version: 66.07
glider: 513
mission: 7
dive: 51
start: 7 10 111 2 10 7
data:
$ID,513
$MISSION,7
$DIVE,51
$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,700
$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,120
$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,300
$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,-421582.5
$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,2590
$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,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3000
$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,50
$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
$GPS1,100711,015533,1849.027,-15638.716,11,2.5,30,9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-75.7
$GPS2,100711,020913,1848.997,-15638.743,14,1.7,14,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.203,0.119
$KALMAN_X,20586.7,191.0,183.0,-36517.1,-3319.9
$KALMAN_Y,-129894.3,861.4,794.2,35826.8,-6914.8
$MHEAD_RNG_PITCHd_Wd,50.0,159647,-19.7,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.93,-117.2,0.0,0.0,0,94,0.00,0.00,-62.35,0.000,6,0.000,0.000,35,2190,3480,0,0,0,0,0,0
$GC,98,-0.93,-117.2,2.6,-5.0,10,111,9.38,0.00,0.00,0.000,6,0.251,0.000,2278,2186,3482,0,0,0,0,0,0
$GC,370,-0.93,-117.2,90.8,-33.3,42,374,0.00,2.15,0.00,0.000,4,0.000,0.054,2270,3584,3485,0,0,0,0,0,0
$GC,543,-0.93,-117.2,143.2,-26.2,57,547,0.00,2.08,0.00,0.000,6,0.000,0.036,2270,2182,3486,0,0,0,0,0,0
$GC,806,-0.93,-117.2,200.1,-18.4,81,810,0.00,2.08,0.00,0.000,4,0.000,0.040,2270,775,3487,0,0,0,0,0,0
$GC,990,-0.93,-117.2,231.9,-15.9,89,995,0.10,2.15,0.00,0.000,6,0.217,0.048,2282,2175,3488,0,0,0,0,0,0
$GC,1249,-0.93,-117.2,268.3,-15.8,102,1253,0.00,2.15,0.00,0.000,4,0.000,0.054,2272,3593,3489,0,0,0,0,0,0
$GC,1265,-0.93,-117.2,270.9,-15.5,103,1270,0.00,2.10,0.00,0.000,6,0.000,0.032,2274,2162,3489,0,0,0,0,0,0
$GC,1550,-0.93,-117.2,313.5,-14.2,115,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2158,3491,0,0,0,0,0,0
$GC,1793,-0.93,-117.2,344.6,-12.7,121,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2157,3490,0,0,0,0,0,0
$GC,2038,-0.93,-117.2,369.5,-9.8,127,2042,0.00,2.17,0.00,0.000,4,0.000,0.056,2265,3591,3490,0,0,0,0,0,0
$GC,2066,-0.93,-117.2,372.3,-10.1,127,2070,0.00,2.08,0.00,0.000,6,0.000,0.033,2265,2175,3490,0,0,0,0,0,0
$GC,2328,-0.93,-117.2,399.0,-10.4,134,2332,0.00,2.05,0.00,0.000,4,0.000,0.044,2265,787,3490,0,0,0,0,0,0
$GC,2439,-0.93,-117.2,414.7,-13.7,136,2444,0.12,2.12,0.00,0.000,6,0.213,0.051,2282,2183,3489,0,0,0,0,0,0
$GC,2701,-0.93,-117.2,450.0,-13.7,143,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2182,3487,0,0,0,0,0,0
$GC,2944,-0.93,-117.2,479.6,-11.7,149,2948,0.00,2.08,0.00,0.000,4,0.000,0.042,2286,782,3484,0,0,0,0,0,0
$GC,2965,-0.93,-117.2,482.1,-12.0,149,2969,0.00,2.10,0.00,0.000,6,0.000,0.048,2277,2183,3486,0,0,0,0,0,0
$GC,3226,-0.93,-117.2,509.5,-10.3,156,3230,0.00,2.15,0.00,0.000,4,0.000,0.058,2266,3591,3483,0,0,0,0,0,0
$GC,3322,-0.93,-117.2,520.4,-10.7,158,3326,0.00,2.10,0.00,0.000,6,0.000,0.036,2266,2176,3482,0,0,0,0,0,0
$GC,3599,-0.93,-117.2,551.9,-11.6,165,3603,0.00,2.17,0.00,0.000,4,0.000,0.056,2256,3589,3478,0,0,0,0,0,0
$GC,3648,-0.93,-117.2,558.3,-13.3,166,3653,0.12,2.08,0.00,0.000,6,0.215,0.037,2284,2183,3478,0,0,0,0,0,0
