version: 66.07
glider: 513
mission: 7
dive: 55
start: 7 10 111 17 26 50
data:
$ID,513
$MISSION,7
$DIVE,55
$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,-421666.41
$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,2631
$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,49
$R_STBD_OVSHOOT,34
$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,54
$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
$GPS1,100711,170230,1848.549,-15635.744,36,1.4,37,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-77.4
$GPS2,100711,172556,1848.307,-15635.689,10,1.5,10,9.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,G3
$TGT_LATLONG,2015.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.136,0.192
$KALMAN_X,16989.4,713.3,-219.4,-27707.9,-2098.3
$KALMAN_Y,-141528.8,327.3,462.3,47058.6,-6872.6
$MHEAD_RNG_PITCHd_Wd,25.7,161369,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.93,-117.2,0.0,0.0,0,95,0.00,0.00,-60.22,0.000,6,0.000,0.000,35,2180,3476,0,0,0,0,0,0
$GC,99,-0.93,-117.2,3.2,-6.5,10,113,9.60,2.22,0.00,0.000,4,0.253,0.051,2309,3600,3478,0,0,0,0,0,0
$GC,222,-0.93,-117.2,41.8,-26.5,28,226,0.00,2.12,0.00,0.000,6,0.000,0.035,2309,2181,3480,0,0,0,0,0,0
$GC,485,-0.93,-117.2,111.1,-25.8,52,489,0.00,2.10,0.00,0.000,4,0.000,0.041,2309,772,3483,0,0,0,0,0,0
$GC,516,-0.93,-117.2,118.4,-24.1,54,521,0.12,2.15,0.00,0.000,6,0.203,0.047,2327,2177,3478,0,0,0,0,0,0
$GC,780,-0.93,-117.2,171.8,-16.0,78,784,0.00,2.10,0.00,0.000,4,0.000,0.041,2334,767,3481,0,0,0,0,0,0
$GC,931,-0.93,-117.2,196.8,-17.0,91,935,0.00,2.15,0.00,0.000,6,0.000,0.048,2318,2187,3481,0,0,0,0,0,0
$GC,1200,-0.93,-117.2,239.6,-15.3,105,1204,0.00,2.12,0.00,0.000,4,0.000,0.054,2308,3587,3482,0,0,0,0,0,0
$GC,1301,-0.93,-117.2,255.0,-14.3,109,1306,0.00,2.05,0.00,0.000,6,0.000,0.031,2308,2169,3484,0,0,0,0,0,0
$GC,1554,-0.93,-117.2,286.7,-11.5,122,1558,0.00,2.03,0.00,0.000,4,0.000,0.039,2308,781,3484,0,0,0,0,0,0
$GC,1626,-0.93,-117.2,297.0,-13.9,125,1631,0.08,2.12,0.00,0.000,6,0.186,0.047,2318,2170,3484,0,0,0,0,0,0
$GC,1902,-0.93,-117.2,329.0,-11.4,133,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2171,3484,0,0,0,0,0,0
$GC,2145,-0.93,-117.2,355.2,-10.8,139,2149,0.00,2.05,0.00,0.000,4,0.000,0.040,2320,781,3484,0,0,0,0,0,0
$GC,2229,-0.93,-117.2,364.5,-11.1,141,2233,0.00,2.12,0.00,0.000,6,0.000,0.048,2311,2188,3487,0,0,0,0,0,0
$GC,2513,-0.93,-117.2,394.7,-10.6,148,2517,0.00,2.10,0.00,0.000,4,0.000,0.041,2309,773,3482,0,0,0,0,0,0
$GC,2602,-0.93,-117.2,404.4,-10.7,150,2606,0.00,2.12,0.00,0.000,6,0.000,0.048,2301,2177,3482,0,0,0,0,0,0
$GC,2886,-0.93,-117.2,430.5,-9.1,157,2890,0.00,2.08,0.00,0.000,4,0.000,0.041,2301,776,3480,0,0,0,0,0,0
$GC,2903,-0.93,-117.2,432.2,-9.3,157,2908,0.15,2.15,0.00,0.000,6,0.194,0.047,2329,2188,3480,0,0,0,0,0,0
$GC,3164,-0.93,-117.2,455.9,-9.2,164,3168,0.00,2.10,0.00,0.000,4,0.000,0.043,2329,776,3478,0,0,0,0,0,0
$GC,3354,-0.93,-117.2,475.6,-10.1,168,3358,0.00,2.15,0.00,0.000,6,0.000,0.048,2321,2183,3476,0,0,0,0,0,0
$GC,3632,-0.93,-117.2,502.7,-9.8,175,3636,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,776,3474,0,0,0,0,0,0
