version: 66.07
glider: 513
mission: 7
dive: 18
start: 7 4 111 13 49 53
data:
$ID,513
$MISSION,7
$DIVE,18
$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,-420857.44
$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,39
$R_STBD_OVSHOOT,60
$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,17
$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
$GPS1,040711,133030,1919.435,-15630.045,42,1.0,42,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-79.5
$GPS2,040711,134901,1919.115,-15629.912,12,1.1,18,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.168,-0.176
$KALMAN_X,26761.2,-378.6,-203.8,-26317.0,4611.8
$KALMAN_Y,-18917.4,553.1,-251.8,-17983.4,-2988.9
$MHEAD_RNG_PITCHd_Wd,214.1,44172,-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,24,begin dive
$GC,26,-0.91,-127.0,0.0,0.0,0,92,0.00,0.00,-62.72,0.000,6,0.000,0.000,40,2131,3462,0,0,0,0,0,0
$GC,96,-0.91,-127.0,2.1,-2.8,10,111,9.43,2.17,0.00,0.000,4,0.252,0.038,2301,693,3461,0,0,0,0,0,0
$GC,189,-0.91,-127.0,33.6,-31.0,26,196,0.00,2.17,0.00,0.000,6,0.000,0.051,2292,2075,3462,0,0,0,0,0,0
$GC,453,-0.91,-127.0,111.3,-26.7,51,457,0.00,2.22,0.00,0.000,4,0.000,0.054,2281,3523,3464,0,0,0,0,0,0
$GC,477,-0.91,-127.0,117.5,-23.5,53,482,0.00,2.12,0.00,0.000,6,0.000,0.035,2293,2102,3463,0,0,0,0,0,0
$GC,745,-0.91,-127.0,174.1,-18.5,78,749,0.00,2.20,0.00,0.000,4,0.000,0.058,2278,3521,3465,0,0,0,0,0,0
$GC,998,-0.91,-127.0,220.6,-16.2,95,1004,0.00,2.12,0.00,0.000,6,0.000,0.035,2280,2092,3466,0,0,0,0,0,0
$GC,1253,-0.91,-127.0,258.5,-15.1,108,1256,0.00,2.03,0.00,0.000,4,0.000,0.040,2280,703,3467,0,0,0,0,0,0
$GC,1292,-0.91,-127.0,264.5,-16.1,109,1298,0.12,2.15,0.00,0.000,6,0.212,0.051,2299,2112,3467,0,0,0,0,0,0
$GC,1545,-0.91,-127.0,293.5,-10.8,122,1549,0.00,2.10,0.00,0.000,4,0.000,0.041,2301,693,3468,0,0,0,0,0,0
$GC,1668,-0.91,-127.0,309.4,-13.1,126,1674,0.00,2.15,0.00,0.000,6,0.000,0.050,2292,2110,3468,0,0,0,0,0,0
$GC,1918,-0.91,-127.0,339.9,-12.0,133,1921,0.00,2.10,0.00,0.000,4,0.000,0.039,2305,696,3468,0,0,0,0,0,0
$GC,1995,-0.91,-127.0,349.3,-11.8,134,2001,0.00,2.15,0.00,0.000,6,0.000,0.052,2292,2107,3468,0,0,0,0,0,0
$GC,2246,-0.91,-127.0,377.1,-11.4,141,2250,0.00,2.15,0.00,0.000,4,0.000,0.058,2281,3504,3468,0,0,0,0,0,0
$GC,2375,-0.91,-127.0,392.1,-11.6,144,2379,0.00,2.08,0.00,0.000,6,0.000,0.034,2278,2100,3467,0,0,0,0,0,0
$GC,2659,-0.91,-127.0,424.2,-11.1,151,2662,0.00,2.03,0.00,0.000,4,0.000,0.040,2282,703,3465,0,0,0,0,0,0
$GC,2714,-0.91,-127.0,430.4,-11.2,152,2719,0.12,2.15,0.00,0.000,6,0.214,0.054,2295,2104,3464,0,0,0,0,0,0
$GC,2992,-0.91,-127.0,455.9,-9.2,159,2996,0.00,2.08,0.00,0.000,4,0.000,0.041,2305,693,3462,0,0,0,0,0,0
$GC,3015,-0.91,-127.0,458.1,-9.7,159,3019,0.00,2.17,0.00,0.000,6,0.000,0.053,2291,2109,3462,0,0,0,0,0,0
$GC,3270,-0.91,-127.0,484.0,-10.1,166,3274,0.00,2.08,0.00,0.000,4,0.000,0.041,2294,697,3461,0,0,0,0,0,0
$GC,3303,-0.91,-127.0,487.6,-10.2,166,3307,0.00,2.15,0.00,0.000,6,0.000,0.053,2285,2103,3461,0,0,0,0,0,0
$GC,3559,-0.91,-127.0,515.2,-10.9,173,3563,0.00,2.08,0.00,0.000,4,0.000,0.041,2285,696,3458,0,0,0,0,0,0
$GC,3593,-0.91,-127.0,518.6,-10.4,173,3598,0.00,2.17,0.00,0.000,6,0.000,0.053,2275,2107,3459,0,0,0,0,0,0
