version: 66.07
glider: 513
mission: 7
dive: 69
start: 7 12 111 21 46 14
data:
$ID,513
$MISSION,7
$DIVE,69
$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,-421886
$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,48
$R_STBD_OVSHOOT,52
$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,68
$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
$GPS1,120711,213554,1852.497,-15628.503,33,1.5,37,9.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-79.1
$GPS2,120711,214520,1852.465,-15628.462,11,1.8,11,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.092,0.216
$KALMAN_X,6530.0,482.5,-279.1,-4352.0,-1131.5
$KALMAN_Y,-179177.0,404.4,523.0,92270.2,-6674.1
$MHEAD_RNG_PITCHd_Wd,13.5,155532,-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,-59.83,0.000,6,0.000,0.000,37,2116,3588,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.6,-7.6,10,110,9.70,2.17,0.00,0.000,4,0.251,0.051,2352,3501,3590,0,0,0,0,0,0
$GC,230,-0.93,-117.2,48.5,-28.3,28,234,0.00,2.12,0.00,0.000,6,0.000,0.041,2354,2109,3593,0,0,0,0,0,0
$GC,492,-0.93,-117.2,122.6,-25.2,52,496,0.00,2.12,0.00,0.000,4,0.000,0.044,2354,695,3592,0,0,0,0,0,0
$GC,547,-0.93,-117.2,136.0,-21.4,56,554,0.00,2.15,0.00,0.000,6,0.000,0.045,2346,2084,3595,0,0,0,0,0,0
$GC,811,-0.93,-117.2,186.6,-17.3,81,815,0.00,2.10,0.00,0.000,4,0.000,0.041,2345,679,3596,0,0,0,0,0,0
$GC,897,-0.93,-117.2,200.8,-15.7,88,901,0.12,2.17,0.00,0.000,6,0.195,0.045,2364,2109,3597,0,0,0,0,0,0
$GC,1161,-0.93,-117.2,234.7,-11.4,101,1165,0.00,2.15,0.00,0.000,4,0.000,0.040,2364,683,3599,0,0,0,0,0,0
$GC,1224,-0.93,-117.2,241.8,-11.1,104,1228,0.00,2.15,0.00,0.000,6,0.000,0.046,2356,2106,3599,0,0,0,0,0,0
$GC,1489,-0.93,-117.2,276.1,-13.2,117,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2106,3600,0,0,0,0,0,0
$GC,1735,-0.93,-117.2,307.0,-12.3,128,1739,0.00,2.12,0.00,0.000,4,0.000,0.042,2362,679,3600,0,0,0,0,0,0
$GC,1807,-0.93,-117.2,317.2,-13.4,129,1811,0.00,2.20,0.00,0.000,6,0.000,0.048,2345,2096,3605,0,0,0,0,0,0
$GC,2063,-0.93,-117.2,351.4,-13.1,136,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2095,3602,0,0,0,0,0,0
$GC,2306,-0.93,-117.2,379.9,-11.5,142,2310,0.00,2.17,0.00,0.000,4,0.000,0.054,2334,3517,3601,0,0,0,0,0,0
$GC,2367,-0.93,-117.2,388.0,-13.1,143,2372,0.12,2.10,0.00,0.000,6,0.182,0.035,2370,2090,3604,0,0,0,0,0,0
$GC,2634,-0.93,-117.2,417.1,-10.5,150,2638,0.00,2.08,0.00,0.000,4,0.000,0.043,2365,694,3599,0,0,0,0,0,0
$GC,2695,-0.93,-117.2,424.0,-11.0,151,2699,0.00,2.12,0.00,0.000,6,0.000,0.046,2357,2102,3602,0,0,0,0,0,0
$GC,2968,-0.93,-117.2,450.7,-9.4,158,2972,0.00,2.12,0.00,0.000,4,0.000,0.041,2358,694,3596,0,0,0,0,0,0
$GC,3002,-0.93,-117.2,454.1,-9.9,158,3007,0.00,2.12,0.00,0.000,6,0.000,0.046,2347,2106,3598,0,0,0,0,0,0
$GC,3251,-0.93,-117.2,481.6,-11.3,165,3255,0.00,2.10,0.00,0.000,4,0.000,0.043,2347,694,3592,0,0,0,0,0,0
$GC,3318,-0.93,-117.2,489.7,-11.7,166,3322,0.00,2.17,0.00,0.000,6,0.000,0.044,2336,2106,3593,0,0,0,0,0,0
$GC,3579,-0.93,-117.2,520.2,-11.7,173,3584,0.12,2.12,0.00,0.000,4,0.196,0.040,2366,686,3591,0,0,0,0,0,0
$GC,3645,-0.93,-117.2,527.9,-11.4,174,3650,0.00,2.17,0.00,0.000,6,0.000,0.045,2358,2091,3591,0,0,0,0,0,0
