version: 66.07
glider: 513
mission: 7
dive: 64
start: 7 12 111 3 41 32
data:
$ID,513
$MISSION,7
$DIVE,64
$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,-421801.5
$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,2671
$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,33
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3110
$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,63
$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
$GPS1,120711,032807,1850.583,-15630.716,37,1.0,37,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.4
$GPS2,120711,034038,1850.508,-15630.799,13,1.0,13,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.163,0.169
$KALMAN_X,9731.4,-38.9,252.4,-11635.0,-2128.8
$KALMAN_Y,-168784.0,1079.6,650.2,77441.6,-8097.0
$MHEAD_RNG_PITCHd_Wd,34.2,158412,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.93,-117.2,0.0,0.0,0,94,0.00,0.00,-59.65,0.000,6,0.000,0.000,38,2116,3586,0,0,0,0,0,0
$GC,99,-0.93,-117.2,3.7,-8.0,10,113,9.75,2.20,0.00,0.000,4,0.253,0.054,2350,3519,3588,0,0,0,0,0,0
$GC,179,-0.93,-117.2,34.1,-28.0,24,187,0.00,2.20,0.00,0.000,6,0.000,0.038,2351,2098,3591,0,0,0,0,0,0
$GC,443,-0.93,-117.2,102.1,-25.3,49,447,0.00,2.20,0.00,0.000,4,0.000,0.051,2343,3516,3593,0,0,0,0,0,0
$GC,495,-0.93,-117.2,114.9,-25.0,53,499,0.00,2.15,0.00,0.000,6,0.000,0.035,2343,2081,3593,0,0,0,0,0,0
$GC,759,-0.93,-117.2,167.8,-18.5,77,763,0.00,2.05,0.00,0.000,4,0.000,0.041,2343,698,3594,0,0,0,0,0,0
$GC,780,-0.93,-117.2,172.7,-18.7,78,788,0.10,2.15,0.00,0.000,6,0.171,0.044,2363,2099,3595,0,0,0,0,0,0
$GC,1048,-0.93,-117.2,215.7,-15.4,99,1052,0.00,2.15,0.00,0.000,4,0.000,0.050,2354,3505,3597,0,0,0,0,0,0
$GC,1189,-0.93,-117.2,237.0,-14.5,105,1193,0.00,2.05,0.00,0.000,6,0.000,0.032,2354,2099,3597,0,0,0,0,0,0
$GC,1442,-0.93,-117.2,270.0,-12.2,117,1446,0.00,2.08,0.00,0.000,4,0.000,0.038,2354,694,3598,0,0,0,0,0,0
$GC,1521,-0.93,-117.2,279.8,-12.8,120,1527,0.00,2.12,0.00,0.000,6,0.000,0.044,2345,2111,3598,0,0,0,0,0,0
$GC,1793,-0.93,-117.2,316.1,-13.2,131,1798,0.10,2.10,0.00,0.000,4,0.211,0.051,2357,3506,3598,0,0,0,0,0,0
$GC,1930,-0.93,-117.2,332.7,-12.0,134,1934,0.00,2.10,0.00,0.000,6,0.000,0.031,2357,2094,3598,0,0,0,0,0,0
$GC,2213,-0.93,-117.2,367.6,-12.6,141,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2090,3598,0,0,0,0,0,0
$GC,2457,-0.93,-117.2,395.9,-11.7,147,2460,0.00,2.05,0.00,0.000,4,0.000,0.038,2357,693,3597,0,0,0,0,0,0
$GC,2530,-0.93,-117.2,405.5,-12.7,148,2534,0.00,2.15,0.00,0.000,6,0.000,0.045,2347,2110,3597,0,0,0,0,0,0
$GC,2779,-0.93,-117.2,437.3,-12.5,154,2783,0.00,2.08,0.00,0.000,4,0.000,0.039,2343,699,3594,0,0,0,0,0,0
$GC,2937,-0.93,-117.2,457.8,-12.1,157,2942,0.12,2.12,0.00,0.000,6,0.194,0.044,2367,2100,3594,0,0,0,0,0,0
$GC,3193,-0.93,-117.2,484.5,-10.3,164,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2099,3591,0,0,0,0,0,0
$GC,3436,-0.93,-117.2,509.3,-10.2,170,3440,0.00,2.08,0.00,0.000,4,0.000,0.041,2366,699,3590,0,0,0,0,0,0
$GC,3480,-0.93,-117.2,513.9,-10.5,171,3484,0.00,2.10,0.00,0.000,6,0.000,0.045,2358,2098,3589,0,0,0,0,0,0
$GC,3764,-0.93,-117.2,543.0,-10.2,178,3768,0.00,2.08,0.00,0.000,4,0.000,0.041,2358,701,3586,0,0,0,0,0,0
