version: 66.07
glider: 513
mission: 7
dive: 301
start: 8 20 111 13 2 20
data:
$ID,513
$MISSION,7
$DIVE,301
$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,350
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,712.8302
$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,-428095.88
$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,2597
$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,2000
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$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,300
$AR_SAMPLENUM,4
$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
$GPS1,200811,123237,1900.020,-15617.030,65,1.1,65,9.6
$_CALLS,5
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.7
$GPS2,200811,130122,1859.673,-15617.313,14,1.8,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229,0.070
$KALMAN_X,-74954.5,-1404.9,-893.6,140678.8,10338.0
$KALMAN_Y,-69151.7,538.5,825.9,-43398.7,-9270.5
$MHEAD_RNG_PITCHd_Wd,295.9,22223,-15.7,-8.571
$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,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-51.45,0.000,2,0.000,0.000,35,2031,3526,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.0,-3.9,8,108,9.52,2.17,-5.97,0.000,4,0.235,0.049,2339,595,3859,0,0,0,0,0,0
$GC,282,-0.80,-136.7,69.9,-30.3,31,291,0.00,2.15,0.00,0.000,6,0.000,0.047,2331,1967,3861,0,0,0,0,0,0
$GC,547,-0.80,-136.7,150.6,-30.1,56,551,0.00,2.25,0.00,0.000,4,0.000,0.053,2319,3408,3861,0,0,0,0,0,0
$GC,643,-0.80,-136.7,174.3,-22.8,64,647,0.00,2.12,0.00,0.000,6,0.000,0.030,2319,2000,3863,0,0,0,0,0,0
$GC,911,-0.80,-136.7,237.3,-21.0,81,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1992,3864,0,0,0,0,0,0
$GC,1157,-0.80,-136.7,288.6,-20.6,93,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1993,3864,0,0,0,0,0,0
$GC,1422,-0.80,-136.7,335.9,-17.3,101,1426,0.00,2.22,0.00,0.000,4,0.000,0.053,2309,3415,3865,0,0,0,0,0,0
$GC,1523,-0.80,-136.7,352.5,-15.6,103,1528,0.12,2.12,0.00,0.000,6,0.165,0.031,2341,1987,3865,0,0,0,0,0,0
$GC,1789,-0.80,-136.7,390.4,-14.2,110,1793,0.00,2.22,0.00,0.000,4,0.000,0.054,2332,3404,3864,0,0,0,0,0,0
$GC,1834,-0.80,-136.7,396.6,-14.0,111,1838,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,2004,3866,0,0,0,0,0,0
$GC,2111,-0.80,-136.7,439.0,-15.4,118,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1997,3862,0,0,0,0,0,0
$GC,2355,-0.80,-136.7,478.5,-16.3,124,2359,0.00,2.20,0.00,0.000,4,0.000,0.053,2319,3404,3860,0,0,0,0,0,0
$GC,2377,-0.80,-136.7,482.3,-16.4,124,2381,0.00,2.12,0.00,0.000,6,0.000,0.033,2321,1984,3860,0,0,0,0,0,0
$GC,2644,-0.80,-136.7,524.8,-15.9,131,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1978,3857,0,0,0,0,0,0
$GC,2887,-0.80,-136.7,561.9,-15.5,137,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1978,3854,0,0,0,0,0,0
$GC,3131,-0.80,-136.7,598.0,-14.9,143,3135,0.00,2.28,0.00,0.000,4,0.000,0.055,2310,3401,3851,0,0,0,0,0,0
$GC,3158,-0.80,-136.7,602.4,-14.9,143,3162,0.00,2.17,0.00,0.000,6,0.000,0.035,2309,2001,3852,0,0,0,0,0,0
$GC,3414,-0.80,-136.7,641.8,-15.7,150,3419,0.10,2.28,0.00,0.000,4,0.196,0.056,2326,3402,3849,0,0,0,0,0,0
