version: 66.07
glider: 513
mission: 7
dive: 21
start: 7 5 111 0 54 30
data:
$ID,513
$MISSION,7
$DIVE,21
$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,-420903.19
$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,2605
$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,2150
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,41
$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,20
$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
$GPS1,050711,003836,1912.836,-15632.046,37,1.2,38,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-78.4
$GPS2,050711,005338,1912.501,-15632.010,10,1.5,10,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.193,-0.148
$KALMAN_X,32564.3,-602.9,-340.1,-35404.1,4948.7
$KALMAN_Y,-21635.7,307.0,-172.1,-27362.6,-1985.7
$MHEAD_RNG_PITCHd_Wd,223.0,32457,-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,-55.00,0.000,6,0.000,0.000,41,2128,3460,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.7,-5.6,9,104,9.55,2.25,0.00,0.000,4,0.255,0.058,2292,3554,3461,0,0,0,0,0,0
$GC,237,-0.91,-127.0,51.1,-30.1,29,244,0.00,2.12,0.00,0.000,6,0.000,0.037,2298,2160,3464,0,0,0,0,0,0
$GC,498,-0.91,-127.0,124.1,-23.8,54,502,0.00,2.17,0.00,0.000,4,0.000,0.055,2289,3562,3466,0,0,0,0,0,0
$GC,750,-0.91,-127.0,181.2,-18.4,76,758,0.00,2.12,0.00,0.000,6,0.000,0.035,2291,2144,3466,0,0,0,0,0,0
$GC,1008,-0.91,-127.0,222.9,-14.6,94,1012,0.00,2.20,0.00,0.000,4,0.000,0.058,2282,3560,3468,0,0,0,0,0,0
$GC,1147,-0.91,-127.0,241.6,-11.1,100,1151,0.00,2.10,0.00,0.000,6,0.000,0.036,2282,2151,3469,0,0,0,0,0,0
$GC,1402,-0.91,-127.0,273.6,-12.8,112,1406,0.00,2.17,0.00,0.000,4,0.000,0.056,2272,3558,3470,0,0,0,0,0,0
$GC,1419,-0.91,-127.0,275.8,-12.4,113,1423,0.15,2.08,0.00,0.000,6,0.201,0.036,2308,2147,3470,0,0,0,0,0,0
$GC,1708,-0.91,-127.0,310.5,-11.6,125,1712,0.00,2.08,0.00,0.000,4,0.000,0.044,2309,737,3472,0,0,0,0,0,0
$GC,1843,-0.91,-127.0,326.1,-10.9,128,1847,0.00,2.17,0.00,0.000,6,0.000,0.058,2300,2154,3472,0,0,0,0,0,0
$GC,2126,-0.91,-127.0,357.1,-10.6,135,2130,0.00,2.10,0.00,0.000,4,0.000,0.042,2300,739,3470,0,0,0,0,0,0
$GC,2238,-0.91,-127.0,371.0,-12.5,137,2242,0.00,2.17,0.00,0.000,6,0.000,0.057,2290,2152,3470,0,0,0,0,0,0
$GC,2498,-0.91,-127.0,400.4,-11.5,144,2502,0.00,2.20,0.00,0.000,4,0.000,0.067,2279,3555,3468,0,0,0,0,0,0
$GC,2554,-0.91,-127.0,406.6,-11.2,145,2559,0.12,2.10,0.00,0.000,6,0.207,0.036,2308,2139,3468,0,0,0,0,0,0
$GC,2827,-0.91,-127.0,434.4,-10.3,152,2830,0.00,2.05,0.00,0.000,4,0.000,0.042,2308,749,3466,0,0,0,0,0,0
$GC,2860,-0.91,-127.0,437.6,-9.4,152,2864,0.00,2.17,0.00,0.000,6,0.000,0.061,2299,2155,3466,0,0,0,0,0,0
$GC,3110,-0.91,-127.0,460.5,-9.1,158,3114,0.00,2.20,0.00,0.000,4,0.000,0.066,2288,3564,3463,0,0,0,0,0,0
$GC,3138,-0.91,-127.0,463.3,-10.3,158,3142,0.00,2.10,0.00,0.000,6,0.000,0.038,2289,2154,3463,0,0,0,0,0,0
$GC,3392,-0.91,-127.0,489.2,-10.4,165,3396,0.00,2.22,0.00,0.000,4,0.000,0.069,2278,3561,3462,0,0,0,0,0,0
$GC,3448,-0.91,-127.0,496.2,-12.6,166,3452,0.12,2.12,0.00,0.000,6,0.210,0.038,2306,2141,3462,0,0,0,0,0,0
$GC,3720,-0.91,-127.0,524.3,-10.2,173,3724,0.00,2.22,0.00,0.000,4,0.000,0.067,2297,3555,3456,0,0,0,0,0,0
$GC,3764,-0.91,-127.0,529.3,-11.0,174,3769,0.00,2.10,0.00,0.000,6,0.000,0.038,2297,2146,3459,0,0,0,0,0,0
