version: 66.07
glider: 513
mission: 7
dive: 52
start: 7 10 111 5 45 21
data:
$ID,513
$MISSION,7
$DIVE,52
$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,-421598.44
$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,57
$R_STBD_OVSHOOT,48
$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,51
$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
$GPS1,100711,053401,1848.638,-15637.732,40,1.3,40,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.7
$GPS2,100711,054425,1848.584,-15637.725,13,1.3,13,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.172
$KALMAN_X,19155.8,220.6,-186.1,-32966.6,-2553.4
$KALMAN_Y,-132205.4,829.3,511.0,37696.4,-7312.5
$MHEAD_RNG_PITCHd_Wd,33.5,160541,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.93,-117.2,0.0,0.0,0,92,0.00,0.00,-61.15,0.000,6,0.000,0.000,36,2197,3475,0,0,0,0,0,0
$GC,96,-0.93,-117.2,2.8,-4.7,10,110,9.45,2.15,0.00,0.000,4,0.255,0.049,2267,3590,3480,0,0,0,0,0,0
$GC,349,-0.93,-117.2,89.7,-31.4,40,357,0.00,2.12,0.00,0.000,6,0.000,0.035,2270,2193,3481,0,0,0,0,0,0
$GC,614,-0.93,-117.2,156.5,-25.2,65,618,0.00,2.12,0.00,0.000,4,0.000,0.042,2266,773,3487,0,0,0,0,0,0
$GC,635,-0.93,-117.2,161.7,-24.7,66,639,0.00,2.12,0.00,0.000,6,0.000,0.048,2261,2166,3484,0,0,0,0,0,0
$GC,893,-0.93,-117.2,214.0,-15.8,86,897,0.00,2.08,0.00,0.000,4,0.000,0.040,2261,771,3486,0,0,0,0,0,0
$GC,971,-0.93,-117.2,226.0,-16.2,89,978,0.15,2.15,0.00,0.000,6,0.209,0.050,2286,2185,3486,0,0,0,0,0,0
$GC,1224,-0.93,-117.2,260.1,-14.9,102,1228,0.00,2.10,0.00,0.000,4,0.000,0.040,2296,767,3487,0,0,0,0,0,0
$GC,1359,-0.93,-117.2,282.4,-16.6,108,1363,0.00,2.15,0.00,0.000,6,0.000,0.044,2288,2186,3489,0,0,0,0,0,0
$GC,1643,-0.93,-117.2,321.7,-13.1,118,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2185,3492,0,0,0,0,0,0
$GC,1886,-0.93,-117.2,352.5,-12.3,124,1890,0.00,2.10,0.00,0.000,4,0.000,0.054,2277,3588,3491,0,0,0,0,0,0
$GC,1942,-0.93,-117.2,359.0,-12.1,125,1946,0.00,2.08,0.00,0.000,6,0.000,0.033,2277,2170,3489,0,0,0,0,0,0
$GC,2208,-0.93,-117.2,389.4,-11.4,132,2212,0.00,2.17,0.00,0.000,4,0.000,0.056,2265,3587,3489,0,0,0,0,0,0
$GC,2263,-0.93,-117.2,396.5,-13.2,133,2267,0.00,2.05,0.00,0.000,6,0.000,0.033,2266,2182,3489,0,0,0,0,0,0
$GC,2536,-0.93,-117.2,432.1,-12.9,140,2540,0.00,2.05,0.00,0.000,4,0.000,0.040,2262,780,3490,0,0,0,0,0,0
$GC,2689,-0.93,-117.2,452.6,-13.7,143,2694,0.12,2.12,0.00,0.000,6,0.211,0.048,2285,2180,3486,0,0,0,0,0,0
$GC,2950,-0.93,-117.2,481.4,-10.9,150,2954,0.00,2.08,0.00,0.000,4,0.000,0.041,2287,783,3485,0,0,0,0,0,0
$GC,2983,-0.93,-117.2,485.3,-11.1,150,2989,0.00,2.12,0.00,0.000,6,0.000,0.047,2278,2184,3485,0,0,0,0,0,0
$GC,3233,-0.93,-117.2,512.3,-10.8,157,3237,0.00,2.12,0.00,0.000,4,0.000,0.055,2267,3592,3482,0,0,0,0,0,0
$GC,3351,-0.93,-117.2,524.8,-10.6,159,3355,0.00,2.10,0.00,0.000,6,0.000,0.035,2267,2187,3481,0,0,0,0,0,0
$GC,3606,-0.93,-117.2,553.0,-11.2,166,3610,0.00,2.15,0.00,0.000,4,0.000,0.056,2253,3595,3479,0,0,0,0,0,0
$GC,3633,-0.93,-117.2,556.1,-10.8,166,3637,0.12,2.08,0.00,0.000,6,0.210,0.035,2286,2172,3479,0,0,0,0,0,0