$GC,3927,-0.93,-117.2,582.9,-8.1,173,3931,0.00,2.08,0.00,0.000,4,0.000,0.041,2295,768,3477,0,0,0,0,0,0
$GC,4044,-0.93,-117.2,592.0,-6.8,175,4048,0.00,2.17,0.00,0.000,6,0.000,0.051,2286,2187,3476,0,0,0,0,0,0
$GC,4300,-0.93,-117.2,610.2,-7.3,182,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2187,3474,0,0,0,0,0,0
$GC,4543,-0.93,-117.2,630.8,-8.9,188,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2187,3472,0,0,0,0,0,0
$GC,4786,-0.93,-117.2,655.8,-10.4,194,4790,0.00,2.12,0.00,0.000,4,0.000,0.056,2275,3586,3472,0,0,0,0,0,0
$GC,4898,-0.93,-117.2,669.1,-11.4,196,4902,0.00,2.08,0.00,0.000,6,0.000,0.036,2275,2178,3468,0,0,0,0,0,0
$GC,5152,-0.93,-117.2,697.6,-11.2,203,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2172,3468,0,0,0,0,0,0
$GC,5397,-0.93,-117.2,722.7,-9.9,209,5400,0.00,2.08,0.00,0.000,4,0.000,0.044,2275,775,3466,0,0,0,0,0,0
$GC,5413,-0.93,-117.2,724.4,-9.6,209,5417,0.00,2.17,0.00,0.000,6,0.000,0.051,2265,2184,3466,0,0,0,0,0,0
$GC,5675,-0.93,-117.2,749.1,-9.7,216,5679,0.00,2.12,0.00,0.000,4,0.000,0.044,2265,762,3464,0,0,0,0,0,0
$GC,5753,-0.93,-117.2,756.3,-8.6,217,5759,0.12,2.17,0.00,0.000,6,0.219,0.052,2282,2186,3464,0,0,0,0,0,0
$GC,6003,-0.93,-117.2,776.2,-7.8,224,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2186,3462,0,0,0,0,0,0
$GC,6247,-0.93,-117.2,795.1,-7.9,230,6251,0.00,2.12,0.00,0.000,4,0.000,0.045,2283,768,3457,0,0,0,0,0,0
$GC,6308,-0.93,-117.2,800.1,-8.5,231,6313,0.00,2.17,0.00,0.000,6,0.000,0.051,2274,2175,3460,0,0,0,0,0,0
$GC,6575,-0.93,-117.2,820.0,-7.5,238,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2174,3459,0,0,0,0,0,0
$GC,6820,-0.93,-117.2,837.3,-7.1,244,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2174,3456,0,0,0,0,0,0
$GC,7063,-0.93,-117.2,855.0,-7.4,250,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2174,3457,0,0,0,0,0,0
$GC,7306,-0.93,-117.2,874.0,-7.8,256,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2174,3456,0,0,0,0,0,0
$GC,7550,-0.93,-117.2,893.1,-7.7,262,7554,0.00,2.15,0.00,0.000,4,0.000,0.047,2274,768,3454,0,0,0,0,0,0
$GC,7612,-0.93,-117.2,898.1,-7.7,263,7616,0.00,2.20,0.00,0.000,6,0.000,0.053,2268,2190,3452,0,0,0,0,0,0
$STATE,7672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7672,begin apogee
$GC,7679,-0.28,0.0,903.2,8.1,265,7778,0.82,0.00,95.38,1.160,6,0.189,0.000,2498,1966,3003,0,0,0,0,0,0
$STATE,7780,end apogee,CONTROL_FINISHED_OK
$STATE,7780,begin climb
$GC,7784,0.93,117.2,904.9,0.0,267,7897,1.20,2.38,104.25,1.121,4,0.103,0.051,2887,3393,2523,0,0,0,0,0,0
$GC,7908,0.93,117.2,881.6,26.6,270,7914,0.00,2.22,0.00,0.000,6,0.000,0.032,2898,2001,2521,0,0,0,0,0,0
$GC,8159,0.93,117.2,810.0,29.1,277,8163,0.00,2.17,0.00,0.000,4,0.000,0.041,2909,581,2515,0,0,0,0,0,0
$GC,8186,0.93,117.2,801.7,27.8,277,8190,0.00,2.20,0.00,0.000,6,0.000,0.038,2909,1993,2513,0,0,0,0,0,0
$GC,8441,0.93,117.2,725.4,30.4,284,8445,0.00,2.20,0.00,0.000,4,0.000,0.051,2909,3393,2513,0,0,0,0,0,0
$GC,8463,0.93,117.2,718.1,32.2,284,8467,0.00,2.15,0.00,0.000,6,0.000,0.034,2920,1981,2513,0,0,0,0,0,0
$GC,8731,0.93,117.2,638.8,29.8,291,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1978,2512,0,0,0,0,0,0
