version: 66.07
glider: 513
mission: 7
dive: 73
start: 7 13 111 12 19 44
data:
$ID,513
$MISSION,7
$DIVE,73
$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,-421956.78
$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,50
$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,72
$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
$GPS1,130711,115704,1855.479,-15625.498,12,2.2,31,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.9
$GPS2,130711,121850,1855.453,-15625.435,15,1.2,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.086,0.219
$KALMAN_X,4274.6,154.0,71.5,3165.8,-1022.4
$KALMAN_Y,-187192.2,791.0,325.1,105630.5,-6207.3
$MHEAD_RNG_PITCHd_Wd,11.9,151192,-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,-117.2,0.0,0.0,0,91,0.00,0.00,-60.08,0.000,6,0.000,0.000,35,2112,3589,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.6,-7.7,10,110,9.70,2.17,0.00,0.000,4,0.251,0.054,2351,3500,3592,0,0,0,0,0,0
$GC,135,-0.93,-117.2,21.0,-42.6,16,143,0.00,2.12,0.00,0.000,6,0.000,0.033,2354,2109,3595,0,0,0,0,0,0
$GC,406,-0.93,-117.2,100.8,-24.9,43,410,0.00,2.15,0.00,0.000,4,0.000,0.044,2355,697,3596,0,0,0,0,0,0
$GC,502,-0.93,-117.2,124.5,-21.6,51,506,0.00,2.15,0.00,0.000,6,0.000,0.048,2346,2087,3596,0,0,0,0,0,0
$GC,765,-0.93,-117.2,176.1,-16.7,75,769,0.00,2.17,0.00,0.000,4,0.000,0.051,2335,3524,3598,0,0,0,0,0,0
$GC,786,-0.93,-117.2,180.3,-16.3,76,794,0.10,2.12,0.00,0.000,6,0.173,0.031,2364,2094,3598,0,0,0,0,0,0
$GC,1044,-0.93,-117.2,218.7,-14.7,95,1048,0.00,2.17,0.00,0.000,4,0.000,0.050,2355,3519,3599,0,0,0,0,0,0
$GC,1093,-0.93,-117.2,225.8,-14.2,97,1097,0.00,2.08,0.00,0.000,6,0.000,0.031,2355,2092,3599,0,0,0,0,0,0
$GC,1353,-0.93,-117.2,262.2,-13.4,110,1357,0.00,2.05,0.00,0.000,4,0.000,0.039,2360,697,3600,0,0,0,0,0,0
$GC,1426,-0.93,-117.2,272.5,-14.2,113,1430,0.00,2.10,0.00,0.000,6,0.000,0.044,2345,2109,3600,0,0,0,0,0,0
$GC,1684,-0.93,-117.2,306.6,-13.0,125,1688,0.00,2.08,0.00,0.000,4,0.000,0.038,2344,699,3598,0,0,0,0,0,0
$GC,1735,-0.93,-117.2,313.6,-13.1,126,1740,0.12,2.10,0.00,0.000,6,0.186,0.044,2365,2106,3600,0,0,0,0,0,0
$GC,2007,-0.93,-117.2,342.2,-10.0,133,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2107,3600,0,0,0,0,0,0
$GC,2250,-0.93,-117.2,370.0,-11.5,139,2254,0.00,2.12,0.00,0.000,4,0.000,0.051,2356,3502,3598,0,0,0,0,0,0
$GC,2278,-0.93,-117.2,373.5,-12.2,139,2282,0.00,2.05,0.00,0.000,6,0.000,0.030,2356,2088,3598,0,0,0,0,0,0
$GC,2528,-0.93,-117.2,401.8,-11.1,145,2532,0.00,2.08,0.00,0.000,4,0.000,0.042,2356,708,3596,0,0,0,0,0,0
$GC,2560,-0.93,-117.2,406.0,-11.8,145,2564,0.00,2.10,0.00,0.000,6,0.000,0.045,2346,2100,3595,0,0,0,0,0,0
$GC,2816,-0.93,-117.2,435.3,-11.5,152,2820,0.00,2.08,0.00,0.000,4,0.000,0.041,2346,705,3594,0,0,0,0,0,0
$GC,2940,-0.93,-117.2,450.6,-12.8,154,2946,0.12,2.10,0.00,0.000,6,0.186,0.047,2366,2097,3593,0,0,0,0,0,0
$GC,3190,-0.93,-117.2,475.4,-9.5,161,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2099,3589,0,0,0,0,0,0
$GC,3434,-0.93,-117.2,498.4,-9.3,167,3438,0.00,2.17,0.00,0.000,4,0.000,0.054,2359,3516,3588,0,0,0,0,0,0
$GC,3534,-0.93,-117.2,509.2,-10.6,169,3538,0.00,2.08,0.00,0.000,6,0.000,0.034,2357,2097,3588,0,0,0,0,0,0
