version: 66.07
glider: 513
mission: 7
dive: 22
start: 7 5 111 4 35 40
data:
$ID,513
$MISSION,7
$DIVE,22
$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,-420919.91
$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,52
$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,21
$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
$GPS1,050711,042624,1910.771,-15632.966,28,0.8,45,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-78.9
$GPS2,050711,043444,1910.590,-15632.896,14,1.5,14,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206,-0.131
$KALMAN_X,34385.4,-717.8,-281.7,-38715.4,5000.9
$KALMAN_Y,-23080.6,522.7,254.4,-30092.1,-3002.7
$MHEAD_RNG_PITCHd_Wd,228.0,28878,-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,27,-0.91,-127.0,0.0,0.0,0,86,0.00,0.00,-55.50,0.000,6,0.000,0.000,42,2168,3458,0,0,0,0,0,0
$GC,90,-0.91,-127.0,2.6,-4.9,9,105,9.55,2.15,0.00,0.000,4,0.257,0.041,2308,754,3461,0,0,0,0,0,0
$GC,289,-0.91,-127.0,66.4,-29.3,34,297,0.00,2.22,0.00,0.000,6,0.000,0.061,2299,2144,3464,0,0,0,0,0,0
$GC,554,-0.91,-127.0,137.7,-25.2,59,558,0.00,2.20,0.00,0.000,4,0.000,0.059,2288,3569,3465,0,0,0,0,0,0
$GC,684,-0.91,-127.0,171.5,-22.2,70,692,0.00,2.12,0.00,0.000,6,0.000,0.033,2294,2158,3466,0,0,0,0,0,0
$GC,942,-0.91,-127.0,216.1,-14.8,90,946,0.00,2.20,0.00,0.000,4,0.000,0.060,2285,3569,3468,0,0,0,0,0,0
$GC,981,-0.91,-127.0,221.6,-14.5,92,985,0.00,2.10,0.00,0.000,6,0.000,0.033,2282,2148,3469,0,0,0,0,0,0
$GC,1247,-0.91,-127.0,256.7,-12.7,105,1251,0.00,2.20,0.00,0.000,4,0.000,0.059,2275,3559,3470,0,0,0,0,0,0
$GC,1405,-0.91,-127.0,278.9,-11.9,112,1410,0.12,2.10,0.00,0.000,6,0.206,0.034,2305,2142,3471,0,0,0,0,0,0
$GC,1664,-0.91,-127.0,310.6,-12.4,123,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2140,3472,0,0,0,0,0,0
$GC,1906,-0.91,-127.0,336.8,-11.1,129,1910,0.00,2.05,0.00,0.000,4,0.000,0.041,2308,743,3472,0,0,0,0,0,0
$GC,1967,-0.91,-127.0,343.3,-10.4,130,1971,0.00,2.20,0.00,0.000,6,0.000,0.056,2299,2155,3472,0,0,0,0,0,0
$GC,2235,-0.91,-127.0,373.3,-11.5,137,2239,0.00,2.17,0.00,0.000,4,0.000,0.060,2288,3568,3472,0,0,0,0,0,0
$GC,2425,-0.91,-127.0,397.3,-11.8,141,2429,0.00,2.10,0.00,0.000,6,0.000,0.036,2293,2152,3471,0,0,0,0,0,0
$GC,2698,-0.91,-127.0,429.8,-11.8,148,2702,0.00,2.20,0.00,0.000,4,0.000,0.063,2279,3558,3469,0,0,0,0,0,0
$GC,2855,-0.91,-127.0,448.2,-12.8,151,2860,0.12,2.10,0.00,0.000,6,0.209,0.037,2306,2142,3469,0,0,0,0,0,0
$GC,3111,-0.91,-127.0,472.7,-9.0,158,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2138,3468,0,0,0,0,0,0
$GC,3354,-0.91,-127.0,495.6,-9.7,164,3358,0.00,2.05,0.00,0.000,4,0.000,0.042,2307,746,3465,0,0,0,0,0,0
$GC,3522,-0.91,-127.0,513.0,-10.5,167,3528,0.00,2.17,0.00,0.000,6,0.000,0.059,2298,2153,3463,0,0,0,0,0,0
$GC,3773,-0.91,-127.0,537.2,-9.6,174,3777,0.00,2.20,0.00,0.000,4,0.000,0.065,2287,3564,3463,0,0,0,0,0,0
$GC,3851,-0.91,-127.0,545.6,-10.6,175,3857,0.00,2.10,0.00,0.000,6,0.000,0.038,2287,2151,3462,0,0,0,0,0,0
$GC,4101,-0.91,-127.0,571.1,-10.1,182,4105,0.00,2.10,0.00,0.000,4,0.000,0.045,2287,743,3460,0,0,0,0,0,0
$GC,4180,-0.91,-127.0,579.0,-10.2,183,4186,0.12,2.17,0.00,0.000,6,0.217,0.060,2301,2151,3460,0,0,0,0,0,0
