version: 66.07
glider: 513
mission: 7
dive: 68
start: 7 12 111 18 12 52
data:
$ID,513
$MISSION,7
$DIVE,68
$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,-421869.38
$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,49
$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,67
$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
$GPS1,120711,180355,1852.134,-15629.400,39,2.0,39,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.4
$GPS2,120711,181156,1852.117,-15629.389,13,1.1,13,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.155,0.177
$KALMAN_X,6852.8,537.3,402.2,-7044.4,-2196.7
$KALMAN_Y,-176837.0,445.3,347.1,89422.5,-6484.6
$MHEAD_RNG_PITCHd_Wd,31.5,155877,-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,27,-0.93,-117.2,0.0,0.0,0,93,0.00,0.00,-60.72,0.000,6,0.000,0.000,38,2100,3588,0,0,0,0,0,0
$GC,97,-0.93,-117.2,3.1,-5.2,10,111,9.60,2.20,0.00,0.000,4,0.248,0.049,2349,3506,3590,0,0,0,0,0,0
$GC,350,-0.93,-117.2,78.0,-26.2,40,357,0.00,2.12,0.00,0.000,6,0.000,0.036,2352,2117,3594,0,0,0,0,0,0
$GC,613,-0.93,-117.2,138.8,-20.7,65,617,0.00,2.12,0.00,0.000,4,0.000,0.048,2343,3518,3596,0,0,0,0,0,0
$GC,633,-0.93,-117.2,142.7,-20.3,66,637,0.00,2.10,0.00,0.000,6,0.000,0.031,2343,2091,3596,0,0,0,0,0,0
$GC,897,-0.93,-117.2,193.1,-18.2,90,901,0.00,2.15,0.00,0.000,4,0.000,0.050,2333,3506,3597,0,0,0,0,0,0
$GC,990,-0.93,-117.2,211.7,-19.3,95,994,0.15,2.08,0.00,0.000,6,0.183,0.032,2369,2094,3598,0,0,0,0,0,0
$GC,1249,-0.93,-117.2,247.3,-11.5,108,1253,0.00,2.08,0.00,0.000,4,0.000,0.038,2370,688,3600,0,0,0,0,0,0
$GC,1305,-0.93,-117.2,254.0,-12.5,110,1308,0.00,2.15,0.00,0.000,6,0.000,0.045,2362,2108,3600,0,0,0,0,0,0
$GC,1566,-0.93,-117.2,284.5,-12.0,123,1570,0.00,2.10,0.00,0.000,4,0.000,0.040,2364,686,3601,0,0,0,0,0,0
$GC,1719,-0.93,-117.2,304.1,-12.6,129,1723,0.00,2.15,0.00,0.000,6,0.000,0.045,2351,2106,3601,0,0,0,0,0,0
$GC,1980,-0.93,-117.2,338.5,-13.3,136,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2106,3601,0,0,0,0,0,0
$GC,2224,-0.93,-117.2,370.6,-13.0,142,2228,0.00,2.10,0.00,0.000,4,0.000,0.041,2351,693,3601,0,0,0,0,0,0
$GC,2246,-0.93,-117.2,373.8,-13.7,142,2250,0.00,2.12,0.00,0.000,6,0.000,0.045,2341,2096,3601,0,0,0,0,0,0
$GC,2507,-0.93,-117.2,409.7,-14.1,149,2509,0.10,0.00,0.00,0.000,6,0.203,0.000,2366,2096,3601,0,0,0,0,0,0
$GC,2751,-0.93,-117.2,438.2,-11.7,155,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2096,3599,0,0,0,0,0,0
$GC,2995,-0.93,-117.2,464.5,-10.7,161,2999,0.00,2.10,0.00,0.000,4,0.000,0.044,2364,697,3597,0,0,0,0,0,0
$GC,3073,-0.93,-117.2,473.1,-10.7,162,3077,0.00,2.15,0.00,0.000,6,0.000,0.047,2356,2108,3596,0,0,0,0,0,0
$GC,3329,-0.93,-117.2,498.2,-9.3,169,3333,0.00,2.12,0.00,0.000,4,0.000,0.054,2345,3505,3595,0,0,0,0,0,0
$GC,3396,-0.93,-117.2,505.0,-10.3,170,3400,0.00,2.10,0.00,0.000,6,0.000,0.034,2344,2092,3594,0,0,0,0,0,0
$GC,3651,-0.93,-117.2,530.0,-9.6,177,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2087,3590,0,0,0,0,0,0
$GC,3894,-0.93,-117.2,554.5,-10.2,183,3898,0.00,2.08,0.00,0.000,4,0.000,0.044,2346,696,3589,0,0,0,0,0,0
$GC,3990,-0.93,-117.2,565.1,-11.5,185,3995,0.12,2.12,0.00,0.000,6,0.191,0.048,2367,2105,3586,0,0,0,0,0,0
