version: 66.07
glider: 513
mission: 7
dive: 72
start: 7 13 111 8 34 36
data:
$ID,513
$MISSION,7
$DIVE,72
$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,-421938.62
$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,60
$R_STBD_OVSHOOT,59
$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,71
$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
$GPS1,130711,082437,1854.757,-15625.960,31,1.0,32,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.3
$GPS2,130711,083343,1854.710,-15625.997,12,1.7,17,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.069,0.225
$KALMAN_X,5072.5,-187.1,-170.9,1966.2,-634.8
$KALMAN_Y,-185343.1,1020.1,553.8,101945.0,-6731.2
$MHEAD_RNG_PITCHd_Wd,7.4,152318,-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,23,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,-60.03,0.000,6,0.000,0.000,37,2130,3589,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.8,-8.3,10,110,9.73,2.12,0.00,0.000,4,0.252,0.050,2351,3489,3591,0,0,0,0,0,0
$GC,287,-0.93,-117.2,63.0,-26.2,33,291,0.00,2.05,0.00,0.000,6,0.000,0.035,2353,2120,3597,0,0,0,0,0,0
$GC,550,-0.93,-117.2,126.7,-23.1,57,554,0.00,2.10,0.00,0.000,4,0.000,0.052,2344,3486,3599,0,0,0,0,0,0
$GC,634,-0.93,-117.2,144.8,-22.6,64,638,0.00,2.05,0.00,0.000,6,0.000,0.033,2345,2095,3599,0,0,0,0,0,0
$GC,900,-0.93,-117.2,193.9,-17.7,88,904,0.00,2.05,0.00,0.000,4,0.000,0.038,2345,697,3601,0,0,0,0,0,0
$GC,949,-0.93,-117.2,203.6,-17.4,91,954,0.12,2.08,0.00,0.000,6,0.191,0.042,2364,2086,3601,0,0,0,0,0,0
$GC,1202,-0.93,-117.2,238.7,-13.7,103,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2086,3603,0,0,0,0,0,0
$GC,1450,-0.93,-117.2,269.9,-11.9,115,1454,0.00,2.05,0.00,0.000,4,0.000,0.036,2364,689,3606,0,0,0,0,0,0
$GC,1580,-0.93,-117.2,285.9,-11.8,121,1584,0.00,2.12,0.00,0.000,6,0.000,0.042,2361,2110,3604,0,0,0,0,0,0
$GC,1863,-0.93,-117.2,322.5,-13.0,131,1866,0.00,2.12,0.00,0.000,4,0.000,0.038,2356,681,3604,0,0,0,0,0,0
$GC,1918,-0.93,-117.2,330.4,-14.3,132,1922,0.00,2.12,0.00,0.000,6,0.000,0.042,2351,2107,3604,0,0,0,0,0,0
$GC,2191,-0.93,-117.2,365.9,-12.9,139,2195,0.00,2.10,0.00,0.000,4,0.000,0.036,2345,691,3603,0,0,0,0,0,0
$GC,2235,-0.93,-117.2,372.2,-14.1,140,2240,0.12,2.10,0.00,0.000,6,0.185,0.044,2366,2102,3604,0,0,0,0,0,0
$GC,2519,-0.93,-117.2,404.7,-10.9,147,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2103,3601,0,0,0,0,0,0
$GC,2763,-0.93,-117.2,428.6,-9.7,153,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2102,3600,0,0,0,0,0,0
$GC,3006,-0.93,-117.2,451.8,-9.5,159,3010,0.00,2.12,0.00,0.000,4,0.000,0.041,2365,685,3598,0,0,0,0,0,0
$GC,3078,-0.93,-117.2,459.3,-10.1,160,3082,0.00,2.12,0.00,0.000,6,0.000,0.046,2357,2095,3598,0,0,0,0,0,0
$GC,3335,-0.93,-117.2,485.9,-10.6,167,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2095,3596,0,0,0,0,0,0
$GC,3578,-0.93,-117.2,510.7,-10.2,173,3582,0.00,2.17,0.00,0.000,4,0.000,0.056,2346,3519,3594,0,0,0,0,0,0
$GC,3633,-0.93,-117.2,517.0,-11.6,174,3637,0.00,2.12,0.00,0.000,6,0.000,0.035,2347,2105,3594,0,0,0,0,0,0
$GC,3906,-0.93,-117.2,547.2,-11.2,181,3910,0.00,2.10,0.00,0.000,4,0.000,0.044,2347,692,3592,0,0,0,0,0,0
