version: 66.07
glider: 513
mission: 7
dive: 82
start: 7 14 111 22 13 30
data:
$ID,513
$MISSION,7
$DIVE,82
$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,-422131.16
$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,57
$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,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
$GPS1,140711,215916,1906.320,-15618.706,12,2.7,31,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-80.3
$GPS2,140711,221237,1906.426,-15618.532,33,0.9,33,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,0.195
$KALMAN_X,8169.1,-59.4,49.7,11543.7,2139.2
$KALMAN_Y,-199012.0,385.0,154.0,138360.5,-2927.3
$MHEAD_RNG_PITCHd_Wd,316.6,135069,-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,-53.00,0.000,6,0.000,0.000,38,2116,3608,0,0,0,0,0,0
$GC,89,-0.93,-117.2,3.7,-8.3,9,104,9.90,2.17,0.00,0.000,4,0.256,0.051,2369,3498,3610,0,0,0,0,0,0
$GC,293,-0.93,-117.2,64.4,-21.8,33,300,0.00,2.12,0.00,0.000,6,0.000,0.039,2368,2112,3612,0,0,0,0,0,0
$GC,556,-0.93,-117.2,119.7,-21.2,58,560,0.00,2.15,0.00,0.000,4,0.000,0.043,2373,691,3616,0,0,0,0,0,0
$GC,630,-0.93,-117.2,134.7,-18.8,64,635,0.12,2.12,0.00,0.000,6,0.193,0.044,2389,2084,3617,0,0,0,0,0,0
$GC,895,-0.93,-117.2,175.7,-14.8,88,898,0.00,2.10,0.00,0.000,4,0.000,0.040,2392,688,3618,0,0,0,0,0,0
$GC,1024,-0.93,-117.2,195.8,-13.2,99,1031,0.00,2.17,0.00,0.000,6,0.000,0.044,2384,2100,3619,0,0,0,0,0,0
$GC,1289,-0.93,-117.2,228.5,-11.9,114,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2096,3620,0,0,0,0,0,0
$GC,1537,-0.93,-117.2,256.1,-10.9,126,1541,0.00,2.15,0.00,0.000,4,0.000,0.051,2372,3515,3621,0,0,0,0,0,0
$GC,1575,-0.93,-117.2,260.9,-12.1,127,1581,0.00,2.10,0.00,0.000,6,0.000,0.031,2373,2095,3621,0,0,0,0,0,0
$GC,1829,-0.93,-117.2,292.2,-12.5,140,1833,0.00,2.10,0.00,0.000,4,0.000,0.038,2370,682,3621,0,0,0,0,0,0
$GC,1868,-0.93,-117.2,296.8,-11.9,142,1872,0.00,2.15,0.00,0.000,6,0.000,0.043,2362,2105,3621,0,0,0,0,0,0
$GC,2150,-0.93,-117.2,333.1,-13.0,150,2154,0.00,2.10,0.00,0.000,4,0.000,0.044,2362,696,3620,0,0,0,0,0,0
$GC,2194,-0.93,-117.2,339.1,-13.3,151,2199,0.15,2.12,0.00,0.000,6,0.179,0.044,2389,2107,3621,0,0,0,0,0,0
$GC,2484,-0.93,-117.2,368.0,-9.2,158,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2106,3619,0,0,0,0,0,0
$GC,2727,-0.93,-117.2,389.1,-8.6,164,2731,0.00,2.15,0.00,0.000,4,0.000,0.053,2381,3500,3618,0,0,0,0,0,0
$GC,2766,-0.93,-117.2,392.7,-9.7,165,2771,0.00,2.08,0.00,0.000,6,0.000,0.031,2381,2093,3618,0,0,0,0,0,0
$GC,3051,-0.93,-117.2,419.3,-9.3,172,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2088,3615,0,0,0,0,0,0
$GC,3293,-0.93,-117.2,443.0,-10.0,178,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2088,3617,0,0,0,0,0,0
$GC,3537,-0.93,-117.2,469.1,-10.9,184,3541,0.00,2.05,0.00,0.000,4,0.000,0.042,2381,699,3612,0,0,0,0,0,0
$GC,3593,-0.93,-117.2,475.5,-11.5,185,3597,0.00,2.12,0.00,0.000,6,0.000,0.044,2372,2095,3611,0,0,0,0,0,0
$GC,3865,-0.93,-117.2,505.0,-10.6,192,3869,0.00,2.10,0.00,0.000,4,0.000,0.044,2372,699,3609,0,0,0,0,0,0
$GC,3888,-0.93,-117.2,507.4,-11.0,192,3892,0.00,2.12,0.00,0.000,6,0.000,0.043,2362,2106,3609,0,0,0,0,0,0
$GC,4143,-0.93,-117.2,534.0,-10.2,199,4147,0.00,2.10,0.00,0.000,4,0.000,0.043,2362,696,3607,0,0,0,0,0,0
