version: 66.07
glider: 513
mission: 7
dive: 67
start: 7 12 111 14 40 13
data:
$ID,513
$MISSION,7
$DIVE,67
$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,-421853.59
$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,47
$R_STBD_OVSHOOT,66
$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,66
$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
$GPS1,120711,143037,1851.453,-15629.232,32,1.0,33,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-79.0
$GPS2,120711,143920,1851.427,-15629.250,15,1.2,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034,0.232
$KALMAN_X,5826.2,497.7,737.3,-6069.7,-3818.7
$KALMAN_Y,-174445.2,658.3,331.3,85556.3,-6566.3
$MHEAD_RNG_PITCHd_Wd,342.1,157177,-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,-117.2,0.0,0.0,0,92,0.00,0.00,-60.47,0.000,6,0.000,0.000,37,2135,3588,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.4,-7.5,10,110,9.73,2.12,0.00,0.000,4,0.252,0.053,2349,3483,3590,0,0,0,0,0,0
$GC,254,-0.93,-117.2,57.5,-27.2,30,262,0.00,2.12,0.00,0.000,6,0.000,0.036,2348,2103,3594,0,0,0,0,0,0
$GC,519,-0.93,-117.2,123.0,-20.3,55,523,0.00,2.12,0.00,0.000,4,0.000,0.053,2343,3480,3595,0,0,0,0,0,0
$GC,540,-0.93,-117.2,127.0,-19.5,56,544,0.00,2.08,0.00,0.000,6,0.000,0.034,2343,2095,3595,0,0,0,0,0,0
$GC,804,-0.93,-117.2,181.0,-17.9,80,809,0.10,2.12,0.00,0.000,4,0.206,0.051,2356,3480,3597,0,0,0,0,0,0
$GC,889,-0.93,-117.2,196.9,-17.7,87,897,0.00,2.08,0.00,0.000,6,0.000,0.030,2362,2091,3598,0,0,0,0,0,0
$GC,1145,-0.93,-117.2,235.9,-14.8,101,1148,0.00,2.08,0.00,0.000,4,0.000,0.041,2356,706,3600,0,0,0,0,0,0
$GC,1205,-0.93,-117.2,244.6,-12.7,103,1211,0.00,2.08,0.00,0.000,6,0.000,0.044,2346,2070,3600,0,0,0,0,0,0
$GC,1460,-0.93,-117.2,277.7,-13.8,116,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2070,3598,0,0,0,0,0,0
$GC,1727,-0.93,-117.2,311.9,-13.0,127,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2070,3601,0,0,0,0,0,0
$GC,1970,-0.93,-117.2,343.6,-12.7,133,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2070,3601,0,0,0,0,0,0
$GC,2213,-0.93,-117.2,372.0,-11.2,139,2217,0.00,2.05,0.00,0.000,4,0.000,0.044,2343,710,3604,0,0,0,0,0,0
$GC,2247,-0.93,-117.2,376.2,-13.3,139,2252,0.12,2.12,0.00,0.000,6,0.185,0.046,2366,2108,3601,0,0,0,0,0,0
$GC,2497,-0.93,-117.2,404.4,-11.0,145,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2108,3601,0,0,0,0,0,0
$GC,2741,-0.93,-117.2,430.0,-10.3,151,2745,0.00,2.08,0.00,0.000,4,0.000,0.041,2366,702,3599,0,0,0,0,0,0
$GC,2786,-0.93,-117.2,434.5,-10.0,152,2790,0.00,2.12,0.00,0.000,6,0.000,0.044,2358,2108,3599,0,0,0,0,0,0
$GC,3076,-0.93,-117.2,464.5,-10.3,159,3080,0.00,2.12,0.00,0.000,4,0.000,0.053,2348,3508,3596,0,0,0,0,0,0
$GC,3148,-0.93,-117.2,472.9,-10.9,160,3152,0.00,2.05,0.00,0.000,6,0.000,0.034,2347,2108,3595,0,0,0,0,0,0
$GC,3404,-0.93,-117.2,501.2,-11.1,167,3408,0.00,2.12,0.00,0.000,4,0.000,0.045,2347,695,3592,0,0,0,0,0,0
$GC,3432,-0.93,-117.2,504.4,-11.5,167,3437,0.12,2.10,0.00,0.000,6,0.186,0.047,2367,2092,3594,0,0,0,0,0,0
$GC,3682,-0.93,-117.2,529.1,-9.6,173,3686,0.00,2.08,0.00,0.000,4,0.000,0.045,2368,698,3591,0,0,0,0,0,0
