version: 66.07
glider: 513
mission: 7
dive: 31
start: 7 6 111 14 7 8
data:
$ID,513
$MISSION,7
$DIVE,31
$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,-421155.16
$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,48
$R_STBD_OVSHOOT,37
$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,30
$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
$GPS1,060711,135045,1857.817,-15642.601,41,2.1,60,9.6
$_CALLS,2
$_XMS_NAKs,31
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.0
$GPS2,060711,140616,1857.444,-15642.603,14,2.1,33,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.030,0.242
$KALMAN_X,48364.6,-546.6,-572.1,-69498.5,3754.0
$KALMAN_Y,-47895.2,250.4,162.8,-29264.9,-7984.3
$MHEAD_RNG_PITCHd_Wd,343.4,6327,-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,-55.28,0.000,6,0.000,0.000,35,2189,3458,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.5,-4.2,9,104,9.62,2.22,0.00,0.000,4,0.255,0.061,2300,3595,3461,0,0,0,0,0,0
$GC,345,-0.91,-127.0,80.7,-27.0,40,352,0.00,2.12,0.00,0.000,6,0.000,0.037,2304,2188,3464,0,0,0,0,0,0
$GC,609,-0.91,-127.0,146.7,-21.3,65,612,0.00,2.08,0.00,0.000,4,0.000,0.040,2304,781,3464,0,0,0,0,0,0
$GC,619,-0.91,-127.0,149.8,-22.0,65,627,0.00,2.20,0.00,0.000,6,0.000,0.058,2295,2176,3465,0,0,0,0,0,0
$GC,884,-0.91,-127.0,197.6,-16.1,90,888,0.00,2.10,0.00,0.000,4,0.000,0.041,2297,773,3466,0,0,0,0,0,0
$GC,1053,-0.91,-127.0,227.5,-15.9,97,1059,0.12,2.17,0.00,0.000,6,0.203,0.054,2317,2187,3466,0,0,0,0,0,0
$GC,1307,-0.91,-127.0,259.7,-10.6,110,1311,0.00,2.15,0.00,0.000,4,0.000,0.058,2308,3592,3468,0,0,0,0,0,0
$GC,1353,-0.91,-127.0,264.7,-10.7,112,1357,0.00,2.08,0.00,0.000,6,0.000,0.032,2309,2166,3468,0,0,0,0,0,0
$GC,1623,-0.91,-127.0,293.4,-11.1,125,1626,0.00,2.03,0.00,0.000,4,0.000,0.041,2308,785,3468,0,0,0,0,0,0
$GC,1823,-0.91,-127.0,316.5,-9.7,131,1828,0.00,2.12,0.00,0.000,6,0.000,0.059,2295,2178,3469,0,0,0,0,0,0
$GC,2084,-0.91,-127.0,343.3,-10.8,138,2088,0.00,2.08,0.00,0.000,4,0.000,0.041,2303,781,3469,0,0,0,0,0,0
$GC,2181,-0.91,-127.0,353.7,-10.0,140,2185,0.12,2.15,0.00,0.000,6,0.202,0.058,2317,2179,3468,0,0,0,0,0,0
$GC,2452,-0.91,-127.0,381.0,-10.4,147,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2179,3469,0,0,0,0,0,0
$GC,2696,-0.91,-127.0,406.6,-10.7,153,2700,0.00,2.17,0.00,0.000,4,0.000,0.059,2308,3599,3467,0,0,0,0,0,0
$GC,2781,-0.91,-127.0,416.4,-11.8,155,2785,0.00,2.08,0.00,0.000,6,0.000,0.035,2308,2178,3467,0,0,0,0,0,0
$GC,3064,-0.91,-127.0,444.8,-9.5,162,3068,0.00,2.10,0.00,0.000,4,0.000,0.046,2308,775,3465,0,0,0,0,0,0
$GC,3149,-0.91,-127.0,453.3,-10.4,164,3153,0.00,2.15,0.00,0.000,6,0.000,0.058,2297,2179,3464,0,0,0,0,0,0
$GC,3432,-0.91,-127.0,482.8,-10.5,171,3436,0.00,2.15,0.00,0.000,4,0.000,0.061,2286,3591,3462,0,0,0,0,0,0
$GC,3549,-0.91,-127.0,496.9,-12.5,173,3553,0.12,2.08,0.00,0.000,6,0.209,0.037,2315,2183,3462,0,0,0,0,0,0
$GC,3805,-0.91,-127.0,524.1,-10.3,180,3809,0.00,2.08,0.00,0.000,4,0.000,0.044,2315,772,3462,0,0,0,0,0,0
$GC,3899,-0.91,-127.0,534.8,-11.0,182,3903,0.00,2.15,0.00,0.000,6,0.000,0.056,2307,2185,3459,0,0,0,0,0,0
$GC,4179,-0.91,-127.0,562.4,-9.7,189,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2183,3457,0,0,0,0,0,0