$GC,3807,-0.93,-117.2,535.3,-9.3,176,3811,0.00,2.08,0.00,0.000,4,0.000,0.042,2357,693,3584,0,0,0,0,0,0
$GC,3938,-0.93,-117.2,549.2,-10.4,179,3942,0.00,2.12,0.00,0.000,6,0.000,0.044,2346,2103,3584,0,0,0,0,0,0
$GC,4221,-0.93,-117.2,579.2,-10.5,186,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2106,3581,0,0,0,0,0,0
$GC,4465,-0.93,-117.2,606.0,-11.1,192,4469,0.00,2.15,0.00,0.000,4,0.000,0.054,2335,3504,3579,0,0,0,0,0,0
$GC,4499,-0.93,-117.2,610.1,-12.1,192,4505,0.12,2.08,0.00,0.000,6,0.188,0.034,2362,2094,3579,0,0,0,0,0,0
$GC,4749,-0.93,-117.2,634.9,-9.6,199,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2089,3577,0,0,0,0,0,0
$GC,4992,-0.93,-117.2,657.2,-8.9,205,4996,0.00,2.10,0.00,0.000,4,0.000,0.042,2366,690,3576,0,0,0,0,0,0
$GC,5135,-0.93,-117.2,670.8,-9.0,208,5139,0.00,2.15,0.00,0.000,6,0.000,0.045,2358,2108,3578,0,0,0,0,0,0
$GC,5413,-0.93,-117.2,694.0,-8.2,215,5417,0.00,2.12,0.00,0.000,4,0.000,0.042,2358,695,3572,0,0,0,0,0,0
$GC,5440,-0.93,-117.2,696.5,-9.3,215,5444,0.00,2.12,0.00,0.000,6,0.000,0.045,2347,2106,3574,0,0,0,0,0,0
$GC,5697,-0.93,-117.2,717.2,-8.1,222,5701,0.00,2.10,0.00,0.000,4,0.000,0.044,2347,700,3570,0,0,0,0,0,0
$GC,5786,-0.93,-117.2,725.5,-8.5,224,5791,0.12,2.12,0.00,0.000,6,0.196,0.048,2367,2101,3570,0,0,0,0,0,0
$GC,6065,-0.93,-117.2,746.2,-7.5,231,6069,0.00,2.12,0.00,0.000,4,0.000,0.049,2367,693,3570,0,0,1,0,0,0
$GC,6126,-0.93,-117.2,751.3,-8.5,232,6130,0.00,2.12,0.00,0.000,6,0.000,0.046,2359,2103,3566,0,0,0,0,0,0
$GC,6387,-0.93,-117.2,772.0,-7.9,239,6390,0.00,2.12,0.00,0.000,4,0.000,0.044,2358,701,3567,0,0,0,0,0,0
$GC,6443,-0.93,-117.2,776.9,-8.7,240,6447,0.00,2.12,0.00,0.000,6,0.000,0.046,2348,2099,3567,0,0,0,0,0,0
$GC,6710,-0.93,-117.2,800.3,-9.0,247,6714,0.00,2.15,0.00,0.000,4,0.000,0.047,2348,697,3566,0,0,1,0,0,0
$GC,6812,-0.93,-117.2,810.2,-9.8,249,6816,0.12,2.15,0.00,0.000,6,0.192,0.046,2367,2110,3565,0,0,0,0,0,0
$GC,7079,-0.93,-117.2,832.1,-8.1,256,7083,0.00,2.17,0.00,0.000,4,0.000,0.057,2359,3511,3564,0,0,0,0,0,0
$GC,7119,-0.93,-117.2,835.9,-9.1,257,7123,0.00,2.10,0.00,0.000,6,0.000,0.035,2358,2090,3563,0,0,0,0,0,0
$GC,7404,-0.93,-117.2,860.9,-8.8,264,7408,0.00,2.20,0.00,0.000,4,0.000,0.053,2348,3511,3563,0,0,0,0,0,0
$GC,7453,-0.93,-117.2,865.7,-9.3,265,7457,0.00,2.10,0.00,0.000,6,0.000,0.035,2348,2093,3562,0,0,0,0,0,0
$GC,7726,-0.93,-117.2,890.5,-9.1,272,7730,0.00,2.10,0.00,0.000,4,0.000,0.045,2348,698,3561,0,0,0,0,0,0
$GC,7793,-0.93,-117.2,897.2,-10.4,273,7798,0.12,2.15,0.00,0.000,6,0.193,0.046,2367,2105,3561,0,0,0,0,0,0
$STATE,7848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7848,begin apogee
$GC,7854,-0.28,0.0,902.1,8.6,275,7951,0.68,0.00,93.60,1.148,6,0.154,0.000,2575,1953,3112,0,0,0,0,0,0
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7954,begin climb
$GC,7956,0.93,117.2,903.3,0.0,277,8064,1.12,0.00,103.80,1.110,6,0.064,0.000,2975,1953,2632,0,0,0,0,0,0
$GC,8295,0.93,117.2,815.8,29.7,286,8299,0.00,2.28,0.00,0.000,4,0.000,0.052,2975,3394,2625,0,0,0,0,0,0
$GC,8412,0.93,117.2,779.2,30.3,288,8416,0.00,2.10,0.00,0.000,6,0.000,0.031,2985,2009,2624,0,0,0,0,0,0
