version: 66.07
glider: 513
mission: 7
dive: 79
start: 7 14 111 10 51 0
data:
$ID,513
$MISSION,7
$DIVE,79
$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,-422062.09
$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,55
$R_STBD_OVSHOOT,50
$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,78
$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
$GPS1,140711,104055,1901.745,-15619.920,59,1.6,59,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.2
$GPS2,140711,105007,1901.807,-15619.851,12,1.5,29,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010,0.235
$KALMAN_X,3547.8,401.2,121.1,13330.3,-179.5
$KALMAN_Y,-195880.9,454.8,311.3,126441.5,-4211.6
$MHEAD_RNG_PITCHd_Wd,352.8,142422,-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,-117.2,0.0,0.0,0,85,0.00,0.00,-53.12,0.000,6,0.000,0.000,36,2108,3606,0,0,0,0,0,0
$GC,90,-0.93,-117.2,3.8,-8.1,9,105,9.88,2.17,0.00,0.000,4,0.254,0.050,2373,3501,3608,0,0,0,0,0,0
$GC,249,-0.93,-117.2,51.7,-23.8,29,253,0.00,2.10,0.00,0.000,6,0.000,0.033,2379,2107,3612,0,0,0,0,0,0
$GC,512,-0.93,-117.2,112.4,-19.3,53,516,0.00,2.15,0.00,0.000,4,0.000,0.041,2379,693,3614,0,0,0,0,0,0
$GC,608,-0.93,-117.2,130.3,-19.7,61,612,0.00,2.12,0.00,0.000,6,0.000,0.045,2370,2090,3612,0,0,0,0,0,0
$GC,872,-0.93,-117.2,178.9,-15.9,85,876,0.00,2.08,0.00,0.000,4,0.000,0.038,2370,686,3616,0,0,0,0,0,0
$GC,925,-0.93,-117.2,187.4,-16.1,89,929,0.12,2.12,0.00,0.000,6,0.194,0.043,2389,2101,3616,0,0,0,0,0,0
$GC,1180,-0.93,-117.2,222.2,-12.5,105,1184,0.00,2.10,0.00,0.000,4,0.000,0.038,2388,687,3618,0,0,0,0,0,0
$GC,1230,-0.93,-117.2,228.5,-12.0,107,1234,0.00,2.12,0.00,0.000,6,0.000,0.042,2383,2109,3618,0,0,0,0,0,0
$GC,1492,-0.93,-117.2,261.1,-13.1,120,1496,0.00,2.10,0.00,0.000,4,0.000,0.037,2383,687,3619,0,0,0,0,0,0
$GC,1576,-0.93,-117.2,272.1,-12.7,124,1580,0.00,2.12,0.00,0.000,6,0.000,0.041,2373,2104,3618,0,0,0,0,0,0
$GC,1845,-0.93,-117.2,305.0,-11.6,136,1849,0.00,2.10,0.00,0.000,4,0.000,0.038,2373,686,3620,0,0,0,0,0,0
$GC,1878,-0.93,-117.2,309.1,-12.4,136,1884,0.00,2.12,0.00,0.000,6,0.000,0.041,2366,2099,3619,0,0,0,0,0,0
$GC,2128,-0.93,-117.2,336.3,-10.5,143,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2099,3620,0,0,0,0,0,0
$GC,2372,-0.93,-117.2,363.0,-11.0,149,2376,0.00,2.15,0.00,0.000,4,0.000,0.054,2351,3509,3619,0,0,0,0,0,0
$GC,2424,-0.93,-117.2,369.4,-12.6,150,2429,0.15,2.10,0.00,0.000,6,0.169,0.035,2390,2094,3619,0,0,0,0,0,0
