version: 66.07
glider: 513
mission: 7
dive: 24
start: 7 5 111 12 6 29
data:
$ID,513
$MISSION,7
$DIVE,24
$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,-420966.03
$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,43
$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,23
$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
$GPS1,050711,115652,1906.683,-15634.775,5,7.1,25,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-78.5
$GPS2,050711,120537,1906.504,-15634.726,26,1.5,26,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.226,-0.091
$KALMAN_X,38159.1,-377.3,-364.4,-45938.1,5007.7
$KALMAN_Y,-25542.9,187.7,-18.3,-34595.2,-2822.7
$MHEAD_RNG_PITCHd_Wd,238.5,21651,-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,-127.0,0.0,0.0,0,85,0.00,0.00,-55.97,0.000,6,0.000,0.000,40,2177,3459,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.2,-3.1,9,104,9.57,2.17,0.00,0.000,4,0.257,0.037,2311,741,3465,0,0,0,0,0,0
$GC,244,-0.91,-127.0,51.3,-27.5,31,252,0.00,2.17,0.00,0.000,6,0.000,0.054,2302,2128,3464,0,0,0,0,0,0
$GC,508,-0.91,-127.0,127.8,-28.8,56,512,0.00,2.22,0.00,0.000,4,0.000,0.058,2291,3558,3466,0,0,0,0,0,0
$GC,551,-0.91,-127.0,139.4,-25.8,59,559,0.00,2.12,0.00,0.000,6,0.000,0.035,2293,2151,3466,0,0,0,0,0,0
$GC,816,-0.91,-127.0,191.8,-15.6,84,820,0.00,2.20,0.00,0.000,4,0.000,0.058,2284,3567,3468,0,0,0,0,0,0
$GC,898,-0.91,-127.0,206.2,-15.9,90,902,0.00,2.10,0.00,0.000,6,0.000,0.035,2287,2153,3468,0,0,0,0,0,0
$GC,1163,-0.91,-127.0,249.4,-15.3,103,1167,0.00,2.17,0.00,0.000,4,0.000,0.058,2278,3559,3471,0,0,0,0,0,0
$GC,1352,-0.91,-127.0,278.3,-15.4,111,1357,0.12,2.08,0.00,0.000,6,0.203,0.035,2307,2142,3472,0,0,0,0,0,0
$GC,1631,-0.91,-127.0,310.8,-12.2,123,1635,0.00,2.17,0.00,0.000,4,0.000,0.058,2297,3561,3473,0,0,0,0,0,0
$GC,1890,-0.91,-127.0,342.5,-11.8,128,1894,0.00,2.08,0.00,0.000,6,0.000,0.034,2297,2146,3473,0,0,0,0,0,0
$GC,2140,-0.91,-127.0,368.9,-10.5,134,2143,0.00,2.17,0.00,0.000,4,0.000,0.058,2287,3558,3473,0,0,0,0,0,0
$GC,2172,-0.91,-127.0,372.7,-12.4,134,2178,0.00,2.08,0.00,0.000,6,0.000,0.035,2286,2144,3473,0,0,0,0,0,0
$GC,2422,-0.91,-127.0,400.2,-10.9,141,2426,0.00,2.17,0.00,0.000,4,0.000,0.058,2276,3556,3472,0,0,0,0,0,0
$GC,2478,-0.91,-127.0,406.5,-11.7,142,2483,0.12,2.08,0.00,0.000,6,0.204,0.035,2305,2146,3473,0,0,0,0,0,0
$GC,2744,-0.91,-127.0,434.6,-10.4,149,2748,0.00,2.05,0.00,0.000,4,0.000,0.043,2305,758,3471,0,0,0,0,0,0
$GC,2874,-0.91,-127.0,449.0,-10.8,151,2879,0.00,2.15,0.00,0.000,6,0.000,0.055,2296,2153,3473,0,0,0,0,0,0
$GC,3123,-0.91,-127.0,477.2,-11.1,158,3127,0.00,2.15,0.00,0.000,4,0.000,0.058,2285,3558,3469,0,0,0,0,0,0
$GC,3263,-0.91,-127.0,494.5,-12.4,161,3267,0.00,2.08,0.00,0.000,6,0.000,0.035,2285,2157,3471,0,0,0,0,0,0
$GC,3542,-0.91,-127.0,524.0,-10.5,168,3546,0.00,2.08,0.00,0.000,4,0.000,0.043,2285,744,3465,0,0,0,0,0,0
$GC,3574,-0.91,-127.0,527.6,-10.8,168,3581,0.12,2.17,0.00,0.000,6,0.213,0.054,2304,2155,3465,0,0,0,0,0,0
$GC,3825,-0.91,-127.0,550.8,-9.1,175,3828,0.00,2.17,0.00,0.000,4,0.000,0.058,2296,3572,3464,0,0,0,0,0,0
$GC,3898,-0.91,-127.0,557.6,-9.0,176,3902,0.00,2.12,0.00,0.000,6,0.000,0.036,2294,2139,3464,0,0,0,0,0,0
