version: 66.07
glider: 513
mission: 7
dive: 26
start: 7 5 111 19 20 19
data:
$ID,513
$MISSION,7
$DIVE,26
$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,-421008.31
$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,2610
$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,2180
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,66
$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,25
$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
$GPS1,050711,191107,1903.083,-15637.337,37,1.0,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.9
$GPS2,050711,191925,1902.863,-15637.307,9,1.2,14,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.243,-0.018
$KALMAN_X,41455.9,-492.7,-230.1,-53756.8,4643.4
$KALMAN_Y,-29507.0,68.2,175.2,-37445.4,-3926.4
$MHEAD_RNG_PITCHd_Wd,256.1,14477,-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,-55.65,0.000,6,0.000,0.000,42,2182,3461,0,0,0,0,0,0
$GC,90,-0.91,-127.0,2.5,-4.8,9,105,9.57,2.12,0.00,0.000,4,0.256,0.034,2319,771,3462,0,0,0,0,0,0
$GC,225,-0.91,-127.0,46.2,-29.5,29,229,0.00,2.15,0.00,0.000,6,0.000,0.054,2306,2152,3466,0,0,0,0,0,0
$GC,488,-0.91,-127.0,120.9,-24.9,53,492,0.00,2.22,0.00,0.000,4,0.000,0.054,2295,3589,3467,0,0,0,0,0,0
$GC,626,-0.91,-127.0,154.0,-21.1,65,630,0.00,2.10,0.00,0.000,6,0.000,0.034,2297,2183,3468,0,0,0,0,0,0
$GC,887,-0.91,-127.0,204.7,-17.4,88,890,0.00,2.10,0.00,0.000,4,0.000,0.041,2297,768,3470,0,0,0,0,0,0
$GC,926,-0.91,-127.0,211.6,-17.7,90,930,0.00,2.17,0.00,0.000,6,0.000,0.054,2289,2179,3470,0,0,0,0,0,0
$GC,1191,-0.91,-127.0,255.2,-15.8,103,1195,0.00,2.10,0.00,0.000,4,0.000,0.039,2297,770,3471,0,0,0,0,0,0
$GC,1253,-0.91,-127.0,264.3,-15.1,106,1257,0.00,2.17,0.00,0.000,6,0.000,0.054,2288,2181,3472,0,0,0,0,0,0
$GC,1520,-0.91,-127.0,299.2,-10.8,119,1524,0.00,2.17,0.00,0.000,4,0.000,0.056,2277,3597,3473,0,0,0,0,0,0
$GC,1637,-0.91,-127.0,313.4,-11.2,122,1641,0.15,2.10,0.00,0.000,6,0.195,0.033,2314,2170,3473,0,0,0,0,0,0
$GC,1893,-0.91,-127.0,342.5,-11.7,129,1897,0.00,2.20,0.00,0.000,4,0.000,0.058,2304,3598,3474,0,0,0,0,0,0
$GC,1966,-0.91,-127.0,350.8,-12.0,130,1970,0.00,2.08,0.00,0.000,6,0.000,0.033,2305,2187,3474,0,0,0,0,0,0
$GC,2215,-0.91,-127.0,377.1,-10.4,136,2219,0.00,2.17,0.00,0.000,4,0.000,0.057,2294,3598,3473,0,0,0,0,0,0
$GC,2259,-0.91,-127.0,382.1,-11.0,137,2263,0.00,2.08,0.00,0.000,6,0.000,0.033,2294,2184,3473,0,0,0,0,0,0
$GC,2544,-0.91,-127.0,413.5,-11.4,144,2548,0.00,2.08,0.00,0.000,4,0.000,0.044,2299,781,3473,0,0,0,0,0,0
$GC,2696,-0.91,-127.0,430.1,-9.3,147,2700,0.00,2.17,0.00,0.000,6,0.000,0.055,2290,2192,3472,0,0,0,0,0,0
$GC,2958,-0.91,-127.0,457.4,-10.7,154,2962,0.00,2.17,0.00,0.000,4,0.000,0.061,2280,3594,3470,0,0,0,0,0,0
$GC,3052,-0.91,-127.0,468.7,-12.4,156,3057,0.15,2.10,0.00,0.000,6,0.206,0.037,2315,2180,3470,0,0,0,0,0,0
$GC,3325,-0.91,-127.0,494.1,-9.0,163,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2175,3468,0,0,0,0,0,0
$GC,3569,-0.91,-127.0,515.5,-8.7,169,3573,0.00,2.08,0.00,0.000,4,0.000,0.046,2315,774,3466,0,0,0,0,0,0
$GC,3630,-0.91,-127.0,521.1,-9.0,170,3634,0.00,2.17,0.00,0.000,6,0.000,0.055,2307,2183,3466,0,0,0,0,0,0
$GC,3891,-0.91,-127.0,544.8,-9.1,177,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2182,3464,0,0,0,0,0,0