$GC,2701,-0.93,-117.2,398.2,-10.0,157,2705,0.00,2.05,0.00,0.000,4,0.000,0.039,2392,702,3617,0,0,0,0,0,0
$GC,2802,-0.93,-117.2,409.1,-9.7,159,2806,0.00,2.10,0.00,0.000,6,0.000,0.045,2384,2099,3616,0,0,0,0,0,0
$GC,3075,-0.93,-117.2,436.3,-9.8,166,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2098,3615,0,0,0,0,0,0
$GC,3318,-0.93,-117.2,460.6,-9.8,172,3322,0.00,2.10,0.00,0.000,4,0.000,0.042,2383,697,3613,0,0,0,0,0,0
$GC,3345,-0.93,-117.2,463.4,-9.8,172,3349,0.00,2.15,0.00,0.000,6,0.000,0.044,2374,2107,3613,0,0,0,0,0,0
$GC,3602,-0.93,-117.2,487.5,-9.6,179,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2107,3610,0,0,0,0,0,0
$GC,3845,-0.93,-117.2,511.2,-9.8,185,3849,0.00,2.10,0.00,0.000,4,0.000,0.041,2373,699,3608,0,0,0,0,0,0
$GC,3911,-0.93,-117.2,518.6,-11.5,186,3915,0.00,2.12,0.00,0.000,6,0.000,0.044,2362,2106,3608,0,0,0,0,0,0
$GC,4179,-0.93,-117.2,546.9,-10.5,193,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2105,3606,0,0,0,0,0,0
$GC,4422,-0.93,-117.2,571.0,-9.7,199,4426,0.00,2.10,0.00,0.000,4,0.000,0.041,2362,696,3604,0,0,0,0,0,0
$GC,4522,-0.93,-117.2,581.2,-10.2,201,4526,0.15,2.15,0.00,0.000,6,0.189,0.044,2389,2106,3603,0,0,0,0,0,0
$GC,4795,-0.93,-117.2,602.2,-7.4,208,4799,0.00,2.10,0.00,0.000,4,0.000,0.040,2389,694,3602,0,0,0,0,0,0
$GC,4850,-0.93,-117.2,607.0,-8.3,209,4854,0.00,2.12,0.00,0.000,6,0.000,0.044,2379,2103,3601,0,0,0,0,0,0
$GC,5116,-0.93,-117.2,629.0,-8.0,216,5120,0.00,2.15,0.00,0.000,4,0.000,0.056,2370,3505,3599,0,0,0,0,0,0
$GC,5195,-0.93,-117.2,636.2,-9.5,217,5201,0.00,2.10,0.00,0.000,6,0.000,0.035,2370,2095,3599,0,0,0,0,0,0
$GC,5445,-0.93,-117.2,656.8,-8.1,224,5449,0.00,2.08,0.00,0.000,4,0.000,0.041,2371,696,3597,0,0,0,0,0,0
$GC,5518,-0.93,-117.2,663.0,-8.6,225,5523,0.12,2.15,0.00,0.000,6,0.189,0.048,2390,2106,3597,0,0,0,0,0,0
$GC,5769,-0.93,-117.2,678.6,-6.1,231,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2105,3596,0,0,0,0,0,0
$GC,6012,-0.93,-117.2,693.7,-6.2,237,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2105,3595,0,0,0,0,0,0
$GC,6255,-0.93,-117.2,709.1,-6.4,243,6259,0.00,2.12,0.00,0.000,4,0.000,0.045,2390,701,3593,0,0,0,0,0,0
$GC,6351,-0.93,-117.2,715.8,-7.0,245,6355,0.00,2.12,0.00,0.000,6,0.000,0.047,2382,2102,3593,0,0,0,0,0,0
$GC,6624,-0.93,-117.2,733.8,-6.5,252,6628,0.00,2.10,0.00,0.000,4,0.000,0.044,2382,702,3590,0,0,0,0,0,0
$GC,6692,-0.93,-117.2,738.6,-7.9,253,6696,0.00,2.15,0.00,0.000,6,0.000,0.048,2372,2107,3588,0,0,0,0,0,0
$GC,6947,-0.93,-117.2,758.1,-7.8,260,6951,0.00,2.15,0.00,0.000,4,0.000,0.057,2361,3509,3589,0,0,0,0,0,0
