.7,-7.5,233,5702,0.00,2.15,0.00,0.000,6,0.000,0.050,2334,2100,3517,0,0,0,0,0,0
$GC,5971,-0.93,-117.2,723.1,-7.9,240,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2100,3516,0,0,0,0,0,0
$GC,6214,-0.93,-117.2,742.5,-8.0,246,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2099,3514,0,0,0,0,0,0
$GC,6458,-0.93,-117.2,762.8,-8.4,252,6462,0.00,2.12,0.00,0.000,4,0.000,0.046,2330,695,3512,0,0,0,0,0,0
$GC,6559,-0.93,-117.2,771.7,-8.9,254,6563,0.00,2.17,0.00,0.000,6,0.000,0.049,2323,2100,3512,0,0,0,0,0,0
$GC,6826,-0.93,-117.2,795.1,-8.9,261,6830,0.00,2.10,0.00,0.000,4,0.000,0.044,2323,699,3511,0,0,0,0,0,0
$GC,6944,-0.93,-117.2,805.7,-9.6,263,6949,0.15,2.17,0.00,0.000,6,0.195,0.051,2349,2099,3509,0,0,0,0,0,0
$GC,7194,-0.93,-117.2,824.3,-7.2,269,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2098,3510,0,0,0,0,0,0
$GC,7438,-0.93,-117.2,840.7,-6.8,275,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2100,3507,0,0,0,0,0,0
$GC,7681,-0.93,-117.2,856.3,-6.4,281,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2097,3507,0,0,0,0,0,0
$GC,7926,-0.93,-117.2,871.7,-6.2,287,7930,0.00,2.12,0.00,0.000,4,0.000,0.048,2355,702,3509,0,0,0,0,0,0
$GC,8038,-0.93,-117.2,879.7,-7.6,289,8042,0.00,2.15,0.00,0.000,6,0.000,0.051,2347,2096,3507,0,0,0,0,0,0
$GC,8298,-0.93,-117.2,897.5,-6.9,296,8302,0.00,2.12,0.00,0.000,4,0.000,0.044,2343,698,3504,0,0,0,0,0,0
$STATE,8329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8329,begin apogee
$GC,8338,-0.28,0.0,900.1,7.7,296,8435,0.73,0.00,93.85,1.151,6,0.172,0.000,2550,2000,3061,0,0,0,0,0,0
$STATE,8438,end apogee,CONTROL_FINISHED_OK
$STATE,8438,begin climb
$GC,8440,0.93,117.2,900.7,0.0,299,8555,1.17,2.30,104.40,1.108,4,0.094,0.050,2944,3392,2582,0,0,0,0,0,0
$GC,8561,0.93,117.2,877.0,25.8,302,8565,0.00,2.20,0.00,0.000,6,0.000,0.030,2955,1990,2579,0,0,0,0,0,0
$GC,8845,0.93,117.2,790.7,30.6,309,8849,0.00,2.17,0.00,0.000,4,0.000,0.038,2967,584,2573,0,0,0,0,0,0
$GC,8895,0.93,117.2,775.4,28.6,310,8899,0.00,2.17,0.00,0.000,6,0.000,0.039,2966,1990,2571,0,0,0,0,0,0
$GC,9167,0.93,117.2,693.0,30.5,317,9171,0.00,2.20,0.00,0.000,4,0.000,0.053,2963,3403,2570,0,0,0,0,0,0
$GC,9195,0.93,117.2,684.2,31.2,317,9199,0.00,2.10,0.00,0.000,6,0.000,0.031,2972,1991,2570,0,0,0,0,0,0
$GC,9445,0.93,117.2,608.5,30.4,323,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1985,2569,0,0,0,0,0,0
$GC,9688,0.93,117.2,536.9,29.5,329,9692,0.00,2.12,0.00,0.000,4,0.000,0.040,2983,582,2568,0,0,0,0,0,0
$GC,9721,0.93,117.2,527.3,28.4,329,9726,0.12,2.15,0.00,0.000,6,0.227,0.037,2957,1993,2563,0,0,0,0,0,0
$GC,9977,0.93,117.2,459.3,26.6,336,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1994,2566,0,0,0,0,0,0