$GC,3842,-0.91,-127.0,543.3,-10.0,180,3846,0.00,2.17,0.00,0.000,4,0.000,0.061,2264,3515,3456,0,0,0,0,0,0
$GC,3989,-0.91,-127.0,559.3,-11.0,183,3994,0.15,2.10,0.00,0.000,6,0.208,0.039,2299,2104,3455,0,0,0,0,0,0
$GC,4256,-0.91,-127.0,584.9,-9.3,190,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2099,3452,0,0,0,0,0,0
$GC,4499,-0.91,-127.0,607.3,-9.1,196,4503,0.00,2.10,0.00,0.000,4,0.000,0.047,2302,694,3450,0,0,0,0,0,0
$GC,4556,-0.91,-127.0,612.3,-9.1,197,4560,0.00,2.17,0.00,0.000,6,0.000,0.054,2294,2105,3450,0,0,0,0,0,0
$GC,4829,-0.91,-127.0,636.8,-9.0,204,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2105,3449,0,0,0,0,0,0
$GC,5072,-0.91,-127.0,657.8,-8.5,210,5076,0.00,2.20,0.00,0.000,4,0.000,0.061,2283,3511,3447,0,0,0,0,0,0
$GC,5118,-0.91,-127.0,662.1,-9.9,211,5122,0.00,2.10,0.00,0.000,6,0.000,0.039,2283,2103,3446,0,0,0,0,0,0
$GC,5396,-0.91,-127.0,687.1,-9.1,218,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2097,3445,0,0,0,0,0,0
$GC,5640,-0.91,-127.0,710.0,-9.4,224,5643,0.00,2.20,0.00,0.000,4,0.000,0.062,2272,3511,3444,0,0,0,0,0,0
$GC,5741,-0.91,-127.0,720.4,-9.7,226,5745,0.00,2.10,0.00,0.000,6,0.000,0.040,2272,2109,3442,0,0,0,0,0,0
$GC,6007,-0.91,-127.0,746.2,-9.7,233,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2104,3440,0,0,0,0,0,0
$GC,6251,-0.91,-127.0,768.1,-8.9,239,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2104,3440,0,0,0,0,0,0
$GC,6496,-0.91,-127.0,787.1,-7.6,245,6500,0.10,2.15,0.00,0.000,4,0.230,0.048,2304,691,3438,0,0,0,0,0,0
$GC,6556,-0.91,-127.0,791.3,-6.6,246,6560,0.00,2.20,0.00,0.000,6,0.000,0.055,2295,2116,3438,0,0,0,0,0,0
$GC,6823,-0.91,-127.0,807.4,-5.9,253,6827,0.00,2.17,0.00,0.000,4,0.000,0.064,2284,3514,3437,0,0,0,0,0,0
$GC,6891,-0.91,-127.0,812.0,-6.6,254,6895,0.00,2.12,0.00,0.000,6,0.000,0.041,2280,2092,3435,0,0,0,0,0,0
$GC,7146,-0.91,-127.0,828.3,-6.4,261,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2089,3435,0,0,0,0,0,0
$GC,7390,-0.91,-127.0,844.9,-6.8,267,7394,0.00,2.05,0.00,0.000,4,0.000,0.044,2284,702,3434,0,0,0,0,0,0
$GC,7457,-0.91,-127.0,850.2,-8.4,268,7462,0.00,2.17,0.00,0.000,6,0.000,0.057,2274,2103,3434,0,0,0,0,0,0
$GC,7719,-0.91,-127.0,870.9,-7.8,275,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2106,3432,0,0,0,0,0,0
$GC,7962,-0.91,-127.0,889.1,-7.5,281,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2106,3431,0,0,0,0,0,0
$STATE,8122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8122,begin apogee
$GC,8129,-0.28,0.0,901.1,7.4,285,8236,0.80,0.00,102.95,1.180,6,0.189,0.000,2501,1904,2942,0,0,0,0,0,0
$STATE,8238,end apogee,CONTROL_FINISHED_OK
$STATE,8238,begin climb
$GC,8241,0.91,127.0,902.5,0.0,287,8365,1.15,2.38,112.68,1.140,4,0.100,0.054,2880,3324,2420,0,0,0,0,0,0
$GC,8387,0.91,127.0,873.1,26.3,290,8392,0.00,2.25,0.00,0.000,6,0.000,0.035,2888,1919,2418,0,0,0,0,0,0
$GC,8648,0.91,127.0,801.1,27.7,297,8652,0.00,2.20,0.00,0.000,4,0.000,0.044,2901,505,2416,0,0,0,0,0,0
$GC,8703,0.91,127.0,785.3,28.8,298,8708,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1927,2410,0,0,0,0,0,0
$GC,8977,0.91,127.0,707.5,29.0,305,8981,0.00,2.17,0.00,0.000,4,0.000,0.056,2902,3317,2409,0,0,0,0,0,0
$GC,9000,0.91,127.0,700.6,30.7,305,9004,0.00,2.15,0.00,0.000,6,0.000,0.036,2916,1909,2409,0,0,0,0,0,0
