version: 66.07
glider: 513
mission: 7
dive: 9
start: 7 3 111 2 0 51
data:
$ID,513
$MISSION,7
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,550
$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,100
$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,330
$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,-420703.38
$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,2631
$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,1990
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2890
$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,8
$AR_SAMPLENUM,2
$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
$GPS1,030711,015250,1933.022,-15627.104,10,1.2,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-76.6
$GPS2,030711,015956,1932.950,-15627.049,12,1.2,12,9.7
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.106,-0.187
$KALMAN_X,4955.0,3313.1,-477.2,-2949.0,1461.6
$KALMAN_Y,-4641.6,-1380.4,1165.0,-6114.8,-3302.4
$MHEAD_RNG_PITCHd_Wd,199.9,68643,-21.7,-10.000
$D_GRID,600
$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,-0.99,-97.7,0.0,0.0,0,104,0.00,0.00,-73.53,0.000,6,0.000,0.000,50,2023,3289,0,0,0,0,0,0
$GC,108,-0.99,-97.7,1.8,-2.8,12,123,9.35,2.17,0.00,0.000,4,0.251,0.043,2312,580,3291,0,0,0,0,0,0
$GC,178,-0.99,-97.7,16.7,-22.9,24,186,0.00,2.12,0.00,0.000,6,0.000,0.046,2303,1967,3291,0,0,0,0,0,0
$GC,445,-0.99,-97.7,76.3,-20.7,54,449,0.00,2.20,0.00,0.000,4,0.000,0.057,2292,3396,3290,0,0,0,0,0,0
$GC,611,-0.99,-97.7,114.5,-21.6,68,618,0.00,2.12,0.00,0.000,6,0.000,0.038,2295,1983,3292,0,0,0,0,0,0
$GC,875,-0.99,-97.7,157.5,-14.1,93,879,0.00,2.17,0.00,0.000,4,0.000,0.056,2286,3401,3293,0,0,0,0,0,0
$GC,1131,-0.99,-97.7,189.7,-9.4,116,1135,0.00,2.10,0.00,0.000,6,0.000,0.038,2293,1977,3294,0,0,0,0,0,0
$GC,1398,-0.99,-97.7,213.5,-9.0,134,1402,0.00,2.17,0.00,0.000,4,0.000,0.056,2284,3395,3295,0,0,0,0,0,0
$GC,1408,-0.99,-97.7,214.6,-8.8,134,1414,0.00,2.05,0.00,0.000,6,0.000,0.037,2287,1983,3295,0,0,0,0,0,0
$GC,1663,-0.99,-97.7,233.7,-7.2,147,1667,0.00,2.17,0.00,0.000,4,0.000,0.057,2278,3401,3295,0,0,0,0,0,0
$GC,1881,-0.99,-97.7,253.0,-7.9,156,1887,0.12,2.05,0.00,0.000,6,0.212,0.037,2306,1990,3295,0,0,0,0,0,0
$GC,2135,-0.99,-97.7,270.2,-6.6,169,2139,0.00,2.08,0.00,0.000,4,0.000,0.044,2311,587,3295,0,0,0,0,0,0
$GC,2394,-0.99,-97.7,287.2,-6.0,180,2400,0.00,2.10,0.00,0.000,6,0.000,0.046,2301,1993,3295,0,0,0,0,0,0
$GC,2668,-0.99,-97.7,302.7,-6.3,193,2672,0.00,2.08,0.00,0.000,4,0.000,0.044,2301,592,3294,0,0,0,0,0,0
$GC,2888,-0.99,-97.7,315.5,-6.5,198,2892,0.00,2.10,0.00,0.000,6,0.000,0.047,2292,1989,3294,0,0,0,0,0,0
$GC,3171,-0.99,-97.7,329.2,-4.7,205,3175,0.00,2.08,0.00,0.000,4,0.000,0.046,2292,583,3292,0,0,0,0,0,0
$GC,3266,-0.99,-97.7,334.6,-5.1,207,3271,0.12,2.12,0.00,0.000,6,0.212,0.048,2309,1990,3292,0,0,0,0,0,0
$GC,3538,-0.99,-97.7,348.2,-4.8,214,3542,0.00,2.17,0.00,0.000,4,0.000,0.058,2300,3399,3291,0,0,0,0,0,0
