version: 66.07
glider: 513
mission: 7
dive: 10
start: 7 3 111 5 33 23
data:
$ID,513
$MISSION,7
$DIVE,10
$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,-420717.47
$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,40
$R_STBD_OVSHOOT,55
$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,9
$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
$GPS1,030711,052437,1931.242,-15626.668,27,1.6,27,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-78.4
$GPS2,030711,053226,1931.086,-15626.604,11,1.6,11,9.7
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.187,-0.107
$KALMAN_X,8799.5,1223.6,-167.8,-4227.7,1338.8
$KALMAN_Y,-5163.7,-785.8,-115.2,-8371.2,-343.1
$MHEAD_RNG_PITCHd_Wd,230.5,65971,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-97.7,0.0,0.0,0,93,0.00,0.00,-63.75,0.000,6,0.000,0.000,41,2012,3288,0,0,0,0,0,0
$GC,97,-0.99,-97.7,1.5,-1.7,10,112,9.50,2.17,0.00,0.000,4,0.254,0.041,2310,584,3291,0,0,0,0,0,0
$GC,326,-0.99,-97.7,55.3,-23.8,43,330,0.00,2.12,0.00,0.000,6,0.000,0.048,2302,1965,3293,0,0,0,0,0,0
$GC,588,-0.99,-97.7,114.2,-20.8,67,592,0.00,2.22,0.00,0.000,4,0.000,0.057,2291,3403,3294,0,0,0,0,0,0
$GC,840,-0.99,-97.7,159.1,-15.6,89,846,0.00,2.10,0.00,0.000,6,0.000,0.035,2297,1985,3296,0,0,0,0,0,0
$GC,1102,-0.99,-97.7,196.3,-13.4,114,1106,0.00,2.20,0.00,0.000,4,0.000,0.058,2288,3402,3298,0,0,0,0,0,0
$GC,1313,-0.99,-97.7,220.2,-10.4,125,1317,0.00,2.10,0.00,0.000,6,0.000,0.038,2289,2001,3299,0,0,0,0,0,0
$GC,1575,-0.99,-97.7,241.0,-7.8,138,1579,0.00,2.15,0.00,0.000,4,0.000,0.058,2282,3407,3300,0,0,0,0,0,0
$GC,1698,-0.99,-97.7,249.0,-5.5,143,1705,0.12,2.12,0.00,0.000,6,0.211,0.037,2310,1975,3301,0,0,0,0,0,0
$GC,1953,-0.99,-97.7,264.1,-6.9,156,1957,0.00,2.05,0.00,0.000,4,0.000,0.044,2314,583,3301,0,0,0,0,0,0
$GC,2025,-0.99,-97.7,270.8,-9.4,159,2029,0.00,2.15,0.00,0.000,6,0.000,0.050,2304,1991,3301,0,0,0,0,0,0
$GC,2284,-0.99,-97.7,288.5,-5.8,172,2288,0.00,2.15,0.00,0.000,4,0.000,0.056,2294,3402,3302,0,0,0,0,0,0
$GC,2541,-0.99,-97.7,301.5,-5.5,183,2547,0.00,2.08,0.00,0.000,6,0.000,0.036,2295,1976,3301,0,0,0,0,0,0
$GC,2791,-0.99,-97.7,316.8,-6.7,190,2795,0.00,2.20,0.00,0.000,4,0.000,0.058,2285,3402,3301,0,0,0,0,0,0
$GC,3048,-0.99,-97.7,331.2,-5.0,195,3054,0.00,2.10,0.00,0.000,6,0.000,0.037,2290,1978,3301,0,0,0,0,0,0
$GC,3298,-0.99,-97.7,343.7,-5.0,202,3302,0.00,2.08,0.00,0.000,4,0.000,0.044,2290,589,3300,0,0,0,0,0,0
$GC,3505,-0.99,-97.7,356.1,-5.4,206,3510,0.12,2.15,0.00,0.000,6,0.211,0.051,2310,1996,3299,0,0,0,0,0,0
$GC,3761,-0.99,-97.7,369.1,-5.1,213,3765,0.00,2.17,0.00,0.000,4,0.000,0.058,2300,3405,3297,0,0,0,0,0,0
$GC,3891,-0.99,-97.7,377.3,-6.6,216,3895,0.00,2.10,0.00,0.000,6,0.000,0.038,2300,1997,3299,0,0,0,0,0,0
$GC,4181,-0.99,-97.7,394.2,-5.6,223,4185,0.00,2.10,0.00,0.000,4,0.000,0.048,2300,578,3295,0,0,0,0,0,0
