version: 66.07
glider: 513
mission: 7
dive: 33
start: 7 6 111 21 44 25
data:
$ID,513
$MISSION,7
$DIVE,33
$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,-421192.25
$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,47
$R_STBD_OVSHOOT,32
$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,32
$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
$GPS1,060711,212836,1857.117,-15642.913,35,0.9,36,9.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.5
$GPS2,060711,214331,1856.726,-15643.027,13,1.2,18,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.105,0.220
$KALMAN_X,47066.0,-889.0,-196.4,-68976.9,1567.6
$KALMAN_Y,-58163.9,732.1,448.2,-21105.9,-10036.5
$MHEAD_RNG_PITCHd_Wd,15.9,6978,-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,-55.08,0.000,6,0.000,0.000,34,2179,3460,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.9,-6.4,9,104,9.62,2.22,0.00,0.000,4,0.255,0.057,2300,3596,3458,0,0,0,0,0,0
$GC,343,-0.91,-127.0,80.9,-28.8,40,351,0.00,2.15,0.00,0.000,6,0.000,0.036,2304,2191,3462,0,0,0,0,0,0
$GC,607,-0.91,-127.0,147.2,-20.6,65,611,0.00,2.10,0.00,0.000,4,0.000,0.041,2303,774,3463,0,0,0,0,0,0
$GC,669,-0.91,-127.0,160.3,-18.7,70,674,0.00,2.20,0.00,0.000,6,0.000,0.057,2295,2182,3463,0,0,0,0,0,0
$GC,931,-0.91,-127.0,203.7,-15.0,93,934,0.00,2.10,0.00,0.000,4,0.000,0.042,2295,769,3464,0,0,0,0,0,0
$GC,1031,-0.91,-127.0,220.3,-16.3,97,1037,0.12,2.17,0.00,0.000,6,0.206,0.056,2313,2180,3465,0,0,0,0,0,0
$GC,1285,-0.91,-127.0,254.3,-10.7,110,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2180,3466,0,0,0,0,0,0
$GC,1532,-0.91,-127.0,282.5,-11.8,122,1536,0.00,2.17,0.00,0.000,4,0.000,0.058,2304,3597,3464,0,0,0,0,0,0
$GC,1559,-0.91,-127.0,285.9,-12.8,123,1563,0.00,2.08,0.00,0.000,6,0.000,0.031,2304,2168,3467,0,0,0,0,0,0
$GC,1816,-0.91,-127.0,317.2,-12.1,133,1819,0.00,2.03,0.00,0.000,4,0.000,0.041,2304,781,3467,0,0,0,0,0,0
$GC,2029,-0.91,-127.0,341.1,-9.9,137,2033,0.00,2.12,0.00,0.000,6,0.000,0.054,2294,2182,3467,0,0,0,0,0,0
$GC,2279,-0.91,-127.0,368.5,-11.2,143,2283,0.00,2.17,0.00,0.000,4,0.000,0.058,2283,3599,3467,0,0,0,0,0,0
$GC,2536,-0.91,-127.0,406.7,-15.0,148,2541,0.15,2.08,0.00,0.000,6,0.200,0.035,2320,2177,3467,0,0,0,0,0,0
$GC,2792,-0.91,-127.0,438.3,-11.9,155,2796,0.00,2.08,0.00,0.000,4,0.000,0.043,2320,770,3465,0,0,0,0,0,0
$GC,2809,-0.91,-127.0,440.2,-11.7,155,2813,0.00,2.15,0.00,0.000,6,0.000,0.052,2314,2182,3465,0,0,0,0,0,0
$GC,3075,-0.91,-127.0,468.8,-10.3,162,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2181,3466,0,0,0,0,0,0
$GC,3319,-0.91,-127.0,488.0,-7.6,168,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2181,3462,0,0,0,0,0,0
$GC,3564,-0.91,-127.0,506.8,-7.7,174,3568,0.00,2.10,0.00,0.000,4,0.000,0.044,2311,783,3461,0,0,0,0,0,0
$GC,3620,-0.91,-127.0,512.0,-9.2,175,3623,0.00,2.12,0.00,0.000,6,0.000,0.052,2300,2181,3460,0,0,0,0,0,0
$GC,3886,-0.91,-127.0,537.4,-10.2,182,3890,0.00,2.08,0.00,0.000,4,0.000,0.044,2300,782,3459,0,0,0,0,0,0
$GC,4009,-0.91,-127.0,549.7,-10.1,184,4015,0.12,2.15,0.00,0.000,6,0.210,0.054,2320,2190,3456,0,0,0,0,0,0
$GC,4259,-0.91,-127.0,571.2,-8.4,191,4263,0.00,2.10,0.00,0.000,4,0.000,0.045,2320,783,3455,0,0,0,0,0,0
