version: 66.07
glider: 513
mission: 7
dive: 20
start: 7 4 111 21 7 39
data:
$ID,513
$MISSION,7
$DIVE,20
$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,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,-420886.78
$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,2600
$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,2120
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,38
$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,19
$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
$GPS1,040711,205907,1914.964,-15631.146,28,1.2,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-79.1
$GPS2,040711,210643,1914.744,-15631.098,9,1.9,9,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.190,-0.153
$KALMAN_X,30780.8,-446.9,-336.8,-32189.9,5046.2
$KALMAN_Y,-20864.8,113.1,507.5,-24469.7,-3672.0
$MHEAD_RNG_PITCHd_Wd,221.5,36582,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.91,-127.0,0.0,0.0,0,85,0.00,0.00,-55.78,0.000,6,0.000,0.000,36,2125,3459,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.3,-4.0,9,104,9.55,2.20,0.00,0.000,4,0.255,0.058,2284,3525,3462,0,0,0,0,0,0
$GC,234,-0.91,-127.0,49.5,-28.7,30,238,0.00,2.10,0.00,0.000,6,0.000,0.036,2295,2122,3465,0,0,0,0,0,0
$GC,502,-0.91,-127.0,126.1,-24.8,55,506,0.00,2.20,0.00,0.000,4,0.000,0.061,2291,3529,3466,0,0,0,0,0,0
$GC,753,-0.91,-127.0,182.2,-19.2,77,759,0.00,2.10,0.00,0.000,6,0.000,0.034,2288,2113,3468,0,0,0,0,0,0
$GC,1009,-0.91,-127.0,230.0,-16.9,94,1013,0.00,2.20,0.00,0.000,4,0.000,0.056,2279,3537,3470,0,0,0,0,0,0
$GC,1060,-0.91,-127.0,238.1,-14.9,96,1064,0.10,2.10,0.00,0.000,6,0.212,0.033,2300,2114,3470,0,0,0,0,0,0
$GC,1313,-0.91,-127.0,273.1,-13.7,108,1317,0.00,2.05,0.00,0.000,4,0.000,0.042,2302,718,3472,0,0,0,0,0,0
$GC,1362,-0.91,-127.0,279.8,-12.9,110,1366,0.00,2.15,0.00,0.000,6,0.000,0.051,2294,2131,3471,0,0,0,0,0,0
$GC,1621,-0.91,-127.0,312.1,-13.3,121,1625,0.00,2.08,0.00,0.000,4,0.000,0.041,2302,719,3473,0,0,0,0,0,0
$GC,1676,-0.91,-127.0,319.3,-13.4,122,1680,0.00,2.15,0.00,0.000,6,0.000,0.050,2293,2112,3472,0,0,0,0,0,0
$GC,1948,-0.91,-127.0,352.7,-11.8,129,1952,0.00,2.17,0.00,0.000,4,0.000,0.056,2283,3526,3475,0,0,0,0,0,0
$GC,2199,-0.91,-127.0,382.4,-11.4,134,2203,0.00,2.08,0.00,0.000,6,0.000,0.035,2282,2119,3473,0,0,0,0,0,0
$GC,2460,-0.91,-127.0,411.1,-11.3,141,2464,0.00,2.05,0.00,0.000,4,0.000,0.042,2282,720,3473,0,0,0,0,0,0
$GC,2562,-0.91,-127.0,423.3,-12.4,143,2566,0.12,2.15,0.00,0.000,6,0.211,0.052,2301,2126,3472,0,0,0,0,0,0
$GC,2833,-0.91,-127.0,453.3,-10.6,150,2837,0.00,2.15,0.00,0.000,4,0.000,0.058,2291,3523,3470,0,0,0,0,0,0
$GC,2873,-0.91,-127.0,457.1,-9.8,151,2877,0.00,2.08,0.00,0.000,6,0.000,0.036,2294,2118,3470,0,0,0,0,0,0
$GC,3157,-0.91,-127.0,485.4,-10.1,158,3161,0.00,2.10,0.00,0.000,4,0.000,0.042,2294,718,3468,0,0,0,0,0,0
$GC,3213,-0.91,-127.0,491.7,-11.4,159,3217,0.00,2.15,0.00,0.000,6,0.000,0.052,2282,2119,3468,0,0,0,0,0,0
$GC,3486,-0.91,-127.0,518.4,-9.6,166,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2119,3465,0,0,0,0,0,0
$GC,3729,-0.91,-127.0,541.2,-9.1,172,3733,0.00,2.10,0.00,0.000,4,0.000,0.045,2286,722,3464,0,0,0,0,0,0
$GC,3829,-0.91,-127.0,551.0,-9.6,174,3833,0.00,2.15,0.00,0.000,6,0.000,0.054,2280,2125,3465,0,0,0,0,0,0