$GC,3804,-0.93,-117.2,547.2,-10.0,179,3808,0.00,2.12,0.00,0.000,6,0.000,0.045,2347,2108,3587,0,0,0,0,0,0
$GC,4087,-0.93,-117.2,575.6,-9.8,186,4091,0.00,2.10,0.00,0.000,4,0.000,0.041,2347,695,3583,0,0,0,0,0,0
$GC,4109,-0.93,-117.2,577.8,-10.2,186,4114,0.12,2.15,0.00,0.000,6,0.193,0.046,2367,2109,3584,0,0,0,0,0,0
$GC,4370,-0.93,-117.2,599.7,-8.2,193,4374,0.00,2.10,0.00,0.000,4,0.000,0.041,2367,698,3581,0,0,0,0,0,0
$GC,4419,-0.93,-117.2,604.2,-8.5,194,4423,0.00,2.12,0.00,0.000,6,0.000,0.046,2359,2106,3581,0,0,0,0,0,0
$GC,4693,-0.93,-117.2,628.3,-8.9,201,4697,0.00,2.10,0.00,0.000,4,0.000,0.041,2359,696,3579,0,0,0,0,0,0
$GC,4759,-0.93,-117.2,635.0,-9.4,202,4763,0.00,2.15,0.00,0.000,6,0.000,0.047,2349,2106,3578,0,0,0,0,0,0
$GC,5020,-0.93,-117.2,659.9,-9.6,209,5024,0.00,2.10,0.00,0.000,4,0.000,0.041,2348,696,3576,0,0,0,0,0,0
$GC,5099,-0.93,-117.2,667.9,-10.2,210,5105,0.12,2.15,0.00,0.000,6,0.189,0.046,2368,2104,3575,0,0,0,0,0,0
$GC,5349,-0.93,-117.2,687.9,-7.7,217,5353,0.00,2.10,0.00,0.000,4,0.000,0.042,2368,697,3574,0,0,0,0,0,0
$GC,5428,-0.93,-117.2,694.2,-8.5,218,5434,0.00,2.15,0.00,0.000,6,0.000,0.045,2360,2105,3573,0,0,0,0,0,0
$GC,5678,-0.93,-117.2,713.1,-7.4,225,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2105,3571,0,0,0,0,0,0
$GC,5922,-0.93,-117.2,732.6,-8.2,231,5926,0.00,2.10,0.00,0.000,4,0.000,0.043,2360,701,3570,0,0,0,0,0,0
$GC,6007,-0.93,-117.2,740.1,-8.9,233,6011,0.00,2.12,0.00,0.000,6,0.000,0.047,2350,2098,3568,0,0,0,0,0,0
$GC,6297,-0.93,-117.2,765.2,-8.6,240,6301,0.00,2.10,0.00,0.000,4,0.000,0.047,2350,702,3568,0,0,0,0,0,0
$GC,6414,-0.93,-117.2,775.9,-9.1,242,6419,0.12,2.12,0.00,0.000,6,0.194,0.048,2367,2105,3567,0,0,0,0,0,0
$GC,6665,-0.93,-117.2,794.4,-7.4,248,6669,0.00,2.12,0.00,0.000,4,0.000,0.044,2369,698,3567,0,0,0,0,0,0
$GC,6711,-0.93,-117.2,798.2,-8.1,249,6715,0.00,2.12,0.00,0.000,6,0.000,0.046,2366,2100,3566,0,0,0,0,0,0
$GC,7001,-0.93,-117.2,820.3,-7.7,256,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2100,3565,0,0,0,0,0,0
$GC,7244,-0.93,-117.2,839.8,-7.9,262,7248,0.00,2.10,0.00,0.000,4,0.000,0.048,2361,704,3561,0,0,1,0,0,0
$GC,7289,-0.93,-117.2,843.7,-8.9,263,7293,0.00,2.15,0.00,0.000,6,0.000,0.048,2351,2106,3564,0,0,0,0,0,0
$GC,7567,-0.93,-117.2,867.5,-8.6,270,7571,0.00,2.12,0.00,0.000,4,0.000,0.048,2351,698,3562,0,0,0,0,0,0
$GC,7645,-0.93,-117.2,874.5,-9.5,271,7651,0.00,2.12,0.00,0.000,6,0.000,0.047,2340,2100,3562,0,0,0,0,0,0
$GC,7895,-0.93,-117.2,896.2,-8.8,278,7899,0.00,2.10,0.00,0.000,4,0.000,0.048,2340,704,3561,0,0,0,0,0,0
$STATE,7937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7937,begin apogee
$GC,7946,-0.28,0.0,900.4,9.5,279,8045,0.77,0.00,95.07,1.153,6,0.170,0.000,2564,1989,3106,0,0,0,0,0,0
$STATE,8047,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8050,0.93,117.2,901.6,0.0,281,8165,1.20,2.40,103.55,1.108,4,0.079,0.051,2975,3400,2632,0,0,0,0,0,0
$GC,8175,0.93,117.2,876.1,29.6,284,8179,0.00,2.22,0.00,0.000,6,0.000,0.028,2984,1989,2634,0,0,0,0,0,0
$GC,8431,0.93,117.2,796.1,31.3,291,8435,0.00,2.22,0.00,0.000,4,0.000,0.050,2982,3409,2621,0,0,0,0,0,0
$GC,8452,0.93,117.2,789.1,30.8,291,8456,0.00,2.12,0.00,0.000,6,0.000,0.029,2991,1988,2623,0,0,0,0,0,0
