version: 66.07
glider: 513
mission: 7
dive: 62
start: 7 11 111 20 26 34
data:
$ID,513
$MISSION,7
$DIVE,62
$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,-421770.72
$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,50
$R_STBD_OVSHOOT,68
$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,61
$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
$GPS1,110711,201506,1849.533,-15631.545,37,0.9,42,9.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.8
$GPS2,110711,202538,1849.393,-15631.548,12,1.4,12,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.099,0.213
$KALMAN_X,12395.7,-376.3,-107.5,-14912.4,-1333.9
$KALMAN_Y,-162983.5,663.9,324.6,70325.4,-6828.8
$MHEAD_RNG_PITCHd_Wd,15.3,160257,-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,26,-0.93,-117.2,0.0,0.0,0,91,0.00,0.00,-60.55,0.000,6,0.000,0.000,36,2131,3538,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.0,-6.3,10,110,9.62,2.12,0.00,0.000,4,0.252,0.051,2331,3488,3540,0,0,0,0,0,0
$GC,264,-0.93,-117.2,55.5,-24.4,32,272,0.00,2.10,0.00,0.000,6,0.000,0.035,2339,2112,3544,0,0,0,0,0,0
$GC,530,-0.93,-117.2,118.5,-21.8,57,534,0.00,2.12,0.00,0.000,4,0.000,0.054,2330,3483,3544,0,0,0,0,0,0
$GC,667,-0.93,-117.2,145.6,-18.4,69,671,0.00,2.05,0.00,0.000,6,0.000,0.034,2333,2088,3545,0,0,0,0,0,0
$GC,934,-0.93,-117.2,190.7,-15.7,93,938,0.00,2.05,0.00,0.000,4,0.000,0.038,2333,695,3546,0,0,0,0,0,0
$GC,975,-0.93,-117.2,198.8,-19.6,96,979,0.00,2.08,0.00,0.000,6,0.000,0.045,2325,2073,3546,0,0,0,0,0,0
$GC,1228,-0.93,-117.2,241.1,-15.1,108,1232,0.00,2.15,0.00,0.000,4,0.000,0.051,2313,3502,3547,0,0,0,0,0,0
$GC,1250,-0.93,-117.2,244.6,-15.8,109,1255,0.12,2.08,0.00,0.000,6,0.189,0.032,2343,2090,3547,0,0,0,0,0,0
$GC,1509,-0.93,-117.2,279.1,-12.4,122,1513,0.00,2.05,0.00,0.000,4,0.000,0.038,2344,692,3552,0,0,0,0,0,0
$GC,1610,-0.93,-117.2,291.6,-13.1,126,1617,0.00,2.12,0.00,0.000,6,0.000,0.046,2335,2102,3549,0,0,0,0,0,0
$GC,1861,-0.93,-117.2,318.0,-10.2,135,1865,0.00,2.10,0.00,0.000,4,0.000,0.049,2327,3505,3549,0,0,0,0,0,0
$GC,1972,-0.93,-117.2,331.5,-12.2,137,1976,0.00,2.05,0.00,0.000,6,0.000,0.032,2325,2094,3555,0,0,0,0,0,0
$GC,2234,-0.93,-117.2,364.2,-12.9,144,2238,0.00,2.17,0.00,0.000,4,0.000,0.053,2314,3516,3549,0,0,0,0,0,0
$GC,2267,-0.93,-117.2,369.1,-13.9,144,2273,0.12,2.08,0.00,0.000,6,0.193,0.035,2343,2100,3549,0,0,0,0,0,0
$GC,2517,-0.93,-117.2,399.6,-12.0,151,2521,0.00,2.10,0.00,0.000,4,0.000,0.043,2344,700,3547,0,0,0,0,0,0
$GC,2652,-0.93,-117.2,415.8,-11.4,154,2656,0.00,2.12,0.00,0.000,6,0.000,0.048,2335,2102,3548,0,0,0,0,0,0
$GC,2930,-0.93,-117.2,443.9,-9.6,161,2934,0.00,2.15,0.00,0.000,4,0.000,0.051,2324,3513,3548,0,0,0,0,0,0
$GC,3037,-0.93,-117.2,454.0,-9.7,163,3041,0.00,2.08,0.00,0.000,6,0.000,0.035,2324,2093,3546,0,0,0,0,0,0
$GC,3297,-0.93,-117.2,478.8,-9.7,170,3301,0.00,2.05,0.00,0.000,4,0.000,0.040,2324,700,3544,0,0,0,0,0,0
$GC,3392,-0.93,-117.2,489.9,-12.4,172,3397,0.12,2.12,0.00,0.000,6,0.200,0.047,2342,2103,3543,0,0,0,0,0,0
$GC,3677,-0.93,-117.2,519.7,-10.7,179,3681,0.00,2.08,0.00,0.000,4,0.000,0.039,2343,697,3541,0,0,0,0,0,0