$GC,3721,-0.93,-117.2,533.1,-10.0,174,3725,0.00,2.12,0.00,0.000,6,0.000,0.047,2359,2106,3591,0,0,0,0,0,0
$GC,4006,-0.93,-117.2,560.4,-9.5,181,4010,0.00,2.10,0.00,0.000,4,0.000,0.042,2359,695,3587,0,0,0,0,0,0
$GC,4038,-0.93,-117.2,564.1,-10.9,181,4044,0.00,2.15,0.00,0.000,6,0.000,0.045,2349,2107,3587,0,0,0,0,0,0
$GC,4289,-0.93,-117.2,589.0,-9.9,188,4293,0.00,2.12,0.00,0.000,4,0.000,0.043,2349,693,3586,0,0,0,0,0,0
$GC,4311,-0.93,-117.2,591.4,-10.5,188,4316,0.12,2.15,0.00,0.000,6,0.186,0.046,2369,2104,3586,0,0,0,0,0,0
$GC,4572,-0.93,-117.2,615.0,-8.8,195,4576,0.00,2.12,0.00,0.000,4,0.000,0.054,2364,3502,3584,0,0,0,0,0,0
$GC,4593,-0.93,-117.2,617.1,-9.5,195,4597,0.00,2.08,0.00,0.000,6,0.000,0.034,2360,2098,3583,0,0,0,0,0,0
$GC,4855,-0.93,-117.2,641.6,-9.4,202,4859,0.00,2.10,0.00,0.000,4,0.000,0.046,2359,700,3583,0,0,0,0,0,0
$GC,4950,-0.93,-117.2,651.0,-9.8,204,4955,0.00,2.15,0.00,0.000,6,0.000,0.048,2356,2102,3581,0,0,0,0,0,0
$GC,5224,-0.93,-117.2,676.8,-9.4,211,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2101,3579,0,0,0,0,0,0
$GC,5467,-0.93,-117.2,698.9,-9.1,217,5471,0.00,2.12,0.00,0.000,4,0.000,0.048,2350,693,3578,0,0,0,0,0,0
$GC,5511,-0.93,-117.2,703.0,-9.2,218,5516,0.12,2.12,0.00,0.000,6,0.194,0.048,2369,2102,3577,0,0,0,0,0,0
$GC,5790,-0.93,-117.2,724.9,-8.0,225,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2101,3575,0,0,0,0,0,0
$GC,6032,-0.93,-117.2,743.8,-7.6,231,6036,0.00,2.12,0.00,0.000,4,0.000,0.048,2367,702,3574,0,0,0,0,0,0
$GC,6099,-0.93,-117.2,749.4,-8.6,232,6104,0.00,2.15,0.00,0.000,6,0.000,0.048,2361,2102,3574,0,0,0,0,0,0
$GC,6356,-0.93,-117.2,770.2,-8.1,239,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2102,3572,0,0,0,0,0,0
$GC,6599,-0.93,-117.2,789.9,-8.0,245,6603,0.00,2.12,0.00,0.000,4,0.000,0.046,2361,694,3571,0,0,0,0,0,0
$GC,6643,-0.93,-117.2,793.8,-8.9,246,6647,0.00,2.15,0.00,0.000,6,0.000,0.048,2351,2103,3571,0,0,0,0,0,0
$GC,6922,-0.93,-117.2,816.8,-8.3,253,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2106,3568,0,0,0,0,0,0
$GC,7165,-0.93,-117.2,836.7,-8.2,259,7169,0.00,2.12,0.00,0.000,4,0.000,0.045,2351,699,3569,0,0,0,0,0,0
$GC,7282,-0.93,-117.2,847.3,-10.1,261,7286,0.00,2.17,0.00,0.000,6,0.000,0.051,2340,2109,3569,0,0,0,0,0,0
$GC,7539,-0.93,-117.2,870.3,-9.2,268,7543,0.00,2.15,0.00,0.000,4,0.000,0.048,2340,701,3568,0,0,0,0,0,0
$GC,7599,-0.93,-117.2,876.7,-10.4,269,7604,0.15,2.17,0.00,0.000,6,0.189,0.050,2367,2110,3567,0,0,0,0,0,0
$GC,7860,-0.93,-117.2,897.9,-8.0,276,7864,0.00,2.12,0.00,0.000,4,0.000,0.048,2363,701,3569,0,0,0,0,0,0
$STATE,7885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7886,begin apogee
$GC,7894,-0.28,0.0,900.4,8.9,276,7994,0.70,0.00,96.35,1.149,6,0.160,0.000,2574,1993,3110,0,0,0,0,0,0
$STATE,8017,end apogee,CONTROL_FINISHED_OK
$STATE,8017,begin climb
$GC,8019,0.93,117.2,901.5,0.0,279,8133,1.10,2.38,102.97,1.105,4,0.068,0.052,2969,3404,2633,0,0,0,0,0,0
$GC,8143,0.93,117.2,877.1,27.4,282,8148,0.00,2.20,0.00,0.000,6,0.000,0.028,2978,1993,2631,0,0,0,0,0,0
$GC,8427,0.93,117.2,793.3,29.5,289,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1986,2624,0,0,0,0,0,0
