version: 66.07
glider: 513
mission: 7
dive: 23
start: 7 5 111 8 22 9
data:
$ID,513
$MISSION,7
$DIVE,23
$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,-420936.91
$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,41
$R_STBD_OVSHOOT,64
$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,22
$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
$GPS1,050711,080331,1908.853,-15633.708,49,1.0,50,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.8
$GPS2,050711,082114,1908.486,-15633.635,14,1.4,14,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.220,-0.105
$KALMAN_X,36471.1,-590.1,-263.8,-42237.5,5190.9
$KALMAN_Y,-24491.7,431.5,310.2,-32544.8,-3809.6
$MHEAD_RNG_PITCHd_Wd,235.0,25359,-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,-127.0,0.0,0.0,0,85,0.00,0.00,-55.08,0.000,6,0.000,0.000,38,2180,3458,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.5,-4.3,9,104,9.55,2.17,0.00,0.000,4,0.254,0.037,2312,737,3461,0,0,0,0,0,0
$GC,202,-0.91,-127.0,40.2,-29.8,27,210,0.00,2.20,0.00,0.000,6,0.000,0.055,2304,2126,3463,0,0,0,0,0,0
$GC,468,-0.91,-127.0,117.7,-28.0,52,472,0.00,2.22,0.00,0.000,4,0.000,0.058,2293,3557,3466,0,0,0,0,0,0
$GC,584,-0.91,-127.0,144.8,-21.2,62,588,0.00,2.12,0.00,0.000,6,0.000,0.035,2294,2141,3462,0,0,0,0,0,0
$GC,848,-0.91,-127.0,193.6,-18.3,86,852,0.00,2.20,0.00,0.000,4,0.000,0.058,2285,3559,3466,0,0,0,0,0,0
$GC,1047,-0.91,-127.0,227.0,-14.7,96,1051,0.00,2.10,0.00,0.000,6,0.000,0.035,2287,2143,3467,0,0,0,0,0,0
$GC,1312,-0.91,-127.0,263.5,-11.7,109,1316,0.00,2.20,0.00,0.000,4,0.000,0.059,2278,3558,3468,0,0,0,0,0,0
$GC,1442,-0.91,-127.0,283.6,-14.9,115,1447,0.12,2.08,0.00,0.000,6,0.199,0.035,2308,2146,3468,0,0,0,0,0,0
$GC,1725,-0.91,-127.0,313.9,-10.3,126,1729,0.00,2.20,0.00,0.000,4,0.000,0.061,2294,3553,3469,0,0,0,0,0,0
$GC,1872,-0.91,-127.0,330.5,-12.3,129,1876,0.00,2.08,0.00,0.000,6,0.000,0.031,2298,2142,3469,0,0,0,0,0,0
$GC,2138,-0.91,-127.0,362.6,-11.9,136,2141,0.00,2.05,0.00,0.000,4,0.000,0.041,2304,750,3473,0,0,0,0,0,0
$GC,2189,-0.91,-127.0,368.3,-11.5,137,2193,0.00,2.17,0.00,0.000,6,0.000,0.058,2296,2156,3469,0,0,0,0,0,0
$GC,2466,-0.91,-127.0,398.4,-10.6,144,2470,0.00,2.12,0.00,0.000,4,0.000,0.058,2285,3556,3468,0,0,0,0,0,0
$GC,2619,-0.91,-127.0,413.9,-10.4,147,2624,0.10,2.08,0.00,0.000,6,0.214,0.034,2307,2153,3467,0,0,0,0,0,0
$GC,2881,-0.91,-127.0,438.6,-9.7,154,2884,0.00,2.12,0.00,0.000,4,0.000,0.044,2306,742,3464,0,0,0,0,0,0
$GC,3122,-0.91,-127.0,462.6,-10.8,159,3126,0.00,2.15,0.00,0.000,6,0.000,0.056,2295,2154,3463,0,0,0,0,0,0
$GC,3389,-0.91,-127.0,490.4,-10.6,166,3393,0.00,2.10,0.00,0.000,4,0.000,0.042,2299,744,3462,0,0,0,0,0,0
$GC,3444,-0.91,-127.0,497.0,-11.4,167,3448,0.00,2.17,0.00,0.000,6,0.000,0.053,2288,2153,3461,0,0,0,0,0,0
$GC,3718,-0.91,-127.0,524.9,-9.9,174,3722,0.00,2.15,0.00,0.000,4,0.000,0.060,2277,3560,3459,0,0,0,0,0,0
$GC,3870,-0.91,-127.0,539.9,-9.5,177,3875,0.12,2.10,0.00,0.000,6,0.212,0.038,2306,2145,3457,0,0,0,0,0,0
$GC,4132,-0.91,-127.0,560.8,-7.6,184,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2140,3456,0,0,0,0,0,0
$GC,4375,-0.91,-127.0,579.5,-7.8,190,4378,0.00,2.08,0.00,0.000,4,0.000,0.044,2306,751,3454,0,0,0,0,0,0
$GC,4402,-0.91,-127.0,581.8,-8.1,190,4406,0.00,2.17,0.00,0.000,6,0.000,0.058,2297,2151,3453,0,0,0,0,0,0