$GC,4438,-0.99,-97.7,406.8,-4.2,228,4444,0.00,2.15,0.00,0.000,6,0.000,0.052,2290,1990,3293,0,0,0,0,0,0
$GC,4689,-0.99,-97.7,419.2,-5.0,235,4693,0.00,2.15,0.00,0.000,4,0.000,0.046,2290,576,3293,0,0,0,0,0,0
$GC,4706,-0.99,-97.7,420.2,-5.5,235,4710,0.12,2.17,0.00,0.000,6,0.219,0.051,2308,1995,3292,0,0,0,0,0,0
$GC,4966,-0.99,-97.7,432.9,-4.8,242,4970,0.00,2.17,0.00,0.000,4,0.000,0.061,2299,3411,3290,0,0,0,0,0,0
$GC,4994,-0.99,-97.7,434.4,-5.5,242,4998,0.00,2.12,0.00,0.000,6,0.000,0.038,2299,1978,3290,0,0,0,0,0,0
$GC,5250,-0.99,-97.7,447.7,-5.1,249,5254,0.00,2.22,0.00,0.000,4,0.000,0.058,2288,3412,3289,0,0,0,0,0,0
$GC,5509,-0.99,-97.7,459.2,-3.6,254,5515,0.00,2.12,0.00,0.000,6,0.000,0.038,2288,1982,3288,0,0,0,0,0,0
$GC,5759,-0.99,-97.7,466.3,-3.0,261,5763,0.00,2.20,0.00,0.000,4,0.000,0.060,2277,3407,3286,0,0,0,0,0,0
$GC,5769,-0.99,-97.7,466.7,-3.1,261,5774,0.12,2.10,0.00,0.000,6,0.221,0.040,2305,1981,3286,0,0,0,0,0,0
$GC,6037,-0.99,-97.7,473.9,-2.9,268,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1975,3285,0,0,0,0,0,0
$GC,6279,-0.99,-97.7,484.6,-4.7,274,6283,0.00,2.10,0.00,0.000,4,0.000,0.048,2309,582,3284,0,0,0,0,0,0
$GC,6358,-0.99,-97.7,488.8,-4.8,275,6363,0.00,2.17,0.00,0.000,6,0.000,0.054,2299,1991,3283,0,0,0,0,0,0
$GC,6607,-0.99,-97.7,501.5,-5.2,282,6611,0.00,2.10,0.00,0.000,4,0.000,0.047,2308,596,3282,0,0,0,0,0,0
$GC,6744,-0.99,-97.7,508.9,-6.0,285,6748,0.00,2.15,0.00,0.000,6,0.000,0.054,2299,1997,3282,0,0,0,0,0,0
$GC,7028,-0.99,-97.7,522.4,-4.5,292,7032,0.00,2.10,0.00,0.000,4,0.000,0.048,2301,593,3281,0,0,0,0,0,0
$GC,7274,-0.99,-97.7,531.3,-3.7,297,7278,0.00,2.15,0.00,0.000,6,0.000,0.053,2293,1989,3280,0,0,0,0,0,0
$GC,7535,-0.99,-97.7,537.5,-2.4,304,7539,0.00,2.22,0.00,0.000,4,0.000,0.064,2282,3402,3278,0,0,0,0,0,0
$GC,7564,-0.99,-97.7,538.4,-2.7,304,7569,0.12,2.12,0.00,0.000,6,0.218,0.040,2310,1979,3278,0,0,0,0,0,0
$GC,7814,-0.99,-97.7,547.1,-3.8,310,7818,0.00,2.25,0.00,0.000,4,0.000,0.067,2300,3410,3280,0,0,0,0,0,0
$GC,7864,-0.99,-97.7,549.0,-3.6,311,7868,0.00,2.12,0.00,0.000,6,0.000,0.040,2300,1998,3277,0,0,0,0,0,0
$GC,8137,-0.99,-97.7,558.7,-3.6,318,8141,0.00,2.22,0.00,0.000,4,0.000,0.066,2290,3412,3276,0,0,0,0,0,0
$GC,8367,-0.99,-97.7,564.7,-1.9,323,8371,0.00,2.12,0.00,0.000,6,0.000,0.040,2290,1979,3275,0,0,0,0,0,0
$GC,8645,-0.99,-97.7,569.2,-1.6,330,8649,0.00,2.08,0.00,0.000,4,0.000,0.049,2304,592,3272,0,0,0,0,0,0
$GC,8904,-0.99,-97.7,574.6,-2.8,335,8908,0.00,2.17,0.00,0.000,6,0.000,0.057,2291,1995,3274,0,0,0,0,0,0
$GC,9154,-0.99,-97.7,581.6,-3.0,341,9158,0.00,2.10,0.00,0.000,4,0.000,0.049,2297,590,3273,0,0,0,0,0,0
$GC,9412,-0.99,-97.7,590.1,-3.1,346,9418,0.00,2.15,0.00,0.000,6,0.000,0.055,2289,1990,3272,0,0,0,0,0,0
$GC,9662,-0.99,-97.7,596.0,-2.2,353,9666,0.00,2.10,0.00,0.000,4,0.000,0.047,2289,594,3272,0,0,0,0,0,0
$GC,9920,-0.99,-97.7,599.1,0.1,358,9926,0.12,2.15,0.00,0.000,6,0.229,0.055,2308,1994,3271,0,0,0,0,0,0
