version: 66.07
glider: 513
mission: 7
dive: 25
start: 7 5 111 15 43 26
data:
$ID,513
$MISSION,7
$DIVE,25
$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,-420984
$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,26
$R_STBD_OVSHOOT,31
$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,24
$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
$GPS1,050711,153407,1904.788,-15636.027,28,1.3,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-80.1
$GPS2,050711,154232,1904.564,-15635.989,12,1.6,12,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.237,-0.057
$KALMAN_X,39720.1,-344.9,-367.3,-49732.2,4825.5
$KALMAN_Y,-27461.4,13.3,197.6,-36305.2,-3503.3
$MHEAD_RNG_PITCHd_Wd,246.9,17900,-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,-55.72,0.000,6,0.000,0.000,39,2164,3459,0,0,0,0,0,0
$GC,90,-0.91,-127.0,2.4,-4.3,9,105,9.52,2.17,0.00,0.000,4,0.255,0.038,2310,722,3461,0,0,0,0,0,0
$GC,299,-0.91,-127.0,68.3,-28.6,36,303,0.00,2.25,0.00,0.000,6,0.000,0.054,2301,2165,3464,0,0,0,0,0,0
$GC,563,-0.91,-127.0,141.9,-24.5,60,567,0.00,2.17,0.00,0.000,4,0.000,0.056,2287,3562,3466,0,0,0,0,0,0
$GC,810,-0.91,-127.0,195.8,-18.4,82,818,0.00,2.15,0.00,0.000,6,0.000,0.032,2298,2132,3467,0,0,0,0,0,0
$GC,1064,-0.91,-127.0,237.9,-15.4,96,1068,0.00,2.22,0.00,0.000,4,0.000,0.054,2288,3574,3469,0,0,0,0,0,0
$GC,1187,-0.91,-127.0,255.7,-13.8,101,1193,0.00,2.10,0.00,0.000,6,0.000,0.031,2288,2149,3468,0,0,0,0,0,0
$GC,1440,-0.91,-127.0,291.2,-13.8,114,1444,0.00,2.15,0.00,0.000,4,0.000,0.054,2278,3563,3469,0,0,0,0,0,0
$GC,1605,-0.91,-127.0,310.7,-11.3,119,1610,0.12,2.10,0.00,0.000,6,0.205,0.035,2306,2144,3472,0,0,0,0,0,0
$GC,1855,-0.91,-127.0,341.4,-12.5,125,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2140,3472,0,0,0,0,0,0
$GC,2098,-0.91,-127.0,370.1,-11.5,131,2102,0.00,2.17,0.00,0.000,4,0.000,0.055,2297,3567,3472,0,0,0,0,0,0
$GC,2200,-0.91,-127.0,382.5,-12.4,133,2204,0.00,2.10,0.00,0.000,6,0.000,0.035,2297,2150,3473,0,0,0,0,0,0
$GC,2466,-0.91,-127.0,412.2,-11.2,140,2470,0.00,2.08,0.00,0.000,4,0.000,0.043,2301,743,3472,0,0,0,0,0,0
$GC,2606,-0.91,-127.0,427.8,-10.2,143,2610,0.00,2.15,0.00,0.000,6,0.000,0.052,2292,2153,3472,0,0,0,0,0,0
$GC,2883,-0.91,-127.0,453.4,-8.9,150,2887,0.00,2.10,0.00,0.000,4,0.000,0.040,2292,738,3469,0,0,0,0,0,0
$GC,2917,-0.91,-127.0,456.7,-9.8,150,2922,0.00,2.17,0.00,0.000,6,0.000,0.053,2282,2159,3469,0,0,0,0,0,0
$GC,3167,-0.91,-127.0,483.4,-11.1,157,3172,0.12,2.15,0.00,0.000,4,0.218,0.057,2301,3559,3467,0,0,0,0,0,0
$GC,3188,-0.91,-127.0,486.0,-10.9,157,3192,0.00,2.12,0.00,0.000,6,0.000,0.036,2302,2145,3467,0,0,0,0,0,0
$GC,3449,-0.91,-127.0,515.0,-11.4,164,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2140,3466,0,0,0,0,0,0
$GC,3693,-0.91,-127.0,543.8,-12.0,170,3697,0.00,2.20,0.00,0.000,4,0.000,0.057,2290,3568,3465,0,0,0,0,0,0
$GC,3922,-0.91,-127.0,570.5,-11.3,175,3926,0.00,2.12,0.00,0.000,6,0.000,0.038,2290,2139,3462,0,0,0,0,0,0
