version: 66.07
glider: 513
mission: 7
dive: 78
start: 7 14 111 7 5 38
data:
$ID,513
$MISSION,7
$DIVE,78
$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,250
$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,-422030.34
$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,2691
$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,63
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3130
$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,77
$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
$GPS1,140711,065425,1900.450,-15620.650,70,1.1,70,9.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.5
$GPS2,140711,070444,1900.437,-15620.590,10,1.6,10,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.032,0.233
$KALMAN_X,2963.6,222.1,73.9,12847.8,-413.2
$KALMAN_Y,-194835.0,791.6,350.4,122482.3,-4692.9
$MHEAD_RNG_PITCHd_Wd,358.1,144457,-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,-117.2,0.0,0.0,0,86,0.00,0.00,-52.78,0.000,6,0.000,0.000,38,2092,3608,0,0,0,0,0,0
$GC,90,-0.93,-117.2,4.1,-9.5,9,105,9.85,2.25,0.00,0.000,4,0.254,0.053,2364,3519,3611,0,0,0,0,0,0
$GC,302,-0.93,-117.2,67.4,-24.7,34,310,0.00,2.15,0.00,0.000,6,0.000,0.040,2363,2121,3615,0,0,0,0,0,0
$GC,566,-0.93,-117.2,123.9,-20.1,59,570,0.00,2.12,0.00,0.000,4,0.000,0.040,2363,688,3616,0,0,0,0,0,0
$GC,675,-0.93,-117.2,145.4,-18.7,68,683,0.10,2.17,0.00,0.000,6,0.163,0.045,2383,2090,3615,0,0,0,0,0,0
$GC,940,-0.93,-117.2,183.5,-14.1,93,944,0.00,2.17,0.00,0.000,4,0.000,0.049,2374,3511,3619,0,0,0,0,0,0
$GC,972,-0.93,-117.2,189.1,-15.1,95,980,0.00,2.12,0.00,0.000,6,0.000,0.031,2373,2097,3619,0,0,0,0,0,0
$GC,1238,-0.93,-117.2,227.7,-13.9,112,1242,0.00,2.08,0.00,0.000,4,0.000,0.038,2374,685,3621,0,0,0,0,0,0
$GC,1334,-0.93,-117.2,241.2,-13.9,116,1338,0.00,2.12,0.00,0.000,6,0.000,0.041,2364,2110,3624,0,0,0,0,0,0
$GC,1592,-0.93,-117.2,274.0,-11.9,129,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2110,3621,0,0,0,0,0,0
$GC,1861,-0.93,-117.2,306.2,-11.4,141,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2110,3620,0,0,0,0,0,0
$GC,2104,-0.93,-117.2,335.4,-12.0,147,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2110,3621,0,0,0,0,0,0
$GC,2347,-0.93,-117.2,364.7,-11.9,153,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2109,3620,0,0,0,0,0,0
$GC,2591,-0.93,-117.2,394.6,-12.3,159,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2110,3620,0,0,0,0,0,0
$GC,2836,-0.93,-117.2,424.2,-12.1,165,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2110,3617,0,0,0,0,0,0
$GC,3078,-0.93,-117.2,449.7,-10.3,171,3082,0.00,2.10,0.00,0.000,4,0.000,0.040,2369,695,3616,0,0,0,0,0,0
$GC,3151,-0.93,-117.2,457.3,-10.7,172,3156,0.15,2.10,0.00,0.000,6,0.182,0.044,2391,2093,3615,0,0,0,0,0,0
$GC,3402,-0.93,-117.2,477.2,-7.7,178,3406,0.00,2.17,0.00,0.000,4,0.000,0.054,2382,3515,3613,0,0,0,0,0,0
$GC,3435,-0.93,-117.2,480.3,-8.8,178,3440,0.00,2.12,0.00,0.000,6,0.000,0.035,2382,2093,3613,0,0,0,0,0,0
$GC,3685,-0.93,-117.2,503.3,-9.3,185,3688,0.00,2.08,0.00,0.000,4,0.000,0.042,2382,696,3611,0,0,0,0,0,0
$GC,3745,-0.93,-117.2,509.6,-10.1,186,3749,0.00,2.12,0.00,0.000,6,0.000,0.043,2373,2113,3610,0,0,0,0,0,0
$GC,4019,-0.93,-117.2,537.4,-10.2,193,4023,0.00,2.10,0.00,0.000,4,0.000,0.040,2372,695,3609,0,0,0,0,0,0