$GC,8714,0.93,117.2,710.2,29.8,298,8718,0.00,2.12,0.00,0.000,4,0.000,0.039,3002,591,2622,0,0,0,0,0,0
$GC,8736,0.93,117.2,703.3,29.7,298,8740,0.12,2.15,0.00,0.000,6,0.239,0.038,2977,2008,2621,0,0,0,0,0,0
$GC,9003,0.93,117.2,628.3,27.8,305,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2010,2619,0,0,0,0,0,0
$GC,9246,0.93,117.2,558.9,28.5,311,9250,0.00,2.15,0.00,0.000,4,0.000,0.037,2986,588,2618,0,0,0,0,0,0
$GC,9269,0.93,117.2,552.6,27.7,311,9273,0.00,2.12,0.00,0.000,6,0.000,0.038,2986,1998,2617,0,0,0,0,0,0
$GC,9525,0.93,117.2,482.1,27.8,318,9529,0.00,2.17,0.00,0.000,4,0.000,0.054,2986,3395,2617,0,0,0,0,0,0
$GC,9557,0.93,117.2,472.3,28.4,318,9561,0.00,2.08,0.00,0.000,6,0.000,0.030,2996,1979,2617,0,0,0,0,0,0
$GC,9814,0.93,117.2,405.9,26.0,325,9817,0.00,2.05,0.00,0.000,4,0.000,0.038,3007,596,2616,0,0,0,0,0,0
$GC,9925,0.93,117.2,373.6,26.9,327,9930,0.15,2.10,0.00,0.000,6,0.230,0.036,2975,2000,2614,0,0,0,0,0,0
$GC,10186,0.93,117.2,307.7,25.1,334,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2003,2614,0,0,0,0,0,0
$GC,10434,0.93,117.2,249.4,22.3,345,10438,0.00,2.10,0.00,0.000,4,0.000,0.039,2980,599,2614,0,0,0,0,0,0
$GC,10551,0.93,117.2,226.5,18.5,350,10555,0.00,2.08,0.00,0.000,6,0.000,0.036,2984,1991,2612,0,0,0,0,0,0
$GC,10817,0.93,117.2,176.8,18.8,368,10820,0.00,2.12,0.00,0.000,4,0.000,0.048,2984,3397,2612,0,0,0,0,0,0
$GC,10858,0.93,117.2,167.6,22.2,371,10862,0.00,2.08,0.00,0.000,6,0.000,0.030,2994,1993,2614,0,0,0,0,0,0
$GC,11122,0.93,117.2,116.3,17.5,395,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1987,2612,0,0,0,0,0,0
$GC,11386,0.93,117.2,78.0,14.8,420,11390,0.00,2.12,0.00,0.000,4,0.000,0.046,2994,3401,2612,0,0,0,0,0,0
$GC,11637,0.93,117.2,47.0,12.3,442,11645,0.12,2.08,0.00,0.000,6,0.219,0.027,2972,1995,2614,0,0,0,0,0,0
$GC,11899,0.93,117.2,15.7,13.4,478,11907,0.00,2.12,0.00,0.000,4,0.000,0.042,2957,3387,2616,0,0,0,0,0,0
$STATE,12007,end climb,SURFACE_DEPTH_REACHED
$STATE,12007,begin surface coast
$FINISH,0.1,1.023152
$STATE,12037,end surface coast,CONTROL_FINISHED_OK
$STATE,12037,begin surface
$SM_CCo,12059,88.90,0.488,0,0,1883,300.49
$SM_GC,1.18,0.00,0.00,88.90,0.000,0.000,0.488,50,2112,1883,-8.18,0.34,300.49
$IRIDIUM_FIX,1841.87,-15630.45,030113,212148
$TT8_MAMPS,0.060593
$HUMID,1078909023
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343622656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59983265792
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.578
$10V_AH,10.3,9.778
$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,20.600,131.425,198.625,88.900,0.000,64.936,75.332,349.153,2.500,0.000,15.795,1082.085,8784.722,378.563,2283.272,373.890,33.355,1160.990,0.000,1792.878,0.000,0.542,0.000
$DEVICE_MAMPS,253.110,53.690,1152.801,487.812,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.372,0.000,787.627,0.000,0.000,0.000,0.000,13683.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.274,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,23525,503
$CAP_FILE_SIZE,123080,0
$CFSIZE,260165632,201916416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120711,070530,1850.901,-15630.009,35,1.5,35,9.6