version: 66.07
glider: 513
mission: 7
dive: 17
start: 7 4 111 10 2 31
data:
$ID,513
$MISSION,7
$DIVE,17
$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,880
$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,130
$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,300
$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,-420836.53
$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,2595
$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,2105
$C_ROLL_CLIMB,1915
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2940
$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,16
$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
$GPS1,040711,095254,1920.581,-15628.835,22,1.0,41,9.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.8
$GPS2,040711,100138,1920.352,-15628.783,11,1.9,11,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.243,0.012
$KALMAN_X,23984.3,-262.2,49.5,-21951.2,3070.9
$KALMAN_Y,-16500.4,387.7,15.5,-18217.4,-1966.7
$MHEAD_RNG_PITCHd_Wd,263.3,47192,-18.9,-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,-0.91,-127.0,0.0,0.0,0,98,0.00,0.00,-64.43,0.000,6,0.000,0.000,54,1902,3458,0,0,0,0,0,0
$GC,102,-0.91,-127.0,2.7,-4.8,11,116,9.52,1.83,0.00,0.000,4,0.255,0.038,2304,693,3459,0,0,0,0,0,0
$GC,288,-0.91,-127.0,64.2,-29.3,35,292,0.00,2.17,0.00,0.000,6,0.000,0.054,2295,2097,3463,0,0,0,0,0,0
$GC,553,-0.91,-127.0,130.4,-21.0,59,557,0.00,2.20,0.00,0.000,4,0.000,0.058,2283,3515,3465,0,0,0,0,0,0
$GC,801,-0.91,-127.0,180.4,-16.1,81,805,0.00,2.08,0.00,0.000,6,0.000,0.034,2286,2109,3465,0,0,0,0,0,0
$GC,1069,-0.91,-127.0,224.7,-16.2,99,1073,0.00,2.10,0.00,0.000,4,0.000,0.043,2287,692,3468,0,0,0,0,0,0
$GC,1080,-0.91,-127.0,226.5,-15.9,99,1085,0.00,2.17,0.00,0.000,6,0.000,0.052,2278,2107,3468,0,0,0,0,0,0
$GC,1333,-0.91,-127.0,262.0,-12.3,112,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3469,0,0,0,0,0,0
$GC,1582,-0.91,-127.0,292.3,-12.1,124,1586,0.00,2.12,0.00,0.000,4,0.000,0.054,2267,3518,3470,0,0,0,0,0,0
$GC,1648,-0.91,-127.0,301.7,-14.4,127,1653,0.10,2.12,0.00,0.000,6,0.194,0.036,2294,2097,3470,0,0,0,0,0,0
$GC,1908,-0.91,-127.0,335.4,-12.8,134,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2093,3471,0,0,0,0,0,0
$GC,2153,-0.91,-127.0,363.4,-11.7,140,2157,0.00,2.20,0.00,0.000,4,0.000,0.058,2285,3520,3471,0,0,0,0,0,0
$GC,2174,-0.91,-127.0,366.3,-12.3,140,2178,0.00,2.10,0.00,0.000,6,0.000,0.035,2285,2101,3470,0,0,0,0,0,0
$GC,2435,-0.91,-127.0,397.2,-11.6,147,2439,0.00,2.17,0.00,0.000,4,0.000,0.058,2275,3521,3473,0,0,0,0,0,0
$GC,2601,-0.91,-127.0,415.4,-11.0,150,2605,0.00,2.10,0.00,0.000,6,0.000,0.035,2275,2105,3468,0,0,0,0,0,0
$GC,2857,-0.91,-127.0,440.1,-9.1,157,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2099,3467,0,0,0,0,0,0
$GC,3100,-0.91,-127.0,466.1,-11.4,163,3104,0.00,2.17,0.00,0.000,4,0.000,0.059,2264,3522,3463,0,0,0,0,0,0
$GC,3290,-0.91,-127.0,490.3,-12.7,167,3295,0.15,2.08,0.00,0.000,6,0.206,0.038,2299,2110,3467,0,0,0,0,0,0
$GC,3568,-0.91,-127.0,520.9,-11.1,174,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2105,3463,0,0,0,0,0,0
$GC,3812,-0.91,-127.0,546.0,-10.0,180,3816,0.00,2.15,0.00,0.000,4,0.000,0.046,2303,690,3461,0,0,0,0,0,0