$GC,3481,-0.80,-136.7,651.6,-13.4,151,3485,0.00,2.17,0.00,0.000,6,0.000,0.035,2326,1983,3847,0,0,0,0,0,0
$GC,3737,-0.80,-136.7,687.3,-14.0,158,3741,0.00,2.28,0.00,0.000,4,0.000,0.054,2315,3404,3844,0,0,0,0,0,0
$GC,3781,-0.80,-136.7,694.0,-15.0,159,3785,0.00,2.15,0.00,0.000,6,0.000,0.036,2315,2006,3843,0,0,0,0,0,0
$GC,4064,-0.80,-136.7,735.7,-14.8,166,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1998,3841,0,0,0,0,0,0
$GC,4308,-0.80,-136.7,770.5,-14.2,172,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1998,3838,0,0,0,0,0,0
$GC,4553,-0.80,-136.7,802.6,-12.9,178,4557,0.00,2.22,0.00,0.000,4,0.000,0.055,2304,3401,3836,0,0,0,0,0,0
$GC,4592,-0.80,-136.7,807.9,-13.1,179,4597,0.12,2.15,0.00,0.000,6,0.172,0.036,2335,2003,3835,0,0,0,0,0,0
$GC,4875,-0.80,-136.7,838.9,-10.8,186,4879,0.00,2.28,0.00,0.000,4,0.000,0.056,2327,3412,3832,0,0,0,0,0,0
$GC,4903,-0.80,-136.7,841.9,-10.9,186,4907,0.00,2.20,0.00,0.000,6,0.000,0.033,2333,1980,3827,0,0,0,0,0,0
$GC,5153,-0.80,-136.7,869.6,-11.2,192,5157,0.00,2.28,0.00,0.000,4,0.000,0.054,2316,3401,3827,0,0,0,0,0,0
$GC,5191,-0.80,-136.7,874.1,-11.6,192,5198,0.00,2.17,0.00,0.000,6,0.000,0.035,2316,1998,3829,0,0,0,0,0,0
$STATE,5439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5439,begin apogee
$GC,5446,-0.28,0.0,903.8,12.1,199,5561,0.62,0.00,109.30,1.100,6,0.150,0.000,2506,1927,3302,0,0,0,0,0,0
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5564,begin climb
$GC,5566,0.80,136.7,907.2,0.0,202,5696,1.05,2.28,119.70,1.059,4,0.096,0.039,2860,528,2741,0,0,0,0,0,0
$GC,5724,0.80,136.7,887.9,18.9,205,5730,0.00,2.22,0.00,0.000,6,0.000,0.038,2855,1924,2735,0,0,0,0,0,0
$GC,5975,0.80,136.7,837.6,20.2,212,5979,0.00,2.30,0.00,0.000,4,0.000,0.055,2855,3338,2732,0,0,0,0,0,0
$GC,6088,0.80,136.7,814.0,19.6,214,6092,0.00,2.22,0.00,0.000,6,0.000,0.034,2864,1922,2732,0,0,0,0,0,0
$GC,6348,0.80,136.7,761.5,20.4,221,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1921,2729,0,0,0,0,0,0
$GC,6592,0.80,136.7,711.9,20.4,227,6596,0.00,2.30,0.00,0.000,4,0.000,0.054,2855,3340,2727,0,0,0,0,0,0
$GC,6618,0.80,136.7,706.0,21.6,227,6623,0.00,2.17,0.00,0.000,6,0.000,0.034,2864,1923,2728,0,0,0,0,0,0
$GC,6875,0.80,136.7,655.5,19.7,234,6879,0.00,2.12,0.00,0.000,4,0.000,0.042,2876,515,2726,0,0,0,0,0,0
$GC,6897,0.80,136.7,651.0,18.9,234,6901,0.00,2.20,0.00,0.000,6,0.000,0.038,2874,1948,2724,0,0,0,0,0,0
$GC,7158,0.80,136.7,599.8,19.8,241,7162,0.00,2.20,0.00,0.000,4,0.000,0.053,2874,3332,2724,0,0,0,0,0,0
$GC,7236,0.80,136.7,583.2,21.3,242,7241,0.00,2.17,0.00,0.000,6,0.000,0.034,2883,1920,2724,0,0,0,0,0,0
$GC,7487,0.80,136.7,532.6,20.2,248,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1917,2723,0,0,0,0,0,0
$GC,7730,0.80,136.7,483.7,19.7,254,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1917,2723,0,0,0,0,0,0
$GC,7974,0.80,136.7,437.2,18.9,260,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1917,2726,0,0,0,0,0,0
$GC,8218,0.80,136.7,392.4,18.5,266,8222,0.00,2.25,0.00,0.000,4,0.000,0.052,2883,3335,2721,0,0,0,0,0,0