$GC,3721,-0.93,-117.2,524.7,-10.6,180,3725,0.00,2.12,0.00,0.000,6,0.000,0.046,2334,2102,3540,0,0,0,0,0,0
$GC,4004,-0.93,-117.2,554.4,-10.4,187,4008,0.00,2.12,0.00,0.000,4,0.000,0.054,2323,3512,3538,0,0,0,0,0,0
$GC,4078,-0.93,-117.2,562.7,-10.4,188,4082,0.00,2.05,0.00,0.000,6,0.000,0.035,2323,2103,3537,0,0,0,0,0,0
$GC,4328,-0.93,-117.2,587.8,-9.9,194,4332,0.00,2.10,0.00,0.000,4,0.000,0.044,2324,695,3539,0,0,0,0,0,0
$GC,4412,-0.93,-117.2,597.2,-11.6,196,4417,0.15,2.15,0.00,0.000,6,0.193,0.048,2349,2106,3533,0,0,0,0,0,0
$GC,4697,-0.93,-117.2,623.2,-8.7,203,4701,0.00,2.12,0.00,0.000,4,0.000,0.043,2349,696,3531,0,0,0,0,0,0
$GC,4803,-0.93,-117.2,633.6,-9.2,205,4807,0.00,2.12,0.00,0.000,6,0.000,0.048,2340,2101,3533,0,0,0,0,0,0
$GC,5065,-0.93,-117.2,656.4,-8.7,212,5068,0.00,2.15,0.00,0.000,4,0.000,0.054,2330,3504,3531,0,0,0,0,0,0
$GC,5092,-0.93,-117.2,659.3,-9.2,212,5096,0.00,2.05,0.00,0.000,6,0.000,0.033,2330,2098,3534,0,0,0,0,0,0
$GC,5342,-0.93,-117.2,681.8,-9.0,218,5346,0.00,2.08,0.00,0.000,4,0.000,0.044,2330,698,3529,0,0,0,0,0,0
$GC,5399,-0.93,-117.2,687.0,-9.3,219,5404,0.12,2.15,0.00,0.000,6,0.205,0.050,2348,2101,3526,0,0,0,0,0,0
$GC,5665,-0.93,-117.2,707.4,-7.5,226,5669,0.00,2.12,0.00,0.000,4,0.000,0.041,2348,687,3527,0,0,0,0,0,0
$GC,5727,-0.93,-117.2,712.4,-7.9,227,5731,0.00,2.17,0.00,0.000,6,0.000,0.050,2336,2106,3526,0,0,0,0,0,0
$GC,5994,-0.93,-117.2,733.8,-8.2,234,5998,0.00,2.15,0.00,0.000,4,0.000,0.056,2329,3514,3525,0,0,0,0,0,0
$GC,6049,-0.93,-117.2,738.8,-8.8,235,6053,0.00,2.08,0.00,0.000,6,0.000,0.034,2329,2090,3524,0,0,0,0,0,0
$GC,6322,-0.93,-117.2,763.2,-8.9,242,6326,0.00,2.08,0.00,0.000,4,0.000,0.044,2329,696,3523,0,0,0,0,0,0
$GC,6438,-0.93,-117.2,774.6,-10.2,244,6443,0.08,2.17,0.00,0.000,6,0.189,0.051,2353,2083,3522,0,0,0,0,0,0
$GC,6694,-0.93,-117.2,794.3,-7.4,251,6698,0.00,2.08,0.00,0.000,4,0.000,0.046,2354,704,3521,0,0,0,0,0,0
$GC,6773,-0.93,-117.2,800.4,-8.0,252,6778,0.00,2.15,0.00,0.000,6,0.000,0.050,2345,2103,3521,0,0,0,0,0,0
$GC,7023,-0.93,-117.2,819.3,-7.7,259,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2103,3520,0,0,0,0,0,0
$GC,7266,-0.93,-117.2,837.8,-7.7,265,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2103,3519,0,0,0,0,0,0
$GC,7511,-0.93,-117.2,857.2,-8.1,271,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2103,3521,0,0,0,0,0,0
$GC,7754,-0.93,-117.2,877.1,-8.3,277,7758,0.00,2.10,0.00,0.000,4,0.000,0.044,2346,704,3517,0,0,0,0,0,0
$GC,7866,-0.93,-117.2,887.3,-9.2,279,7870,0.00,2.15,0.00,0.000,6,0.000,0.051,2335,2117,3516,0,0,0,0,0,0
$STATE,8037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8037,begin apogee
$GC,8044,-0.28,0.0,903.0,9.0,284,8144,0.75,0.00,96.35,1.150,6,0.170,0.000,2557,1987,3060,0,0,0,0,0,0
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8149,0.93,117.2,904.9,0.0,286,8258,1.15,0.00,104.68,1.108,6,0.091,0.000,2944,1987,2584,0,0,0,0,0,0
$GC,8475,0.93,117.2,824.1,29.0,294,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1987,2575,0,0,0,0,0,0
$GC,8718,0.93,117.2,753.4,29.2,300,8721,0.00,2.12,0.00,0.000,4,0.000,0.038,2954,582,2572,0,0,0,0,0,0