$GC,9255,0.91,127.0,625.7,29.3,312,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1909,2408,0,0,0,0,0,0
$GC,9500,0.91,127.0,556.9,28.5,318,9504,0.00,2.12,0.00,0.000,4,0.000,0.044,2923,500,2407,0,0,0,0,0,0
$GC,9545,0.91,127.0,543.3,29.5,319,9550,0.15,2.15,0.00,0.000,6,0.221,0.039,2890,1924,2406,0,0,0,0,0,0
$GC,9833,0.91,127.0,468.8,25.3,326,9837,0.00,2.15,0.00,0.000,4,0.000,0.054,2891,3313,2406,0,0,0,0,0,0
$GC,9889,0.91,127.0,454.5,25.3,327,9894,0.00,2.12,0.00,0.000,6,0.000,0.037,2899,1914,2408,0,0,0,0,0,0
$GC,10156,0.91,127.0,389.1,24.5,334,10160,0.00,2.12,0.00,0.000,4,0.000,0.045,2914,507,2405,0,0,0,0,0,0
$GC,10233,0.91,127.0,369.6,25.9,335,10239,0.00,2.12,0.00,0.000,6,0.000,0.038,2910,1920,2403,0,0,0,0,0,0
$GC,10484,0.91,127.0,309.0,24.3,342,10488,0.00,2.15,0.00,0.000,4,0.000,0.051,2910,3326,2403,0,0,0,0,0,0
$GC,10523,0.91,127.0,299.4,22.8,343,10528,0.12,2.12,0.00,0.000,6,0.235,0.035,2895,1904,2403,0,0,0,0,0,0
$GC,10787,0.91,127.0,239.7,22.3,356,10791,0.00,2.10,0.00,0.000,4,0.000,0.044,2904,512,2402,0,0,0,0,0,0
$GC,10843,0.91,127.0,228.3,19.6,358,10847,0.00,2.10,0.00,0.000,6,0.000,0.038,2904,1918,2401,0,0,0,0,0,0
$GC,11101,0.91,127.0,176.1,20.6,375,11105,0.00,2.12,0.00,0.000,4,0.000,0.051,2904,3316,2401,0,0,0,0,0,0
$GC,11154,0.91,127.0,166.0,18.8,379,11158,0.00,2.10,0.00,0.000,6,0.000,0.033,2914,1907,2402,0,0,0,0,0,0
$GC,11419,0.91,127.0,118.2,15.3,403,11423,0.00,2.15,0.00,0.000,4,0.000,0.050,2914,3313,2401,0,0,0,0,0,0
$GC,11510,0.91,127.0,103.9,14.5,411,11515,0.15,2.08,0.00,0.000,6,0.219,0.033,2891,1913,2402,0,0,0,0,0,0
$GC,11773,0.91,127.0,67.8,13.5,435,11777,0.00,2.15,0.00,0.000,4,0.000,0.050,2890,3314,2402,0,0,0,0,0,0
$GC,11923,0.91,127.0,46.4,12.9,448,11928,0.00,2.05,0.00,0.000,6,0.000,0.033,2897,1925,2403,0,0,0,0,0,0
$GC,12183,0.91,127.0,10.4,11.5,486,12191,0.00,2.12,0.00,0.000,4,0.000,0.043,2910,510,2404,0,0,0,0,0,0
$GC,12227,0.91,127.0,4.4,14.7,493,12235,0.00,2.10,0.00,0.000,6,0.000,0.035,2910,1918,2404,0,0,0,0,0,0
$STATE,12241,end climb,SURFACE_DEPTH_REACHED
$STATE,12241,begin surface coast
$FINISH,-0.1,1.023096
$STATE,12258,end surface coast,CONTROL_FINISHED_OK
$STATE,12258,begin surface
$SM_CCo,12301,75.30,0.532,0,0,1717,300.24
$SM_GC,0.67,0.00,0.00,75.30,0.000,0.000,0.532,51,2112,1717,-7.95,0.20,300.24
$IRIDIUM_FIX,1911.51,-15627.99,271212,080832
$TT8_MAMPS,0.060593
$HUMID,1078894829
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.30
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345129984
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59993817088
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,4.482
$10V_AH,10.3,5.139
$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,19.900,128.875,215.625,75.300,0.000,117.871,189.999,383.230,1.500,0.000,20.289,1072.986,9311.605,383.687,2369.997,351.963,33.351,1143.855,0.000,1598.430,0.000,0.541,0.000
$DEVICE_MAMPS,251.576,65.195,1180.413,532.298,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,340.778,0.000,553.638,0.000,0.000,0.000,0.000,14325.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.562,0.000,0.000
$MEM,353796
$DATA_FILE_SIZE,23611,498
$CAP_FILE_SIZE,126791,0
$CFSIZE,260165632,205312000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,171736,1917.042,-15630.457,32,0.9,33,9.6