version: 66.07
glider: 513
mission: 7
dive: 81
start: 7 14 111 18 28 25
data:
$ID,513
$MISSION,7
$DIVE,81
$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,-422095.09
$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,53
$R_STBD_OVSHOOT,73
$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,80
$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
$GPS1,140711,181507,1904.867,-15618.824,25,1.9,25,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-80.5
$GPS2,140711,182731,1904.926,-15618.678,10,1.7,15,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.080,0.221
$KALMAN_X,6203.5,141.6,74.6,13026.2,1101.3
$KALMAN_Y,-197822.3,207.5,207.1,134515.4,-3016.5
$MHEAD_RNG_PITCHd_Wd,330.5,137600,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.93,-117.2,0.0,0.0,0,86,0.00,0.00,-52.67,0.000,6,0.000,0.000,37,2132,3608,0,0,0,0,0,0
$GC,90,-0.93,-117.2,4.0,-9.2,9,105,9.90,2.10,0.00,0.000,4,0.255,0.051,2370,3477,3611,0,0,0,0,0,0
$GC,346,-0.93,-117.2,79.8,-22.5,38,354,0.00,2.10,0.00,0.000,6,0.000,0.040,2371,2109,3618,0,0,0,0,0,0
$GC,611,-0.93,-117.2,131.7,-16.8,63,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2104,3616,0,0,0,0,0,0
$GC,874,-0.93,-117.2,174.1,-15.7,88,878,0.00,2.10,0.00,0.000,4,0.000,0.042,2371,694,3619,0,0,0,0,0,0
$GC,969,-0.93,-117.2,188.7,-14.4,96,973,0.00,2.05,0.00,0.000,6,0.000,0.044,2363,2066,3618,0,0,0,0,0,0
$GC,1235,-0.93,-117.2,229.2,-15.7,112,1239,0.00,2.20,0.00,0.000,4,0.000,0.050,2352,3512,3620,0,0,0,0,0,0
$GC,1262,-0.93,-117.2,233.4,-14.6,113,1267,0.15,2.10,0.00,0.000,6,0.180,0.031,2389,2094,3620,0,0,0,0,0,0
$GC,1528,-0.93,-117.2,266.2,-12.3,126,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2090,3621,0,0,0,0,0,0
$GC,1774,-0.93,-117.2,293.5,-10.5,138,1778,0.00,2.05,0.00,0.000,4,0.000,0.041,2389,700,3621,0,0,0,0,0,0
$GC,1881,-0.93,-117.2,305.4,-11.1,142,1885,0.00,2.12,0.00,0.000,6,0.000,0.044,2381,2103,3620,0,0,0,0,0,0
$GC,2141,-0.93,-117.2,332.5,-10.6,149,2145,0.00,2.12,0.00,0.000,4,0.000,0.041,2381,695,3621,0,0,0,0,0,0
$GC,2202,-0.93,-117.2,339.9,-11.7,150,2206,0.00,2.12,0.00,0.000,6,0.000,0.044,2371,2109,3621,0,0,0,0,0,0
$GC,2470,-0.93,-117.2,370.3,-11.2,157,2474,0.00,2.15,0.00,0.000,4,0.000,0.051,2360,3513,3619,0,0,0,0,0,0
$GC,2514,-0.93,-117.2,375.7,-11.6,158,2518,0.10,2.10,0.00,0.000,6,0.179,0.032,2384,2095,3619,0,0,0,0,0,0
$GC,2797,-0.93,-117.2,402.8,-9.1,165,2801,0.00,2.10,0.00,0.000,4,0.000,0.041,2384,692,3617,0,0,0,0,0,0
$GC,2875,-0.93,-117.2,409.9,-9.0,166,2881,0.00,2.12,0.00,0.000,6,0.000,0.044,2376,2099,3614,0,0,0,0,0,0
$GC,3125,-0.93,-117.2,434.0,-9.7,173,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2104,3615,0,0,0,0,0,0
$GC,3369,-0.93,-117.2,457.7,-9.7,179,3373,0.00,2.15,0.00,0.000,4,0.000,0.052,2365,3511,3614,0,0,0,0,0,0
$GC,3431,-0.93,-117.2,464.6,-11.4,180,3435,0.00,2.10,0.00,0.000,6,0.000,0.034,2365,2098,3613,0,0,0,0,0,0
$GC,3691,-0.93,-117.2,494.0,-11.1,187,3695,0.00,2.05,0.00,0.000,4,0.000,0.041,2370,698,3611,0,0,0,0,0,0
$GC,3735,-0.93,-117.2,498.9,-10.6,188,3740,0.12,2.12,0.00,0.000,6,0.188,0.045,2385,2101,3611,0,0,0,0,0,0