$GC,4148,-0.91,-127.0,579.2,-8.6,182,4152,0.00,2.20,0.00,0.000,4,0.000,0.058,2284,3563,3461,0,0,0,0,0,0
$GC,4191,-0.91,-127.0,583.8,-11.1,183,4195,0.00,2.10,0.00,0.000,6,0.000,0.036,2284,2144,3460,0,0,0,0,0,0
$GC,4476,-0.91,-127.0,613.2,-10.3,190,4479,0.00,2.08,0.00,0.000,4,0.000,0.043,2284,750,3458,0,0,0,0,0,0
$GC,4509,-0.91,-127.0,617.1,-11.0,190,4513,0.15,2.17,0.00,0.000,6,0.209,0.054,2305,2156,3458,0,0,0,0,0,0
$GC,4759,-0.91,-127.0,640.4,-9.0,196,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2156,3456,0,0,0,0,0,0
$GC,5004,-0.91,-127.0,660.0,-8.0,202,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2156,3455,0,0,0,0,0,0
$GC,5246,-0.91,-127.0,678.9,-8.0,208,5250,0.00,2.10,0.00,0.000,4,0.000,0.045,2309,749,3453,0,0,0,0,0,0
$GC,5388,-0.91,-127.0,691.5,-9.6,211,5392,0.00,2.17,0.00,0.000,6,0.000,0.054,2300,2152,3452,0,0,0,0,0,0
$GC,5661,-0.91,-127.0,715.6,-8.8,218,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2152,3450,0,0,0,0,0,0
$GC,5904,-0.91,-127.0,736.5,-8.5,224,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2152,3449,0,0,0,0,0,0
$GC,6147,-0.91,-127.0,755.6,-7.8,230,6151,0.00,2.10,0.00,0.000,4,0.000,0.043,2300,745,3450,0,0,0,0,0,0
$GC,6296,-0.91,-127.0,767.8,-8.7,233,6300,0.00,2.17,0.00,0.000,6,0.000,0.054,2290,2154,3446,0,0,0,0,0,0
$GC,6568,-0.91,-127.0,789.0,-7.7,240,6572,0.00,2.17,0.00,0.000,4,0.000,0.059,2279,3566,3445,0,0,0,0,0,0
$GC,6647,-0.91,-127.0,795.4,-7.9,241,6653,0.12,2.12,0.00,0.000,6,0.215,0.038,2307,2138,3446,0,0,0,0,0,0
$GC,6897,-0.91,-127.0,812.5,-6.8,248,6901,0.00,2.20,0.00,0.000,4,0.000,0.059,2298,3572,3445,0,0,0,0,0,0
$GC,6930,-0.91,-127.0,814.8,-7.2,248,6935,0.00,2.12,0.00,0.000,6,0.000,0.036,2298,2141,3445,0,0,0,0,0,0
$GC,7181,-0.91,-127.0,832.7,-7.0,255,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2138,3444,0,0,0,0,0,0
$GC,7423,-0.91,-127.0,849.7,-6.9,261,7427,0.00,2.10,0.00,0.000,4,0.000,0.045,2298,739,3442,0,0,0,0,0,0
$GC,7445,-0.91,-127.0,851.4,-7.6,261,7449,0.00,2.17,0.00,0.000,6,0.000,0.052,2288,2153,3444,0,0,0,0,0,0
$GC,7702,-0.91,-127.0,868.4,-6.7,268,7706,0.00,2.12,0.00,0.000,4,0.000,0.044,2287,740,3441,0,0,0,0,0,0
$GC,7746,-0.91,-127.0,871.5,-6.4,269,7751,0.12,2.17,0.00,0.000,6,0.219,0.053,2304,2151,3442,0,0,0,0,0,0
$GC,8024,-0.91,-127.0,888.8,-6.2,276,8028,0.00,2.17,0.00,0.000,4,0.000,0.059,2295,3561,3441,0,0,0,0,0,0
$GC,8097,-0.91,-127.0,893.8,-6.8,277,8102,0.00,2.10,0.00,0.000,6,0.000,0.038,2295,2151,3442,0,0,0,0,0,0
$STATE,8224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8224,begin apogee
$GC,8231,-0.28,0.0,901.8,6.3,280,8339,0.75,0.00,104.55,1.179,6,0.183,0.000,2511,1954,2942,0,0,0,0,0,0
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8341,begin climb
$GC,8344,0.91,127.0,902.4,0.0,282,8461,1.12,0.00,113.82,1.131,6,0.096,0.000,2884,1958,2423,0,0,0,0,0,0
$GC,8674,0.91,127.0,816.4,29.6,291,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1954,2414,0,0,0,0,0,0
$GC,8917,0.91,127.0,747.1,28.0,297,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1954,2411,0,0,0,0,0,0
$GC,9161,0.91,127.0,682.2,26.3,303,9165,0.00,2.15,0.00,0.000,4,0.000,0.045,2895,559,2411,0,0,0,0,0,0