$GC,6970,-0.93,-117.2,760.1,-9.0,260,6975,0.10,2.12,0.00,0.000,6,0.189,0.036,2383,2092,3589,0,0,0,0,0,0
$GC,7227,-0.93,-117.2,779.8,-7.6,267,7231,0.00,2.08,0.00,0.000,4,0.000,0.045,2384,697,3589,0,0,0,0,0,0
$GC,7294,-0.93,-117.2,785.8,-8.8,268,7298,0.00,2.15,0.00,0.000,6,0.000,0.048,2375,2105,3589,0,0,0,0,0,0
$GC,7549,-0.93,-117.2,806.2,-8.0,275,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2107,3588,0,0,0,0,0,0
$GC,7794,-0.93,-117.2,826.0,-8.1,281,7798,0.00,2.15,0.00,0.000,4,0.000,0.047,2375,693,3586,0,0,0,0,0,0
$GC,7952,-0.93,-117.2,840.1,-9.3,284,7956,0.00,2.17,0.00,0.000,6,0.000,0.051,2365,2106,3586,0,0,0,0,0,0
$GC,8219,-0.93,-117.2,862.7,-8.4,291,8223,0.00,2.12,0.00,0.000,4,0.000,0.044,2363,692,3583,0,0,0,0,0,0
$GC,8297,-0.93,-117.2,869.7,-9.5,292,8303,0.12,2.15,0.00,0.000,6,0.193,0.047,2384,2105,3585,0,0,0,0,0,0
$GC,8547,-0.93,-117.2,886.8,-6.6,299,8551,0.00,2.12,0.00,0.000,4,0.000,0.044,2384,698,3584,0,0,0,0,0,0
$GC,8575,-0.93,-117.2,888.8,-7.0,299,8579,0.00,2.15,0.00,0.000,6,0.000,0.046,2375,2101,3585,0,0,0,0,0,0
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8753,-0.28,0.0,900.8,6.9,304,8851,0.73,0.00,94.60,1.149,6,0.150,0.000,2600,1978,3131,0,0,0,0,0,0
$STATE,8866,end apogee,CONTROL_FINISHED_OK
$STATE,8866,begin climb
$GC,8869,0.93,117.2,900.6,0.0,306,8979,1.08,2.38,103.95,1.108,4,0.051,0.048,3005,3400,2652,0,0,0,0,0,0
$GC,9010,0.93,117.2,868.7,32.5,310,9014,0.00,2.17,0.00,0.000,6,0.000,0.028,3015,1997,2649,0,0,0,0,0,0
$GC,9276,0.93,117.2,782.1,32.0,317,9280,0.00,2.20,0.00,0.000,4,0.000,0.046,3016,3401,2644,0,0,0,0,0,0
$GC,9291,0.93,117.2,776.7,32.3,317,9296,0.10,2.17,0.00,0.000,6,0.248,0.028,3003,1992,2643,0,0,0,0,0,0
$GC,9558,0.93,117.2,694.0,31.0,324,9562,0.00,2.22,0.00,0.000,4,0.000,0.050,2992,3402,2641,0,0,0,0,0,0
$GC,9647,0.93,117.2,665.1,33.4,326,9651,0.00,2.12,0.00,0.000,6,0.000,0.030,3001,1983,2641,0,0,0,0,0,0
$GC,9931,0.93,117.2,578.3,30.4,333,9935,0.00,2.22,0.00,0.000,4,0.000,0.049,2992,3409,2640,0,0,0,0,0,0
$GC,9964,0.93,117.2,567.6,30.8,333,9970,0.00,2.10,0.00,0.000,6,0.000,0.031,3001,1999,2640,0,0,0,0,0,0
$GC,10214,0.93,117.2,496.0,28.4,340,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1994,2639,0,0,0,0,0,0
$GC,10458,0.93,117.2,426.6,28.6,346,10462,0.00,2.20,0.00,0.000,4,0.000,0.047,2993,3413,2639,0,0,0,0,0,0
$GC,10554,0.93,117.2,399.1,26.4,348,10558,0.00,2.12,0.00,0.000,6,0.000,0.030,3002,1977,2638,0,0,0,0,0,0
