version: 66.07
glider: 513
mission: 7
dive: 74
start: 7 13 111 15 52 56
data:
$ID,513
$MISSION,7
$DIVE,74
$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,-421972.62
$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,39
$R_STBD_OVSHOOT,46
$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,73
$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
$GPS1,130711,154307,1856.340,-15624.906,37,0.8,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.9
$GPS2,130711,155202,1856.318,-15624.877,13,1.0,13,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.158,0.174
$KALMAN_X,3338.7,406.4,216.1,4676.8,-2180.5
$KALMAN_Y,-188927.6,453.8,396.4,109232.9,-5854.3
$MHEAD_RNG_PITCHd_Wd,32.5,149856,-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,23,begin dive
$GC,26,-0.93,-117.2,0.0,0.0,0,91,0.00,0.00,-60.08,0.000,6,0.000,0.000,38,2104,3589,0,0,0,0,0,0
$GC,96,-0.93,-117.2,3.7,-8.3,10,110,9.73,2.17,0.00,0.000,4,0.253,0.040,2370,680,3594,0,0,0,0,0,0
$GC,209,-0.93,-117.2,43.7,-27.8,26,213,0.00,2.17,0.00,0.000,6,0.000,0.042,2362,2088,3597,0,0,0,0,0,0
$GC,472,-0.93,-117.2,111.4,-22.5,50,475,0.00,2.17,0.00,0.000,4,0.000,0.048,2351,3511,3599,0,0,0,0,0,0
$GC,514,-0.93,-117.2,121.8,-20.8,53,522,0.00,2.12,0.00,0.000,6,0.000,0.031,2351,2103,3599,0,0,0,0,0,0
$GC,778,-0.93,-117.2,172.7,-15.3,78,782,0.00,2.10,0.00,0.000,4,0.000,0.041,2357,685,3603,0,0,0,0,0,0
$GC,821,-0.93,-117.2,180.1,-15.7,81,828,0.00,2.17,0.00,0.000,6,0.000,0.043,2346,2107,3600,0,0,0,0,0,0
$GC,1079,-0.93,-117.2,223.0,-17.5,100,1083,0.00,2.12,0.00,0.000,4,0.000,0.048,2334,3512,3602,0,0,0,0,0,0
$GC,1134,-0.93,-117.2,232.7,-16.9,102,1140,0.12,2.10,0.00,0.000,6,0.184,0.032,2364,2094,3603,0,0,0,0,0,0
$GC,1387,-0.93,-117.2,266.8,-11.5,115,1391,0.00,2.05,0.00,0.000,4,0.000,0.038,2364,700,3604,0,0,0,0,0,0
$GC,1428,-0.93,-117.2,271.3,-11.3,117,1432,0.00,2.10,0.00,0.000,6,0.000,0.041,2356,2110,3601,0,0,0,0,0,0
$GC,1692,-0.93,-117.2,301.2,-12.3,130,1696,0.00,2.10,0.00,0.000,4,0.000,0.037,2356,698,3604,0,0,0,0,0,0
$GC,1892,-0.93,-117.2,327.2,-12.0,134,1896,0.00,2.12,0.00,0.000,6,0.000,0.042,2346,2105,3604,0,0,0,0,0,0
$GC,2154,-0.93,-117.2,357.4,-11.3,141,2157,0.00,2.12,0.00,0.000,4,0.000,0.051,2335,3502,3604,0,0,0,0,0,0
$GC,2277,-0.93,-117.2,371.4,-11.6,143,2283,0.12,2.08,0.00,0.000,6,0.180,0.032,2365,2097,3603,0,0,0,0,0,0
$GC,2527,-0.93,-117.2,395.0,-9.3,150,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2091,3602,0,0,0,0,0,0
$GC,2770,-0.93,-117.2,421.6,-11.3,156,2774,0.00,2.05,0.00,0.000,4,0.000,0.039,2365,701,3603,0,0,0,0,0,0
$GC,2894,-0.93,-117.2,437.3,-12.9,158,2900,0.00,2.12,0.00,0.000,6,0.000,0.042,2357,2109,3599,0,0,0,0,0,0
$GC,3144,-0.93,-117.2,468.7,-12.5,165,3148,0.00,2.10,0.00,0.000,4,0.000,0.040,2357,698,3600,0,0,0,0,0,0
$GC,3205,-0.93,-117.2,476.4,-12.6,166,3209,0.00,2.12,0.00,0.000,6,0.000,0.044,2349,2105,3597,0,0,0,0,0,0
$GC,3472,-0.93,-117.2,506.0,-10.7,173,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2105,3595,0,0,0,0,0,0
$GC,3716,-0.93,-117.2,530.2,-9.7,179,3719,0.00,2.10,0.00,0.000,4,0.000,0.044,2347,703,3591,0,0,0,0,0,0