$GC,3890,-0.93,-117.2,579.8,-8.9,173,3894,0.00,2.08,0.00,0.000,4,0.000,0.042,2296,783,3477,0,0,0,0,0,0
$GC,3980,-0.93,-117.2,588.2,-9.5,175,3984,0.00,2.15,0.00,0.000,6,0.000,0.049,2285,2186,3476,0,0,0,0,0,0
$GC,4263,-0.93,-117.2,613.7,-9.3,182,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2186,3474,0,0,0,0,0,0
$GC,4508,-0.93,-117.2,636.7,-9.4,188,4512,0.00,2.12,0.00,0.000,4,0.000,0.043,2289,777,3472,0,0,0,0,0,0
$GC,4559,-0.93,-117.2,641.9,-10.3,189,4563,0.00,2.17,0.00,0.000,6,0.000,0.051,2280,2184,3471,0,0,0,0,0,0
$GC,4837,-0.93,-117.2,668.5,-9.5,196,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2185,3469,0,0,0,0,0,0
$GC,5082,-0.93,-117.2,690.5,-8.9,202,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2185,3466,0,0,0,0,0,0
$GC,5325,-0.93,-117.2,711.4,-8.6,208,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2185,3466,0,0,0,0,0,0
$GC,5569,-0.93,-117.2,731.4,-8.0,214,5573,0.00,2.15,0.00,0.000,4,0.000,0.058,2268,3588,3465,0,0,0,0,0,0
$GC,5591,-0.93,-117.2,733.5,-9.1,214,5595,0.00,2.10,0.00,0.000,6,0.000,0.038,2269,2182,3464,0,0,0,0,0,0
$GC,5853,-0.93,-117.2,757.2,-9.0,221,5857,0.00,2.08,0.00,0.000,4,0.000,0.042,2269,776,3466,0,0,0,0,0,0
$GC,5869,-0.93,-117.2,759.0,-8.9,221,5873,0.00,2.15,0.00,0.000,6,0.000,0.051,2258,2173,3463,0,0,0,0,0,0
$GC,6135,-0.93,-117.2,784.4,-9.8,228,6137,0.12,0.00,0.00,0.000,6,0.225,0.000,2286,2173,3458,0,0,0,0,0,0
$GC,6380,-0.93,-117.2,806.1,-8.9,234,6384,0.00,2.10,0.00,0.000,4,0.000,0.042,2284,766,3459,0,0,0,0,0,0
$GC,6475,-0.93,-117.2,815.2,-9.5,236,6479,0.00,2.17,0.00,0.000,6,0.000,0.051,2279,2191,3459,0,0,0,0,0,0
$GC,6747,-0.93,-117.2,839.1,-8.6,243,6751,0.00,2.12,0.00,0.000,4,0.000,0.043,2279,768,3458,0,0,0,0,0,0
$GC,6804,-0.93,-117.2,844.1,-8.8,244,6808,0.00,2.17,0.00,0.000,6,0.000,0.051,2268,2190,3457,0,0,0,0,0,0
$GC,7076,-0.93,-117.2,867.5,-8.5,251,7080,0.00,2.12,0.00,0.000,4,0.000,0.043,2268,766,3456,0,0,0,0,0,0
$GC,7103,-0.93,-117.2,870.0,-8.9,251,7108,0.12,2.17,0.00,0.000,6,0.220,0.051,2285,2185,3455,0,0,0,0,0,0
$GC,7358,-0.93,-117.2,889.5,-7.5,258,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2184,3455,0,0,0,0,0,0
$STATE,7518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7518,begin apogee
$GC,7524,-0.28,0.0,901.4,7.4,262,7623,0.73,0.00,95.38,1.158,6,0.185,0.000,2495,1978,3000,0,0,0,0,0,0
$STATE,7646,end apogee,CONTROL_FINISHED_OK
$STATE,7646,begin climb
$GC,7648,0.93,117.2,902.6,0.0,264,7762,1.17,2.38,103.10,1.119,4,0.104,0.053,2883,3394,2522,0,0,0,0,0,0
$GC,7819,0.93,117.2,866.2,27.0,268,7823,0.00,2.20,0.00,0.000,6,0.000,0.035,2893,1997,2518,0,0,0,0,0,0
$GC,8097,0.93,117.2,787.5,28.5,275,8101,0.00,2.17,0.00,0.000,4,0.000,0.042,2905,576,2513,0,0,0,0,0,0
$GC,8157,0.93,117.2,769.4,28.4,276,8161,0.00,2.17,0.00,0.000,6,0.000,0.036,2905,2001,2511,0,0,0,0,0,0
$GC,8424,0.93,117.2,691.8,29.0,283,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2007,2511,0,0,0,0,0,0
$GC,8669,0.93,117.2,622.0,28.7,289,8673,0.00,2.15,0.00,0.000,4,0.000,0.052,2905,3392,2510,0,0,0,0,0,0
$GC,8702,0.93,117.2,612.0,28.8,289,8707,0.00,2.12,0.00,0.000,6,0.000,0.035,2915,1982,2510,0,0,0,0,0,0