$GC,4239,-0.93,-117.2,544.3,-10.2,201,4243,0.15,2.15,0.00,0.000,6,0.183,0.046,2388,2106,3606,0,0,0,0,0,0
$GC,4511,-0.93,-117.2,567.5,-8.4,208,4514,0.00,2.15,0.00,0.000,4,0.000,0.055,2381,3508,3602,0,0,0,0,0,0
$GC,4577,-0.93,-117.2,573.8,-9.8,209,4582,0.00,2.10,0.00,0.000,6,0.000,0.035,2387,2101,3604,0,0,0,0,0,0
$GC,4840,-0.93,-117.2,599.1,-9.7,216,4844,0.00,2.10,0.00,0.000,4,0.000,0.043,2381,697,3601,0,0,0,0,0,0
$GC,4884,-0.93,-117.2,604.1,-10.8,217,4888,0.00,2.15,0.00,0.000,6,0.000,0.046,2371,2106,3602,0,0,0,0,0,0
$GC,5168,-0.93,-117.2,633.5,-10.0,224,5172,0.00,2.10,0.00,0.000,4,0.000,0.042,2371,696,3602,0,0,0,0,0,0
$GC,5224,-0.93,-117.2,640.0,-11.2,225,5228,0.00,2.17,0.00,0.000,6,0.000,0.047,2361,2110,3599,0,0,0,0,0,0
$GC,5496,-0.93,-117.2,668.2,-10.1,232,5500,0.00,2.15,0.00,0.000,4,0.000,0.057,2350,3504,3597,0,0,0,0,0,0
$GC,5552,-0.93,-117.2,674.2,-10.6,233,5557,0.15,2.10,0.00,0.000,6,0.177,0.034,2388,2088,3597,0,0,0,0,0,0
$GC,5824,-0.93,-117.2,695.7,-7.4,240,5828,0.00,2.08,0.00,0.000,4,0.000,0.044,2388,694,3597,0,0,0,0,0,0
$GC,5857,-0.93,-117.2,698.1,-7.2,240,5863,0.00,2.15,0.00,0.000,6,0.000,0.045,2380,2105,3596,0,0,0,0,0,0
$GC,6108,-0.93,-117.2,715.6,-6.9,247,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2105,3594,0,0,0,0,0,0
$GC,6351,-0.93,-117.2,731.5,-6.6,253,6355,0.00,2.15,0.00,0.000,4,0.000,0.047,2380,693,3593,0,0,0,0,0,0
$GC,6378,-0.93,-117.2,733.6,-7.6,253,6382,0.00,2.15,0.00,0.000,6,0.000,0.046,2369,2101,3592,0,0,0,0,0,0
$GC,6628,-0.93,-117.2,750.0,-6.4,259,6632,0.00,2.20,0.00,0.000,4,0.000,0.058,2359,3506,3594,0,0,0,0,0,0
$GC,6663,-0.93,-117.2,752.6,-7.5,259,6669,0.12,2.12,0.00,0.000,6,0.181,0.035,2389,2090,3591,0,0,0,0,0,0
$GC,6913,-0.93,-117.2,766.0,-5.1,266,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2082,3590,0,0,0,0,0,0
$GC,7156,-0.93,-117.2,779.3,-5.5,272,7160,0.00,2.10,0.00,0.000,4,0.000,0.044,2389,695,3587,0,0,0,0,0,0
$GC,7252,-0.93,-117.2,785.4,-6.5,274,7256,0.00,2.15,0.00,0.000,6,0.000,0.046,2381,2100,3588,0,0,0,0,0,0
$GC,7525,-0.93,-117.2,801.6,-6.0,281,7529,0.00,2.15,0.00,0.000,4,0.000,0.048,2381,692,3588,0,0,0,0,0,0
$GC,7574,-0.93,-117.2,804.9,-6.5,282,7578,0.00,2.17,0.00,0.000,6,0.000,0.048,2370,2105,3587,0,0,0,0,0,0
$GC,7848,-0.93,-117.2,823.2,-6.7,289,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2105,3586,0,0,0,0,0,0
$GC,8091,-0.93,-117.2,840.4,-7.2,295,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2105,3586,0,0,0,0,0,0
$GC,8334,-0.93,-117.2,859.1,-7.8,301,8338,0.00,2.12,0.00,0.000,4,0.000,0.047,2370,695,3585,0,0,0,0,0,0
$GC,8431,-0.93,-117.2,867.4,-8.8,303,8435,0.00,2.17,0.00,0.000,6,0.000,0.048,2363,2107,3585,0,0,0,0,0,0
$GC,8703,-0.93,-117.2,890.8,-8.6,310,8705,0.12,0.00,0.00,0.000,6,0.192,0.000,2390,2106,3583,0,0,0,0,0,0
$STATE,8863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8863,begin apogee
$GC,8870,-0.28,0.0,902.7,7.3,314,8969,0.65,0.00,95.35,1.150,6,0.145,0.000,2596,1956,3130,0,0,0,0,0,0
$STATE,8971,end apogee,CONTROL_FINISHED_OK
$STATE,8972,begin climb
$GC,8974,0.93,117.2,903.5,0.0,316,9085,1.10,2.42,103.93,1.105,4,0.050,0.051,3003,3393,2652,0,0,0,0,0,0
$GC,9133,0.93,117.2,867.3,33.0,320,9137,0.00,2.17,0.00,0.000,6,0.000,0.031,3014,2008,2649,0,0,0,0,0,0
$GC,9388,0.93,117.2,783.8,32.7,327,9392,0.00,2.22,0.00,0.000,4,0.000,0.048,3014,3398,2644,0,0,0,0,0,0