$GC,4263,-0.93,-117.2,592.1,-9.9,192,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2104,3585,0,0,0,0,0,0
$GC,4505,-0.93,-117.2,616.8,-10.3,198,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2104,3585,0,0,0,0,0,0
$GC,4751,-0.93,-117.2,640.1,-9.2,204,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2104,3582,0,0,0,0,0,0
$GC,4993,-0.93,-117.2,661.4,-8.7,210,4997,0.00,2.12,0.00,0.000,4,0.000,0.045,2364,691,3581,0,0,0,0,0,0
$GC,5043,-0.93,-117.2,666.3,-9.7,211,5047,0.00,2.15,0.00,0.000,6,0.000,0.047,2356,2099,3580,0,0,0,0,0,0
$GC,5317,-0.93,-117.2,690.8,-8.9,218,5321,0.00,2.12,0.00,0.000,4,0.000,0.046,2356,696,3579,0,0,0,0,0,0
$GC,5378,-0.93,-117.2,696.8,-9.5,219,5382,0.00,2.15,0.00,0.000,6,0.000,0.048,2346,2104,3578,0,0,0,0,0,0
$GC,5644,-0.93,-117.2,722.0,-9.6,226,5648,0.00,2.12,0.00,0.000,4,0.000,0.045,2345,686,3577,0,0,0,0,0,0
$GC,5685,-0.93,-117.2,725.9,-9.9,227,5690,0.12,2.15,0.00,0.000,6,0.193,0.048,2365,2103,3576,0,0,0,0,0,0
$GC,5968,-0.93,-117.2,748.5,-7.7,234,5972,0.00,2.12,0.00,0.000,4,0.000,0.046,2365,688,3576,0,0,0,0,0,0
$GC,5996,-0.93,-117.2,750.9,-8.2,234,6000,0.00,2.17,0.00,0.000,6,0.000,0.048,2357,2103,3574,0,0,0,0,0,0
$GC,6247,-0.93,-117.2,770.2,-7.7,240,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2103,3572,0,0,0,0,0,0
$GC,6490,-0.93,-117.2,789.6,-8.2,246,6494,0.00,2.17,0.00,0.000,4,0.000,0.056,2346,3514,3571,0,0,0,0,0,0
$GC,6534,-0.93,-117.2,793.6,-9.2,247,6538,0.00,2.10,0.00,0.000,6,0.000,0.037,2346,2093,3570,0,0,0,0,0,0
$GC,6813,-0.93,-117.2,818.1,-8.8,254,6817,0.00,2.17,0.00,0.000,4,0.000,0.058,2335,3503,3570,0,0,0,0,0,0
$GC,6836,-0.93,-117.2,820.2,-8.4,254,6841,0.12,2.08,0.00,0.000,6,0.192,0.035,2365,2096,3570,0,0,0,0,0,0
$GC,7091,-0.93,-117.2,838.6,-7.0,261,7095,0.00,2.08,0.00,0.000,4,0.000,0.045,2365,701,3569,0,0,0,0,0,0
$GC,7181,-0.93,-117.2,845.2,-7.1,263,7185,0.00,2.12,0.00,0.000,6,0.000,0.050,2356,2107,3569,0,0,1,0,0,0
$GC,7459,-0.93,-117.2,865.9,-7.3,270,7463,0.00,2.10,0.00,0.000,4,0.000,0.044,2356,699,3567,0,0,0,0,0,0
$GC,7522,-0.93,-117.2,871.0,-8.4,271,7526,0.00,2.15,0.00,0.000,6,0.000,0.050,2346,2104,3567,0,0,0,0,0,0
$GC,7788,-0.93,-117.2,893.3,-8.6,278,7792,0.00,2.12,0.00,0.000,4,0.000,0.046,2346,694,3566,0,0,0,0,0,0
$GC,7849,-0.93,-117.2,899.2,-10.1,279,7854,0.08,2.17,0.00,0.000,6,0.178,0.048,2369,2088,3566,0,0,0,0,0,0
$STATE,7857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7857,begin apogee
$GC,7864,-0.28,0.0,900.2,9.4,279,7963,0.65,0.00,95.28,1.147,6,0.154,0.000,2574,1985,3114,0,0,0,0,0,0
$STATE,7986,end apogee,CONTROL_FINISHED_OK
$STATE,7986,begin climb
$GC,7988,0.93,117.2,900.9,0.0,282,8097,1.15,0.00,104.60,1.107,6,0.071,0.000,2979,1985,2631,0,0,0,0,0,0
$GC,8319,0.93,117.2,814.8,30.2,291,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1984,2626,0,0,0,0,0,0
$GC,8564,0.93,117.2,742.8,29.4,297,8568,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,3406,2624,0,0,0,0,0,0
$GC,8641,0.93,117.2,719.0,31.2,298,8647,0.00,2.15,0.00,0.000,6,0.000,0.033,2987,1993,2623,0,0,0,0,0,0
$GC,8891,0.93,117.2,644.6,30.3,305,8895,0.00,2.12,0.00,0.000,4,0.000,0.041,2998,579,2621,0,0,0,0,0,0
$GC,8924,0.93,117.2,634.5,30.4,305,8930,0.00,2.15,0.00,0.000,6,0.000,0.038,2998,1998,2619,0,0,0,0,0,0