$GC,4048,-0.91,-127.0,558.5,-10.0,181,4052,0.00,2.22,0.00,0.000,4,0.000,0.068,2288,3553,3457,0,0,0,0,0,0
$GC,4127,-0.91,-127.0,566.5,-10.0,182,4133,0.00,2.10,0.00,0.000,6,0.000,0.038,2287,2144,3455,0,0,0,0,0,0
$GC,4377,-0.91,-127.0,587.9,-8.3,189,4381,0.00,2.22,0.00,0.000,4,0.000,0.068,2274,3555,3453,0,0,0,0,0,0
$GC,4423,-0.91,-127.0,591.8,-8.9,190,4427,0.12,2.10,0.00,0.000,6,0.213,0.038,2305,2144,3453,0,0,0,0,0,0
$GC,4712,-0.91,-127.0,615.3,-8.0,197,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2140,3449,0,0,0,0,0,0
$GC,4955,-0.91,-127.0,633.8,-7.4,203,4959,0.00,2.08,0.00,0.000,4,0.000,0.046,2305,751,3447,0,0,0,0,0,0
$GC,4983,-0.91,-127.0,636.1,-8.1,203,4987,0.00,2.17,0.00,0.000,6,0.000,0.060,2296,2152,3450,0,0,0,0,0,0
$GC,5239,-0.91,-127.0,655.2,-7.6,210,5242,0.00,2.10,0.00,0.000,4,0.000,0.048,2298,751,3448,0,0,0,0,0,0
$GC,5266,-0.91,-127.0,657.7,-8.4,210,5270,0.00,2.17,0.00,0.000,6,0.000,0.061,2286,2151,3448,0,0,0,0,0,0
$GC,5521,-0.91,-127.0,678.3,-8.2,217,5525,0.00,2.10,0.00,0.000,4,0.000,0.046,2286,742,3447,0,0,0,0,0,0
$GC,5600,-0.91,-127.0,685.5,-8.9,218,5606,0.12,2.20,0.00,0.000,6,0.222,0.062,2304,2152,3446,0,0,0,0,0,0
$GC,5850,-0.91,-127.0,707.0,-8.6,225,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2152,3444,0,0,0,0,0,0
$GC,6093,-0.91,-127.0,727.0,-8.0,231,6097,0.00,2.10,0.00,0.000,4,0.000,0.047,2304,744,3443,0,0,0,0,0,0
$GC,6184,-0.91,-127.0,734.3,-7.6,233,6188,0.00,2.20,0.00,0.000,6,0.000,0.061,2295,2153,3442,0,0,0,0,0,0
$GC,6462,-0.91,-127.0,754.4,-7.2,240,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2152,3442,0,0,0,0,0,0
$GC,6705,-0.91,-127.0,771.1,-6.9,246,6709,0.00,2.12,0.00,0.000,4,0.000,0.047,2296,743,3440,0,0,0,0,0,0
$GC,6734,-0.91,-127.0,773.2,-7.7,246,6738,0.00,2.20,0.00,0.000,6,0.000,0.060,2285,2153,3440,0,0,0,0,0,0
$GC,6984,-0.91,-127.0,792.9,-8.1,252,6988,0.00,2.10,0.00,0.000,4,0.000,0.044,2285,745,3439,0,0,0,0,0,0
$GC,7011,-0.91,-127.0,795.2,-8.6,252,7016,0.15,2.17,0.00,0.000,6,0.215,0.058,2310,2152,3439,0,0,0,0,0,0
$GC,7267,-0.91,-127.0,814.0,-7.5,259,7271,0.00,2.10,0.00,0.000,4,0.000,0.046,2310,742,3437,0,0,0,0,0,0
$GC,7373,-0.91,-127.0,822.6,-7.9,261,7377,0.00,2.20,0.00,0.000,6,0.000,0.058,2301,2154,3437,0,0,0,0,0,0
$GC,7634,-0.91,-127.0,842.2,-7.3,268,7638,0.00,2.10,0.00,0.000,4,0.000,0.045,2301,743,3436,0,0,0,0,0,0
$GC,7679,-0.91,-127.0,845.7,-7.7,269,7683,0.00,2.20,0.00,0.000,6,0.000,0.058,2291,2154,3439,0,0,0,0,0,0
$GC,7956,-0.91,-127.0,864.7,-6.7,276,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2154,3435,0,0,0,0,0,0
$GC,8201,-0.91,-127.0,880.2,-6.4,282,8205,0.00,2.10,0.00,0.000,4,0.000,0.044,2291,742,3434,0,0,0,0,0,0
$GC,8368,-0.91,-127.0,892.1,-7.3,285,8375,0.12,2.20,0.00,0.000,6,0.220,0.059,2309,2155,3433,0,0,0,0,0,0
$STATE,8535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8535,begin apogee
$GC,8542,-0.28,0.0,902.2,6.0,290,8648,0.68,0.00,103.38,1.178,6,0.179,0.000,2506,1934,2942,0,0,0,0,0,0
$STATE,8651,end apogee,CONTROL_FINISHED_OK
$STATE,8651,begin climb
$GC,8653,0.91,127.0,902.8,0.0,292,8771,1.17,0.00,113.72,1.130,6,0.102,0.000,2890,1934,2422,0,0,0,0,0,0
$GC,8985,0.91,127.0,820.0,28.3,301,8989,0.00,2.15,0.00,0.000,4,0.000,0.046,2900,575,2413,0,0,0,0,0,0
$GC,9007,0.91,127.0,813.3,28.2,301,9011,0.00,2.20,0.00,0.000,6,0.000,0.046,2900,1964,2412,0,0,0,0,0,0