$GC,4430,-0.91,-127.0,601.8,-9.0,190,4434,0.00,2.12,0.00,0.000,4,0.000,0.044,2307,746,3458,0,0,0,0,0,0
$GC,4446,-0.91,-127.0,603.4,-9.1,190,4450,0.00,2.17,0.00,0.000,6,0.000,0.058,2299,2151,3457,0,0,0,0,0,0
$GC,4713,-0.91,-127.0,627.0,-8.8,197,4717,0.00,2.08,0.00,0.000,4,0.000,0.042,2299,746,3456,0,0,0,0,0,0
$GC,4849,-0.91,-127.0,638.8,-8.7,200,4853,0.00,2.17,0.00,0.000,6,0.000,0.058,2288,2153,3455,0,0,0,0,0,0
$GC,5134,-0.91,-127.0,659.9,-7.1,207,5138,0.00,2.10,0.00,0.000,4,0.000,0.042,2288,745,3452,0,0,0,0,0,0
$GC,5150,-0.91,-127.0,661.2,-6.9,207,5154,0.12,2.20,0.00,0.000,6,0.217,0.057,2309,2160,3453,0,0,0,0,0,0
$GC,5416,-0.91,-127.0,677.4,-5.9,214,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2159,3449,0,0,0,0,0,0
$GC,5661,-0.91,-127.0,692.8,-6.4,220,5665,0.00,2.20,0.00,0.000,4,0.000,0.067,2297,3567,3449,0,0,0,0,0,0
$GC,5746,-0.91,-127.0,699.2,-7.6,222,5749,0.00,2.12,0.00,0.000,6,0.000,0.039,2297,2143,3449,0,0,0,0,0,0
$GC,6029,-0.91,-127.0,722.2,-8.4,229,6033,0.00,2.10,0.00,0.000,4,0.000,0.046,2296,749,3448,0,0,0,0,0,0
$GC,6091,-0.91,-127.0,728.3,-10.3,230,6095,0.00,2.20,0.00,0.000,6,0.000,0.061,2286,2155,3447,0,0,0,0,0,0
$GC,6357,-0.91,-127.0,754.5,-9.8,237,6361,0.00,2.12,0.00,0.000,4,0.000,0.046,2286,746,3446,0,0,0,0,0,0
$GC,6413,-0.91,-127.0,760.3,-10.0,238,6418,0.05,2.22,0.00,0.000,6,0.207,0.061,2304,2151,3447,0,0,0,0,0,0
$GC,6686,-0.91,-127.0,783.5,-8.3,245,6690,0.00,2.10,0.00,0.000,4,0.000,0.044,2304,746,3445,0,0,0,0,0,0
$GC,6747,-0.91,-127.0,789.0,-9.3,246,6751,0.00,2.20,0.00,0.000,6,0.000,0.061,2296,2150,3447,0,0,0,0,0,0
$GC,7014,-0.91,-127.0,810.8,-7.9,253,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2150,3444,0,0,0,0,0,0
$GC,7258,-0.91,-127.0,828.5,-7.2,259,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2150,3443,0,0,0,0,0,0
$GC,7501,-0.91,-127.0,845.7,-7.1,265,7505,0.00,2.12,0.00,0.000,4,0.000,0.044,2301,738,3442,0,0,0,0,0,0
$GC,7701,-0.91,-127.0,860.5,-7.7,269,7706,0.00,2.22,0.00,0.000,6,0.000,0.060,2285,2166,3441,0,0,0,0,0,0
$GC,7963,-0.91,-127.0,878.6,-6.8,276,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2165,3441,0,0,0,0,0,0
$GC,8207,-0.91,-127.0,895.5,-6.8,282,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2165,3439,0,0,0,0,0,0
$STATE,8286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8294,-0.28,0.0,901.2,7.0,284,8401,0.77,0.00,104.15,1.183,6,0.187,0.000,2507,1943,2943,0,0,0,0,0,0
$STATE,8404,end apogee,CONTROL_FINISHED_OK
$STATE,8404,begin climb
$GC,8406,0.91,127.0,902.2,0.0,286,8527,1.17,0.00,113.55,1.133,6,0.100,0.000,2893,1943,2422,0,0,0,0,0,0
$GC,8771,0.91,127.0,807.5,29.1,295,8775,0.00,2.17,0.00,0.000,4,0.000,0.048,2904,561,2414,0,0,0,0,0,0
$GC,8799,0.91,127.0,799.2,28.8,295,8803,0.00,2.20,0.00,0.000,6,0.000,0.044,2904,1957,2412,0,0,0,0,0,0
$GC,9055,0.91,127.0,725.3,28.7,302,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1962,2412,0,0,0,0,0,0
$GC,9298,0.91,127.0,656.3,28.0,308,9302,0.00,2.22,0.00,0.000,4,0.000,0.058,2904,3367,2411,0,0,0,0,0,0
$GC,9315,0.91,127.0,651.6,27.9,308,9319,0.00,2.15,0.00,0.000,6,0.000,0.037,2914,1961,2411,0,0,0,0,0,0