$GC,3771,-0.93,-117.2,535.6,-9.5,180,3776,0.12,2.10,0.00,0.000,6,0.194,0.045,2366,2091,3593,0,0,0,0,0,0
$GC,4044,-0.93,-117.2,559.0,-8.5,187,4048,0.00,2.20,0.00,0.000,4,0.000,0.056,2357,3514,3590,0,0,0,0,0,0
$GC,4139,-0.93,-117.2,568.3,-10.0,189,4143,0.00,2.10,0.00,0.000,6,0.000,0.034,2357,2101,3589,0,0,0,0,0,0
$GC,4411,-0.93,-117.2,594.5,-9.7,196,4415,0.00,2.08,0.00,0.000,4,0.000,0.041,2357,702,3588,0,0,0,0,0,0
$GC,4439,-0.93,-117.2,597.4,-10.1,196,4443,0.00,2.12,0.00,0.000,6,0.000,0.044,2347,2109,3588,0,0,0,0,0,0
$GC,4688,-0.93,-117.2,623.8,-10.6,202,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2109,3586,0,0,0,0,0,0
$GC,4932,-0.93,-117.2,649.3,-10.6,208,4936,0.00,2.12,0.00,0.000,4,0.000,0.042,2347,695,3586,0,0,0,0,0,0
$GC,4999,-0.93,-117.2,656.9,-11.4,209,5004,0.12,2.15,0.00,0.000,6,0.193,0.047,2366,2093,3584,0,0,0,0,0,0
$GC,5260,-0.93,-117.2,682.9,-9.9,216,5263,0.00,2.10,0.00,0.000,4,0.000,0.047,2364,701,3582,0,0,0,0,0,0
$GC,5304,-0.93,-117.2,687.3,-9.7,217,5308,0.00,2.12,0.00,0.000,6,0.000,0.044,2358,2108,3582,0,0,0,0,0,0
$GC,5582,-0.93,-117.2,712.5,-9.0,224,5586,0.00,2.15,0.00,0.000,4,0.000,0.054,2347,3517,3580,0,0,0,0,0,0
$GC,5632,-0.93,-117.2,717.6,-9.9,225,5636,0.00,2.10,0.00,0.000,6,0.000,0.034,2347,2098,3583,0,0,0,0,0,0
$GC,5905,-0.93,-117.2,742.5,-9.2,232,5909,0.00,2.08,0.00,0.000,4,0.000,0.044,2346,702,3578,0,0,0,0,0,0
$GC,5978,-0.93,-117.2,749.5,-9.8,233,5983,0.12,2.12,0.00,0.000,6,0.196,0.046,2366,2099,3577,0,0,0,0,0,0
$GC,6233,-0.93,-117.2,770.0,-8.0,240,6237,0.00,2.12,0.00,0.000,4,0.000,0.049,2366,702,3577,0,0,0,0,0,0
$GC,6295,-0.93,-117.2,775.4,-9.1,241,6299,0.00,2.15,0.00,0.000,6,0.000,0.046,2358,2113,3576,0,0,0,0,0,0
$GC,6562,-0.93,-117.2,797.7,-8.3,248,6566,0.00,2.12,0.00,0.000,4,0.000,0.045,2358,701,3575,0,0,0,0,0,0
$GC,6602,-0.93,-117.2,801.2,-8.6,249,6606,0.00,2.10,0.00,0.000,6,0.000,0.044,2348,2089,3574,0,0,0,0,0,0
$GC,6887,-0.93,-117.2,824.0,-8.0,256,6891,0.00,2.12,0.00,0.000,4,0.000,0.046,2348,701,3573,0,0,0,0,0,0
$GC,6942,-0.93,-117.2,828.9,-8.5,257,6947,0.12,2.12,0.00,0.000,6,0.194,0.046,2365,2107,3570,0,0,0,0,0,0
$GC,7214,-0.93,-117.2,847.4,-6.7,264,7218,0.00,2.12,0.00,0.000,4,0.000,0.045,2366,695,3572,0,0,0,0,0,0
$GC,7242,-0.93,-117.2,849.4,-7.3,264,7246,0.00,2.15,0.00,0.000,6,0.000,0.048,2359,2096,3572,0,0,0,0,0,0
$GC,7492,-0.93,-117.2,867.4,-7.3,270,7496,0.00,2.20,0.00,0.000,4,0.000,0.063,2348,3509,3572,0,0,0,0,0,0
$GC,7587,-0.93,-117.2,875.2,-8.6,272,7591,0.00,2.10,0.00,0.000,6,0.000,0.038,2348,2097,3570,0,0,0,0,0,0
$GC,7866,-0.93,-117.2,899.6,-8.8,279,7870,0.00,2.03,0.00,0.000,3,0.000,0.048,2348,747,3570,0,0,0,0,0,0
$STATE,7870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7878,-0.28,0.0,900.2,8.9,279,7977,0.77,0.00,94.85,1.150,6,0.168,0.000,2575,1987,3113,0,0,0,0,0,0
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7979,begin climb
$GC,7982,0.93,117.2,901.8,0.0,281,8095,1.10,2.38,103.03,1.106,4,0.065,0.054,2966,3402,2633,0,0,0,0,0,0
$GC,8147,0.93,117.2,867.1,29.2,285,8151,0.00,2.20,0.00,0.000,6,0.000,0.028,2975,1984,2630,0,0,0,0,0,0
$GC,8437,0.93,117.2,780.6,29.9,292,8441,0.00,2.28,0.00,0.000,4,0.000,0.055,2976,3402,2625,0,0,0,0,0,0