$GC,8296,0.80,136.7,377.7,18.3,267,8301,0.15,2.15,0.00,0.000,6,0.200,0.031,2857,1930,2721,0,0,0,0,0,0
$GC,8546,0.80,136.7,337.9,15.6,273,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1925,2720,0,0,0,0,0,0
$GC,8791,0.80,136.7,303.4,14.1,279,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1925,2720,0,0,0,0,0,0
$GC,9037,0.80,136.7,274.2,10.8,290,9041,0.00,2.22,0.00,0.000,4,0.000,0.050,2858,3334,2719,0,0,0,0,0,0
$GC,9121,0.80,136.7,264.2,12.7,294,9125,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1931,2719,0,0,0,0,0,0
$GC,9392,0.80,136.7,231.5,12.5,307,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1929,2718,0,0,0,0,0,0
$GC,9639,0.80,136.7,203.3,11.3,319,9643,0.00,2.22,0.00,0.000,4,0.000,0.049,2867,3341,2719,0,0,0,0,0,0
$GC,9692,0.80,136.7,196.9,12.9,322,9696,0.00,2.15,0.00,0.000,6,0.000,0.029,2882,1917,2721,0,0,0,0,0,0
$GC,9958,0.80,136.7,168.0,11.1,346,9962,0.00,2.28,0.00,0.000,4,0.000,0.051,2877,3337,2718,0,0,0,0,0,0
$GC,10207,0.80,136.7,142.1,10.0,368,10212,0.12,2.12,0.00,0.000,6,0.188,0.031,2858,1930,2720,0,0,0,0,0,0
$GC,10471,0.91,232.8,124.1,4.5,392,10551,0.00,2.28,74.57,0.544,4,0.000,0.048,2858,3333,2350,0,0,0,0,0,0
$GC,10646,0.91,232.8,104.4,14.2,407,10655,0.00,2.20,0.00,0.000,6,0.000,0.033,2867,1946,2347,0,0,0,0,0,0
$GC,10912,0.91,232.8,71.2,11.7,432,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1947,2345,0,0,0,0,0,0
$GC,11176,0.91,232.8,43.0,10.7,457,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1943,2346,0,0,0,0,0,0
$GC,11440,0.91,232.8,14.9,10.9,495,11448,0.00,2.17,0.00,0.000,4,0.000,0.041,2878,525,2345,0,0,0,0,0,0
$GC,11467,0.91,232.8,11.6,12.2,499,11476,0.00,2.15,0.00,0.000,6,0.000,0.033,2874,1939,2346,0,0,0,0,0,0
$STATE,11541,end climb,SURFACE_DEPTH_REACHED
$STATE,11541,begin surface coast
$FINISH,0.3,1.013682
$STATE,11573,end surface coast,CONTROL_FINISHED_OK
$STATE,11573,begin surface
$SM_CCo,11594,272.20,0.430,0,0,392,712.83
$SM_GC,1.11,0.00,0.00,272.20,0.000,0.000,0.430,42,2024,392,-7.98,0.76,712.83
$IRIDIUM_FIX,1850.98,-15618.45,120213,070715
$TT8_MAMPS,0.060593
$HUMID,1078739990
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,26.20
$XPDR_PINGS,88
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6336315392
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,33670234112
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,42.675
$10V_AH,9.9,38.930
$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,19.400,97.000,303.575,272.200,0.000,131.561,180.777,903.389,22.000,0.000,19.815,1089.818,8554.567,626.981,2849.820,475.233,33.353,1341.510,0.000,1677.107,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,113.516,1099.878,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.591,0.000,886.519,0.000,0.000,0.000,0.000,71380.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,13.944,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,26951,517
$CAP_FILE_SIZE,125304,0
$CFSIZE,260165632,183750656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,200.3,1
$GPS,200811,162137,1859.536,-15619.030,36,1.0,36,9.6