$GC,4135,-0.91,-127.0,568.0,-9.6,183,4139,0.00,2.17,0.00,0.000,4,0.000,0.061,2295,3591,3462,0,0,0,0,0,0
$GC,4196,-0.91,-127.0,574.4,-10.5,184,4200,0.00,2.12,0.00,0.000,6,0.000,0.038,2296,2186,3461,0,0,0,0,0,0
$GC,4463,-0.91,-127.0,600.1,-9.7,191,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2182,3459,0,0,0,0,0,0
$GC,4707,-0.91,-127.0,622.8,-9.2,197,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2186,3457,0,0,0,0,0,0
$GC,4951,-0.91,-127.0,643.3,-8.3,203,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2181,3455,0,0,0,0,0,0
$GC,5194,-0.91,-127.0,663.2,-8.1,209,5198,0.00,2.10,0.00,0.000,4,0.000,0.044,2295,771,3454,0,0,0,0,0,0
$GC,5268,-0.91,-127.0,669.5,-8.4,210,5273,0.12,2.17,0.00,0.000,6,0.218,0.056,2314,2179,3453,0,0,0,0,0,0
$GC,5523,-0.91,-127.0,688.4,-7.4,217,5527,0.00,2.20,0.00,0.000,4,0.000,0.061,2304,3598,3452,0,0,0,0,0,0
$GC,5539,-0.91,-127.0,689.8,-7.3,217,5543,0.00,2.12,0.00,0.000,6,0.000,0.037,2304,2170,3452,0,0,0,0,0,0
$GC,5801,-0.91,-127.0,709.4,-7.6,224,5805,0.00,2.08,0.00,0.000,4,0.000,0.045,2304,777,3450,0,0,0,0,0,0
$GC,5931,-0.91,-127.0,720.4,-7.8,227,5935,0.00,2.15,0.00,0.000,6,0.000,0.058,2294,2181,3450,0,0,0,0,0,0
$GC,6215,-0.91,-127.0,742.3,-7.6,234,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2180,3449,0,0,0,0,0,0
$GC,6458,-0.91,-127.0,762.3,-8.3,240,6462,0.00,2.12,0.00,0.000,4,0.000,0.045,2295,766,3451,0,0,0,0,0,0
$GC,6593,-0.91,-127.0,773.8,-9.1,243,6598,0.12,2.17,0.00,0.000,6,0.219,0.058,2314,2177,3447,0,0,0,0,0,0
$GC,6872,-0.91,-127.0,795.1,-7.5,250,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2180,3446,0,0,0,0,0,0
$GC,7115,-0.91,-127.0,813.2,-7.5,256,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2180,3445,0,0,0,0,0,0
$GC,7359,-0.91,-127.0,831.2,-7.4,262,7363,0.00,2.20,0.00,0.000,4,0.000,0.064,2304,3594,3443,0,0,0,0,0,0
$GC,7410,-0.91,-127.0,835.2,-8.1,263,7413,0.00,2.12,0.00,0.000,6,0.000,0.037,2305,2171,3442,0,0,0,0,0,0
$GC,7682,-0.91,-127.0,855.4,-7.1,270,7686,0.00,2.08,0.00,0.000,4,0.000,0.046,2305,782,3442,0,0,0,0,0,0
$GC,7726,-0.91,-127.0,859.0,-8.5,271,7730,0.00,2.17,0.00,0.000,6,0.000,0.056,2294,2185,3442,0,0,0,0,0,0
$GC,8004,-0.91,-127.0,877.8,-6.6,278,8008,0.00,2.20,0.00,0.000,4,0.000,0.064,2283,3595,3441,0,0,0,0,0,0
$GC,8072,-0.91,-127.0,882.8,-7.1,279,8076,0.12,2.12,0.00,0.000,6,0.213,0.038,2312,2175,3441,0,0,0,0,0,0
$GC,8327,-0.91,-127.0,897.0,-5.3,286,8331,0.00,2.12,0.00,0.000,4,0.000,0.049,2312,765,3440,0,0,0,0,0,0
$STATE,8374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8374,begin apogee
$GC,8383,-0.28,0.0,900.2,6.0,287,8494,0.70,0.00,104.93,1.180,6,0.183,0.000,2509,1987,2939,0,0,0,0,0,0
$STATE,8497,end apogee,CONTROL_FINISHED_OK
$STATE,8497,begin climb
$GC,8499,0.91,127.0,898.8,0.0,290,8624,1.17,2.40,112.32,1.139,4,0.101,0.051,2895,3399,2421,0,0,0,0,0,0
$GC,8646,0.91,127.0,866.6,29.4,293,8650,0.00,2.25,0.00,0.000,6,0.000,0.036,2905,1998,2419,0,0,0,0,0,0
$GC,8913,0.91,127.0,784.8,30.9,300,8917,0.00,2.20,0.00,0.000,4,0.000,0.045,2917,579,2413,0,0,0,0,0,0
$GC,8935,0.91,127.0,777.9,32.0,300,8939,0.00,2.22,0.00,0.000,6,0.000,0.042,2916,1996,2412,0,0,0,0,0,0
$GC,9189,0.91,127.0,697.6,31.8,307,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2006,2410,0,0,0,0,0,0