$GC,9267,0.91,127.0,737.9,28.9,308,9271,0.00,2.17,0.00,0.000,4,0.000,0.048,2910,573,2412,0,0,0,0,0,0
$GC,9294,0.91,127.0,729.6,29.0,308,9298,0.00,2.17,0.00,0.000,6,0.000,0.046,2910,1959,2410,0,0,0,0,0,0
$GC,9551,0.91,127.0,653.3,30.2,315,9555,0.00,2.22,0.00,0.000,4,0.000,0.059,2910,3369,2409,0,0,0,0,0,0
$GC,9572,0.91,127.0,646.2,31.6,315,9576,0.00,2.12,0.00,0.000,6,0.000,0.038,2921,1974,2409,0,0,0,0,0,0
$GC,9839,0.91,127.0,566.7,29.5,322,9843,0.00,2.17,0.00,0.000,4,0.000,0.045,2932,549,2408,0,0,0,0,0,0
$GC,9888,0.91,127.0,551.4,29.8,323,9893,0.12,2.17,0.00,0.000,6,0.225,0.042,2906,1965,2407,0,0,0,0,0,0
$GC,10167,0.91,127.0,479.0,25.5,330,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1969,2407,0,0,0,0,0,0
$GC,10409,0.91,127.0,416.5,25.4,336,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1969,2406,0,0,0,0,0,0
$GC,10653,0.91,127.0,354.5,25.5,342,10657,0.00,2.17,0.00,0.000,4,0.000,0.057,2905,3374,2406,0,0,0,0,0,0
$GC,10715,0.91,127.0,339.9,24.3,343,10719,0.00,2.15,0.00,0.000,6,0.000,0.038,2914,1952,2406,0,0,0,0,0,0
$GC,10977,0.91,127.0,278.7,23.3,352,10980,0.00,2.12,0.00,0.000,4,0.000,0.044,2925,555,2406,0,0,0,0,0,0
$GC,11016,0.91,127.0,269.4,23.0,354,11020,0.00,2.12,0.00,0.000,6,0.000,0.040,2925,1964,2404,0,0,0,0,0,0
$GC,11283,0.91,127.0,205.9,23.6,367,11286,0.00,2.15,0.00,0.000,4,0.000,0.054,2925,3368,2404,0,0,0,0,0,0
$GC,11360,0.91,127.0,188.4,20.7,372,11368,0.12,2.12,0.00,0.000,6,0.217,0.033,2903,1958,2403,0,0,0,0,0,0
$GC,11623,0.91,127.0,145.3,13.7,397,11627,0.00,2.17,0.00,0.000,4,0.000,0.053,2903,3363,2402,0,0,0,0,0,0
$GC,11671,0.91,127.0,137.9,14.3,401,11676,0.00,2.10,0.00,0.000,6,0.000,0.034,2912,1956,2402,0,0,0,0,0,0
$GC,11934,0.91,127.0,94.1,15.3,426,11938,0.00,2.15,0.00,0.000,4,0.000,0.051,2912,3362,2402,0,0,0,0,0,0
$GC,12009,0.91,127.0,82.6,15.9,432,12013,0.00,2.10,0.00,0.000,6,0.000,0.032,2922,1949,2403,0,0,0,0,0,0
$GC,12273,0.91,127.0,41.0,16.4,456,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1947,2404,0,0,0,0,0,0
$STATE,12516,end climb,SURFACE_DEPTH_REACHED
$STATE,12516,begin surface coast
$FINISH,0.5,1.022928
$STATE,12534,end surface coast,CONTROL_FINISHED_OK
$STATE,12534,begin surface
$SM_CCo,12554,59.38,0.509,0,0,1916,250.69
$SM_GC,1.15,0.00,0.00,59.38,0.000,0.000,0.509,53,2168,1916,-7.98,0.54,250.69
$IRIDIUM_FIX,1904.66,-15634.00,271212,191944
$TT8_MAMPS,0.060593
$HUMID,1078958055
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.90
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6345031680
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59993128960
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,4.789
$10V_AH,10.3,5.397
$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,20.150,133.875,217.100,59.375,0.000,77.368,109.036,386.007,2.000,0.000,15.788,1090.255,9494.015,385.929,2191.111,358.305,33.355,1142.855,0.000,1592.910,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,69.030,1178.112,508.521,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.000,0.000,530.588,0.000,0.000,0.000,0.000,14333.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.221,0.000,0.000
$MEM,353812
$DATA_FILE_SIZE,26910,499
$CAP_FILE_SIZE,128157,0
$CFSIZE,260165632,205094912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,042624,1910.771,-15632.966,28,0.8,45,9.6