$GC,3922,-0.93,-117.2,549.3,-11.8,181,3927,0.12,2.12,0.00,0.000,6,0.189,0.047,2366,2106,3592,0,0,0,0,0,0
$GC,4188,-0.93,-117.2,578.0,-10.7,188,4192,0.00,2.10,0.00,0.000,4,0.000,0.039,2366,692,3589,0,0,0,0,0,0
$GC,4216,-0.93,-117.2,581.2,-11.5,188,4219,0.00,2.12,0.00,0.000,6,0.000,0.044,2358,2105,3589,0,0,0,0,0,0
$GC,4472,-0.93,-117.2,610.0,-11.3,195,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2105,3587,0,0,0,0,0,0
$GC,4715,-0.93,-117.2,636.8,-10.9,201,4719,0.00,2.10,0.00,0.000,4,0.000,0.041,2358,697,3588,0,0,0,0,0,0
$GC,4815,-0.93,-117.2,648.8,-12.1,203,4818,0.00,2.12,0.00,0.000,6,0.000,0.044,2348,2108,3585,0,0,0,0,0,0
$GC,5088,-0.93,-117.2,677.0,-10.0,210,5092,0.00,2.10,0.00,0.000,4,0.000,0.042,2348,694,3583,0,0,0,0,0,0
$GC,5143,-0.93,-117.2,683.0,-10.3,211,5147,0.10,2.12,0.00,0.000,6,0.199,0.046,2360,2101,3582,0,0,0,0,0,0
$GC,5415,-0.93,-117.2,705.2,-7.9,218,5419,0.00,2.15,0.00,0.000,4,0.000,0.054,2351,3517,3581,0,0,0,0,0,0
$GC,5465,-0.93,-117.2,709.2,-7.8,219,5469,0.00,2.10,0.00,0.000,6,0.000,0.034,2352,2088,3584,0,0,0,0,0,0
$GC,5738,-0.93,-117.2,729.9,-7.6,226,5742,0.00,2.10,0.00,0.000,4,0.000,0.044,2351,694,3579,0,0,0,0,0,0
$GC,5800,-0.93,-117.2,735.3,-8.6,227,5804,0.00,2.15,0.00,0.000,6,0.000,0.047,2341,2105,3579,0,0,0,0,0,0
$GC,6066,-0.93,-117.2,757.8,-8.4,234,6071,0.10,2.12,0.00,0.000,4,0.207,0.040,2363,692,3577,0,0,0,0,0,0
$GC,6127,-0.93,-117.2,762.8,-7.7,235,6131,0.00,2.15,0.00,0.000,6,0.000,0.044,2351,2101,3577,0,0,0,0,0,0
$GC,6394,-0.93,-117.2,783.2,-7.7,242,6398,0.00,2.12,0.00,0.000,4,0.000,0.045,2355,694,3575,0,0,1,0,0,0
$GC,6479,-0.93,-117.2,790.2,-8.5,244,6483,0.00,2.12,0.00,0.000,6,0.000,0.046,2344,2101,3575,0,0,0,0,0,0
$GC,6762,-0.93,-117.2,813.4,-8.2,251,6766,0.00,2.12,0.00,0.000,4,0.000,0.044,2344,690,3573,0,0,0,0,0,0
$GC,6803,-0.93,-117.2,816.8,-8.9,252,6808,0.12,2.17,0.00,0.000,6,0.196,0.048,2363,2104,3573,0,0,0,0,0,0
$GC,7087,-0.93,-117.2,837.9,-7.3,259,7091,0.00,2.12,0.00,0.000,4,0.000,0.044,2361,689,3573,0,0,0,0,0,0
$GC,7121,-0.93,-117.2,840.5,-8.3,259,7126,0.00,2.17,0.00,0.000,6,0.000,0.047,2355,2102,3572,0,0,0,0,0,0
$GC,7371,-0.93,-117.2,861.0,-8.3,266,7375,0.00,2.17,0.00,0.000,4,0.000,0.058,2345,3505,3572,0,0,0,0,0,0
$GC,7432,-0.93,-117.2,866.6,-9.1,267,7436,0.00,2.08,0.00,0.000,6,0.000,0.034,2346,2092,3573,0,0,0,0,0,0
$GC,7694,-0.93,-117.2,889.5,-8.8,274,7698,0.00,2.08,0.00,0.000,4,0.000,0.044,2344,698,3570,0,0,0,0,0,0
$GC,7744,-0.93,-117.2,894.4,-9.9,275,7749,0.12,2.12,0.00,0.000,6,0.196,0.048,2363,2101,3570,0,0,0,0,0,0
$STATE,7810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7810,begin apogee
$GC,7816,-0.28,0.0,900.2,8.4,277,7915,0.70,0.00,95.82,1.150,6,0.156,0.000,2578,1979,3110,0,0,0,0,0,0
$STATE,7918,end apogee,CONTROL_FINISHED_OK
$STATE,7918,begin climb
$GC,7921,0.93,117.2,900.6,0.0,279,8028,1.10,0.00,103.35,1.106,6,0.059,0.000,2976,1979,2637,0,0,0,0,0,0
$GC,8256,0.93,117.2,809.7,31.1,288,8260,0.00,2.22,0.00,0.000,4,0.000,0.050,2976,3396,2623,0,0,0,0,0,0
$GC,8334,0.93,117.2,785.3,31.0,289,8340,0.00,2.12,0.00,0.000,6,0.000,0.031,2985,1997,2625,0,0,0,0,0,0
$GC,8585,0.93,117.2,709.8,30.3,296,8589,0.00,2.12,0.00,0.000,4,0.000,0.038,2997,580,2622,0,0,0,0,0,0