$GC,9201,0.91,127.0,672.0,26.5,304,9205,0.00,2.17,0.00,0.000,6,0.000,0.044,2895,1964,2409,0,0,0,0,0,0
$GC,9484,0.91,127.0,596.9,26.1,311,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1968,2409,0,0,0,0,0,0
$GC,9728,0.91,127.0,531.8,27.0,317,9731,0.00,2.15,0.00,0.000,4,0.000,0.052,2896,3365,2411,0,0,0,0,0,0
$GC,9743,0.91,127.0,527.5,25.8,317,9747,0.00,2.12,0.00,0.000,6,0.000,0.035,2906,1968,2408,0,0,0,0,0,0
$GC,10017,0.91,127.0,457.8,25.5,324,10021,0.00,2.17,0.00,0.000,4,0.000,0.048,2917,545,2407,0,0,0,0,0,0
$GC,10049,0.91,127.0,448.9,26.7,324,10055,0.00,2.17,0.00,0.000,6,0.000,0.041,2917,1965,2406,0,0,0,0,0,0
$GC,10299,0.91,127.0,382.2,26.6,331,10303,0.00,2.17,0.00,0.000,4,0.000,0.051,2917,3373,2406,0,0,0,0,0,0
$GC,10315,0.91,127.0,377.8,27.0,331,10319,0.00,2.15,0.00,0.000,6,0.000,0.034,2928,1947,2406,0,0,0,0,0,0
$GC,10576,0.91,127.0,305.3,27.7,338,10580,0.00,2.20,0.00,0.000,4,0.000,0.050,2928,3382,2406,0,0,0,0,0,0
$GC,10591,0.91,127.0,300.5,27.3,338,10596,0.17,2.15,0.00,0.000,6,0.226,0.035,2898,1948,2406,0,0,0,0,0,0
$GC,10847,0.91,127.0,246.8,19.0,350,10851,0.00,2.20,0.00,0.000,4,0.000,0.049,2897,3379,2405,0,0,0,0,0,0
$GC,10908,0.91,127.0,233.7,21.2,352,10914,0.00,2.15,0.00,0.000,6,0.000,0.038,2905,1953,2405,0,0,0,0,0,0
$GC,11166,0.91,127.0,183.9,19.0,368,11170,0.00,2.17,0.00,0.000,4,0.000,0.052,2906,3371,2407,0,0,0,0,0,0
$GC,11261,0.91,127.0,165.7,19.2,376,11265,0.00,2.12,0.00,0.000,6,0.000,0.035,2916,1953,2403,0,0,0,0,0,0
$GC,11526,0.91,127.0,120.2,15.8,400,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1950,2403,0,0,0,0,0,0
$GC,11790,0.91,127.0,80.3,14.1,425,11794,0.00,2.17,0.00,0.000,4,0.000,0.049,2916,3381,2405,0,0,0,0,0,0
$GC,11976,0.91,127.0,50.7,15.6,441,11983,0.00,2.12,0.00,0.000,6,0.000,0.031,2927,1959,2405,0,0,0,0,0,0
$GC,12239,0.91,127.0,9.2,14.2,478,12247,0.00,2.17,0.00,0.000,4,0.000,0.045,2927,3371,2407,0,0,0,0,0,0
$STATE,12279,end climb,SURFACE_DEPTH_REACHED
$STATE,12279,begin surface coast
$FINISH,-0.2,1.023107
$STATE,12296,end surface coast,CONTROL_FINISHED_OK
$STATE,12296,begin surface
$SM_CCo,12318,56.97,0.509,0,0,1918,250.20
$SM_GC,1.20,0.00,0.00,56.97,0.000,0.000,0.509,52,2163,1918,-7.98,0.40,250.20
$IRIDIUM_FIX,1902.38,-15634.91,281212,020205
$TT8_MAMPS,0.063661
$HUMID,1078936119
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.30
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344933376
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59992440832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.107
$10V_AH,10.4,5.683
$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,20.000,124.400,218.375,56.975,0.000,30.640,35.221,254.203,2.000,0.000,28.485,1059.543,9061.610,400.767,2043.756,335.187,33.345,1133.700,0.000,1691.342,0.000,0.540,0.000
$DEVICE_MAMPS,256.945,59.059,1178.879,508.521,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.134,0.000,705.245,0.000,0.000,0.000,0.000,13661.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.747,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,23650,488
$CAP_FILE_SIZE,116915,0
$CFSIZE,260165632,204898304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,153407,1904.788,-15636.027,28,1.3,28,9.6