$GC,8668,0.93,117.2,701.9,30.3,295,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2003,2621,0,0,0,0,0,0
$GC,8911,0.93,117.2,629.8,29.0,301,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2003,2621,0,0,0,0,0,0
$GC,9155,0.93,117.2,560.3,27.9,307,9159,0.00,2.17,0.00,0.000,4,0.000,0.049,2984,3402,2619,0,0,0,0,0,0
$GC,9239,0.93,117.2,537.2,28.2,309,9243,0.00,2.10,0.00,0.000,6,0.000,0.030,2994,1984,2619,0,0,0,0,0,0
$GC,9524,0.93,117.2,460.4,27.0,316,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1979,2618,0,0,0,0,0,0
$GC,9766,0.93,117.2,396.3,26.6,322,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1976,2624,0,0,0,0,0,0
$GC,10010,0.93,117.2,331.5,25.9,328,10014,0.00,2.08,0.00,0.000,4,0.000,0.039,3011,588,2616,0,0,0,0,0,0
$GC,10026,0.93,117.2,327.3,26.5,328,10031,0.15,2.12,0.00,0.000,6,0.230,0.035,2973,1999,2615,0,0,0,0,0,0
$GC,10289,0.93,117.2,267.1,23.4,338,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2004,2616,0,0,0,0,0,0
$GC,10536,0.93,117.2,216.4,19.7,350,10540,0.00,2.10,0.00,0.000,4,0.000,0.040,2982,585,2614,0,0,0,0,0,0
$GC,10554,0.93,117.2,213.2,19.1,351,10558,0.00,2.08,0.00,0.000,6,0.000,0.033,2982,1990,2613,0,0,0,0,0,0
$GC,10815,0.93,117.2,164.6,19.9,372,10819,0.00,2.15,0.00,0.000,4,0.000,0.049,2982,3393,2613,0,0,0,0,0,0
$GC,10936,0.93,117.2,142.8,17.3,382,10943,0.00,2.10,0.00,0.000,6,0.000,0.029,2992,1989,2613,0,0,0,0,0,0
$GC,11202,0.93,117.2,101.4,14.7,407,11206,0.00,2.08,0.00,0.000,4,0.000,0.037,3003,579,2613,0,0,0,0,0,0
$GC,11212,0.93,117.2,98.9,14.9,407,11221,0.10,2.12,0.00,0.000,6,0.214,0.031,2977,1994,2611,0,0,0,0,0,0
$GC,11475,0.93,117.2,64.6,11.4,432,11479,0.00,2.12,0.00,0.000,4,0.000,0.046,2966,3388,2610,0,0,0,0,0,0
$GC,11694,0.93,117.2,36.5,12.9,451,11702,0.00,2.08,0.00,0.000,6,0.000,0.028,2975,1994,2614,0,0,0,0,0,0
$GC,11955,0.93,117.2,5.1,11.4,495,11963,0.00,2.15,0.00,0.000,4,0.000,0.042,2974,3392,2617,0,0,0,0,0,0
$STATE,11974,end climb,SURFACE_DEPTH_REACHED
$STATE,11975,begin surface coast
$FINISH,0.1,1.010724
$STATE,12003,end surface coast,CONTROL_FINISHED_OK
$STATE,12003,begin surface
$SM_CCo,12025,81.12,0.484,0,0,1887,300.24
$SM_GC,1.19,0.00,0.00,81.12,0.000,0.000,0.484,50,2102,1887,-8.18,0.06,300.24
$IRIDIUM_FIX,1848.70,-15626.54,050113,060617
$TT8_MAMPS,0.253877
$HUMID,1078903861
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,67
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5958959104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59772895232
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,10.531
$10V_AH,10.3,10.572
$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,20.250,122.975,197.400,81.125,0.000,161.475,167.083,509.235,16.750,0.000,17.539,1074.286,8994.135,398.632,2540.946,412.900,33.349,1126.818,0.000,1718.542,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,64.428,1148.199,483.977,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.407,0.000,781.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,26955,503
$CAP_FILE_SIZE,125989,0
$CFSIZE,260165632,201293824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130711,154307,1856.340,-15624.906,37,0.8,37,9.6