$GC,4195,-0.91,-127.0,598.5,-10.0,182,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2134,3461,0,0,0,0,0,0
$GC,4438,-0.91,-127.0,620.1,-8.5,188,4442,0.00,2.08,0.00,0.000,4,0.000,0.042,2290,736,3458,0,0,0,0,0,0
$GC,4493,-0.91,-127.0,624.6,-7.8,189,4498,0.12,2.17,0.00,0.000,6,0.218,0.054,2308,2152,3458,0,0,0,0,0,0
$GC,4760,-0.91,-127.0,642.2,-6.3,196,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2152,3454,0,0,0,0,0,0
$GC,5003,-0.91,-127.0,658.7,-6.9,202,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2152,3455,0,0,0,0,0,0
$GC,5247,-0.91,-127.0,677.0,-7.6,208,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2152,3453,0,0,0,0,0,0
$GC,5491,-0.91,-127.0,695.7,-7.7,214,5494,0.00,2.12,0.00,0.000,4,0.000,0.044,2308,737,3451,0,0,0,0,0,0
$GC,5598,-0.91,-127.0,704.4,-8.3,216,5602,0.00,2.17,0.00,0.000,6,0.000,0.054,2299,2152,3448,0,0,0,0,0,0
$GC,5858,-0.91,-127.0,726.2,-8.3,223,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2152,3447,0,0,0,0,0,0
$GC,6102,-0.91,-127.0,746.6,-8.4,229,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2153,3448,0,0,0,0,0,0
$GC,6347,-0.91,-127.0,768.1,-9.0,235,6351,0.00,2.12,0.00,0.000,4,0.000,0.044,2299,737,3447,0,0,0,0,0,0
$GC,6432,-0.91,-127.0,776.4,-9.8,237,6436,0.00,2.17,0.00,0.000,6,0.000,0.052,2289,2152,3449,0,0,0,0,0,0
$GC,6715,-0.91,-127.0,801.8,-8.6,244,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2152,3445,0,0,0,0,0,0
$GC,6960,-0.91,-127.0,821.5,-8.0,250,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2152,3444,0,0,0,0,0,0
$GC,7203,-0.91,-127.0,838.3,-6.6,256,7207,0.00,2.17,0.00,0.000,4,0.000,0.061,2278,3553,3443,0,0,0,0,0,0
$GC,7230,-0.91,-127.0,840.1,-6.8,256,7235,0.12,2.08,0.00,0.000,6,0.216,0.038,2307,2148,3443,0,0,0,0,0,0
$GC,7486,-0.91,-127.0,855.4,-5.8,263,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2143,3441,0,0,0,0,0,0
$GC,7729,-0.91,-127.0,868.7,-5.4,269,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2143,3442,0,0,0,0,0,0
$GC,7973,-0.91,-127.0,883.2,-6.1,275,7977,0.00,2.10,0.00,0.000,4,0.000,0.048,2306,752,3441,0,0,0,0,0,0
$GC,8046,-0.91,-127.0,888.2,-6.9,276,8050,0.00,2.17,0.00,0.000,6,0.000,0.058,2298,2152,3440,0,0,0,0,0,0
$STATE,8252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8252,begin apogee
$GC,8259,-0.28,0.0,902.5,6.9,281,8367,0.73,0.00,104.85,1.183,6,0.183,0.000,2506,1926,2940,0,0,0,0,0,0
$STATE,8369,end apogee,CONTROL_FINISHED_OK
$STATE,8369,begin climb
$GC,8372,0.91,127.0,903.7,0.0,283,8497,1.17,2.45,112.35,1.136,4,0.097,0.051,2894,3361,2421,0,0,0,0,0,0
$GC,8524,0.91,127.0,871.4,27.3,286,8528,0.00,2.20,0.00,0.000,6,0.000,0.032,2905,1977,2418,0,0,0,0,0,0
$GC,8785,0.91,127.0,796.0,29.0,293,8789,0.00,2.20,0.00,0.000,4,0.000,0.044,2916,556,2413,0,0,0,0,0,0
$GC,8819,0.91,127.0,785.8,29.7,293,8825,0.00,2.20,0.00,0.000,6,0.000,0.038,2916,1969,2412,0,0,0,0,0,0
$GC,9069,0.91,127.0,711.8,30.1,300,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1973,2410,0,0,0,0,0,0