$GC,3707,-0.99,-97.7,358.6,-5.7,217,3713,0.00,2.08,0.00,0.000,6,0.000,0.038,2300,1984,3290,0,0,0,0,0,0
$GC,3957,-0.99,-97.7,371.6,-4.8,224,3961,0.00,2.05,0.00,0.000,4,0.000,0.049,2300,593,3287,0,0,0,0,0,0
$GC,4007,-0.99,-97.7,374.1,-5.2,225,4010,0.00,2.12,0.00,0.000,6,0.000,0.051,2290,1989,3288,0,0,0,0,0,0
$GC,4280,-0.99,-97.7,383.8,-3.3,232,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1987,3286,0,0,0,0,0,0
$GC,4523,-0.99,-97.7,393.7,-4.3,238,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1990,3284,0,0,0,0,0,0
$GC,4766,-0.99,-97.7,405.9,-5.1,244,4770,0.00,2.17,0.00,0.000,4,0.000,0.058,2279,3408,3286,0,0,0,0,0,0
$GC,5024,-0.99,-97.7,421.8,-6.2,249,5030,0.12,2.12,0.00,0.000,6,0.216,0.041,2307,1979,3282,0,0,0,0,0,0
$GC,5274,-0.99,-97.7,434.7,-5.2,256,5278,0.00,2.08,0.00,0.000,4,0.000,0.050,2307,598,3281,0,0,0,0,0,0
$GC,5531,-0.99,-97.7,444.7,-3.1,261,5537,0.00,2.12,-0.10,0.000,6,0.000,0.051,2299,1990,3301,0,0,0,0,0,0
$GC,5781,-0.99,-97.7,454.5,-4.2,268,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,1990,3301,0,0,0,0,0,0
$GC,6026,-0.99,-97.7,466.6,-5.2,274,6029,0.00,2.08,0.00,0.000,4,0.000,0.048,2301,593,3300,0,0,0,0,0,0
$GC,6042,-0.99,-97.7,467.6,-5.6,274,6046,0.00,2.12,0.00,0.000,6,0.000,0.051,2293,1990,3300,0,0,0,0,0,0
$GC,6309,-0.99,-97.7,480.0,-4.3,281,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1989,3299,0,0,0,0,0,0
$GC,6552,-0.99,-97.7,491.1,-4.6,287,6556,0.00,2.17,0.00,0.000,4,0.000,0.059,2278,3408,3297,0,0,0,0,0,0
$GC,6581,-0.99,-97.7,492.3,-4.2,287,6585,0.12,2.10,0.00,0.000,6,0.209,0.040,2310,1979,3297,0,0,0,0,0,0
$GC,6836,-0.99,-97.7,499.7,-2.9,294,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1975,3296,0,0,0,0,0,0
$GC,7080,-0.99,-97.7,506.1,-2.5,300,7083,0.00,2.08,0.00,0.000,4,0.000,0.049,2310,595,3296,0,0,0,0,0,0
$GC,7254,-0.99,-97.7,511.7,-3.2,304,7258,0.00,2.12,0.00,0.000,6,0.000,0.053,2308,1989,3294,0,0,0,0,0,0
$GC,7543,-0.99,-97.7,521.6,-3.9,311,7547,0.00,2.10,0.00,0.000,4,0.000,0.048,2306,593,3292,0,0,0,0,0,0
$GC,7800,-0.99,-97.7,535.7,-5.7,316,7806,0.00,2.15,0.00,0.000,6,0.000,0.052,2297,1994,3292,0,0,0,0,0,0
$GC,8050,-0.99,-97.7,549.4,-5.2,323,8054,0.00,2.12,0.00,0.000,4,0.000,0.049,2301,586,3291,0,0,0,0,0,0
$GC,8279,-0.99,-97.7,560.0,-4.7,328,8283,0.00,2.17,0.00,0.000,6,0.000,0.053,2292,2001,3290,0,0,0,0,0,0
$GC,8552,-0.99,-97.7,571.1,-4.1,335,8556,0.00,2.12,0.00,0.000,4,0.000,0.049,2292,593,3289,0,0,0,0,0,0
$GC,8573,-0.99,-97.7,572.3,-5.1,335,8578,0.12,2.12,0.00,0.000,6,0.220,0.053,2309,1989,3289,0,0,0,0,0,0
$GC,8834,-0.99,-97.7,583.0,-4.1,342,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1989,3288,0,0,0,0,0,0
$GC,9078,-0.99,-97.7,592.3,-3.8,348,9082,0.00,2.20,0.00,0.000,4,0.000,0.062,2300,3410,3287,0,0,0,0,0,0
$STATE,9287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9287,begin apogee
$GC,9296,-0.28,0.0,600.0,3.7,352,9382,0.80,0.00,79.78,0.989,6,0.186,0.000,2531,1904,2890,0,0,0,0,0,0
$STATE,9384,end apogee,CONTROL_FINISHED_OK
$STATE,9384,begin climb