$GC,4658,-0.91,-127.0,602.3,-8.2,197,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2151,3451,0,0,0,0,0,0
$GC,4903,-0.91,-127.0,622.9,-8.6,203,4906,0.00,2.10,0.00,0.000,4,0.000,0.043,2299,749,3450,0,0,0,0,0,0
$GC,4964,-0.91,-127.0,628.6,-9.1,204,4968,0.00,2.17,0.00,0.000,6,0.000,0.057,2287,2153,3449,0,0,0,0,0,0
$GC,5225,-0.91,-127.0,651.4,-9.0,211,5228,0.00,2.08,0.00,0.000,4,0.000,0.042,2287,748,3446,0,0,0,0,0,0
$GC,5265,-0.91,-127.0,655.2,-9.7,212,5270,0.12,2.20,0.00,0.000,6,0.219,0.058,2304,2163,3447,0,0,0,0,0,0
$GC,5549,-0.91,-127.0,676.9,-7.5,219,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2163,3444,0,0,0,0,0,0
$GC,5792,-0.91,-127.0,693.2,-6.4,225,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2163,3445,0,0,0,0,0,0
$GC,6037,-0.91,-127.0,707.8,-6.0,231,6041,0.00,2.17,0.00,0.000,4,0.000,0.064,2296,3567,3443,0,0,0,0,0,0
$GC,6149,-0.91,-127.0,715.4,-6.7,233,6153,0.00,2.12,0.00,0.000,6,0.000,0.039,2295,2149,3439,0,0,0,0,0,0
$GC,6410,-0.91,-127.0,732.5,-6.5,240,6414,0.00,2.12,0.00,0.000,4,0.000,0.048,2295,738,3439,0,0,0,0,0,0
$GC,6558,-0.91,-127.0,742.7,-8.0,243,6562,0.00,2.20,0.00,0.000,6,0.000,0.056,2284,2156,3440,0,0,0,0,0,0
$GC,6824,-0.91,-127.0,762.5,-7.5,250,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2155,3439,0,0,0,0,0,0
$GC,7069,-0.91,-127.0,781.0,-7.6,256,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2156,3438,0,0,0,0,0,0
$GC,7312,-0.91,-127.0,798.9,-7.2,262,7316,0.00,2.17,0.00,0.000,4,0.000,0.063,2273,3559,3436,0,0,0,0,0,0
$GC,7352,-0.91,-127.0,802.1,-8.7,263,7356,0.15,2.12,0.00,0.000,6,0.209,0.038,2309,2138,3436,0,0,0,0,0,0
$GC,7636,-0.91,-127.0,821.8,-6.8,270,7640,0.00,2.08,0.00,0.000,4,0.000,0.044,2309,736,3435,0,0,0,0,0,0
$GC,7675,-0.91,-127.0,824.8,-6.5,271,7679,0.00,2.17,0.00,0.000,6,0.000,0.054,2301,2152,3435,0,0,0,0,0,0
$GC,7959,-0.91,-127.0,845.6,-7.4,278,7963,0.00,2.12,0.00,0.000,4,0.000,0.045,2301,738,3434,0,0,0,0,0,0
$GC,8049,-0.91,-127.0,852.3,-7.1,280,8053,0.00,2.17,0.00,0.000,6,0.000,0.054,2293,2151,3436,0,0,0,0,0,0
$GC,8327,-0.91,-127.0,872.6,-7.3,287,8331,0.00,2.12,0.00,0.000,4,0.000,0.045,2292,739,3432,0,0,0,0,0,0
$GC,8372,-0.91,-127.0,876.3,-8.3,288,8376,0.00,2.17,0.00,0.000,6,0.000,0.054,2282,2150,3432,0,0,0,0,0,0
$GC,8650,-0.91,-127.0,897.2,-7.4,295,8654,0.12,2.15,0.00,0.000,4,0.224,0.047,2309,738,3431,0,0,0,0,0,0
$STATE,8686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8686,begin apogee
$GC,8694,-0.28,0.0,900.1,7.2,296,8801,0.73,0.00,103.47,1.177,6,0.184,0.000,2510,1958,2940,0,0,0,0,0,0
$STATE,8803,end apogee,CONTROL_FINISHED_OK
$STATE,8804,begin climb
$GC,8807,0.91,127.0,901.3,0.0,298,8931,1.15,2.42,112.07,1.134,4,0.096,0.054,2891,3370,2422,0,0,0,0,0,0
$GC,8959,0.91,127.0,868.7,27.6,301,8964,0.00,2.25,0.00,0.000,6,0.000,0.035,2902,1955,2419,0,0,0,0,0,0
$GC,9215,0.91,127.0,792.8,29.7,308,9219,0.00,2.17,0.00,0.000,4,0.000,0.044,2913,555,2414,0,0,0,0,0,0
$GC,9281,0.91,127.0,772.9,29.3,309,9285,0.00,2.20,0.00,0.000,6,0.000,0.044,2912,1964,2411,0,0,0,0,0,0
$GC,9543,0.91,127.0,698.0,29.0,316,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1968,2410,0,0,0,0,0,0
$GC,9787,0.91,127.0,628.6,28.3,322,9791,0.00,2.17,0.00,0.000,4,0.000,0.044,2923,553,2410,0,0,0,0,0,0