$GC,9312,0.91,127.0,640.3,29.2,306,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1973,2409,0,0,0,0,0,0
$GC,9556,0.91,127.0,569.7,28.8,312,9560,0.00,2.17,0.00,0.000,4,0.000,0.055,2916,3370,2409,0,0,0,0,0,0
$GC,9583,0.91,127.0,561.3,31.0,312,9587,0.00,2.12,0.00,0.000,6,0.000,0.036,2924,1956,2409,0,0,0,0,0,0
$GC,9839,0.91,127.0,487.5,28.8,319,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1956,2408,0,0,0,0,0,0
$GC,10082,0.91,127.0,418.9,28.2,325,10086,0.00,2.20,0.00,0.000,4,0.000,0.052,2924,3366,2407,0,0,0,0,0,0
$GC,10100,0.91,127.0,414.0,29.3,325,10104,0.15,2.12,0.00,0.000,6,0.232,0.035,2900,1955,2404,0,0,0,0,0,0
$GC,10360,0.91,127.0,347.4,25.9,332,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1950,2406,0,0,0,0,0,0
$GC,10604,0.91,127.0,288.7,23.0,339,10608,0.00,2.20,0.00,0.000,4,0.000,0.048,2900,3375,2406,0,0,0,0,0,0
$GC,10677,0.91,127.0,271.3,22.6,342,10682,0.00,2.12,0.00,0.000,6,0.000,0.035,2909,1956,2406,0,0,0,0,0,0
$GC,10931,0.91,127.0,216.7,20.4,354,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1957,2406,0,0,0,0,0,0
$GC,11185,0.91,127.0,169.9,17.0,374,11189,0.00,2.08,0.00,0.000,4,0.000,0.042,2920,553,2404,0,0,0,0,0,0
$GC,11248,0.91,127.0,159.6,18.5,379,11252,0.00,2.12,0.00,0.000,6,0.000,0.035,2920,1978,2402,0,0,0,0,0,0
$GC,11514,0.91,127.0,114.9,16.2,403,11518,0.00,2.10,0.00,0.000,4,0.000,0.049,2920,3361,2401,0,0,0,0,0,0
$GC,11709,0.91,127.0,84.1,15.7,420,11713,0.12,2.08,0.00,0.000,6,0.221,0.031,2904,1952,2403,0,0,0,0,0,0
$GC,11975,0.91,127.0,47.0,15.1,444,11979,0.00,2.12,0.00,0.000,4,0.000,0.046,2903,3364,2403,0,0,0,0,0,0
$GC,12080,0.91,127.0,30.1,14.6,453,12084,0.00,2.08,0.00,0.000,6,0.000,0.031,2912,1959,2406,0,0,0,0,0,0
$STATE,12269,end climb,SURFACE_DEPTH_REACHED
$STATE,12269,begin surface coast
$FINISH,0.0,1.023068
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12306,55.85,0.505,0,0,1920,250.20
$SM_GC,1.22,0.00,0.00,55.85,0.000,0.000,0.505,58,2185,1920,-7.95,0.96,250.20
$IRIDIUM_FIX,1900.10,-15632.81,281212,060637
$TT8_MAMPS,0.059826
$HUMID,1078907732
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.50
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344900608
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59992211456
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.205
$10V_AH,10.4,5.772
$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,19.625,95.200,217.200,55.850,0.000,23.118,38.659,255.750,1.500,0.000,17.349,1037.626,9191.660,344.718,1978.458,318.967,33.346,1047.820,0.000,1640.087,0.000,0.540,0.000
$DEVICE_MAMPS,254.644,60.593,1183.481,505.453,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.710,0.000,718.442,0.000,0.000,0.000,0.000,13627.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.695,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,23568,491
$CAP_FILE_SIZE,109708,0
$CFSIZE,260165632,204840960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,191107,1903.083,-15637.337,37,1.0,37,9.6