$GC,3797,-0.93,-117.2,519.5,-10.9,178,3801,0.00,2.15,0.00,0.000,6,0.000,0.050,2310,2177,3471,0,0,0,0,0,0
$GC,4052,-0.93,-117.2,544.4,-9.3,185,4056,0.00,2.08,0.00,0.000,4,0.000,0.042,2310,785,3469,0,0,1,0,0,0
$GC,4164,-0.93,-117.2,556.0,-9.9,187,4169,0.10,2.15,0.00,0.000,6,0.214,0.049,2323,2187,3465,0,0,0,0,0,0
$GC,4426,-0.93,-117.2,580.5,-9.5,194,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2187,3466,0,0,0,0,0,0
$GC,4669,-0.93,-117.2,604.0,-9.6,200,4673,0.00,2.10,0.00,0.000,4,0.000,0.044,2323,781,3465,0,0,0,0,0,0
$GC,4793,-0.93,-117.2,615.7,-9.9,202,4799,0.00,2.15,0.00,0.000,6,0.000,0.051,2314,2176,3464,0,0,0,0,0,0
$GC,5043,-0.93,-117.2,636.9,-8.3,209,5047,0.00,2.08,0.00,0.000,4,0.000,0.042,2314,782,3461,0,0,0,0,0,0
$GC,5116,-0.93,-117.2,643.2,-8.0,210,5120,0.00,2.15,0.00,0.000,6,0.000,0.050,2304,2194,3461,0,0,0,0,0,0
$GC,5367,-0.93,-117.2,663.0,-7.8,216,5371,0.00,2.10,0.00,0.000,4,0.000,0.042,2305,783,3459,0,0,0,0,0,0
$GC,5580,-0.93,-117.2,681.1,-9.1,220,5586,0.12,2.12,0.00,0.000,6,0.209,0.051,2323,2176,3458,0,0,0,0,0,0
$GC,5831,-0.93,-117.2,700.0,-7.5,227,5835,0.00,2.08,0.00,0.000,4,0.000,0.043,2323,784,3456,0,0,0,0,0,0
$GC,5903,-0.93,-117.2,705.8,-7.8,228,5907,0.00,2.15,0.00,0.000,6,0.000,0.049,2315,2185,3457,0,0,0,0,0,0
$GC,6153,-0.93,-117.2,725.8,-7.9,234,6157,0.00,2.10,0.00,0.000,4,0.000,0.045,2314,785,3454,0,0,0,0,0,0
$GC,6204,-0.93,-117.2,730.3,-8.9,235,6208,0.00,2.12,0.00,0.000,6,0.000,0.051,2304,2175,3454,0,0,0,0,0,0
$GC,6476,-0.93,-117.2,756.4,-10.1,242,6480,0.00,2.10,0.00,0.000,4,0.000,0.044,2304,773,3451,0,0,0,0,0,0
$GC,6655,-0.93,-117.2,774.7,-10.4,246,6660,0.10,2.20,0.00,0.000,6,0.185,0.051,2323,2178,3451,0,0,0,0,0,0
$GC,6938,-0.93,-117.2,799.8,-8.8,253,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2178,3451,0,0,0,0,0,0
$GC,7182,-0.93,-117.2,820.1,-8.0,259,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2177,3449,0,0,0,0,0,0
$GC,7427,-0.93,-117.2,838.2,-7.3,265,7431,0.00,2.10,0.00,0.000,4,0.000,0.048,2323,787,3448,0,0,0,0,0,0
$GC,7482,-0.93,-117.2,842.4,-7.0,266,7486,0.00,2.12,0.00,0.000,6,0.000,0.049,2313,2188,3448,0,0,0,0,0,0
$GC,7748,-0.93,-117.2,860.9,-6.6,273,7752,0.00,2.12,0.00,0.000,4,0.000,0.046,2314,771,3446,0,0,0,0,0,0
$GC,7891,-0.93,-117.2,870.5,-7.1,276,7895,0.00,2.17,0.00,0.000,6,0.000,0.049,2303,2179,3446,0,0,0,0,0,0
$GC,8163,-0.93,-117.2,889.1,-6.9,283,8167,0.00,2.12,0.00,0.000,4,0.000,0.046,2303,779,3445,0,0,0,0,0,0
$STATE,8319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8319,begin apogee
$GC,8327,-0.28,0.0,900.3,7.7,286,8425,0.80,0.00,94.05,1.156,6,0.186,0.000,2528,1996,3000,0,0,0,0,0,0
$STATE,8427,end apogee,CONTROL_FINISHED_OK
$STATE,8427,begin climb
$GC,8430,0.93,117.2,900.7,0.0,289,8545,1.23,2.35,104.30,1.115,4,0.110,0.053,2923,3404,2521,0,0,0,0,0,0
$GC,8573,0.93,117.2,870.9,29.6,292,8577,0.00,2.20,0.00,0.000,6,0.000,0.029,2934,1988,2519,0,0,0,0,0,0
$GC,8839,0.93,117.2,792.7,29.7,299,8843,0.00,2.17,0.00,0.000,4,0.000,0.041,2945,576,2513,0,0,0,0,0,0
$GC,8856,0.93,117.2,787.7,28.3,299,8860,0.00,2.22,0.00,0.000,6,0.000,0.038,2945,2007,2511,0,0,0,0,0,0