$GC,4108,-0.91,-127.0,575.2,-8.5,181,4112,0.00,2.10,0.00,0.000,4,0.000,0.044,2278,722,3462,0,0,0,0,0,0
$GC,4146,-0.91,-127.0,579.1,-10.1,181,4152,0.15,2.15,0.00,0.000,6,0.209,0.055,2303,2116,3461,0,0,0,0,0,0
$GC,4396,-0.91,-127.0,599.7,-8.1,188,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2117,3456,0,0,0,0,0,0
$GC,4640,-0.91,-127.0,620.2,-8.5,194,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2119,3461,0,0,0,0,0,0
$GC,4884,-0.91,-127.0,640.6,-8.2,200,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2116,3455,0,0,0,0,0,0
$GC,5127,-0.91,-127.0,660.6,-8.2,206,5131,0.00,2.20,0.00,0.000,4,0.000,0.064,2294,3529,3453,0,0,0,0,0,0
$GC,5287,-0.91,-127.0,674.4,-8.6,209,5291,0.00,2.12,0.00,0.000,6,0.000,0.038,2297,2104,3452,0,0,0,0,0,0
$GC,5553,-0.91,-127.0,694.2,-7.1,216,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2097,3451,0,0,0,0,0,0
$GC,5797,-0.91,-127.0,710.8,-6.8,222,5801,0.00,2.22,0.00,0.000,4,0.000,0.063,2289,3529,3450,0,0,0,0,0,0
$GC,5848,-0.91,-127.0,714.6,-7.4,223,5852,0.00,2.10,0.00,0.000,6,0.000,0.038,2288,2119,3452,0,0,0,0,0,0
$GC,6127,-0.91,-127.0,735.9,-7.9,230,6131,0.00,2.20,0.00,0.000,4,0.000,0.061,2278,3531,3448,0,0,0,0,0,0
$GC,6142,-0.91,-127.0,737.5,-8.3,230,6146,0.00,2.10,0.00,0.000,6,0.000,0.037,2277,2115,3448,0,0,0,0,0,0
$GC,6404,-0.91,-127.0,760.2,-8.7,237,6408,0.10,2.10,0.00,0.000,4,0.230,0.044,2301,716,3447,0,0,0,0,0,0
$GC,6454,-0.91,-127.0,764.7,-8.8,238,6458,0.00,2.17,0.00,0.000,6,0.000,0.055,2292,2127,3447,0,0,0,0,0,0
$GC,6726,-0.91,-127.0,788.5,-8.8,245,6730,0.00,2.10,0.00,0.000,4,0.000,0.044,2301,716,3446,0,0,0,0,0,0
$GC,6782,-0.91,-127.0,793.7,-9.9,246,6786,0.00,2.17,0.00,0.000,6,0.000,0.054,2292,2130,3445,0,0,0,0,0,0
$GC,7048,-0.91,-127.0,816.5,-8.3,253,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2126,3444,0,0,0,0,0,0
$GC,7292,-0.91,-127.0,835.5,-7.7,259,7296,0.00,2.10,0.00,0.000,4,0.000,0.045,2301,715,3443,0,0,0,0,0,0
$GC,7416,-0.91,-127.0,844.9,-7.5,261,7420,0.00,2.17,0.00,0.000,6,0.000,0.055,2294,2124,3445,0,0,0,0,0,0
$GC,7666,-0.91,-127.0,861.9,-6.6,267,7670,0.00,2.12,0.00,0.000,4,0.000,0.046,2300,721,3443,0,0,0,0,0,0
$GC,7732,-0.91,-127.0,866.6,-6.9,268,7736,0.00,2.17,0.00,0.000,6,0.000,0.055,2291,2126,3441,0,0,0,0,0,0
$GC,7994,-0.91,-127.0,882.9,-6.3,275,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2126,3442,0,0,0,0,0,0
$GC,8237,-0.91,-127.0,897.4,-6.0,281,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2126,3440,0,0,0,0,0,0
$STATE,8317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8317,begin apogee
$GC,8323,-0.28,0.0,902.3,6.1,283,8432,0.75,0.00,105.10,1.187,6,0.183,0.000,2506,1927,2942,0,0,0,0,0,0
$STATE,8454,end apogee,CONTROL_FINISHED_OK
$STATE,8455,begin climb
$GC,8458,0.91,127.0,902.8,0.0,285,8582,1.12,2.33,112.68,1.134,4,0.095,0.044,2896,535,2421,0,0,0,0,0,0
$GC,8593,0.91,127.0,873.1,27.3,288,8597,0.00,2.28,0.00,0.000,6,0.000,0.040,2901,1934,2419,0,0,0,0,0,0
$GC,8872,0.91,127.0,794.2,28.1,295,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1938,2412,0,0,0,0,0,0
$GC,9114,0.91,127.0,727.5,27.3,301,9118,0.00,2.20,0.00,0.000,4,0.000,0.046,2906,525,2411,0,0,0,0,0,0
$GC,9142,0.91,127.0,719.6,27.8,301,9145,0.00,2.20,0.00,0.000,6,0.000,0.043,2907,1937,2409,0,0,0,0,0,0