$GC,3829,-0.91,-127.0,547.6,-9.7,180,3833,0.00,2.17,0.00,0.000,6,0.000,0.055,2294,2105,3460,0,0,0,0,0,0
$GC,4095,-0.91,-127.0,572.6,-9.1,187,4099,0.00,2.10,0.00,0.000,4,0.000,0.042,2302,694,3459,0,0,0,0,0,0
$GC,4197,-0.91,-127.0,582.0,-9.0,189,4201,0.00,2.20,0.00,0.000,6,0.000,0.055,2296,2118,3457,0,0,0,0,0,0
$GC,4463,-0.91,-127.0,602.7,-7.6,196,4467,0.00,2.12,0.00,0.000,4,0.000,0.061,2283,3505,3456,0,0,0,0,0,0
$GC,4519,-0.91,-127.0,607.1,-8.2,197,4523,0.00,2.10,0.00,0.000,6,0.000,0.038,2282,2095,3455,0,0,0,0,0,0
$GC,4786,-0.91,-127.0,628.6,-8.2,204,4790,0.00,2.08,0.00,0.000,4,0.000,0.045,2283,706,3453,0,0,0,0,0,0
$GC,4835,-0.91,-127.0,633.4,-8.9,205,4840,0.10,2.17,0.00,0.000,6,0.226,0.057,2294,2105,3452,0,0,0,0,0,0
$GC,5107,-0.91,-127.0,657.9,-9.2,212,5111,0.00,2.10,0.00,0.000,4,0.000,0.043,2298,704,3451,0,0,1,0,0,0
$GC,5141,-0.91,-127.0,661.2,-10.0,212,5147,0.00,2.17,0.00,0.000,6,0.000,0.055,2289,2106,3451,0,0,0,0,0,0
$GC,5391,-0.91,-127.0,684.8,-9.4,219,5395,0.00,2.17,0.00,0.000,4,0.000,0.062,2278,3518,3449,0,0,0,0,0,0
$GC,5437,-0.91,-127.0,689.4,-9.8,220,5441,0.00,2.10,0.00,0.000,6,0.000,0.039,2278,2106,3446,0,0,0,0,0,0
$GC,5726,-0.91,-127.0,715.4,-8.9,227,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2100,3450,0,0,0,0,0,0
$GC,5969,-0.91,-127.0,736.0,-8.5,233,5973,0.00,2.10,0.00,0.000,4,0.000,0.047,2278,701,3447,0,0,0,0,0,0
$GC,6048,-0.91,-127.0,742.9,-8.5,234,6054,0.12,2.20,0.00,0.000,6,0.220,0.058,2295,2117,3446,0,0,0,0,0,0
$GC,6298,-0.91,-127.0,762.5,-7.9,241,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2119,3445,0,0,0,0,0,0
$GC,6541,-0.91,-127.0,780.8,-7.4,247,6545,0.00,2.17,0.00,0.000,4,0.000,0.064,2286,3519,3444,0,0,0,0,0,0
$GC,6603,-0.91,-127.0,785.9,-8.1,248,6607,0.00,2.12,0.00,0.000,6,0.000,0.039,2291,2098,3440,0,0,0,0,0,0
$GC,6864,-0.91,-127.0,805.4,-7.5,255,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2093,3442,0,0,0,0,0,0
$GC,7107,-0.91,-127.0,823.6,-7.5,261,7111,0.00,2.10,0.00,0.000,4,0.000,0.047,2292,699,3442,0,0,0,0,0,0
$GC,7275,-0.91,-127.0,836.7,-7.9,264,7280,0.00,2.15,0.00,0.000,6,0.000,0.058,2283,2105,3441,0,0,0,0,0,0
$GC,7525,-0.91,-127.0,853.4,-6.7,271,7529,0.00,2.20,0.00,0.000,4,0.000,0.062,2272,3524,3440,0,0,0,0,0,0
$GC,7631,-0.91,-127.0,861.2,-7.7,273,7635,0.00,2.12,0.00,0.000,6,0.000,0.039,2268,2107,3437,0,0,0,0,0,0
$GC,7893,-0.91,-127.0,878.8,-6.7,280,7895,0.10,0.00,0.00,0.000,6,0.216,0.000,2293,2097,3438,0,0,0,0,0,0
$GC,8136,-0.91,-127.0,894.2,-6.2,286,8139,0.00,2.10,0.00,0.000,4,0.000,0.048,2304,692,3437,0,0,0,0,0,0
$STATE,8234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8234,begin apogee
$GC,8242,-0.28,0.0,900.3,5.6,288,8350,0.68,0.00,104.40,1.180,6,0.188,0.000,2492,1915,2942,0,0,0,0,0,0
$STATE,8353,end apogee,CONTROL_FINISHED_OK
$STATE,8353,begin climb
$GC,8355,0.91,127.0,899.1,0.0,291,8480,1.20,2.38,113.93,1.133,4,0.103,0.051,2883,3325,2421,0,0,0,0,0,0
$GC,8508,0.91,127.0,866.6,27.6,294,8512,0.00,2.25,0.00,0.000,6,0.000,0.035,2893,1912,2418,0,0,0,0,0,0
$GC,8769,0.91,127.0,789.5,29.4,301,8773,0.00,2.15,0.00,0.000,4,0.000,0.044,2905,508,2412,0,0,0,0,0,0
$GC,8790,0.91,127.0,782.7,31.7,301,8794,0.00,2.17,0.00,0.000,6,0.000,0.038,2905,1919,2414,0,0,0,0,0,0
$GC,9052,0.91,127.0,706.7,28.9,308,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1922,2410,0,0,0,0,0,0