$GC,9388,0.99,97.7,598.6,0.0,355,9481,1.20,2.25,83.93,0.938,4,0.092,0.044,2953,500,2490,0,0,0,0,0,0
$GC,9491,0.99,97.7,578.4,26.3,357,9495,0.00,2.25,0.00,0.000,6,0.000,0.044,2953,1902,2487,0,0,0,0,0,0
$GC,9753,0.99,97.7,502.7,28.7,364,9757,0.00,2.22,0.00,0.000,4,0.000,0.056,2955,3316,2481,0,0,0,0,0,0
$GC,9775,0.99,97.7,495.5,31.8,364,9779,0.00,2.17,0.00,0.000,6,0.000,0.038,2964,1893,2482,0,0,0,0,0,0
$GC,10042,0.99,97.7,417.2,28.9,371,10046,0.00,2.20,0.00,0.000,4,0.000,0.054,2955,3318,2479,0,0,0,0,0,0
$GC,10081,0.99,97.7,405.9,28.3,372,10085,0.00,2.15,0.00,0.000,6,0.000,0.038,2964,1899,2480,0,0,0,0,0,0
$GC,10365,0.99,97.7,325.0,28.8,379,10369,0.00,2.12,0.00,0.000,4,0.000,0.046,2972,490,2477,0,0,0,0,0,0
$GC,10388,0.99,97.7,318.6,27.9,379,10392,0.00,2.15,0.00,0.000,6,0.000,0.043,2967,1916,2475,0,0,0,0,0,0
$GC,10646,0.99,97.7,254.8,22.9,390,10650,0.00,2.12,0.00,0.000,4,0.000,0.053,2963,3312,2475,0,0,0,0,0,0
$GC,10675,0.99,97.7,247.8,26.4,391,10679,0.00,2.10,0.00,0.000,6,0.000,0.036,2972,1894,2475,0,0,0,0,0,0
$GC,10932,0.99,97.7,188.8,21.2,405,10936,0.00,2.12,0.00,0.000,4,0.000,0.046,2984,488,2474,0,0,0,0,0,0
$GC,10971,0.99,97.7,179.9,23.1,408,10976,0.12,2.12,0.00,0.000,6,0.224,0.043,2957,1906,2472,0,0,0,0,0,0
$GC,11232,0.99,97.7,131.8,16.8,432,11236,0.00,2.15,0.00,0.000,4,0.000,0.054,2956,3313,2472,0,0,0,0,0,0
$GC,11409,0.99,97.7,102.0,14.4,447,11413,0.00,2.08,0.00,0.000,6,0.000,0.034,2965,1894,2472,0,0,0,0,0,0
$GC,11674,0.99,97.7,59.5,17.9,471,11678,0.00,2.15,0.00,0.000,4,0.000,0.051,2963,3305,2472,0,0,0,0,0,0
$GC,11894,0.99,97.7,20.2,17.4,496,11902,0.00,2.10,0.00,0.000,6,0.000,0.035,2972,1903,2474,0,0,0,0,0,0
$STATE,11992,end climb,SURFACE_DEPTH_REACHED
$STATE,11992,begin surface coast
$FINISH,0.1,1.023194
$STATE,12012,end surface coast,CONTROL_FINISHED_OK
$STATE,12012,begin surface
$SM_CCo,12042,103.57,0.511,0,0,1545,330.17
$SM_GC,0.55,0.00,0.00,103.57,0.000,0.000,0.511,48,2016,1545,-8.07,0.76,330.17
$IRIDIUM_FIX,1925.22,-15626.17,251212,181850
$TT8_MAMPS,0.060593
$HUMID,1079070734
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.40
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345424896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59995881472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,3.640
$10V_AH,10.4,4.292
$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,19.825,115.375,163.700,103.575,0.000,34.811,32.601,185.825,1.500,0.000,14.463,1146.428,8557.240,369.787,2200.371,309.892,33.332,1226.798,0.000,1887.168,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,85.904,988.663,510.822,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.724,0.000,583.334,0.000,0.000,0.000,0.000,13515.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.605,0.000,0.000
$MEM,353844
$DATA_FILE_SIZE,26856,517
$CAP_FILE_SIZE,121304,0
$CFSIZE,260165632,206000128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,052437,1931.242,-15626.668,27,1.6,27,9.7