$GC,9398,0.91,127.0,649.0,27.8,308,9402,0.00,2.20,0.00,0.000,4,0.000,0.055,2907,3344,2410,0,0,0,0,0,0
$GC,9443,0.91,127.0,635.7,29.1,309,9447,0.00,2.15,0.00,0.000,6,0.000,0.037,2916,1933,2409,0,0,0,0,0,0
$GC,9732,0.91,127.0,554.1,28.1,316,9736,0.00,2.15,0.00,0.000,4,0.000,0.046,2928,531,2410,0,0,0,0,0,0
$GC,9776,0.91,127.0,541.5,26.5,317,9781,0.15,2.15,0.00,0.000,6,0.225,0.039,2896,1941,2407,0,0,0,0,0,0
$GC,10053,0.91,127.0,470.3,24.9,324,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1944,2406,0,0,0,0,0,0
$GC,10297,0.91,127.0,408.0,25.4,330,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1944,2406,0,0,0,0,0,0
$GC,10541,0.91,127.0,346.8,24.8,336,10545,0.00,2.17,0.00,0.000,4,0.000,0.053,2890,3337,2405,0,0,0,0,0,0
$GC,10591,0.91,127.0,334.1,23.8,337,10595,0.00,2.12,0.00,0.000,6,0.000,0.035,2909,1925,2406,0,0,0,0,0,0
$GC,10845,0.91,127.0,274.3,23.3,346,10849,0.00,2.12,0.00,0.000,4,0.000,0.044,2915,519,2405,0,0,0,0,0,0
$GC,10877,0.91,127.0,266.0,23.5,347,10883,0.00,2.12,0.00,0.000,6,0.000,0.038,2915,1931,2403,0,0,0,0,0,0
$GC,11132,0.91,127.0,206.8,23.8,360,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1935,2403,0,0,0,0,0,0
$GC,11385,0.91,127.0,156.8,16.5,382,11389,0.00,2.15,0.00,0.000,4,0.000,0.053,2915,3334,2402,0,0,0,0,0,0
$GC,11493,0.91,127.0,140.4,16.5,391,11497,0.12,2.10,0.00,0.000,6,0.223,0.033,2899,1927,2402,0,0,0,0,0,0
$GC,11755,0.91,127.0,104.4,11.8,415,11759,0.00,2.17,0.00,0.000,4,0.000,0.051,2898,3338,2403,0,0,0,0,0,0
$GC,11861,0.91,127.0,89.8,13.3,424,11865,0.00,2.10,0.00,0.000,6,0.000,0.034,2907,1928,2403,0,0,0,0,0,0
$GC,12126,0.91,127.0,53.6,14.3,448,12130,0.00,2.15,0.00,0.000,4,0.000,0.048,2907,3336,2404,0,0,0,0,0,0
$GC,12156,0.91,127.0,49.1,15.9,450,12161,0.00,2.10,0.00,0.000,6,0.000,0.032,2918,1918,2408,0,0,0,0,0,0
$GC,12415,0.91,127.0,10.4,13.3,487,12423,0.00,2.10,0.00,0.000,4,0.000,0.043,2929,528,2406,0,0,0,0,0,0
$GC,12457,0.91,127.0,3.8,14.8,494,12466,0.10,2.10,0.00,0.000,6,0.175,0.036,2899,1927,2406,0,0,0,0,0,0
$STATE,12472,end climb,SURFACE_DEPTH_REACHED
$STATE,12472,begin surface coast
$FINISH,-0.2,1.022120
$STATE,12490,end surface coast,CONTROL_FINISHED_OK
$STATE,12490,begin surface
$SM_CCo,12509,54.65,0.500,0,0,1918,250.20
$SM_GC,1.12,0.00,0.00,54.65,0.000,0.000,0.500,56,2128,1918,-7.95,0.20,250.20
$IRIDIUM_FIX,1909.23,-15633.09,271212,111116
$TT8_MAMPS,0.060593
$HUMID,1078911603
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.50
$XPDR_PINGS,10
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345064448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59993358336
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,4.677
$10V_AH,10.2,5.307
$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,19.775,120.525,217.775,54.650,0.000,29.258,31.881,211.132,2.500,0.000,11.223,1085.022,9323.976,352.250,1930.297,334.787,33.375,1112.710,0.000,1608.338,0.000,0.539,0.000
$DEVICE_MAMPS,255.411,64.428,1186.549,500.084,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.075,0.000,543.769,0.000,0.000,0.000,0.000,13781.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.605,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,26869,499
$CAP_FILE_SIZE,118887,0
$CFSIZE,260165632,205172736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,003836,1912.836,-15632.046,37,1.2,38,9.6