version: 66.07
glider: 513
mission: 7
dive: 29
start: 7 6 111 6 16 21
data:
$ID,513
$MISSION,7
$DIVE,29
$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,-421077.81
$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,2615
$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,46
$R_STBD_OVSHOOT,58
$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,28
$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
$GPS1,060711,060255,1859.391,-15641.402,62,1.2,62,9.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-79.1
$GPS2,060711,061526,1859.121,-15641.414,13,1.3,13,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.195,0.146
$KALMAN_X,46441.6,-534.5,-303.3,-65789.2,4859.3
$KALMAN_Y,-38547.8,478.1,324.9,-35899.0,-6681.6
$MHEAD_RNG_PITCHd_Wd,297.2,6487,-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,-54.78,0.000,6,0.000,0.000,36,2205,3456,0,0,0,0,0,0
$GC,90,-0.91,-127.0,2.9,-6.5,9,105,9.57,2.15,0.00,0.000,4,0.253,0.035,2323,766,3458,0,0,0,0,0,0
$GC,113,-0.91,-127.0,11.6,-28.8,12,121,0.00,2.20,0.00,0.000,6,0.000,0.051,2313,2156,3460,0,0,0,0,0,0
$GC,385,-0.91,-127.0,92.9,-26.7,42,389,0.00,2.08,0.00,0.000,4,0.000,0.038,2313,771,3462,0,0,0,0,0,0
$GC,634,-0.91,-127.0,159.1,-21.9,64,642,0.00,2.20,0.00,0.000,6,0.000,0.051,2303,2187,3463,0,0,0,0,0,0
$GC,904,-0.91,-127.0,208.9,-17.7,88,908,0.00,2.10,0.00,0.000,4,0.000,0.039,2303,769,3466,0,0,0,0,0,0
$GC,1133,-0.91,-127.0,249.5,-15.4,98,1137,0.00,2.17,0.00,0.000,6,0.000,0.057,2292,2183,3466,0,0,0,0,0,0
$GC,1398,-0.91,-127.0,282.1,-11.6,111,1402,0.00,2.08,0.00,0.000,4,0.000,0.037,2293,779,3465,0,0,0,0,0,0
$GC,1443,-0.91,-127.0,288.0,-11.6,113,1448,0.15,2.17,0.00,0.000,6,0.196,0.056,2321,2183,3467,0,0,0,0,0,0
$GC,1727,-0.91,-127.0,319.8,-10.6,123,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2182,3468,0,0,0,0,0,0
$GC,1970,-0.91,-127.0,344.1,-9.6,129,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2182,3468,0,0,0,0,0,0
$GC,2213,-0.91,-127.0,368.6,-10.3,135,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2182,3469,0,0,0,0,0,0
$GC,2458,-0.91,-127.0,390.9,-9.0,141,2462,0.00,2.20,0.00,0.000,4,0.000,0.064,2308,3597,3469,0,0,0,0,0,0
$GC,2513,-0.91,-127.0,396.5,-10.2,142,2517,0.00,2.12,0.00,0.000,6,0.000,0.035,2311,2174,3467,0,0,0,0,0,0
$GC,2785,-0.91,-127.0,421.4,-9.2,149,2789,0.00,2.05,0.00,0.000,4,0.000,0.041,2312,770,3466,0,0,0,0,0,0
$GC,2835,-0.91,-127.0,426.6,-11.3,150,2839,0.00,2.20,0.00,0.000,6,0.000,0.059,2300,2189,3465,0,0,0,0,0,0
$GC,3107,-0.91,-127.0,456.1,-10.8,157,3110,0.00,2.20,0.00,0.000,4,0.000,0.067,2290,3597,3463,0,0,0,0,0,0
$GC,3173,-0.91,-127.0,463.5,-11.0,158,3178,0.08,2.15,0.00,0.000,6,0.192,0.038,2312,2167,3463,0,0,0,0,0,0
$GC,3435,-0.91,-127.0,487.1,-8.6,165,3438,0.00,2.05,0.00,0.000,4,0.000,0.041,2312,782,3462,0,0,0,0,0,0
$GC,3570,-0.91,-127.0,498.8,-8.3,168,3574,0.00,2.15,0.00,0.000,6,0.000,0.059,2303,2181,3461,0,0,0,0,0,0
$GC,3855,-0.91,-127.0,523.1,-8.5,175,3859,0.00,2.10,0.00,0.000,4,0.000,0.041,2303,773,3458,0,0,0,0,0,0
$GC,3939,-0.91,-127.0,530.8,-10.1,177,3943,0.00,2.20,0.00,0.000,6,0.000,0.060,2294,2188,3457,0,0,0,0,0,0