$GC,9433,0.91,127.0,623.9,30.1,313,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2002,2409,0,0,0,0,0,0
$GC,9677,0.91,127.0,552.7,29.0,319,9681,0.00,2.20,0.00,0.000,4,0.000,0.054,2922,3401,2409,0,0,0,0,0,0
$GC,9710,0.91,127.0,543.5,28.4,319,9716,0.00,2.15,0.00,0.000,6,0.000,0.037,2927,1980,2409,0,0,0,0,0,0
$GC,9960,0.91,127.0,473.0,28.3,326,9963,0.00,2.08,0.00,0.000,4,0.000,0.042,2938,583,2407,0,0,0,0,0,0
$GC,9999,0.91,127.0,460.9,30.3,327,10004,0.15,2.15,0.00,0.000,6,0.223,0.039,2905,2000,2406,0,0,0,0,0,0
$GC,10283,0.91,127.0,385.1,25.9,334,10287,0.00,2.17,0.00,0.000,4,0.000,0.054,2905,3401,2406,0,0,0,0,0,0
$GC,10311,0.91,127.0,377.8,25.6,334,10315,0.00,2.12,0.00,0.000,6,0.000,0.035,2914,1992,2406,0,0,0,0,0,0
$GC,10560,0.91,127.0,318.4,23.5,340,10564,0.00,2.12,0.00,0.000,4,0.000,0.042,2925,583,2406,0,0,0,0,0,0
$GC,10594,0.91,127.0,310.6,23.4,340,10600,0.00,2.10,0.00,0.000,6,0.000,0.038,2925,1988,2404,0,0,0,0,0,0
$GC,10847,0.91,127.0,253.1,22.0,352,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1993,2405,0,0,0,0,0,0
$GC,11094,0.91,127.0,197.7,22.8,364,11098,0.00,2.15,0.00,0.000,4,0.000,0.051,2925,3399,2402,0,0,0,0,0,0
$GC,11222,0.91,127.0,169.4,23.3,375,11227,0.12,2.12,0.00,0.000,6,0.226,0.036,2909,1983,2403,0,0,0,0,0,0
$GC,11485,0.91,127.0,120.4,15.8,399,11489,0.00,2.20,0.00,0.000,4,0.000,0.051,2909,3402,2402,0,0,0,0,0,0
$GC,11560,0.91,127.0,109.4,14.2,405,11567,0.00,2.12,0.00,0.000,6,0.000,0.033,2917,1988,2403,0,0,0,0,0,0
$GC,11824,0.91,127.0,70.8,14.6,430,11828,0.00,2.17,0.00,0.000,4,0.000,0.049,2918,3406,2401,0,0,0,0,0,0
$GC,11921,0.91,127.0,54.4,16.8,438,11929,0.00,2.12,0.00,0.000,6,0.000,0.031,2928,1991,2404,0,0,0,0,0,0
$GC,12184,0.91,127.0,12.6,14.9,473,12191,0.00,2.17,0.00,0.000,4,0.000,0.047,2928,3396,2406,0,0,0,0,0,0
$GC,12211,0.91,127.0,8.0,17.5,477,12219,0.10,2.10,0.00,0.000,6,0.193,0.033,2910,2000,2406,0,0,0,0,0,0
$STATE,12242,end climb,SURFACE_DEPTH_REACHED
$STATE,12242,begin surface coast
$FINISH,0.3,1.023021
$STATE,12259,end surface coast,CONTROL_FINISHED_OK
$STATE,12259,begin surface
$SM_CCo,12291,58.10,0.529,0,0,1922,250.20
$SM_GC,1.20,0.00,0.00,58.10,0.000,0.000,0.529,55,2205,1922,-7.99,0.74,250.20
$IRIDIUM_FIX,1855.54,-15632.81,281212,090945
$TT8_MAMPS,0.059826
$HUMID,1078937410
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.10
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344867840
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59991982080
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.304
$10V_AH,10.3,5.862
$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,20.000,124.750,217.250,58.100,0.000,32.965,41.092,235.626,1.500,0.000,16.284,1055.191,9111.055,357.157,1999.217,330.631,33.346,1105.391,0.000,1650.260,0.000,0.540,0.000
$DEVICE_MAMPS,256.178,64.428,1179.646,529.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,332.560,0.000,685.482,0.000,0.000,0.000,0.000,13624.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,3.747,0.000,0.000
$MEM,353804
$DATA_FILE_SIZE,23584,485
$CAP_FILE_SIZE,119721,0
$CFSIZE,260165632,204759040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,224737,1901.476,-15638.703,33,1.1,33,9.6