$GC,9808,0.91,127.0,622.0,29.8,322,9812,0.00,2.15,0.00,0.000,6,0.000,0.040,2919,1964,2409,0,0,0,0,0,0
$GC,10069,0.91,127.0,546.4,29.1,329,10073,0.00,2.17,0.00,0.000,4,0.000,0.052,2923,3371,2405,0,0,0,0,0,0
$GC,10092,0.91,127.0,539.7,30.6,329,10096,0.15,2.12,0.00,0.000,6,0.238,0.034,2902,1955,2409,0,0,0,0,0,0
$GC,10352,0.91,127.0,471.2,25.6,336,10356,0.00,2.10,0.00,0.000,4,0.000,0.044,2907,559,2408,0,0,0,0,0,0
$GC,10373,0.91,127.0,465.2,27.9,336,10377,0.00,2.15,0.00,0.000,6,0.000,0.041,2912,1950,2407,0,0,0,0,0,0
$GC,10635,0.91,127.0,398.2,25.4,343,10639,0.00,2.15,0.00,0.000,4,0.000,0.047,2925,557,2407,0,0,0,0,0,0
$GC,10651,0.91,127.0,393.9,24.8,343,10655,0.00,2.15,0.00,0.000,6,0.000,0.038,2922,1970,2406,0,0,0,0,0,0
$GC,10911,0.91,127.0,325.9,26.4,350,10915,0.00,2.15,0.00,0.000,4,0.000,0.051,2922,3361,2406,0,0,0,0,0,0
$GC,10932,0.91,127.0,320.4,24.9,350,10937,0.12,2.10,0.00,0.000,6,0.242,0.032,2905,1957,2412,0,0,0,0,0,0
$GC,11197,0.91,127.0,262.2,20.5,361,11201,0.00,2.17,0.00,0.000,4,0.000,0.051,2898,3365,2404,0,0,0,0,0,0
$GC,11246,0.91,127.0,251.4,20.3,363,11250,0.00,2.10,0.00,0.000,6,0.000,0.035,2907,1964,2405,0,0,0,0,0,0
$GC,11506,0.91,127.0,197.4,20.7,376,11510,0.00,2.15,0.00,0.000,4,0.000,0.051,2907,3364,2404,0,0,0,0,0,0
$GC,11651,0.91,127.0,168.2,19.2,389,11655,0.00,2.10,0.00,0.000,6,0.000,0.034,2917,1952,2404,0,0,0,0,0,0
$GC,11921,0.91,127.0,121.6,16.1,414,11925,0.00,2.17,0.00,0.000,4,0.000,0.050,2917,3366,2403,0,0,0,0,0,0
$GC,11964,0.91,127.0,114.1,14.6,417,11971,0.00,2.10,0.00,0.000,6,0.000,0.032,2928,1961,2404,0,0,0,0,0,0
$GC,12228,0.91,127.0,73.2,15.8,442,12232,0.00,2.15,0.00,0.000,4,0.000,0.049,2927,3365,2404,0,0,0,0,0,0
$GC,12262,0.91,127.0,67.0,17.1,444,12270,0.12,2.10,0.00,0.000,6,0.200,0.033,2904,1969,2405,0,0,0,0,0,0
$GC,12525,0.91,127.0,29.0,13.7,469,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1967,2405,0,0,0,0,0,0
$STATE,12704,end climb,SURFACE_DEPTH_REACHED
$STATE,12704,begin surface coast
$FINISH,-0.2,1.023063
$STATE,12727,end surface coast,CONTROL_FINISHED_OK
$STATE,12727,begin surface
$SM_CCo,12746,55.15,0.503,0,0,1921,250.20
$SM_GC,1.08,0.00,0.00,55.15,0.000,0.000,0.503,51,2178,1921,-7.98,0.79,250.20
$IRIDIUM_FIX,1902.38,-15631.91,281212,020256
$TT8_MAMPS,0.060593
$HUMID,1078937410
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.40
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344966144
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59992670208
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.008
$10V_AH,10.3,5.592
$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,20.000,133.225,215.550,55.150,0.000,74.324,109.663,556.020,1.500,0.000,16.388,1124.143,9436.477,358.641,2559.647,391.162,33.346,1168.648,0.000,1821.386,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,64.428,1177.345,503.152,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.805,0.000,725.007,0.000,0.000,0.000,0.000,14720.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.435,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,23579,507
$CAP_FILE_SIZE,135440,0
$CFSIZE,260165632,204951552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,115652,1906.683,-15634.775,5,7.1,25,9.6