$GC,4303,-0.91,-127.0,575.1,-8.7,192,4307,0.00,2.15,0.00,0.000,6,0.000,0.054,2311,2193,3455,0,0,0,0,0,0
$GC,4581,-0.91,-127.0,597.9,-8.1,199,4585,0.00,2.10,0.00,0.000,4,0.000,0.045,2311,785,3451,0,0,0,0,0,0
$GC,4631,-0.91,-127.0,602.5,-8.9,200,4635,0.00,2.12,0.00,0.000,6,0.000,0.056,2301,2176,3451,0,0,0,0,0,0
$GC,4904,-0.91,-127.0,625.2,-8.4,207,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2176,3449,0,0,0,0,0,0
$GC,5148,-0.91,-127.0,645.8,-8.3,213,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2176,3445,0,0,0,0,0,0
$GC,5391,-0.91,-127.0,666.0,-8.3,219,5395,0.00,2.17,0.00,0.000,4,0.000,0.064,2290,3589,3446,0,0,0,0,0,0
$GC,5464,-0.91,-127.0,672.6,-8.7,220,5469,0.12,2.08,0.00,0.000,6,0.209,0.039,2319,2184,3446,0,0,0,0,0,0
$GC,5715,-0.91,-127.0,688.9,-6.4,226,5719,0.00,2.10,0.00,0.000,4,0.000,0.044,2319,765,3445,0,0,0,0,0,0
$GC,5776,-0.91,-127.0,693.0,-6.1,227,5780,0.00,2.20,0.00,0.000,6,0.000,0.057,2309,2179,3444,0,0,0,0,0,0
$GC,6037,-0.91,-127.0,709.0,-6.1,234,6041,0.00,2.10,0.00,0.000,4,0.000,0.044,2309,771,3442,0,0,0,0,0,0
$GC,6065,-0.91,-127.0,710.8,-6.0,234,6070,0.00,2.17,0.00,0.000,6,0.000,0.057,2299,2181,3442,0,0,0,0,0,0
$GC,6315,-0.91,-127.0,724.9,-5.5,240,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2181,3441,0,0,0,0,0,0
$GC,6559,-0.91,-127.0,737.6,-5.3,246,6563,0.00,2.22,0.00,0.000,4,0.000,0.067,2288,3594,3440,0,0,0,0,0,0
$GC,6615,-0.91,-127.0,741.1,-6.3,247,6620,0.12,2.12,0.00,0.000,6,0.206,0.040,2317,2182,3439,0,0,0,0,0,0
$GC,6887,-0.91,-127.0,756.7,-5.7,254,6891,0.00,2.10,0.00,0.000,4,0.000,0.045,2317,767,3438,0,0,0,0,0,0
$GC,7000,-0.91,-127.0,764.4,-7.2,256,7004,0.00,2.20,0.00,0.000,6,0.000,0.058,2308,2190,3437,0,0,0,0,0,0
$GC,7256,-0.91,-127.0,783.1,-7.5,263,7260,0.00,2.20,0.00,0.000,4,0.000,0.067,2300,3597,3437,0,0,0,0,0,0
$GC,7300,-0.91,-127.0,786.8,-8.2,264,7304,0.00,2.12,0.00,0.000,6,0.000,0.038,2297,2166,3435,0,0,0,0,0,0
$GC,7578,-0.91,-127.0,809.0,-8.1,271,7582,0.00,2.05,0.00,0.000,4,0.000,0.044,2297,775,3435,0,0,0,0,0,0
$GC,7611,-0.91,-127.0,811.9,-8.8,271,7618,0.12,2.20,0.00,0.000,6,0.216,0.058,2315,2179,3434,0,0,0,0,0,0
$GC,7861,-0.91,-127.0,831.9,-8.0,278,7865,0.00,2.20,0.00,0.000,4,0.000,0.065,2305,3592,3434,0,0,0,0,0,0
$GC,7907,-0.91,-127.0,835.7,-8.5,279,7911,0.00,2.10,0.00,0.000,6,0.000,0.038,2306,2175,3433,0,0,0,0,0,0
$GC,8184,-0.91,-127.0,856.0,-7.2,286,8188,0.00,2.10,0.00,0.000,4,0.000,0.048,2307,767,3431,0,0,0,0,0,0
$GC,8229,-0.91,-127.0,859.5,-7.8,287,8233,0.00,2.20,0.00,0.000,6,0.000,0.057,2295,2193,3432,0,0,0,0,0,0
$GC,8507,-0.91,-127.0,878.6,-6.9,294,8511,0.00,2.12,0.00,0.000,4,0.000,0.046,2295,774,3431,0,0,0,0,0,0
$GC,8630,-0.91,-127.0,887.3,-6.5,296,8636,0.12,2.17,0.00,0.000,6,0.216,0.059,2314,2179,3431,0,0,0,0,0,0
$STATE,8877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8878,begin apogee
$GC,8885,-0.28,0.0,901.4,5.5,303,8991,0.70,0.00,103.30,1.174,6,0.180,0.000,2517,1994,2941,0,0,0,0,0,0
$STATE,8994,end apogee,CONTROL_FINISHED_OK
$STATE,8994,begin climb
$GC,8996,0.91,127.0,901.4,0.0,305,9121,1.17,2.35,111.55,1.129,4,0.098,0.042,2914,580,2425,0,0,0,0,0,0
$GC,9138,0.91,127.0,868.4,31.3,308,9142,0.00,2.28,0.00,0.000,6,0.000,0.039,2914,2000,2424,0,0,1,0,0,0