$GC,8671,0.93,117.2,721.8,29.4,295,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1986,2623,0,0,0,0,0,0
$GC,8915,0.93,117.2,650.0,29.1,301,8919,0.00,2.20,0.00,0.000,4,0.000,0.054,2978,3400,2621,0,0,0,0,0,0
$GC,8965,0.93,117.2,634.8,28.9,302,8969,0.00,2.12,0.00,0.000,6,0.000,0.032,2988,1977,2621,0,0,0,0,0,0
$GC,9243,0.93,117.2,553.0,29.9,309,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1973,2619,0,0,0,0,0,0
$GC,9488,0.93,117.2,480.1,29.7,315,9492,0.00,2.10,0.00,0.000,4,0.000,0.041,2999,580,2619,0,0,0,0,0,0
$GC,9521,0.93,117.2,469.7,29.2,315,9525,0.00,2.17,0.00,0.000,6,0.000,0.039,2999,2003,2616,0,0,0,0,0,0
$GC,9776,0.93,117.2,394.9,29.5,322,9781,0.12,2.15,0.00,0.000,4,0.246,0.048,2964,3398,2617,0,0,0,0,0,0
$GC,9792,0.93,117.2,390.1,28.4,322,9796,0.00,2.12,0.00,0.000,6,0.000,0.031,2972,1985,2617,0,0,0,0,0,0
$GC,10059,0.93,117.2,324.0,24.6,329,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1981,2617,0,0,0,0,0,0
$GC,10303,0.93,117.2,269.1,21.6,338,10307,0.00,2.08,0.00,0.000,4,0.000,0.040,2984,590,2616,0,0,0,0,0,0
$GC,10376,0.93,117.2,252.9,22.2,341,10380,0.00,2.12,0.00,0.000,6,0.000,0.038,2984,1981,2614,0,0,0,0,0,0
$GC,10635,0.93,117.2,197.9,21.3,354,10639,0.00,2.15,0.00,0.000,4,0.000,0.048,2982,3402,2614,0,0,0,0,0,0
$GC,10762,0.93,117.2,171.4,18.4,365,10766,0.00,2.08,0.00,0.000,6,0.000,0.029,2991,1978,2614,0,0,0,0,0,0
$GC,11028,0.93,117.2,123.5,18.0,389,11032,0.00,2.15,0.00,0.000,4,0.000,0.048,2991,3394,2613,0,0,0,0,0,0
$GC,11277,0.93,118.3,86.2,9.9,411,11285,0.08,2.08,0.00,0.000,6,0.220,0.028,2982,2002,2611,0,0,0,0,0,0
$GC,11540,0.93,118.3,59.3,12.4,436,11544,0.00,2.15,0.00,0.000,4,0.000,0.046,2977,3405,2614,0,0,0,0,0,0
$GC,11711,0.93,118.3,37.3,11.9,451,11715,0.00,2.08,0.00,0.000,6,0.000,0.028,2987,1974,2616,0,0,0,0,0,0
$GC,11969,0.93,118.3,6.7,12.5,493,11977,0.00,2.17,0.00,0.000,4,0.000,0.045,2986,3387,2618,0,0,0,0,0,0
$STATE,11993,end climb,SURFACE_DEPTH_REACHED
$STATE,11993,begin surface coast
$FINISH,0.1,1.023234
$STATE,12015,end surface coast,CONTROL_FINISHED_OK
$STATE,12016,begin surface
$SM_CCo,12037,88.65,0.482,0,0,1883,300.24
$SM_GC,1.07,0.00,0.00,88.65,0.000,0.000,0.482,57,2099,1883,-8.16,-0.03,300.24
$IRIDIUM_FIX,1844.15,-15627.45,040113,050535
$TT8_MAMPS,0.059826
$HUMID,1078894829
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.60
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343524352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59982577664
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.901
$10V_AH,10.2,10.071
$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,20.275,118.750,199.325,88.650,0.000,29.983,34.332,258.238,2.500,0.000,17.799,1055.149,8863.027,374.443,2026.862,333.094,33.355,1094.123,0.000,1659.682,0.000,0.539,0.000
$DEVICE_MAMPS,252.343,54.457,1148.966,481.676,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.205,0.000,781.043,0.000,0.000,0.000,0.000,13405.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.955,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,23599,501
$CAP_FILE_SIZE,114867,0
$CFSIZE,260165632,201715712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,180355,1852.134,-15629.400,39,2.0,39,9.6