$GC,4223,-0.91,-127.0,559.1,-9.9,184,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2188,3455,0,0,0,0,0,0
$GC,4468,-0.91,-127.0,583.2,-9.9,190,4471,0.00,2.10,0.00,0.000,4,0.000,0.044,2300,772,3452,0,0,0,0,0,0
$GC,4590,-0.91,-127.0,595.6,-10.0,192,4598,0.10,2.20,0.00,0.000,6,0.222,0.062,2314,2180,3451,0,0,0,0,0,0
$GC,4841,-0.91,-127.0,616.3,-8.3,199,4845,0.00,2.08,0.00,0.000,4,0.000,0.042,2314,779,3449,0,0,1,0,0,0
$GC,4926,-0.91,-127.0,623.6,-8.1,201,4930,0.00,2.20,0.00,0.000,6,0.000,0.061,2305,2191,3448,0,0,0,0,0,0
$GC,5210,-0.91,-127.0,647.0,-8.0,208,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2190,3446,0,0,0,0,0,0
$GC,5455,-0.91,-127.0,665.9,-7.6,214,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2191,3446,0,0,0,0,0,0
$GC,5697,-0.91,-127.0,683.6,-7.2,220,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2190,3445,0,0,0,0,0,0
$GC,5941,-0.91,-127.0,702.0,-7.4,226,5945,0.00,2.20,0.00,0.000,4,0.000,0.070,2294,3586,3443,0,0,0,0,0,0
$GC,6031,-0.91,-127.0,709.3,-7.9,228,6036,0.00,2.12,0.00,0.000,6,0.000,0.041,2294,2176,3442,0,0,0,0,0,0
$GC,6310,-0.91,-127.0,730.4,-7.6,235,6313,0.00,2.08,0.00,0.000,4,0.000,0.048,2295,784,3441,0,0,0,0,0,0
$GC,6360,-0.91,-127.0,734.3,-7.3,236,6364,0.15,2.17,0.00,0.000,6,0.209,0.061,2320,2176,3440,0,0,0,0,0,0
$GC,6633,-0.91,-127.0,753.5,-7.2,243,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2176,3440,0,0,0,0,0,0
$GC,6875,-0.91,-127.0,770.4,-7.0,249,6879,0.00,2.10,0.00,0.000,4,0.000,0.044,2321,767,3438,0,0,0,0,0,0
$GC,6948,-0.91,-127.0,775.9,-7.4,250,6952,0.00,2.22,0.00,0.000,6,0.000,0.061,2311,2182,3438,0,0,0,0,0,0
$GC,7204,-0.91,-127.0,792.7,-6.5,257,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2186,3437,0,0,0,0,0,0
$GC,7447,-0.91,-127.0,809.3,-6.8,263,7451,0.00,2.12,0.00,0.000,4,0.000,0.048,2311,766,3437,0,0,0,0,0,0
$GC,7508,-0.91,-127.0,813.7,-7.3,264,7512,0.00,2.20,0.00,0.000,6,0.000,0.061,2301,2181,3436,0,0,0,0,0,0
$GC,7775,-0.91,-127.0,831.3,-6.6,271,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2181,3437,0,0,0,0,0,0
$GC,8018,-0.91,-127.0,846.6,-6.2,277,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2181,3434,0,0,0,0,0,0
$GC,8262,-0.91,-127.0,861.8,-6.3,283,8266,0.00,2.10,0.00,0.000,4,0.000,0.047,2296,780,3431,0,0,0,0,0,0
$GC,8318,-0.91,-127.0,865.9,-7.2,284,8323,0.12,2.20,0.00,0.000,6,0.216,0.059,2319,2193,3432,0,0,0,0,0,0
$GC,8585,-0.91,-127.0,882.3,-6.2,291,8588,0.00,2.15,0.00,0.000,4,0.000,0.046,2319,768,3432,0,0,0,0,0,0
$GC,8702,-0.91,-127.0,890.1,-6.6,293,8706,0.00,2.20,0.00,0.000,6,0.000,0.058,2310,2184,3431,0,0,0,0,0,0
$STATE,8873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8873,begin apogee
$GC,8880,-0.28,0.0,901.4,6.5,298,8987,0.73,0.00,103.15,1.179,6,0.181,0.000,2519,1999,2941,0,0,0,0,0,0
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9012,0.91,127.0,902.4,0.0,300,9135,1.12,2.42,112.68,1.133,4,0.094,0.058,2897,3396,2421,0,0,0,0,0,0
$GC,9163,0.91,127.0,869.0,28.4,304,9167,0.00,2.28,0.00,0.000,6,0.000,0.035,2908,1973,2417,0,0,0,0,0,0
$GC,9430,0.91,127.0,787.7,30.9,311,9434,0.00,2.17,0.00,0.000,4,0.000,0.044,2920,573,2413,0,0,0,0,0,0
$GC,9463,0.91,127.0,776.8,32.3,311,9469,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,1990,2411,0,0,0,0,0,0