$GC,10825,0.93,117.2,325.8,26.7,355,10829,0.00,2.20,0.00,0.000,4,0.000,0.048,2993,3403,2637,0,0,0,0,0,0
$GC,10877,0.93,117.2,312.4,27.6,356,10881,0.00,2.10,0.00,0.000,6,0.000,0.028,3002,1989,2637,0,0,0,0,0,0
$GC,11138,0.93,117.2,254.4,21.3,367,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1983,2636,0,0,0,0,0,0
$GC,11384,0.93,117.2,200.1,21.7,379,11388,0.00,2.20,0.00,0.000,4,0.000,0.045,2995,3416,2639,0,0,0,0,0,0
$GC,11415,0.93,117.2,193.8,22.2,381,11419,0.00,2.10,0.00,0.000,6,0.000,0.030,3003,1988,2635,0,0,0,0,0,0
$GC,11685,0.93,117.2,142.0,17.3,406,11689,0.00,2.20,0.00,0.000,4,0.000,0.048,3003,3415,2634,0,0,0,0,0,0
$GC,11716,0.93,117.2,136.6,17.2,408,11720,0.00,2.10,0.00,0.000,6,0.000,0.030,3013,1982,2634,0,0,0,0,0,0
$GC,11981,0.93,117.2,95.2,13.5,432,11985,0.00,2.05,0.00,0.000,4,0.000,0.038,3024,584,2634,0,0,0,0,0,0
$GC,12033,0.93,117.2,88.7,12.1,436,12038,0.12,2.12,0.00,0.000,6,0.233,0.033,2999,2014,2632,0,0,0,0,0,0
$GC,12296,0.93,117.2,62.3,10.7,460,12300,0.00,2.12,0.00,0.000,4,0.000,0.038,3008,581,2633,0,0,0,0,0,0
$GC,12466,0.93,117.2,41.5,12.4,475,12470,0.00,2.08,0.00,0.000,6,0.000,0.036,3008,1979,2633,0,0,0,0,0,0
$GC,12730,0.93,117.2,9.4,12.4,515,12738,0.00,2.17,0.00,0.000,4,0.000,0.046,3008,3389,2637,0,0,0,0,0,0
$STATE,12776,end climb,SURFACE_DEPTH_REACHED
$STATE,12776,begin surface coast
$FINISH,0.2,1.023242
$STATE,12797,end surface coast,CONTROL_FINISHED_OK
$STATE,12797,begin surface
$SM_CCo,12833,66.15,0.485,0,0,2109,250.20
$SM_GC,0.76,0.00,0.00,66.15,0.000,0.000,0.485,56,2095,2109,-8.23,-0.14,250.20
$IRIDIUM_FIX,1853.26,-15618.45,060113,010115
$TT8_MAMPS,0.25311
$HUMID,1078906442
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.30
$XPDR_PINGS,68
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5497520128
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59553742848
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,11.139
$10V_AH,10.1,11.076
$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,20.425,136.600,198.550,66.150,0.000,29.424,32.342,274.760,17.000,0.000,31.112,1140.339,9385.161,377.337,2182.312,374.485,33.354,1138.753,0.000,1790.579,0.000,0.540,0.000
$DEVICE_MAMPS,253.877,69.797,1148.966,484.744,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,361.624,0.000,804.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26997,527
$CAP_FILE_SIZE,125216,0
$CFSIZE,260165632,200863744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,142737,1903.177,-15619.365,37,1.0,38,9.6