$GC,8952,0.93,117.2,542.3,27.7,296,8955,0.00,2.10,0.00,0.000,4,0.000,0.042,2926,586,2508,0,0,0,0,0,0
$GC,8979,0.93,117.2,535.0,25.0,296,8983,0.15,2.17,0.00,0.000,6,0.222,0.041,2893,2005,2503,0,0,0,0,0,0
$GC,9240,0.93,117.2,471.2,24.1,303,9244,0.00,2.15,0.00,0.000,4,0.000,0.052,2893,3382,2507,0,0,0,0,0,0
$GC,9318,0.93,117.2,451.6,23.4,304,9324,0.00,2.08,0.00,0.000,6,0.000,0.033,2902,1983,2507,0,0,0,0,0,0
$GC,9568,0.93,117.2,392.6,23.3,311,9572,0.00,2.12,0.00,0.000,4,0.000,0.043,2913,587,2507,0,0,0,0,0,0
$GC,9618,0.93,117.2,380.3,24.4,312,9622,0.00,2.10,0.00,0.000,6,0.000,0.038,2913,1983,2505,0,0,0,0,0,0
$GC,9889,0.93,117.2,318.2,22.8,319,9893,0.00,2.15,0.00,0.000,4,0.000,0.048,2913,3399,2505,0,0,0,0,0,0
$GC,9929,0.93,117.2,308.8,23.6,320,9933,0.12,2.10,0.00,0.000,6,0.229,0.032,2897,1991,2505,0,0,0,0,0,0
$GC,10196,0.93,117.2,254.5,19.3,332,10200,0.00,2.10,0.00,0.000,4,0.000,0.042,2906,581,2504,0,0,0,0,0,0
$GC,10280,0.93,117.2,237.2,19.7,336,10284,0.00,2.15,0.00,0.000,6,0.000,0.040,2898,1994,2502,0,0,0,0,0,0
$GC,10544,0.93,117.2,190.5,16.9,351,10548,0.00,2.15,0.00,0.000,4,0.000,0.051,2905,3403,2502,0,0,0,0,0,0
$GC,10616,0.93,117.2,178.3,16.5,357,10621,0.00,2.10,0.00,0.000,6,0.000,0.031,2911,1982,2502,0,0,0,0,0,0
$GC,10883,0.93,117.2,136.1,15.6,381,10887,0.00,2.17,0.00,0.000,4,0.000,0.048,2910,3402,2501,0,0,0,0,0,0
$GC,10926,0.93,117.2,127.4,18.0,384,10934,0.10,2.10,0.00,0.000,6,0.204,0.031,2894,2003,2502,0,0,0,0,0,0
$GC,11190,0.93,117.2,91.8,15.2,409,11194,0.00,2.12,0.00,0.000,4,0.000,0.041,2903,587,2502,0,0,0,0,0,0
$GC,11438,0.93,117.2,60.6,12.0,431,11445,0.00,2.12,0.00,0.000,6,0.000,0.034,2903,2002,2503,0,0,0,0,0,0
$GC,11702,0.93,117.2,27.5,10.4,458,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2001,2505,0,0,0,0,0,0
$STATE,11927,end climb,SURFACE_DEPTH_REACHED
$STATE,11927,begin surface coast
$FINISH,0.1,1.023079
$STATE,11956,end surface coast,CONTROL_FINISHED_OK
$STATE,11956,begin surface
$SM_CCo,11975,80.55,0.489,0,0,1774,300.24
$SM_GC,0.89,0.00,0.00,80.55,0.000,0.000,0.489,49,2191,1774,-7.93,0.31,300.24
$IRIDIUM_FIX,1841.87,-15637.62,010113,202011
$TT8_MAMPS,0.059826
$HUMID,1078848377
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,25.00
$XPDR_PINGS,13
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344015872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59986018304
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.139
$10V_AH,10.3,8.532
$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,19.725,119.800,198.475,80.550,0.000,29.579,34.169,370.718,3.250,0.000,15.327,1079.096,8683.962,368.339,2181.897,373.376,33.383,1124.162,0.000,1750.120,0.000,0.542,0.000
$DEVICE_MAMPS,254.644,62.127,1158.170,489.346,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.548,0.000,794.216,0.000,0.000,0.000,0.000,13472.800,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.052,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,26958,505
$CAP_FILE_SIZE,117540,0
$CFSIZE,260165632,202797056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,090754,1848.429,-15636.835,25,1.3,42,9.6