$GC,8458,0.93,117.2,773.4,30.2,292,8462,0.00,2.12,0.00,0.000,6,0.000,0.031,2982,1992,2625,0,0,0,0,0,0
$GC,8719,0.93,117.2,692.3,31.4,299,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1992,2622,0,0,0,0,0,0
$GC,8963,0.93,117.2,617.3,30.7,305,8967,0.00,2.20,0.00,0.000,4,0.000,0.051,2986,3402,2621,0,0,0,0,0,0
$GC,8980,0.93,117.2,612.0,31.1,305,8984,0.00,2.12,0.00,0.000,6,0.000,0.031,2994,1983,2621,0,0,0,0,0,0
$GC,9240,0.93,117.2,533.9,29.6,312,9244,0.00,2.25,0.00,0.000,4,0.000,0.053,2991,3412,2620,0,0,0,0,0,0
$GC,9284,0.93,117.2,519.9,32.8,313,9289,0.15,2.12,0.00,0.000,6,0.245,0.031,2973,1991,2620,0,0,0,0,0,0
$GC,9568,0.93,117.2,439.1,28.3,320,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1983,2619,0,0,0,0,0,0
$GC,9811,0.93,117.2,370.9,27.7,326,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1982,2618,0,0,0,0,0,0
$GC,10055,0.93,117.2,309.5,24.8,332,10059,0.00,2.10,0.00,0.000,4,0.000,0.042,2983,587,2617,0,0,0,0,0,0
$GC,10088,0.93,117.2,301.2,25.4,332,10094,0.00,2.15,0.00,0.000,6,0.000,0.040,2977,2003,2616,0,0,0,0,0,0
$GC,10341,0.93,117.2,241.9,22.1,344,10345,0.00,2.12,0.00,0.000,4,0.000,0.041,2987,583,2618,0,0,0,0,0,0
$GC,10368,0.93,117.2,235.7,21.4,345,10372,0.00,2.12,0.00,0.000,6,0.000,0.039,2987,1993,2614,0,0,0,0,0,0
$GC,10633,0.93,117.2,185.1,16.5,362,10637,0.00,2.15,0.00,0.000,4,0.000,0.051,2984,3399,2614,0,0,0,0,0,0
$GC,10673,0.93,117.2,176.8,22.3,365,10677,0.00,2.10,0.00,0.000,6,0.000,0.030,2993,1982,2613,0,0,0,0,0,0
$GC,10939,0.93,117.2,126.4,17.7,389,10946,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1977,2614,0,0,0,0,0,0
$GC,11203,0.93,117.2,85.5,11.5,414,11207,0.00,2.20,0.00,0.000,4,0.000,0.051,2993,3403,2614,0,0,0,0,0,0
$GC,11451,0.93,117.2,53.8,12.1,436,11458,0.00,2.10,0.00,0.000,6,0.000,0.026,3009,1990,2615,0,0,0,0,0,0
$GC,11713,0.93,117.2,22.8,12.8,466,11721,0.12,0.00,0.00,0.000,6,0.241,0.000,2978,1984,2615,0,0,0,0,0,0
$STATE,11885,end climb,SURFACE_DEPTH_REACHED
$STATE,11885,begin surface coast
$FINISH,0.1,1.023030
$STATE,11908,end surface coast,CONTROL_FINISHED_OK
$STATE,11908,begin surface
$SM_CCo,11928,88.55,0.486,0,0,1885,300.24
$SM_GC,1.01,0.00,0.00,88.55,0.000,0.000,0.486,56,2117,1885,-8.17,0.48,300.24
$IRIDIUM_FIX,1846.42,-15624.46,050113,060603
$TT8_MAMPS,0.255411
$HUMID,1078918055
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.30
$XPDR_PINGS,70
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5882052608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59731214336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,10.628
$10V_AH,10.3,10.653
$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,20.325,128.000,197.875,88.550,0.000,25.888,36.479,273.097,17.500,0.000,15.203,1074.823,8640.337,375.166,2128.132,342.851,33.352,1146.095,0.000,1769.394,0.000,0.540,0.000
$DEVICE_MAMPS,253.110,74.399,1149.733,485.511,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.683,0.000,797.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,23594,502
$CAP_FILE_SIZE,119044,0
$CFSIZE,260165632,201232384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,191454,1856.974,-15623.801,25,1.0,42,9.6