$GC,4421,-0.91,-127.0,583.9,-8.8,195,4425,0.00,2.12,0.00,0.000,4,0.000,0.047,2306,764,3455,0,0,0,0,0,0
$GC,4471,-0.91,-127.0,588.6,-8.9,196,4475,0.00,2.17,0.00,0.000,6,0.000,0.057,2296,2184,3455,0,0,0,0,0,0
$GC,4745,-0.91,-127.0,612.5,-8.6,203,4749,0.00,2.12,0.00,0.000,4,0.000,0.047,2296,780,3452,0,0,0,0,0,0
$GC,4903,-0.91,-127.0,626.1,-8.7,206,4908,0.12,2.15,0.00,0.000,6,0.214,0.059,2314,2179,3448,0,0,0,0,0,0
$GC,5158,-0.91,-127.0,644.5,-7.0,213,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2175,3453,0,0,0,0,0,0
$GC,5403,-0.91,-127.0,662.1,-7.4,219,5407,0.00,2.08,0.00,0.000,4,0.000,0.044,2314,776,3448,0,0,0,0,0,0
$GC,5436,-0.91,-127.0,664.7,-8.2,219,5441,0.00,2.15,0.00,0.000,6,0.000,0.057,2306,2178,3447,0,0,0,0,0,0
$GC,5686,-0.91,-127.0,684.1,-8.0,226,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2178,3445,0,0,0,0,0,0
$GC,5930,-0.91,-127.0,703.9,-8.1,232,5934,0.00,2.20,0.00,0.000,4,0.000,0.063,2295,3596,3449,0,0,0,0,0,0
$GC,5958,-0.91,-127.0,706.6,-9.7,232,5962,0.00,2.10,0.00,0.000,6,0.000,0.038,2294,2179,3444,0,0,0,0,0,0
$GC,6213,-0.91,-127.0,729.5,-9.0,239,6218,0.10,2.10,0.00,0.000,4,0.223,0.048,2316,780,3443,0,0,0,0,0,0
$GC,6298,-0.91,-127.0,736.9,-8.4,241,6302,0.00,2.15,0.00,0.000,6,0.000,0.057,2307,2182,3443,0,0,0,0,0,0
$GC,6582,-0.91,-127.0,759.5,-7.7,248,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2181,3441,0,0,0,0,0,0
$GC,6826,-0.91,-127.0,776.4,-6.8,254,6830,0.00,2.12,0.00,0.000,4,0.000,0.048,2304,779,3440,0,0,0,0,0,0
$GC,6905,-0.91,-127.0,782.0,-7.0,255,6909,0.00,2.17,0.00,0.000,6,0.000,0.061,2296,2192,3440,0,0,0,0,0,0
$GC,7155,-0.91,-127.0,798.9,-6.7,261,7159,0.00,2.15,0.00,0.000,4,0.000,0.047,2296,778,3440,0,0,0,0,0,0
$GC,7195,-0.91,-127.0,801.7,-6.9,262,7200,0.12,2.17,0.00,0.000,6,0.216,0.060,2315,2181,3439,0,0,0,0,0,0
$GC,7480,-0.91,-127.0,817.1,-5.2,269,7484,0.00,2.12,0.00,0.000,4,0.000,0.049,2311,775,3437,0,0,0,0,0,0
$GC,7503,-0.91,-127.0,818.4,-5.8,269,7507,0.00,2.17,0.00,0.000,6,0.000,0.056,2306,2189,3437,0,0,0,0,0,0
$GC,7758,-0.91,-127.0,832.8,-5.8,276,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2190,3435,0,0,0,0,0,0
$GC,8002,-0.91,-127.0,846.8,-5.9,282,8007,0.00,2.15,0.00,0.000,4,0.000,0.049,2306,778,3433,0,0,0,0,0,0
$GC,8064,-0.91,-127.0,851.3,-7.8,283,8068,0.00,2.15,0.00,0.000,6,0.000,0.058,2295,2174,3435,0,0,0,0,0,0
$GC,8330,-0.91,-127.0,869.2,-6.7,290,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2176,3434,0,0,0,0,0,0
$GC,8575,-0.91,-127.0,887.5,-7.5,296,8579,0.00,2.12,0.00,0.000,4,0.000,0.046,2295,774,3433,0,0,0,0,0,0
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8733,-0.28,0.0,900.3,8.8,299,8840,0.77,0.00,103.32,1.172,6,0.188,0.000,2512,1993,2941,0,0,0,0,0,0
$STATE,8842,end apogee,CONTROL_FINISHED_OK
$STATE,8842,begin climb
$GC,8846,0.91,127.0,902.4,0.0,302,8970,1.17,2.38,113.03,1.128,4,0.094,0.052,2903,3405,2421,0,0,0,0,0,0
$GC,8987,0.91,127.0,874.8,27.3,305,8991,0.00,2.25,0.00,0.000,6,0.000,0.034,2914,1988,2419,0,0,0,0,0,0
$GC,9253,0.91,127.0,795.7,30.1,312,9257,0.00,2.20,0.00,0.000,4,0.000,0.045,2925,578,2413,0,0,0,0,0,0
$GC,9279,0.91,127.0,787.2,31.5,312,9284,0.00,2.22,0.00,0.000,6,0.000,0.040,2925,1994,2412,0,0,0,0,0,0
$GC,9535,0.91,127.0,709.1,30.4,319,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2000,2411,0,0,0,0,0,0