$GC,4046,-0.93,-117.2,540.3,-10.7,193,4050,0.00,2.15,0.00,0.000,6,0.000,0.044,2363,2089,3608,0,0,0,0,0,0
$GC,4302,-0.93,-117.2,566.1,-10.0,200,4306,0.00,2.17,0.00,0.000,4,0.000,0.054,2352,3519,3606,0,0,0,0,0,0
$GC,4375,-0.93,-117.2,574.1,-10.4,201,4380,0.15,2.10,0.00,0.000,6,0.173,0.035,2391,2096,3603,0,0,0,0,0,0
$GC,4625,-0.93,-117.2,593.8,-7.7,207,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2091,3604,0,0,0,0,0,0
$GC,4869,-0.93,-117.2,612.3,-7.5,213,4873,0.00,2.08,0.00,0.000,4,0.000,0.040,2391,695,3602,0,0,0,0,0,0
$GC,4926,-0.93,-117.2,616.7,-7.7,214,4930,0.00,2.12,0.00,0.000,6,0.000,0.043,2383,2107,3602,0,0,0,0,0,0
$GC,5198,-0.93,-117.2,638.8,-8.2,221,5202,0.00,2.10,0.00,0.000,4,0.000,0.039,2383,691,3600,0,0,0,0,0,0
$GC,5238,-0.93,-117.2,642.5,-9.9,222,5242,0.00,2.12,0.00,0.000,6,0.000,0.044,2371,2097,3600,0,0,0,0,0,0
$GC,5522,-0.93,-117.2,667.8,-8.9,229,5526,0.00,2.15,0.00,0.000,4,0.000,0.054,2362,3504,3598,0,0,0,0,0,0
$GC,5571,-0.93,-117.2,672.6,-9.4,230,5575,0.00,2.10,0.00,0.000,6,0.000,0.034,2361,2093,3597,0,0,0,0,0,0
$GC,5844,-0.93,-117.2,697.1,-8.8,237,5848,0.00,2.08,0.00,0.000,4,0.000,0.043,2362,697,3596,0,0,0,0,0,0
$GC,5878,-0.93,-117.2,700.2,-9.7,237,5884,0.15,2.12,0.00,0.000,6,0.185,0.044,2389,2107,3596,0,0,0,0,0,0
$GC,6128,-0.93,-117.2,718.5,-7.2,244,6132,0.00,2.10,0.00,0.000,4,0.000,0.041,2389,700,3595,0,0,0,0,0,0
$GC,6167,-0.93,-117.2,721.6,-7.8,245,6171,0.00,2.12,0.00,0.000,6,0.000,0.044,2381,2105,3595,0,0,0,0,0,0
$GC,6452,-0.93,-117.2,743.7,-7.9,252,6456,0.00,2.12,0.00,0.000,4,0.000,0.043,2386,683,3594,0,0,0,0,0,0
$GC,6530,-0.93,-117.2,750.5,-8.4,253,6535,0.00,2.15,0.00,0.000,6,0.000,0.046,2370,2099,3593,0,0,0,0,0,0
$GC,6781,-0.93,-117.2,770.9,-7.9,260,6785,0.00,2.12,0.00,0.000,4,0.000,0.046,2370,687,3592,0,0,0,0,0,0
$GC,6814,-0.93,-117.2,773.8,-8.6,260,6820,0.12,2.17,0.00,0.000,6,0.192,0.049,2389,2100,3592,0,0,0,0,0,0
$GC,7064,-0.93,-117.2,790.6,-6.6,267,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2099,3590,0,0,0,0,0,0
$GC,7309,-0.93,-117.2,806.4,-6.5,273,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2099,3588,0,0,0,0,0,0
$GC,7551,-0.93,-117.2,822.3,-6.5,279,7555,0.00,2.15,0.00,0.000,4,0.000,0.048,2390,696,3588,0,0,0,0,0,0
$GC,7601,-0.93,-117.2,826.2,-7.2,280,7606,0.00,2.15,0.00,0.000,6,0.000,0.046,2381,2106,3588,0,0,0,0,0,0
$GC,7875,-0.93,-117.2,845.6,-7.0,287,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2108,3587,0,0,0,0,0,0
$GC,8118,-0.93,-117.2,861.1,-6.3,293,8122,0.00,2.12,0.00,0.000,4,0.000,0.043,2381,696,3587,0,0,0,0,0,0
$GC,8213,-0.93,-117.2,867.7,-7.1,295,8217,0.00,2.15,0.00,0.000,6,0.000,0.045,2371,2108,3587,0,0,0,0,0,0
$GC,8492,-0.93,-117.2,885.1,-6.1,302,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2108,3586,0,0,0,0,0,0
$GC,8735,-0.93,-117.2,899.8,-6.0,308,8739,0.00,2.05,0.00,0.000,3,0.000,0.043,2371,735,3585,0,0,0,0,0,0
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8739,begin apogee
$GC,8747,-0.28,0.0,900.3,6.1,308,8846,0.75,0.00,94.72,1.146,6,0.160,0.000,2593,1993,3131,0,0,0,0,0,0
$STATE,8868,end apogee,CONTROL_FINISHED_OK
$STATE,8868,begin climb
$GC,8872,0.93,117.2,900.1,0.0,310,8984,1.08,2.38,102.97,1.107,4,0.051,0.051,2998,3396,2650,0,0,0,0,0,0