$GC,8745,0.93,117.2,745.1,30.1,300,8749,0.00,2.15,0.00,0.000,6,0.000,0.037,2955,1989,2571,0,0,0,0,0,0
$GC,9000,0.93,117.2,670.6,29.4,307,9004,0.00,2.20,0.00,0.000,4,0.000,0.054,2953,3398,2571,0,0,0,0,0,0
$GC,9046,0.93,117.2,657.1,29.4,308,9050,0.00,2.12,0.00,0.000,6,0.000,0.031,2961,1977,2571,0,0,0,0,0,0
$GC,9335,0.93,117.2,569.5,30.4,315,9339,0.00,2.17,0.00,0.000,4,0.000,0.049,2957,3399,2572,0,0,0,0,0,0
$GC,9351,0.93,117.2,564.2,30.0,315,9355,0.00,2.12,0.00,0.000,6,0.000,0.032,2966,1985,2570,0,0,0,0,0,0
$GC,9619,0.93,117.2,484.4,29.6,322,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1978,2569,0,0,0,0,0,0
$GC,9862,0.93,117.2,412.6,29.4,328,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1978,2568,0,0,0,0,0,0
$GC,10105,0.93,117.2,345.3,27.6,334,10109,0.00,2.08,0.00,0.000,4,0.000,0.040,2978,586,2566,0,0,0,0,0,0
$GC,10172,0.93,117.2,326.9,26.4,335,10176,0.00,2.10,0.00,0.000,6,0.000,0.035,2978,1994,2565,0,0,0,0,0,0
$GC,10436,0.93,117.2,261.2,25.5,345,10440,0.00,2.15,0.00,0.000,4,0.000,0.050,2970,3399,2565,0,0,0,0,0,0
$GC,10479,0.93,117.2,251.0,22.1,347,10483,0.00,2.08,0.00,0.000,6,0.000,0.031,2979,1985,2564,0,0,0,0,0,0
$GC,10737,0.93,117.2,197.2,21.0,360,10741,0.00,2.15,0.00,0.000,4,0.000,0.048,2975,3397,2564,0,0,0,0,0,0
$GC,10800,0.93,117.2,183.0,22.7,365,10805,0.15,2.08,0.00,0.000,6,0.234,0.030,2957,1976,2564,0,0,0,0,0,0
$GC,11063,0.93,117.2,133.7,17.4,389,11066,0.00,2.05,0.00,0.000,4,0.000,0.038,2965,590,2563,0,0,0,0,0,0
$GC,11272,0.93,117.2,96.6,16.6,408,11276,0.00,2.08,0.00,0.000,6,0.000,0.033,2965,2000,2562,0,0,0,0,0,0
$GC,11539,0.93,117.2,57.3,15.1,432,11543,0.00,2.10,0.00,0.000,4,0.000,0.046,2966,3394,2563,0,0,0,0,0,0
$GC,11777,0.93,117.2,20.9,14.8,459,11784,0.00,2.08,0.00,0.000,6,0.000,0.030,2975,2001,2564,0,0,0,0,0,0
$STATE,11900,end climb,SURFACE_DEPTH_REACHED
$STATE,11900,begin surface coast
$FINISH,-0.0,1.023099
$STATE,11925,end surface coast,CONTROL_FINISHED_OK
$STATE,11925,begin surface
$SM_CCo,11945,83.88,0.490,0,0,1835,300.24
$SM_GC,0.99,0.00,0.00,83.88,0.000,0.000,0.490,53,2134,1835,-8.11,0.90,300.24
$IRIDIUM_FIX,1841.87,-15634.63,030113,101017
$TT8_MAMPS,0.060593
$HUMID,1078954184
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.70
$XPDR_PINGS,11
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343688192
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59983724544
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.370
$10V_AH,10.4,9.581
$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,20.075,122.650,201.025,83.875,0.000,24.099,33.869,381.899,2.750,0.000,14.677,1069.938,8690.604,389.112,2140.023,377.505,33.354,1137.145,0.000,1726.093,0.000,0.541,0.000
$DEVICE_MAMPS,251.576,88.972,1149.733,490.113,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,333.114,0.000,734.930,0.000,0.000,0.000,0.000,13440.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.124,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,23601,486
$CAP_FILE_SIZE,118983,0
$CFSIZE,260165632,202059776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,234836,1849.892,-15631.178,33,0.9,37,9.6