$GC,9780,0.91,127.0,635.6,30.1,325,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1999,2409,0,0,0,0,0,0
$GC,10022,0.91,127.0,563.6,29.4,331,10026,0.00,2.17,0.00,0.000,4,0.000,0.045,2935,574,2409,0,0,0,0,0,0
$GC,10038,0.91,127.0,558.4,30.2,331,10042,0.00,2.15,0.00,0.000,6,0.000,0.038,2935,1997,2408,0,0,0,0,0,0
$GC,10306,0.91,127.0,476.1,30.8,338,10310,0.00,2.17,0.00,0.000,4,0.000,0.046,2946,580,2408,0,0,0,0,0,0
$GC,10322,0.91,127.0,470.7,31.0,338,10327,0.15,2.15,0.00,0.000,6,0.223,0.038,2914,1993,2406,0,0,0,0,0,0
$GC,10582,0.91,127.0,399.5,27.1,345,10586,0.00,2.15,0.00,0.000,4,0.000,0.051,2913,3399,2406,0,0,0,0,0,0
$GC,10598,0.91,127.0,394.6,28.3,345,10602,0.00,2.10,0.00,0.000,6,0.000,0.035,2920,1983,2406,0,0,0,0,0,0
$GC,10871,0.91,127.0,321.9,26.5,352,10875,0.00,2.22,0.00,0.000,4,0.000,0.053,2922,3409,2406,0,0,0,0,0,0
$GC,10921,0.91,127.0,308.1,25.6,353,10925,0.00,2.12,0.00,0.000,6,0.000,0.035,2932,1994,2406,0,0,0,0,0,0
$GC,11182,0.91,127.0,245.3,23.3,364,11186,0.00,2.17,0.00,0.000,4,0.000,0.051,2932,3399,2405,0,0,0,0,0,0
$GC,11228,0.91,127.0,235.0,23.2,366,11233,0.15,2.12,0.00,0.000,6,0.229,0.035,2910,1981,2405,0,0,0,0,0,0
$GC,11494,0.91,127.0,178.8,22.7,383,11498,0.00,2.10,0.00,0.000,4,0.000,0.044,2919,582,2403,0,0,0,0,0,0
$GC,11548,0.91,127.0,167.1,18.8,387,11555,0.00,2.15,0.00,0.000,6,0.000,0.038,2919,1996,2401,0,0,0,0,0,0
$GC,11812,0.91,127.0,121.8,16.9,412,11816,0.00,2.15,0.00,0.000,4,0.000,0.047,2929,588,2401,0,0,0,0,0,0
$GC,11932,0.91,127.0,102.8,16.5,422,11939,0.00,2.12,0.00,0.000,6,0.000,0.037,2929,1989,2401,0,0,0,0,0,0
$GC,12197,0.91,127.0,59.6,17.6,447,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1990,2403,0,0,0,0,0,0
$GC,12458,0.91,127.0,14.3,16.1,481,12465,0.00,2.15,0.00,0.000,4,0.000,0.048,2929,3390,2403,0,0,0,0,0,0
$GC,12510,0.91,127.0,5.6,15.8,490,12518,0.10,2.10,0.00,0.000,6,0.190,0.033,2912,1992,2409,0,0,0,0,0,0
$STATE,12531,end climb,SURFACE_DEPTH_REACHED
$STATE,12531,begin surface coast
$FINISH,-0.0,1.023140
$STATE,12548,end surface coast,CONTROL_FINISHED_OK
$STATE,12548,begin surface
$SM_CCo,12568,56.28,0.505,0,0,1920,250.45
$SM_GC,1.24,0.00,0.00,56.28,0.000,0.000,0.505,52,2199,1920,-8.01,0.57,250.45
$IRIDIUM_FIX,1848.70,-15641.80,291212,080832
$TT8_MAMPS,0.060593
$HUMID,1078949023
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.30
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344704000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59990835200
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.860
$10V_AH,10.3,6.341
$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,20.100,128.750,216.350,56.275,0.000,59.972,73.973,514.503,2.000,0.000,36.396,1087.537,9316.933,358.621,2423.669,368.998,33.348,1151.496,0.000,1742.805,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,62.894,1171.976,505.453,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,339.746,0.000,701.941,0.000,0.000,0.000,0.000,14412.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.319,0.000,0.000
$MEM,353776
$DATA_FILE_SIZE,23624,496
$CAP_FILE_SIZE,129088,0
$CFSIZE,260165632,204402688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,173936,1857.547,-15642.963,68,1.0,69,9.6