$GC,9034,0.93,117.2,859.6,33.1,313,9040,0.00,2.20,0.00,0.000,6,0.000,0.031,3009,1989,2648,0,0,0,0,0,0
$GC,9285,0.93,117.2,779.8,31.9,320,9289,0.00,2.28,0.00,0.000,4,0.000,0.049,3008,3411,2644,0,0,0,0,0,0
$GC,9345,0.93,117.2,759.3,33.4,321,9350,0.00,2.20,0.00,0.000,6,0.000,0.031,3018,1986,2644,0,0,0,0,0,0
$GC,9612,0.93,117.2,673.6,32.7,328,9616,0.00,2.22,0.00,0.000,4,0.000,0.047,3022,3403,2641,0,0,0,0,0,0
$GC,9669,0.93,117.2,655.5,31.8,329,9673,0.15,2.12,0.00,0.000,6,0.263,0.028,2999,1982,2641,0,0,0,0,0,0
$GC,9940,0.93,117.2,574.5,29.5,336,9944,0.00,2.22,0.00,0.000,4,0.000,0.048,2985,3409,2640,0,0,0,0,0,0
$GC,10013,0.93,117.2,553.7,27.9,337,10017,0.00,2.10,0.00,0.000,6,0.000,0.030,2997,1992,2638,0,0,0,0,0,0
$GC,10269,0.93,117.2,479.9,29.3,344,10273,0.00,2.20,0.00,0.000,4,0.000,0.047,2988,3402,2638,0,0,0,0,0,0
$GC,10318,0.93,117.2,465.0,27.9,345,10322,0.00,2.10,0.00,0.000,6,0.000,0.030,2994,1983,2638,0,0,0,0,0,0
$GC,10596,0.93,117.2,387.8,27.6,352,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1977,2638,0,0,0,0,0,0
$GC,10841,0.93,117.2,320.9,27.7,358,10845,0.00,2.17,0.00,0.000,4,0.000,0.045,2989,3404,2637,0,0,0,0,0,0
$GC,11036,0.93,117.2,269.7,23.8,364,11042,0.00,2.10,0.00,0.000,6,0.000,0.028,2998,1987,2637,0,0,0,0,0,0
$GC,11291,0.93,117.2,210.9,23.1,377,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1981,2635,0,0,0,0,0,0
$GC,11545,0.93,117.2,161.6,18.8,398,11549,0.00,2.08,0.00,0.000,4,0.000,0.036,3009,581,2634,0,0,0,0,0,0
$GC,11618,0.93,117.2,148.4,18.1,404,11622,0.00,2.10,0.00,0.000,6,0.000,0.032,3009,2005,2632,0,0,0,0,0,0
$GC,11883,0.93,117.2,105.7,15.0,428,11887,0.00,2.10,0.00,0.000,4,0.000,0.035,3020,587,2632,0,0,0,0,0,0
$GC,11946,0.93,117.2,95.6,14.8,433,11950,0.00,2.05,0.00,0.000,6,0.000,0.031,3024,1990,2631,0,0,0,0,0,0
$GC,12213,0.93,117.2,63.5,10.0,457,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1991,2632,0,0,0,0,0,0
$GC,12477,0.93,117.2,31.3,13.5,482,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1991,2634,0,0,0,0,0,0
$STATE,12684,end climb,SURFACE_DEPTH_REACHED
$STATE,12684,begin surface coast
$FINISH,0.0,1.023243
$STATE,12707,end surface coast,CONTROL_FINISHED_OK
$STATE,12707,begin surface
$SM_CCo,12727,70.90,0.494,0,0,2111,250.45
$SM_GC,1.15,0.00,0.00,70.90,0.000,0.000,0.494,50,2113,2111,-8.26,0.34,250.45
$IRIDIUM_FIX,1850.98,-15621.45,050113,212157
$TT8_MAMPS,0.258479
$HUMID,1078945152
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.90
$XPDR_PINGS,77
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5574426624
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59588673536
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,11.044
$10V_AH,10.3,10.993
$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,20.425,115.450,197.700,70.900,0.000,27.540,31.736,358.192,19.250,0.000,13.986,1091.673,9415.074,353.943,2195.707,369.597,33.355,1106.177,0.000,1749.321,0.000,0.542,0.000
$DEVICE_MAMPS,263.081,95.875,1145.898,493.948,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.214,0.000,813.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26927,524
$CAP_FILE_SIZE,119432,0
$CFSIZE,260165632,200937472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,104055,1901.745,-15619.920,59,1.6,59,9.6