$GC,3907,-0.93,-117.2,556.8,-11.2,181,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2092,3589,0,0,0,0,0,0
$GC,4151,-0.93,-117.2,582.1,-10.4,187,4155,0.00,2.10,0.00,0.000,4,0.000,0.046,2358,696,3587,0,0,0,0,0,0
$GC,4184,-0.93,-117.2,585.8,-10.6,187,4190,0.00,2.12,0.00,0.000,6,0.000,0.045,2347,2105,3587,0,0,0,0,0,0
$GC,4434,-0.93,-117.2,610.7,-9.9,194,4438,0.00,2.12,0.00,0.000,4,0.000,0.042,2347,689,3584,0,0,0,0,0,0
$GC,4484,-0.93,-117.2,615.7,-10.2,195,4489,0.12,2.15,0.00,0.000,6,0.197,0.048,2372,2100,3584,0,0,0,0,0,0
$GC,4764,-0.93,-117.2,637.1,-7.1,202,4767,0.00,2.17,0.00,0.000,4,0.000,0.058,2357,3502,3582,0,0,0,0,0,0
$GC,4814,-0.93,-117.2,641.0,-8.1,203,4818,0.00,2.08,0.00,0.000,6,0.000,0.035,2358,2087,3582,0,0,0,0,0,0
$GC,5087,-0.93,-117.2,661.6,-7.6,210,5091,0.00,2.08,0.00,0.000,4,0.000,0.045,2357,699,3583,0,0,0,0,0,0
$GC,5137,-0.93,-117.2,665.9,-8.4,211,5141,0.00,2.12,0.00,0.000,6,0.000,0.048,2347,2104,3580,0,0,0,0,0,0
$GC,5409,-0.93,-117.2,689.5,-8.9,218,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2099,3578,0,0,0,0,0,0
$GC,5654,-0.93,-117.2,712.4,-9.3,224,5658,0.00,2.12,0.00,0.000,4,0.000,0.047,2347,700,3577,0,0,0,0,0,0
$GC,5727,-0.93,-117.2,719.7,-9.7,225,5732,0.12,2.15,0.00,0.000,6,0.196,0.048,2366,2103,3575,0,0,0,0,0,0
$GC,5977,-0.93,-117.2,740.3,-8.2,231,5981,0.00,2.12,0.00,0.000,4,0.000,0.045,2366,695,3574,0,0,0,0,0,0
$GC,6000,-0.93,-117.2,742.2,-8.5,231,6004,0.00,2.15,0.00,0.000,6,0.000,0.048,2358,2104,3575,0,0,0,0,0,0
$GC,6255,-0.93,-117.2,764.0,-8.5,238,6259,0.00,2.17,0.00,0.000,4,0.000,0.057,2347,3514,3573,0,0,0,0,0,0
$GC,6283,-0.93,-117.2,766.6,-9.3,238,6287,0.00,2.10,0.00,0.000,6,0.000,0.037,2347,2095,3573,0,0,0,0,0,0
$GC,6539,-0.93,-117.2,790.3,-9.5,245,6543,0.00,2.12,0.00,0.000,4,0.000,0.048,2347,700,3572,0,0,0,0,0,0
$GC,6579,-0.93,-117.2,794.4,-10.1,246,6583,0.12,2.15,0.00,0.000,6,0.196,0.048,2366,2104,3572,0,0,0,0,0,0
$GC,6862,-0.93,-117.2,817.7,-8.1,253,6866,0.00,2.12,0.00,0.000,4,0.000,0.047,2367,699,3570,0,0,0,0,0,0
$GC,6913,-0.93,-117.2,822.1,-8.9,254,6917,0.00,2.15,0.00,0.000,6,0.000,0.047,2358,2106,3570,0,0,0,0,0,0
$GC,7185,-0.93,-117.2,845.1,-8.3,261,7189,0.00,2.12,0.00,0.000,4,0.000,0.048,2358,696,3569,0,0,0,0,0,0
$GC,7225,-0.93,-117.2,848.6,-8.7,262,7229,0.00,2.15,0.00,0.000,6,0.000,0.047,2348,2107,3569,0,0,0,0,0,0
$GC,7510,-0.93,-117.2,872.9,-8.5,269,7514,0.00,2.17,0.00,0.000,4,0.000,0.049,2348,693,3568,0,0,0,0,0,0
$GC,7610,-0.93,-117.2,882.2,-9.2,271,7615,0.12,2.17,0.00,0.000,6,0.195,0.050,2367,2102,3568,0,0,0,0,0,0
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7874,begin apogee
$GC,7881,-0.28,0.0,901.3,7.0,278,7980,0.68,0.00,95.47,1.149,6,0.154,0.000,2574,1971,3112,0,0,0,0,0,0
$STATE,7982,end apogee,CONTROL_FINISHED_OK
$STATE,7982,begin climb
$GC,7985,0.93,117.2,901.5,0.0,280,8099,1.10,2.38,103.85,1.105,4,0.066,0.051,2968,3397,2630,0,0,0,0,0,0
$GC,8116,0.93,117.2,873.8,29.4,283,8120,0.00,2.17,0.00,0.000,6,0.000,0.031,2978,2011,2629,0,0,0,0,0,0
$GC,8394,0.93,117.2,787.0,31.4,290,8398,0.00,2.20,0.00,0.000,4,0.000,0.043,2989,584,2620,0,0,0,0,0,0
$GC,8421,0.93,117.2,778.0,31.6,290,8425,0.00,2.17,0.00,0.000,6,0.000,0.039,2989,1987,2620,0,0,0,0,0,0