$GC,9410,0.91,127.0,783.1,31.1,315,9414,0.00,2.20,0.00,0.000,4,0.000,0.054,2914,3396,2416,0,0,0,0,0,0
$GC,9431,0.91,127.0,776.1,31.7,315,9435,0.00,2.17,0.00,0.000,6,0.000,0.037,2925,1975,2416,0,0,0,0,0,0
$GC,9692,0.91,127.0,695.4,31.2,322,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1971,2415,0,0,0,0,0,0
$GC,9936,0.91,127.0,621.4,30.4,328,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1975,2414,0,0,0,0,0,0
$GC,10180,0.91,127.0,547.0,30.5,334,10184,0.00,2.10,0.00,0.000,4,0.000,0.044,2935,582,2410,0,0,0,0,0,0
$GC,10195,0.91,127.0,542.1,29.1,334,10199,0.00,2.12,0.00,0.000,6,0.000,0.038,2936,1997,2411,0,0,0,0,0,0
$GC,10469,0.91,127.0,459.5,30.0,341,10473,0.00,2.17,0.00,0.000,4,0.000,0.052,2936,3393,2409,0,0,0,0,0,0
$GC,10518,0.91,127.0,444.8,26.6,342,10523,0.17,2.12,0.00,0.000,6,0.235,0.036,2907,1976,2414,0,0,0,0,0,0
$GC,10797,0.91,127.0,371.9,26.2,349,10801,0.00,2.12,0.00,0.000,4,0.000,0.044,2917,579,2410,0,0,0,0,0,0
$GC,10841,0.91,127.0,359.6,26.2,350,10845,0.00,2.15,0.00,0.000,6,0.000,0.038,2917,1998,2409,0,0,0,0,0,0
$GC,11104,0.91,127.0,289.5,27.5,357,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2004,2409,0,0,0,0,0,0
$GC,11353,0.91,127.0,230.1,23.0,369,11357,0.00,2.15,0.00,0.000,4,0.000,0.053,2917,3389,2408,0,0,0,0,0,0
$GC,11442,0.91,127.0,209.0,23.0,373,11446,0.00,2.08,0.00,0.000,6,0.000,0.035,2927,1986,2408,0,0,0,0,0,0
$GC,11706,0.91,127.0,148.8,22.8,395,11710,0.00,2.10,0.00,0.000,4,0.000,0.043,2938,578,2407,0,0,0,0,0,0
$GC,11875,0.91,127.0,113.9,21.4,410,11879,0.00,2.10,0.00,0.000,6,0.000,0.036,2938,1988,2405,0,0,0,0,0,0
$GC,12140,0.91,127.0,70.3,15.5,434,12144,0.00,2.12,0.00,0.000,4,0.000,0.040,2948,577,2406,0,0,0,0,0,0
$GC,12194,0.91,127.0,60.7,16.2,438,12202,0.12,2.12,0.00,0.000,6,0.192,0.035,2913,1986,2405,0,0,0,0,0,0
$GC,12458,0.91,127.0,19.6,16.0,469,12465,0.00,2.15,0.00,0.000,4,0.000,0.049,2913,3382,2405,0,0,0,0,0,0
$STATE,12562,end climb,SURFACE_DEPTH_REACHED
$STATE,12562,begin surface coast
$FINISH,1.8,1.023009
$STATE,12572,end surface coast,CONTROL_FINISHED_OK
$STATE,12572,begin surface
$SM_CCo,12593,59.20,0.515,0,0,1921,250.20
$SM_GC,0.95,0.00,0.00,59.20,0.000,0.000,0.515,57,2160,1921,-7.99,-0.54,250.20
$IRIDIUM_FIX,1848.70,-15641.80,291212,151528
$TT8_MAMPS,0.057525
$HUMID,1078982571
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.60
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344638464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59990376448
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,6.083
$10V_AH,10.4,6.535
$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,20.250,128.425,214.850,59.200,0.000,60.658,73.024,493.431,2.250,0.000,19.914,1078.003,9382.173,365.778,2364.708,359.620,33.350,1138.968,0.000,1717.637,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,66.729,1174.277,515.424,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,336.068,0.000,678.901,0.000,0.000,0.000,0.000,14364.200,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,23641,490
$CAP_FILE_SIZE,127504,0
$CFSIZE,260165632,204263424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070711,011737,1856.599,-15642.660,84,0.8,85,9.6