$STATE,10005,end dive,NO_VERTICAL_VELOCITY
$STATE,10005,begin apogee
$GC,10012,-0.28,0.0,598.8,0.0,361,10092,0.80,0.00,77.35,0.995,6,0.185,0.000,2536,1901,2890,0,0,0,0,0,0
$STATE,10115,end apogee,CONTROL_FINISHED_OK
$STATE,10115,begin climb
$GC,10119,0.99,97.7,595.9,0.0,363,10212,1.20,2.28,84.00,0.943,4,0.094,0.045,2958,495,2492,0,0,0,0,0,0
$GC,10436,0.99,97.7,505.4,29.5,370,10441,0.00,2.25,0.00,0.000,6,0.000,0.051,2962,1911,2482,0,0,0,0,0,0
$GC,10703,0.99,97.7,423.4,30.4,377,10707,0.00,2.22,0.00,0.000,4,0.000,0.061,2958,3317,2480,0,0,0,0,0,0
$GC,10758,0.99,97.7,406.7,29.9,378,10762,0.00,2.15,0.00,0.000,6,0.000,0.038,2969,1902,2481,0,0,0,0,0,0
$GC,11030,0.99,97.7,333.9,26.8,385,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1900,2479,0,0,0,0,0,0
$GC,11275,0.99,97.7,271.5,25.1,393,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1900,2477,0,0,0,0,0,0
$GC,11522,0.99,97.7,212.7,22.6,405,11526,0.00,2.20,0.00,0.000,4,0.000,0.058,2961,3316,2475,0,0,0,0,0,0
$GC,11611,0.99,97.7,191.0,23.2,410,11619,0.00,2.15,0.00,0.000,6,0.000,0.036,2969,1903,2475,0,0,0,0,0,0
$GC,11876,0.99,97.7,134.7,20.9,435,11880,0.00,2.20,0.00,0.000,4,0.000,0.058,2959,3308,2476,0,0,0,0,0,0
$GC,11965,0.99,97.7,115.2,21.6,442,11973,0.00,2.12,0.00,0.000,6,0.000,0.035,2973,1902,2474,0,0,0,0,0,0
$GC,12230,0.99,97.7,67.5,15.0,467,12234,0.00,2.20,0.00,0.000,4,0.000,0.058,2964,3310,2474,0,0,0,0,0,0
$GC,12359,0.99,97.7,46.1,15.3,478,12366,0.00,2.12,0.00,0.000,6,0.000,0.035,2973,1901,2472,0,0,0,0,0,0
$STATE,12617,end climb,SURFACE_DEPTH_REACHED
$STATE,12618,begin surface coast
$FINISH,-0.3,1.023117
$STATE,12635,end surface coast,CONTROL_FINISHED_OK
$STATE,12635,begin surface
$SM_CCo,12655,107.78,0.515,0,0,1544,330.17
$SM_GC,0.61,0.00,0.00,107.78,0.000,0.000,0.515,55,2029,1544,-8.05,1.07,330.17
$IRIDIUM_FIX,1922.94,-15629.17,251212,202013
$TT8_MAMPS,0.060593
$HUMID,1079041057
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,23.00
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345392128
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59995652096
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.3,3.718
$10V_AH,10.2,4.386
$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,19.950,120.725,161.350,107.775,0.000,27.925,33.507,222.436,2.250,0.000,13.474,1199.021,8894.444,369.235,2444.301,333.252,33.370,1313.924,0.000,2091.613,0.000,0.540,0.000
$DEVICE_MAMPS,253.877,87.438,994.799,515.424,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,356.380,0.000,566.818,0.000,0.000,0.000,0.000,14089.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.626,0.000,0.000
$MEM,353832
$DATA_FILE_SIZE,26983,521
$CAP_FILE_SIZE,129981,0
$CFSIZE,260165632,205922304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,090736,1929.561,-15626.885,36,1.1,36,9.6