$GC,4020,-0.93,-117.2,523.3,-8.4,195,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2101,3609,0,0,0,0,0,0
$GC,4263,-0.93,-117.2,542.6,-7.9,201,4266,0.00,2.12,0.00,0.000,4,0.000,0.044,2385,693,3607,0,0,0,0,0,0
$GC,4314,-0.93,-117.2,546.9,-8.6,202,4318,0.00,2.12,0.00,0.000,6,0.000,0.045,2376,2108,3607,0,0,0,0,0,0
$GC,4593,-0.93,-117.2,572.0,-9.1,209,4596,0.00,2.12,0.00,0.000,4,0.000,0.041,2376,696,3605,0,0,0,0,0,0
$GC,4642,-0.93,-117.2,577.2,-10.2,210,4646,0.00,2.12,0.00,0.000,6,0.000,0.044,2366,2095,3605,0,0,0,0,0,0
$GC,4921,-0.93,-117.2,604.0,-9.6,217,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2095,3602,0,0,0,0,0,0
$GC,5165,-0.93,-117.2,628.0,-9.9,223,5169,0.00,2.12,0.00,0.000,4,0.000,0.046,2366,697,3601,0,0,0,0,0,0
$GC,5209,-0.93,-117.2,632.6,-10.0,224,5214,0.12,2.15,0.00,0.000,6,0.189,0.046,2385,2103,3600,0,0,0,0,0,0
$GC,5493,-0.93,-117.2,655.5,-7.9,231,5497,0.00,2.10,0.00,0.000,4,0.000,0.044,2386,700,3599,0,0,0,0,0,0
$GC,5527,-0.93,-117.2,658.2,-8.1,231,5532,0.00,2.15,0.00,0.000,6,0.000,0.044,2377,2108,3600,0,0,0,0,0,0
$GC,5777,-0.93,-117.2,677.9,-7.8,238,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2108,3597,0,0,0,0,0,0
$GC,6021,-0.93,-117.2,697.7,-8.2,244,6025,0.00,2.10,0.00,0.000,4,0.000,0.043,2377,698,3595,0,0,0,0,0,0
$GC,6066,-0.93,-117.2,701.9,-9.4,245,6070,0.00,2.12,0.00,0.000,6,0.000,0.048,2366,2105,3595,0,0,1,0,0,0
$GC,6343,-0.93,-117.2,726.3,-8.6,252,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2104,3594,0,0,0,0,0,0
$GC,6587,-0.93,-117.2,747.5,-8.8,258,6591,0.00,2.15,0.00,0.000,4,0.000,0.047,2367,692,3593,0,0,0,0,0,0
$GC,6644,-0.93,-117.2,752.4,-8.9,259,6649,0.12,2.15,0.00,0.000,6,0.189,0.048,2386,2100,3593,0,0,0,0,0,0
$GC,6916,-0.93,-117.2,770.4,-6.4,266,6920,0.00,2.20,0.00,0.000,4,0.000,0.058,2377,3510,3590,0,0,0,0,0,0
$GC,6961,-0.93,-117.2,773.5,-7.1,267,6965,0.00,2.10,0.00,0.000,6,0.000,0.036,2377,2102,3590,0,0,0,0,0,0
$GC,7251,-0.93,-117.2,793.1,-6.9,274,7255,0.00,2.12,0.00,0.000,4,0.000,0.046,2377,694,3589,0,0,0,0,0,0
$GC,7357,-0.93,-117.2,801.5,-8.3,276,7360,0.00,2.15,0.00,0.000,6,0.000,0.047,2367,2100,3589,0,0,0,0,0,0
$GC,7619,-0.93,-117.2,821.4,-7.7,283,7623,0.00,2.12,0.00,0.000,4,0.000,0.048,2367,697,3588,0,0,0,0,0,0
$GC,7657,-0.93,-117.2,825.1,-8.9,283,7663,0.12,2.15,0.00,0.000,6,0.196,0.047,2386,2102,3588,0,0,0,0,0,0
$GC,7907,-0.93,-117.2,844.2,-7.6,290,7911,0.00,2.15,0.00,0.000,4,0.000,0.050,2387,697,3587,0,0,0,0,0,0
$GC,7928,-0.93,-117.2,845.9,-7.4,290,7932,0.00,2.15,0.00,0.000,6,0.000,0.045,2378,2099,3587,0,0,0,0,0,0
$GC,8185,-0.93,-117.2,866.7,-8.2,297,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2099,3586,0,0,0,0,0,0
$GC,8428,-0.93,-117.2,886.4,-8.1,303,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2098,3589,0,0,0,0,0,0
$STATE,8628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8628,begin apogee
$GC,8634,-0.28,0.0,902.5,8.0,308,8733,0.70,0.00,95.12,1.147,6,0.151,0.000,2594,1981,3132,0,0,0,0,0,0
$STATE,8735,end apogee,CONTROL_FINISHED_OK
$STATE,8735,begin climb
$GC,8739,0.93,117.2,903.4,0.0,310,8852,1.08,2.38,103.82,1.108,4,0.051,0.051,2998,3399,2651,0,0,0,0,0,0