$GC,8600,0.93,117.2,704.2,31.2,296,8604,0.00,2.15,0.00,0.000,6,0.000,0.035,2996,2000,2620,0,0,0,0,0,0
$GC,8867,0.93,117.2,620.2,31.5,303,8871,0.00,2.15,0.00,0.000,4,0.000,0.048,2995,3404,2620,0,0,0,0,0,0
$GC,8895,0.93,117.2,611.3,33.3,303,8900,0.12,2.10,0.00,0.000,6,0.248,0.030,2979,1981,2620,0,0,0,0,0,0
$GC,9144,0.93,117.2,536.6,29.7,309,9148,0.00,2.17,0.00,0.000,4,0.000,0.047,2968,3393,2619,0,0,0,0,0,0
$GC,9183,0.93,117.2,524.8,30.5,309,9189,0.00,2.10,0.00,0.000,6,0.000,0.031,2977,1993,2619,0,0,0,0,0,0
$GC,9434,0.93,117.2,454.2,28.2,316,9438,0.00,2.17,0.00,0.000,4,0.000,0.048,2978,3393,2618,0,0,0,0,0,0
$GC,9455,0.93,117.2,447.7,28.0,316,9459,0.00,2.08,0.00,0.000,6,0.000,0.030,2987,1987,2619,0,0,0,0,0,0
$GC,9716,0.93,117.2,379.2,26.2,323,9720,0.00,2.08,0.00,0.000,4,0.000,0.039,2997,588,2617,0,0,0,0,0,0
$GC,9794,0.93,117.2,359.5,26.1,324,9800,0.00,2.12,0.00,0.000,6,0.000,0.036,2997,1993,2616,0,0,0,0,0,0
$GC,10045,0.93,117.2,297.6,24.6,331,10049,0.00,2.15,0.00,0.000,4,0.000,0.048,2997,3402,2616,0,0,0,0,0,0
$GC,10078,0.93,117.2,288.4,27.9,332,10084,0.15,2.08,0.00,0.000,6,0.243,0.030,2975,1991,2616,0,0,0,0,0,0
$GC,10332,0.93,117.2,232.5,20.5,345,10336,0.00,2.10,0.00,0.000,4,0.000,0.040,2984,594,2615,0,0,0,0,0,0
$GC,10410,0.93,117.2,216.9,21.0,348,10415,0.00,2.08,0.00,0.000,6,0.000,0.035,2976,1992,2613,0,0,0,0,0,0
$GC,10670,0.93,117.2,169.8,18.5,368,10674,0.00,2.17,0.00,0.000,4,0.000,0.048,2965,3402,2613,0,0,0,0,0,0
$GC,10744,0.93,117.2,155.4,20.0,374,10748,0.00,2.08,0.00,0.000,6,0.000,0.029,2974,1986,2614,0,0,0,0,0,0
$GC,11008,0.93,117.2,109.9,17.4,398,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1980,2614,0,0,0,0,0,0
$GC,11273,0.93,117.2,76.2,12.3,423,11276,0.00,2.05,0.00,0.000,4,0.000,0.038,2984,588,2614,0,0,0,0,0,0
$GC,11455,0.93,117.2,56.6,10.0,439,11459,0.00,2.08,0.00,0.000,6,0.000,0.032,2985,2005,2613,0,0,0,0,0,0
$GC,11720,0.93,117.2,26.7,12.2,465,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2005,2616,0,0,0,0,0,0
$STATE,11920,end climb,SURFACE_DEPTH_REACHED
$STATE,11920,begin surface coast
$FINISH,0.1,1.022954
$STATE,11949,end surface coast,CONTROL_FINISHED_OK
$STATE,11949,begin surface
$SM_CCo,11970,86.88,0.483,0,0,1886,300.24
$SM_GC,1.19,0.00,0.00,86.88,0.000,0.000,0.483,54,2115,1886,-8.17,0.45,300.24
$IRIDIUM_FIX,1846.42,-15629.54,040113,232337
$TT8_MAMPS,0.249275
$HUMID,1078885797
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.60
$XPDR_PINGS,66
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6035865600
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59808284672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,10.410
$10V_AH,10.3,10.487
$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,20.350,127.225,199.175,86.875,0.000,28.141,39.999,273.839,16.500,0.000,19.424,1077.013,8687.843,409.458,2079.376,356.177,33.351,1132.557,0.000,1722.142,0.000,0.540,0.000
$DEVICE_MAMPS,252.343,104.312,1149.733,483.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.824,0.000,807.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,26855,508
$CAP_FILE_SIZE,117485,0
$CFSIZE,260165632,201371648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130711,115704,1855.479,-15625.498,12,2.2,31,9.6