$GC,9174,0.93,117.2,558.8,30.1,312,9178,0.00,2.17,0.00,0.000,4,0.000,0.052,2995,3402,2619,0,0,0,0,0,0
$GC,9195,0.93,117.2,551.7,31.2,312,9200,0.12,2.12,0.00,0.000,6,0.251,0.031,2975,1985,2619,0,0,0,0,0,0
$GC,9462,0.93,117.2,476.7,27.5,319,9466,0.00,2.17,0.00,0.000,4,0.000,0.048,2968,3403,2619,0,0,0,0,0,0
$GC,9490,0.93,117.2,468.7,27.1,319,9494,0.00,2.10,0.00,0.000,6,0.000,0.031,2978,1983,2619,0,0,0,0,0,0
$GC,9739,0.93,117.2,401.5,26.8,325,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1979,2618,0,0,0,0,0,0
$GC,9983,0.93,117.2,337.9,26.9,331,9987,0.00,2.17,0.00,0.000,4,0.000,0.048,2978,3400,2617,0,0,0,0,0,0
$GC,10005,0.93,117.2,332.1,25.3,331,10009,0.00,2.10,0.00,0.000,6,0.000,0.030,2988,1985,2617,0,0,0,0,0,0
$GC,10261,0.93,117.2,268.4,24.0,341,10265,0.00,2.08,0.00,0.000,4,0.000,0.040,2999,585,2616,0,0,0,0,0,0
$GC,10290,0.93,117.2,262.0,22.7,342,10294,0.00,2.10,0.00,0.000,6,0.000,0.036,2998,1994,2614,0,0,0,0,0,0
$GC,10544,0.93,117.2,206.0,20.0,354,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1996,2615,0,0,0,0,0,0
$GC,10799,0.93,117.2,156.3,17.9,376,10803,0.00,2.12,0.00,0.000,4,0.000,0.048,2999,3391,2613,0,0,0,0,0,0
$GC,10829,0.93,117.2,150.1,22.4,378,10834,0.15,2.08,0.00,0.000,6,0.235,0.029,2977,1989,2614,0,0,0,0,0,0
$GC,11092,0.93,117.2,108.8,14.9,402,11096,0.00,2.08,0.00,0.000,4,0.000,0.038,2986,581,2614,0,0,0,0,0,0
$GC,11218,0.93,117.2,90.3,15.5,413,11222,0.00,2.08,0.00,0.000,6,0.000,0.033,2981,1995,2612,0,0,0,0,0,0
$GC,11485,0.93,117.2,62.8,11.9,437,11489,0.00,2.10,0.00,0.000,4,0.000,0.048,2981,3390,2614,0,0,0,0,0,0
$GC,11527,0.93,117.2,56.7,12.5,440,11536,0.00,2.08,0.00,0.000,6,0.000,0.028,2989,1987,2615,0,0,0,0,0,0
$GC,11791,0.93,117.2,25.4,11.3,468,11799,0.00,2.17,0.00,0.000,4,0.000,0.046,2990,3398,2614,0,0,0,0,0,0
$GC,11827,0.93,117.2,20.3,13.6,474,11835,0.00,2.08,0.00,0.000,6,0.000,0.028,3000,2002,2617,0,0,0,0,0,0
$STATE,11951,end climb,SURFACE_DEPTH_REACHED
$STATE,11951,begin surface coast
$FINISH,0.2,1.023147
$STATE,11970,end surface coast,CONTROL_FINISHED_OK
$STATE,11971,begin surface
$SM_CCo,12000,89.70,0.484,0,0,1887,300.24
$SM_GC,1.10,0.00,0.00,89.70,0.000,0.000,0.484,52,2114,1887,-8.17,0.40,300.24
$IRIDIUM_FIX,1846.42,-15624.46,040113,080822
$TT8_MAMPS,0.060593
$HUMID,1078885797
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,12
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343491584
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59982348288
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,9.995
$10V_AH,10.4,10.163
$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,20.125,119.275,199.875,89.700,0.000,30.417,32.432,226.931,3.000,0.000,15.153,1056.766,8823.643,403.189,1957.477,336.492,33.381,1093.561,0.000,1622.771,0.000,0.539,0.000
$DEVICE_MAMPS,250.809,90.506,1146.665,483.977,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.456,0.000,781.061,0.000,0.000,0.000,0.000,13341.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.916,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,23593,500
$CAP_FILE_SIZE,113897,0
$CFSIZE,260165632,201654272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120711,213554,1852.497,-15628.503,33,1.5,37,9.6