$GC,9713,0.91,127.0,698.4,31.6,318,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1997,2410,0,0,0,0,0,0
$GC,9958,0.91,127.0,622.4,31.3,324,9962,0.00,2.20,0.00,0.000,4,0.000,0.058,2920,3398,2409,0,0,0,0,0,0
$GC,9979,0.91,127.0,615.3,30.1,324,9983,0.00,2.15,0.00,0.000,6,0.000,0.036,2930,1982,2409,0,0,0,0,0,0
$GC,10247,0.91,127.0,533.9,30.1,331,10251,0.00,2.12,0.00,0.000,4,0.000,0.044,2942,588,2408,0,0,0,0,0,0
$GC,10286,0.91,127.0,521.8,32.0,332,10291,0.12,2.12,0.00,0.000,6,0.228,0.041,2916,1995,2404,0,0,0,0,0,0
$GC,10569,0.91,127.0,442.9,27.7,339,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2001,2406,0,0,0,0,0,0
$GC,10813,0.91,127.0,376.9,27.0,345,10817,0.00,2.17,0.00,0.000,4,0.000,0.055,2915,3402,2406,0,0,0,0,0,0
$GC,10829,0.91,127.0,372.0,27.3,345,10833,0.00,2.15,0.00,0.000,6,0.000,0.036,2924,1979,2406,0,0,0,0,0,0
$GC,11096,0.91,127.0,302.0,25.9,352,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1975,2405,0,0,0,0,0,0
$GC,11344,0.91,127.0,240.8,25.0,363,11348,0.00,2.20,0.00,0.000,4,0.000,0.054,2924,3394,2404,0,0,0,0,0,0
$GC,11376,0.91,127.0,233.5,21.9,364,11382,0.00,2.10,0.00,0.000,6,0.000,0.034,2940,1986,2404,0,0,0,0,0,0
$GC,11634,0.91,127.0,178.3,22.2,381,11638,0.00,2.08,0.00,0.000,4,0.000,0.044,2946,594,2403,0,0,0,0,0,0
$GC,11700,0.91,127.0,162.4,24.6,386,11708,0.10,2.12,0.00,0.000,6,0.196,0.038,2918,1990,2401,0,0,0,0,0,0
$GC,11965,0.91,127.0,111.5,18.2,411,11968,0.00,2.17,0.00,0.000,4,0.000,0.052,2918,3394,2401,0,0,0,0,0,0
$GC,12019,0.91,127.0,101.2,17.4,415,12026,0.00,2.12,0.00,0.000,6,0.000,0.033,2927,1984,2403,0,0,0,0,0,0
$GC,12283,0.91,127.0,60.4,15.3,440,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1984,2403,0,0,0,0,0,0
$GC,12546,0.91,127.0,17.7,15.3,472,12554,0.00,2.20,0.00,0.000,4,0.000,0.050,2927,3401,2405,0,0,0,0,0,0
$STATE,12627,end climb,SURFACE_DEPTH_REACHED
$STATE,12627,begin surface coast
$FINISH,0.1,1.023022
$STATE,12644,end surface coast,CONTROL_FINISHED_OK
$STATE,12645,begin surface
$SM_CCo,12677,58.60,0.511,0,0,1918,250.20
$SM_GC,1.36,0.00,0.00,58.60,0.000,0.000,0.511,59,2166,1918,-7.99,-0.40,250.20
$IRIDIUM_FIX,1853.26,-15640.90,291212,000036
$TT8_MAMPS,0.06136
$HUMID,1078949023
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.90
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344769536
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59991293952
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.608
$10V_AH,10.4,6.133
$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,19.800,112.150,215.825,58.600,0.000,51.952,67.228,375.337,1.500,0.000,15.469,1050.027,9555.235,360.041,2180.797,345.550,33.348,1097.062,0.000,1641.809,0.000,0.541,0.000
$DEVICE_MAMPS,253.110,69.797,1178.879,510.822,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.006,0.000,668.996,0.000,0.000,0.000,0.000,14319.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.071,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,23632,490
$CAP_FILE_SIZE,119514,0
$CFSIZE,260165632,204554240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060711,095005,1858.508,-15642.274,30,1.0,34,9.6