$GC,8880,0.93,117.2,873.9,31.4,313,8885,0.00,2.22,0.00,0.000,6,0.000,0.031,3008,1996,2648,0,0,0,0,0,0
$GC,9141,0.93,117.2,792.7,31.1,320,9145,0.00,2.25,0.00,0.000,4,0.000,0.048,3007,3409,2643,0,0,0,0,0,0
$GC,9163,0.93,117.2,785.7,31.5,320,9167,0.00,2.20,0.00,0.000,6,0.000,0.031,3012,1987,2643,0,0,0,0,0,0
$GC,9424,0.93,117.2,702.8,31.8,327,9428,0.00,2.20,0.00,0.000,4,0.000,0.049,3015,3399,2641,0,0,0,0,0,0
$GC,9519,0.93,117.2,672.0,30.8,329,9524,0.15,2.15,0.00,0.000,6,0.257,0.030,2994,1978,2640,0,0,0,0,0,0
$GC,9791,0.93,117.2,588.8,30.2,336,9795,0.00,2.22,0.00,0.000,4,0.000,0.048,2981,3402,2639,0,0,0,0,0,0
$GC,9813,0.93,117.2,582.1,30.7,336,9817,0.00,2.10,0.00,0.000,6,0.000,0.030,2993,1991,2640,0,0,0,0,0,0
$GC,10068,0.93,117.2,504.5,30.2,343,10072,0.00,2.22,0.00,0.000,4,0.000,0.050,2993,3405,2639,0,0,0,0,0,0
$GC,10156,0.93,117.2,477.9,30.3,345,10160,0.00,2.12,0.00,0.000,6,0.000,0.030,3003,1986,2639,0,0,0,0,0,0
$GC,10441,0.93,117.2,395.4,29.0,352,10445,0.00,2.17,0.00,0.000,4,0.000,0.045,3003,3406,2637,0,0,0,0,0,0
$GC,10473,0.93,117.2,385.5,29.1,352,10479,0.00,2.12,0.00,0.000,6,0.000,0.030,3010,1984,2638,0,0,0,0,0,0
$GC,10723,0.93,117.2,318.5,26.3,359,10727,0.00,2.20,0.00,0.000,4,0.000,0.046,3014,3405,2636,0,0,0,0,0,0
$GC,10841,0.93,117.2,287.3,25.6,362,10845,0.12,2.10,0.00,0.000,6,0.259,0.028,2999,1987,2636,0,0,0,0,0,0
$GC,11099,0.93,117.2,228.7,22.2,375,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1981,2637,0,0,0,0,0,0
$GC,11353,0.93,117.2,174.5,20.9,392,11357,0.00,2.15,0.00,0.000,4,0.000,0.046,2989,3401,2634,0,0,0,0,0,0
$GC,11447,0.93,117.2,155.9,20.2,400,11451,0.00,2.08,0.00,0.000,6,0.000,0.031,2994,1992,2634,0,0,0,0,0,0
$GC,11713,0.93,117.2,107.4,16.7,424,11717,0.00,2.08,0.00,0.000,4,0.000,0.038,3009,588,2634,0,0,0,0,0,0
$GC,11873,0.93,117.2,77.0,14.4,438,11877,0.00,2.10,0.00,0.000,6,0.000,0.032,3009,2006,2631,0,0,0,0,0,0
$GC,12138,0.93,117.9,41.2,10.0,462,12142,0.00,2.10,0.00,0.000,4,0.000,0.038,3019,578,2632,0,0,0,0,0,0
$GC,12244,0.97,144.2,33.0,8.5,471,12268,0.00,2.10,19.58,0.518,6,0.000,0.033,3019,1998,2542,0,0,0,0,0,0
$STATE,12454,end climb,SURFACE_DEPTH_REACHED
$STATE,12455,begin surface coast
$FINISH,0.1,1.023002
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12502,55.95,0.497,0,0,2109,250.20
$SM_GC,1.75,0.00,0.00,55.95,0.000,0.000,0.497,57,2117,2109,-8.24,0.48,250.20
$IRIDIUM_FIX,1857.82,-15709.65,060113,121210
$TT8_MAMPS,0.200187
$HUMID,1078988799
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.10
$XPDR_PINGS,60
$AR_DIVENUM,81
$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
$24V_AH,24.1,11.349
$10V_AH,10.2,11.243
$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,20.625,124.225,218.525,55.950,0.000,56.472,96.722,308.060,15.000,0.000,17.579,1097.734,9242.544,353.356,2263.044,354.055,33.355,1120.489,0.000,1751.766,0.000,0.540,0.000
$DEVICE_MAMPS,259.246,90.506,1147.432,497.016,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.625,0.000,764.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26865,511
$CAP_FILE_SIZE,123122,0
$CFSIZE,260165632,200724480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140711,215916,1906.320,-15618.706,12,2.7,31,9.6