$GC,9415,0.93,117.2,774.7,33.7,327,9420,0.15,2.15,0.00,0.000,6,0.258,0.031,2995,1982,2643,0,0,0,0,0,0
$GC,9665,0.93,117.2,697.9,30.5,333,9669,0.00,2.22,0.00,0.000,4,0.000,0.048,2985,3398,2641,0,0,0,0,0,0
$GC,9726,0.93,117.2,678.6,31.9,334,9730,0.00,2.15,0.00,0.000,6,0.000,0.031,2993,1999,2642,0,0,0,0,0,0
$GC,9993,0.93,117.2,598.9,29.6,341,9997,0.00,2.20,0.00,0.000,4,0.000,0.047,2991,3402,2640,0,0,0,0,0,0
$GC,10049,0.93,117.2,581.7,30.5,342,10053,0.00,2.12,0.00,0.000,6,0.000,0.029,3001,1983,2641,0,0,0,0,0,0
$GC,10320,0.93,117.2,500.3,30.3,349,10324,0.00,2.20,0.00,0.000,4,0.000,0.048,3001,3401,2640,0,0,0,0,0,0
$GC,10353,0.93,117.2,490.3,29.6,349,10359,0.00,2.12,0.00,0.000,6,0.000,0.030,3011,1988,2640,0,0,0,0,0,0
$GC,10603,0.93,117.2,415.2,30.3,356,10607,0.00,2.20,0.00,0.000,4,0.000,0.047,3011,3404,2638,0,0,0,0,0,0
$GC,10721,0.93,117.2,379.8,29.3,358,10726,0.00,2.10,0.00,0.000,6,0.000,0.028,3021,1979,2639,0,0,0,0,0,0
$GC,10977,0.93,117.2,308.9,26.8,365,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1976,2635,0,0,0,0,0,0
$GC,11225,0.93,117.2,245.4,25.4,376,11229,0.00,2.20,0.00,0.000,4,0.000,0.045,3021,3410,2637,0,0,0,0,0,0
$GC,11319,0.93,117.2,222.0,23.7,380,11324,0.17,2.12,0.00,0.000,6,0.259,0.030,2994,1981,2637,0,0,0,0,0,0
$GC,11587,0.93,117.2,170.9,17.7,400,11591,0.00,2.20,0.00,0.000,4,0.000,0.046,2984,3402,2635,0,0,0,0,0,0
$GC,11617,0.93,117.2,165.1,19.2,402,11621,0.00,2.10,0.00,0.000,6,0.000,0.028,2993,1989,2635,0,0,0,0,0,0
$GC,11881,0.93,117.2,114.5,18.3,426,11885,0.00,2.08,0.00,0.000,4,0.000,0.038,3004,597,2634,0,0,0,0,0,0
$GC,11906,0.93,117.2,110.1,17.2,428,11911,0.00,2.10,0.00,0.000,6,0.000,0.031,3004,2006,2632,0,0,0,0,0,0
$GC,12173,0.93,117.2,69.7,14.4,452,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2007,2633,0,0,0,0,0,0
$GC,12437,0.94,123.1,42.8,9.7,477,12441,0.00,2.08,0.00,0.000,4,0.000,0.037,3015,593,2634,0,0,0,0,0,0
$GC,12688,0.94,123.1,14.4,11.8,511,12696,0.00,2.08,3.08,0.294,6,0.000,0.031,3015,1984,2629,0,0,0,0,0,0
$STATE,12779,end climb,SURFACE_DEPTH_REACHED
$STATE,12779,begin surface coast
$FINISH,0.2,1.022740
$STATE,12804,end surface coast,CONTROL_FINISHED_OK
$STATE,12804,begin surface
$SM_CCo,12824,71.00,0.495,0,0,2111,250.45
$SM_GC,1.48,0.00,0.00,71.00,0.000,0.000,0.495,60,2125,2111,-8.21,0.68,250.45
$IRIDIUM_FIX,1857.82,-15617.54,060113,161603
$TT8_MAMPS,0.257712
$HUMID,1078963216
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.70
$XPDR_PINGS,74
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5297274880
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59437154304
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,11.454
$10V_AH,10.2,11.328
$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,20.700,128.775,202.350,71.000,0.000,59.146,73.040,380.829,18.500,0.000,35.423,1125.727,9496.273,375.470,2303.994,403.862,33.357,1130.207,0.000,1777.533,0.000,0.540,0.000
$DEVICE_MAMPS,259.246,84.370,1149.733,495.482,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,364.968,0.000,820.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353716
$DATA_FILE_SIZE,26943,532
$CAP_FILE_SIZE,127007,0
$CFSIZE,260165632,200650752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,015007,1907.969,-15618.705,42,0.9,42,9.6