$GC,9295,0.91,127.0,636.7,28.7,314,9299,0.00,2.20,0.00,0.000,4,0.000,0.054,2905,3326,2409,0,0,0,0,0,0
$GC,9322,0.91,127.0,628.8,28.7,314,9325,0.00,2.15,0.00,0.000,6,0.000,0.038,2916,1915,2409,0,0,0,0,0,0
$GC,9577,0.91,127.0,554.1,29.2,321,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1916,2408,0,0,0,0,0,0
$GC,9821,0.91,127.0,482.8,28.7,327,9825,0.00,2.15,0.00,0.000,4,0.000,0.046,2926,504,2408,0,0,0,0,0,0
$GC,9837,0.91,127.0,478.0,28.2,327,9841,0.15,2.15,0.00,0.000,6,0.232,0.037,2894,1928,2404,0,0,0,0,0,0
$GC,10103,0.91,127.0,412.1,24.3,334,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1931,2406,0,0,0,0,0,0
$GC,10348,0.91,127.0,356.1,22.9,340,10352,0.00,2.17,0.00,0.000,4,0.000,0.054,2894,3324,2405,0,0,0,0,0,0
$GC,10387,0.91,127.0,346.3,24.4,341,10391,0.00,2.15,0.00,0.000,6,0.000,0.037,2903,1899,2405,0,0,0,0,0,0
$GC,10650,0.91,127.0,282.1,25.4,349,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1899,2405,0,0,0,0,0,0
$GC,10899,0.91,127.0,226.1,21.2,361,10903,0.00,2.20,0.00,0.000,4,0.000,0.055,2900,3315,2405,0,0,0,0,0,0
$GC,10932,0.91,127.0,218.8,22.0,362,10937,0.00,2.08,0.00,0.000,6,0.000,0.036,2914,1914,2404,0,0,0,0,0,0
$GC,11192,0.91,127.0,165.5,19.2,383,11196,0.00,2.15,0.00,0.000,4,0.000,0.051,2915,3317,2403,0,0,0,0,0,0
$GC,11281,0.91,127.0,149.7,16.8,390,11289,0.10,2.12,0.00,0.000,6,0.209,0.035,2897,1913,2403,0,0,0,0,0,0
$GC,11544,0.91,127.0,108.5,15.0,415,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1912,2403,0,0,0,0,0,0
$GC,11799,0.91,127.0,72.2,13.1,439,11803,0.00,2.17,0.00,0.000,4,0.000,0.049,2896,3330,2403,0,0,0,0,0,0
$GC,11818,0.91,127.0,69.4,14.0,440,11822,0.00,2.10,0.00,0.000,6,0.000,0.035,2905,1915,2407,0,0,0,0,0,0
$GC,12084,0.91,127.0,31.7,14.3,464,12088,0.00,2.08,0.00,0.000,4,0.000,0.043,2917,503,2408,0,0,0,0,0,0
$GC,12103,0.91,127.0,28.3,14.8,466,12111,0.00,2.10,0.00,0.000,6,0.000,0.033,2916,1916,2403,0,0,0,0,0,0
$STATE,12268,end climb,SURFACE_DEPTH_REACHED
$STATE,12269,begin surface coast
$FINISH,0.3,1.023109
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12306,77.53,0.507,0,0,1717,300.24
$SM_GC,0.67,0.00,0.00,77.53,0.000,0.000,0.507,58,2132,1717,-7.93,0.76,300.24
$IRIDIUM_FIX,1916.08,-15632.18,261212,232326
$TT8_MAMPS,0.05369
$HUMID,1078912893
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.10
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345162752
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59994046464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,4.363
$10V_AH,10.2,5.045
$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,19.675,115.650,218.325,77.525,0.000,28.351,32.702,264.383,1.500,0.000,13.866,1062.851,9217.053,376.849,1928.714,320.756,33.347,1121.663,0.000,1565.983,0.000,0.539,0.000
$DEVICE_MAMPS,255.411,63.661,1179.646,506.987,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.560,0.000,543.766,0.000,0.000,0.000,0.000,13670.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.794,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,26881,500
$CAP_FILE_SIZE,117306,0
$CFSIZE,260165632,205385728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040711,133030,1919.435,-15630.045,42,1.0,42,9.6