$GC,9575,0.91,127.0,579.3,28.3,315,9579,0.00,2.15,0.00,0.000,4,0.000,0.046,2925,550,2409,0,0,0,0,0,0
$GC,9647,0.91,127.0,557.8,27.5,316,9651,0.00,2.17,0.00,0.000,6,0.000,0.043,2932,1965,2408,0,0,0,0,0,0
$GC,9909,0.91,127.0,483.0,28.7,323,9913,0.00,2.20,0.00,0.000,4,0.000,0.056,2926,3371,2406,0,0,0,0,0,0
$GC,9937,0.91,127.0,474.4,29.9,323,9941,0.10,2.15,0.00,0.000,6,0.218,0.035,2898,1963,2408,0,0,0,0,0,0
$GC,10192,0.91,127.0,410.9,24.9,330,10195,0.00,2.15,0.00,0.000,4,0.000,0.045,2907,549,2408,0,0,0,0,0,0
$GC,10219,0.91,127.0,403.4,26.3,330,10223,0.00,2.15,0.00,0.000,6,0.000,0.042,2908,1962,2405,0,0,0,0,0,0
$GC,10475,0.91,127.0,340.6,24.6,337,10479,0.00,2.17,0.00,0.000,4,0.000,0.054,2907,3373,2406,0,0,0,0,0,0
$GC,10502,0.91,127.0,332.9,26.4,337,10506,0.00,2.12,0.00,0.000,6,0.000,0.035,2918,1952,2406,0,0,0,0,0,0
$GC,10765,0.91,127.0,265.2,26.4,347,10769,0.00,2.17,0.00,0.000,4,0.000,0.051,2921,3362,2403,0,0,0,0,0,0
$GC,10794,0.91,127.0,258.5,24.1,348,10798,0.00,2.10,0.00,0.000,6,0.000,0.034,2929,1958,2406,0,0,0,0,0,0
$GC,11047,0.91,127.0,198.8,23.6,360,11051,0.00,2.15,0.00,0.000,4,0.000,0.051,2929,3363,2405,0,0,0,0,0,0
$GC,11131,0.91,127.0,181.9,21.2,367,11136,0.17,2.10,0.00,0.000,6,0.226,0.032,2899,1953,2405,0,0,0,0,0,0
$GC,11395,0.91,127.0,135.5,18.5,391,11399,0.00,2.17,0.00,0.000,4,0.000,0.051,2898,3370,2403,0,0,0,0,0,0
$GC,11436,0.91,127.0,127.4,18.3,394,11440,0.00,2.12,0.00,0.000,6,0.000,0.035,2908,1952,2404,0,0,0,0,0,0
$GC,11701,0.91,127.0,84.9,12.7,418,11705,0.00,2.20,0.00,0.000,4,0.000,0.052,2907,3378,2404,0,0,0,0,0,0
$GC,11753,0.91,127.0,77.8,13.7,422,11757,0.00,2.12,0.00,0.000,6,0.000,0.033,2918,1949,2407,0,0,0,0,0,0
$GC,12018,0.91,127.0,39.9,14.9,446,12022,0.00,2.17,0.00,0.000,4,0.000,0.050,2918,3368,2405,0,0,0,0,0,0
$GC,12071,0.91,127.0,30.8,15.6,450,12079,0.10,2.10,0.00,0.000,6,0.204,0.032,2901,1965,2406,0,0,0,0,0,0
$STATE,12270,end climb,SURFACE_DEPTH_REACHED
$STATE,12270,begin surface coast
$FINISH,-0.0,1.023048
$STATE,12292,end surface coast,CONTROL_FINISHED_OK
$STATE,12293,begin surface
$SM_CCo,12312,55.35,0.509,0,0,1920,250.20
$SM_GC,1.14,0.00,0.00,55.35,0.000,0.000,0.509,59,2180,1920,-7.96,0.85,250.20
$IRIDIUM_FIX,1902.38,-15631.91,271212,191937
$TT8_MAMPS,0.060593
$HUMID,1078950313
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.00
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344998912
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59992899584
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,4.887
$10V_AH,10.2,5.489
$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,19.875,125.400,217.700,55.350,0.000,25.546,37.383,248.642,1.500,0.000,16.084,1080.049,9026.737,379.838,2050.501,336.562,33.348,1130.403,0.000,1709.976,0.000,0.539,0.000
$DEVICE_MAMPS,256.945,66.729,1182.714,508.521,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.734,0.000,711.829,0.000,0.000,0.000,0.000,13642.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.702,0.000,0.000
$MEM,353804
$DATA_FILE_SIZE,23640,491
$CAP_FILE_SIZE,118599,0
$CFSIZE,260165632,205041664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,080331,1908.853,-15633.708,49,1.0,50,9.6