$GC,10221,0.93,117.2,393.1,27.2,342,10225,0.00,2.15,0.00,0.000,4,0.000,0.051,2957,3402,2566,0,0,0,0,0,0
$GC,10243,0.93,117.2,386.6,27.6,342,10247,0.00,2.10,0.00,0.000,6,0.000,0.031,2966,1985,2566,0,0,0,0,0,0
$GC,10503,0.93,117.2,317.9,26.4,349,10507,0.00,2.10,0.00,0.000,4,0.000,0.038,2980,583,2569,0,0,0,0,0,0
$GC,10565,0.93,117.2,302.1,25.9,350,10569,0.00,2.15,0.00,0.000,6,0.000,0.041,2977,1988,2563,0,0,0,0,0,0
$GC,10836,0.93,117.2,239.1,22.2,363,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1990,2563,0,0,0,0,0,0
$GC,11087,0.93,117.2,183.7,23.5,378,11091,0.00,2.15,0.00,0.000,4,0.000,0.051,2977,3404,2562,0,0,0,0,0,0
$GC,11110,0.93,117.2,178.3,21.7,379,11118,0.10,2.10,0.00,0.000,6,0.220,0.028,2960,1990,2562,0,0,0,0,0,0
$GC,11373,0.93,117.2,132.1,15.7,404,11376,0.00,2.10,0.00,0.000,4,0.000,0.038,2969,592,2562,0,0,0,0,0,0
$GC,11486,0.93,117.2,113.0,16.5,414,11494,0.00,2.15,0.00,0.000,6,0.000,0.035,2969,2000,2560,0,0,0,0,0,0
$GC,11751,0.93,117.2,75.2,14.4,439,11755,0.00,2.10,0.00,0.000,4,0.000,0.047,2969,3395,2561,0,0,0,0,0,0
$GC,11858,0.93,117.2,59.5,14.3,448,11862,0.00,2.05,0.00,0.000,6,0.000,0.029,2980,1992,2564,0,0,0,0,0,0
$GC,12121,0.93,117.2,22.7,13.3,477,12128,0.00,2.10,0.00,0.000,4,0.000,0.037,2991,595,2564,0,0,0,0,0,0
$GC,12238,0.93,117.2,5.0,15.3,498,12246,0.12,2.10,0.00,0.000,6,0.203,0.034,2958,1993,2563,0,0,0,0,0,0
$STATE,12252,end climb,SURFACE_DEPTH_REACHED
$STATE,12252,begin surface coast
$FINISH,0.0,1.023177
$STATE,12270,end surface coast,CONTROL_FINISHED_OK
$STATE,12270,begin surface
$SM_CCo,12290,79.43,0.487,0,0,1833,300.49
$SM_GC,1.08,0.00,0.00,79.43,0.000,0.000,0.487,48,2125,1833,-8.12,0.68,300.49
$IRIDIUM_FIX,1841.87,-15630.45,030113,070725
$TT8_MAMPS,0.060593
$HUMID,1078936119
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.00
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343720960
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59983953920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.268
$10V_AH,10.4,9.486
$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,20.025,111.125,198.250,79.425,0.000,24.554,41.818,396.711,2.250,0.000,13.317,1047.286,9136.876,377.060,2082.279,385.748,33.358,1118.655,0.000,1655.497,0.000,0.541,0.000
$DEVICE_MAMPS,249.275,88.972,1151.267,487.045,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.021,0.000,764.563,0.000,0.000,0.000,0.000,13832.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.074,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,23594,503
$CAP_FILE_SIZE,115332,0
$CFSIZE,260165632,202133504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,201506,1849.533,-15631.545,37,0.9,42,9.6