$GC,9123,0.93,117.2,708.9,29.4,306,9127,0.00,2.17,0.00,0.000,4,0.000,0.051,2945,3394,2510,0,0,0,0,0,0
$GC,9178,0.93,117.2,692.3,28.8,307,9182,0.00,2.15,0.00,0.000,6,0.000,0.031,2956,1984,2510,0,0,0,0,0,0
$GC,9451,0.93,117.2,612.3,29.9,314,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1976,2507,0,0,0,0,0,0
$GC,9694,0.93,117.2,537.6,30.7,320,9698,0.00,2.20,0.00,0.000,4,0.000,0.053,2948,3397,2508,0,0,0,0,0,0
$GC,9738,0.93,117.2,524.0,30.6,321,9742,0.00,2.10,0.00,0.000,6,0.000,0.031,2956,1982,2508,0,0,0,0,0,0
$GC,10021,0.93,117.2,441.9,29.0,328,10025,0.00,2.08,0.00,0.000,4,0.000,0.038,2967,584,2507,0,0,0,0,0,0
$GC,10033,0.93,117.2,438.4,28.5,328,10037,0.12,2.12,0.00,0.000,6,0.231,0.035,2938,2005,2506,0,0,0,0,0,0
$GC,10299,0.93,117.2,366.1,26.4,335,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2008,2505,0,0,0,0,0,0
$GC,10542,0.93,117.2,304.8,24.2,341,10546,0.00,2.12,0.00,0.000,4,0.000,0.050,2938,3402,2505,0,0,0,0,0,0
$GC,10571,0.93,117.2,298.3,22.7,341,10575,0.00,2.08,0.00,0.000,6,0.000,0.030,2947,1987,2505,0,0,0,0,0,0
$GC,10824,0.93,117.2,242.1,21.2,353,10828,0.00,2.10,0.00,0.000,4,0.000,0.040,2958,584,2504,0,0,0,0,0,0
$GC,10912,0.93,117.2,223.3,20.1,357,10916,0.00,2.10,0.00,0.000,6,0.000,0.034,2958,2001,2501,0,0,0,0,0,0
$GC,11175,0.93,117.2,170.4,22.1,376,11178,0.00,2.12,0.00,0.000,4,0.000,0.048,2957,3389,2501,0,0,0,0,0,0
$GC,11370,0.93,117.2,128.4,19.9,393,11375,0.15,2.08,0.00,0.000,6,0.231,0.028,2933,1977,2502,0,0,0,0,0,0
$GC,11633,0.93,117.2,90.1,12.4,417,11637,0.00,2.05,0.00,0.000,4,0.000,0.038,2943,586,2501,0,0,0,0,0,0
$GC,11767,0.93,117.2,73.4,12.7,429,11772,0.00,2.08,0.00,0.000,6,0.000,0.035,2942,1987,2501,0,0,0,0,0,0
$GC,12032,0.93,117.2,36.1,16.3,453,12039,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1987,2504,0,0,0,0,0,0
$STATE,12281,end climb,SURFACE_DEPTH_REACHED
$STATE,12281,begin surface coast
$FINISH,-0.0,1.023077
$STATE,12303,end surface coast,CONTROL_FINISHED_OK
$STATE,12303,begin surface
$SM_CCo,12323,87.07,0.496,0,0,1777,300.24
$SM_GC,0.82,0.00,0.00,87.07,0.000,0.000,0.496,55,2226,1777,-8.04,1.30,300.24
$IRIDIUM_FIX,1841.87,-15632.54,020113,111126
$TT8_MAMPS,0.060593
$HUMID,1078916764
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.40
$XPDR_PINGS,8
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6343917568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59985330176
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,8.501
$10V_AH,10.3,8.853
$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,20.175,123.350,198.350,87.075,0.000,87.342,107.221,881.289,2.000,0.000,12.740,1106.410,8980.455,366.896,2811.954,553.651,33.354,1185.811,0.000,1894.594,0.000,0.542,0.000
$DEVICE_MAMPS,253.110,57.525,1155.869,496.249,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,342.525,0.000,757.988,0.000,0.000,0.000,0.000,14691.300,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,5.081,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,23643,500
$CAP_FILE_SIZE,135356,0
$CFSIZE,260165632,202559488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100711,205507,1848.387,-15635.224,31,0.9,31,9.6