$GC,8973,0.93,117.2,566.1,29.7,297,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1976,2515,0,0,0,0,0,0
$GC,9217,0.93,117.2,499.0,27.3,303,9221,0.00,2.12,0.00,0.000,4,0.000,0.042,2931,579,2510,0,0,0,0,0,0
$GC,9232,0.93,117.2,494.4,27.9,303,9237,0.15,2.15,0.00,0.000,6,0.226,0.036,2897,1996,2508,0,0,0,0,0,0
$GC,9505,0.93,117.2,426.2,25.0,310,9509,0.00,2.15,0.00,0.000,4,0.000,0.052,2897,3391,2508,0,0,0,0,0,0
$GC,9545,0.93,117.2,416.5,24.0,311,9549,0.00,2.12,0.00,0.000,6,0.000,0.038,2906,1989,2508,0,0,0,0,0,0
$GC,9828,0.93,117.2,349.2,23.9,318,9832,0.00,2.10,0.00,0.000,4,0.000,0.042,2923,579,2508,0,0,0,0,0,0
$GC,9856,0.93,117.2,342.6,24.1,318,9860,0.00,2.12,0.00,0.000,6,0.000,0.039,2917,1993,2506,0,0,0,0,0,0
$GC,10106,0.93,117.2,284.8,24.0,325,10110,0.00,2.12,0.00,0.000,4,0.000,0.049,2917,3395,2506,0,0,0,0,0,0
$GC,10156,0.93,117.2,273.8,22.2,327,10161,0.15,2.10,0.00,0.000,6,0.232,0.031,2895,1985,2506,0,0,0,0,0,0
$GC,10418,0.93,117.2,223.2,19.3,340,10422,0.00,2.08,0.00,0.000,4,0.000,0.042,2904,588,2503,0,0,0,0,0,0
$GC,10445,0.93,117.2,217.2,20.0,341,10449,0.00,2.15,0.00,0.000,6,0.000,0.037,2904,1996,2504,0,0,0,0,0,0
$GC,10712,0.93,117.2,170.4,19.5,361,10716,0.00,2.12,0.00,0.000,4,0.000,0.043,2920,579,2503,0,0,0,0,0,0
$GC,10796,0.93,117.2,155.4,18.4,368,10800,0.00,2.12,0.00,0.000,6,0.000,0.038,2917,2003,2503,0,0,0,0,0,0
$GC,11061,0.93,117.2,115.3,14.9,392,11065,0.00,2.15,0.00,0.000,4,0.000,0.039,2925,581,2503,0,0,0,0,0,0
$GC,11166,0.93,117.2,99.8,12.3,401,11171,0.12,2.10,0.00,0.000,6,0.204,0.035,2896,1997,2503,0,0,0,0,0,0
$GC,11431,0.93,117.2,70.8,10.7,425,11435,0.00,2.12,0.00,0.000,4,0.000,0.040,2905,584,2505,0,0,0,0,0,0
$GC,11461,0.93,117.2,67.2,12.0,427,11465,0.00,2.10,0.00,0.000,6,0.000,0.034,2905,1987,2504,0,0,0,0,0,0
$GC,11727,0.93,117.2,37.1,10.1,451,11731,0.00,2.12,0.00,0.000,4,0.000,0.049,2905,3402,2507,0,0,0,0,0,0
$GC,11790,0.93,117.2,30.0,10.9,456,11794,0.00,2.08,0.00,0.000,6,0.000,0.029,2916,1979,2508,0,0,0,0,0,0
$STATE,12011,end climb,SURFACE_DEPTH_REACHED
$STATE,12011,begin surface coast
$FINISH,0.1,1.023054
$STATE,12034,end surface coast,CONTROL_FINISHED_OK
$STATE,12034,begin surface
$SM_CCo,12054,85.22,0.490,0,0,1775,300.24
$SM_GC,1.08,0.00,0.00,85.22,0.000,0.000,0.490,55,2200,1775,-7.92,0.57,300.24
$IRIDIUM_FIX,1839.59,-15637.62,010113,202017
$TT8_MAMPS,0.060593
$HUMID,1078841926
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,25.20
$XPDR_PINGS,9
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344048640
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59986247680
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.037
$10V_AH,10.1,8.435
$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,19.775,111.525,199.625,85.225,0.000,56.870,70.000,431.475,2.250,0.000,16.248,1055.025,8981.574,365.081,2173.621,386.967,33.353,1064.511,0.000,1636.717,0.000,0.541,0.000
$DEVICE_MAMPS,250.809,58.292,1160.471,490.113,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.977,0.000,777.790,0.000,0.000,0.000,0.000,13755.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.340,0.000,0.000
$MEM,354456
$DATA_FILE_SIZE,23616,502
$CAP_FILE_SIZE,117361,0
$CFSIZE,260165632,202870784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,053401,1848.638,-15637.732,40,1.3,40,9.6