$GC,8672,0.93,117.2,700.8,30.9,296,8676,0.00,2.22,0.00,0.000,4,0.000,0.051,2980,3406,2620,0,0,0,0,0,0
$GC,8744,0.93,117.2,678.2,29.8,297,8748,0.00,2.15,0.00,0.000,6,0.000,0.032,2988,1976,2620,0,0,0,0,0,0
$GC,8994,0.93,117.2,603.6,29.5,303,8998,0.00,2.22,0.00,0.000,4,0.000,0.051,2989,3406,2618,0,0,0,0,0,0
$GC,9021,0.93,117.2,595.5,30.4,303,9025,0.00,2.12,0.00,0.000,6,0.000,0.033,2998,1993,2618,0,0,0,0,0,0
$GC,9271,0.93,117.2,522.5,29.0,309,9275,0.00,2.20,0.00,0.000,4,0.000,0.051,2999,3402,2618,0,0,0,0,0,0
$GC,9303,0.93,117.2,512.9,30.4,309,9310,0.15,2.10,0.00,0.000,6,0.240,0.031,2977,1984,2617,0,0,0,0,0,0
$GC,9554,0.93,117.2,448.0,25.4,316,9558,0.00,2.10,0.00,0.000,4,0.000,0.040,2987,578,2616,0,0,0,0,0,0
$GC,9569,0.93,117.2,443.2,26.7,316,9573,0.00,2.15,0.00,0.000,6,0.000,0.038,2984,2002,2615,0,0,0,0,0,0
$GC,9836,0.93,117.2,373.0,25.9,323,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2002,2615,0,0,0,0,0,0
$GC,10080,0.93,117.2,312.2,24.3,329,10084,0.00,2.15,0.00,0.000,4,0.000,0.049,2981,3403,2615,0,0,0,0,0,0
$GC,10102,0.93,117.2,306.9,24.5,329,10106,0.00,2.10,0.00,0.000,6,0.000,0.029,2989,1978,2615,0,0,0,0,0,0
$GC,10360,0.93,117.2,244.6,23.4,341,10364,0.00,2.22,0.00,0.000,4,0.000,0.048,2990,3411,2614,0,0,0,0,0,0
$GC,10507,0.93,117.2,211.1,22.1,347,10513,0.00,2.12,0.00,0.000,6,0.000,0.030,3000,1979,2612,0,0,0,0,0,0
$GC,10768,0.93,117.2,159.1,19.4,369,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1973,2612,0,0,0,0,0,0
$GC,11024,0.93,117.2,116.9,16.3,393,11028,0.00,2.05,0.00,0.000,4,0.000,0.036,3011,594,2612,0,0,0,0,0,0
$GC,11113,0.93,117.2,102.2,16.4,401,11118,0.15,2.08,0.00,0.000,6,0.229,0.031,2979,2008,2609,0,0,0,0,0,0
$GC,11378,0.93,117.2,72.8,11.0,425,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2009,2610,0,0,0,0,0,0
$GC,11641,0.93,117.2,40.7,13.0,450,11645,0.00,2.10,0.00,0.000,4,0.000,0.037,2988,588,2612,0,0,0,0,0,0
$GC,11771,0.93,117.2,24.7,12.5,465,11779,0.00,2.10,0.00,0.000,6,0.000,0.032,2988,1985,2613,0,0,0,0,0,0
$STATE,11944,end climb,SURFACE_DEPTH_REACHED
$STATE,11944,begin surface coast
$FINISH,0.1,1.023077
$STATE,11972,end surface coast,CONTROL_FINISHED_OK
$STATE,11972,begin surface
$SM_CCo,12002,91.38,0.483,0,0,1884,300.24
$SM_GC,0.96,0.00,0.00,91.38,0.000,0.000,0.483,56,2126,1884,-8.19,0.76,300.24
$IRIDIUM_FIX,1844.15,-15627.45,040113,121240
$TT8_MAMPS,0.25311
$HUMID,1078901281
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,68
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6266585088
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59918516224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,10.095
$10V_AH,10.2,10.243
$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,20.350,133.150,199.325,91.375,0.000,32.764,39.422,292.739,17.000,0.000,16.014,1073.575,8760.062,387.003,2101.600,347.473,33.353,1128.705,0.000,1700.777,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,85.904,1148.966,483.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.801,0.000,787.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,23614,502
$CAP_FILE_SIZE,120118,0
$CFSIZE,260165632,201580544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,010931,1853.226,-15627.920,41,1.9,41,9.6