version: 66.07
glider: 513
mission: 7
dive: 143
start: 7 27 111 0 27 0
data:
$ID,513
$MISSION,7
$DIVE,143
$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,150
$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,240
$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,-423734.91
$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,2600
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,142
$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
$GPS1,270711,001301,1937.147,-15642.889,52,0.9,53,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-80.6
$GPS2,270711,002602,1937.212,-15643.028,13,1.5,13,9.7
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.164,-0.184
$KALMAN_X,-16179.0,-448.0,-468.2,10508.4,4314.4
$KALMAN_Y,42240.4,-3674.7,-1733.3,-57178.1,21192.5
$MHEAD_RNG_PITCHd_Wd,212.0,69004,-15.1,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.78,-146.5,0.0,0.0,0,80,0.00,0.00,-51.30,0.000,2,0.000,0.000,40,1961,3792,0,0,0,0,0,0
$GC,85,-0.78,-146.5,4.2,-8.1,8,106,9.52,2.33,-2.78,0.000,4,0.245,0.071,2325,3386,3963,0,0,0,0,0,0
$GC,344,-0.78,-146.5,91.9,-25.5,35,348,0.00,2.15,0.00,0.000,6,0.000,0.038,2327,1985,3967,0,0,0,0,0,0
$GC,610,-0.78,-146.5,158.8,-22.2,59,614,0.00,2.12,0.00,0.000,4,0.000,0.045,2327,585,3969,0,0,0,0,0,0
$GC,643,-0.78,-146.5,166.5,-20.0,61,650,0.00,2.15,0.00,0.000,6,0.000,0.044,2315,1981,3970,0,0,0,0,0,0
$GC,911,-0.78,-146.5,223.6,-21.7,82,915,0.00,2.10,0.00,0.000,4,0.000,0.045,2319,587,3971,0,0,0,0,0,0
$GC,994,-0.78,-146.5,240.5,-20.4,85,1000,0.15,2.15,0.00,0.000,6,0.173,0.046,2346,1995,3974,0,0,0,0,0,0
$GC,1248,-0.78,-146.5,281.9,-15.4,98,1252,0.00,2.17,0.00,0.000,4,0.000,0.053,2337,3403,3971,0,0,0,0,0,0
$GC,1338,-0.78,-146.5,296.7,-16.7,102,1343,0.00,2.12,0.00,0.000,6,0.000,0.033,2337,1985,3971,0,0,0,0,0,0
$GC,1621,-0.78,-146.5,344.2,-17.2,110,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1983,3972,0,0,0,0,0,0
$GC,1864,-0.78,-146.5,385.8,-17.2,116,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1983,3971,0,0,0,0,0,0
$GC,2107,-0.78,-146.5,424.7,-15.9,122,2111,0.00,2.08,0.00,0.000,4,0.000,0.045,2337,592,3969,0,0,0,0,0,0
$GC,2123,-0.78,-146.5,427.4,-15.6,122,2127,0.00,2.15,0.00,0.000,6,0.000,0.046,2332,1996,3969,0,0,0,0,0,0
$GC,2391,-0.78,-146.5,469.8,-15.6,129,2395,0.00,2.20,0.00,0.000,4,0.000,0.055,2316,3403,3967,0,0,0,0,0,0
$GC,2544,-0.78,-146.5,492.2,-13.9,132,2549,0.12,2.12,0.00,0.000,6,0.169,0.034,2348,1995,3965,0,0,0,0,0,0
$GC,2805,-0.78,-146.5,526.5,-13.0,139,2809,0.00,2.12,0.00,0.000,4,0.000,0.045,2348,578,3963,0,0,0,0,0,0
$GC,2821,-0.78,-146.5,529.0,-13.2,139,2825,0.00,2.20,0.00,0.000,6,0.000,0.048,2339,1990,3963,0,0,0,0,0,0
$GC,3088,-0.78,-146.5,565.6,-14.0,146,3092,0.00,2.22,0.00,0.000,4,0.000,0.058,2328,3396,3960,0,0,0,0,0,0
$GC,3132,-0.78,-146.5,571.8,-12.9,147,3136,0.00,2.12,0.00,0.000,6,0.000,0.036,2328,1987,3959,0,0,0,0,0,0
$GC,3417,-0.78,-146.5,611.6,-14.0,154,3421,0.00,2.25,0.00,0.000,4,0.000,0.061,2317,3399,3956,0,0,0,0,0,0
$GC,3483,-0.78,-146.5,621.1,-13.4,155,3488,0.12,2.12,0.00,0.000,6,0.171,0.035,2349,1992,3956,0,0,0,0,0,0
$GC,3738,-0.78,-146.5,651.8,-12.1,162,3742,0.00,2.25,0.00,0.000,4,0.000,0.061,2340,3403,3954,0,0,0,0,0,0
$GC,3783,-0.78,-146.5,657.2,-12.0,163,3788,0.00,2.15,0.00,0.000,6,0.000,0.035,2340,1983,3954,0,0,0,0,0,0
$GC,4061,-0.78,-146.5,691.4,-12.1,170,4065,0.00,2.08,0.00,0.000,4,0.000,0.045,2340,590,3951,0,0,0,0,0,0
$GC,4101,-0.78,-146.5,696.3,-12.1,171,4105,0.00,2.15,0.00,0.000,6,0.000,0.048,2330,1989,3951,0,0,0,0,0,0
$GC,4385,-0.78,-146.5,732.4,-13.0,178,4389,0.00,2.20,0.00,0.000,4,0.000,0.058,2319,3400,3948,0,0,0,0,0,0
$GC,4480,-0.78,-146.5,745.6,-12.9,180,4484,0.00,2.12,0.00,0.000,6,0.000,0.034,2319,1994,3948,0,0,0,0,0,0
$GC,4759,-0.78,-146.5,785.4,-14.6,187,4763,0.00,2.22,0.00,0.000,4,0.000,0.059,2308,3396,3944,0,0,0,0,0,0
$GC,4808,-0.78,-146.5,793.3,-15.7,188,4813,0.15,2.15,0.00,0.000,6,0.168,0.037,2348,1981,3945,0,0,0,0,0,0
$GC,5080,-0.78,-146.5,828.5,-12.9,195,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1975,3945,0,0,0,0,0,0
$GC,5325,-0.78,-146.5,858.7,-12.4,201,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1973,3943,0,0,0,0,0,0
$GC,5568,-0.78,-146.5,888.1,-11.9,207,5572,0.00,2.22,0.00,0.000,4,0.000,0.058,2342,3395,3940,0,0,0,0,0,0
$GC,5595,-0.78,-146.5,891.6,-13.3,207,5599,0.00,2.15,0.00,0.000,6,0.000,0.037,2345,1998,3938,0,0,0,0,0,0
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5685,begin apogee
$GC,5691,-0.28,0.0,902.9,12.3,210,5808,0.57,0.00,114.18,1.128,6,0.148,0.000,2513,1991,3380,0,0,0,0,0,0
$STATE,5810,end apogee,CONTROL_FINISHED_OK
$STATE,5810,begin climb
$GC,5814,0.78,146.5,907.5,0.0,213,5946,1.02,0.00,127.95,1.091,6,0.089,0.000,2855,1991,2783,0,0,0,0,0,0
$GC,6171,0.78,146.5,853.9,18.9,222,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1991,2776,0,0,0,0,0,0
$GC,6415,0.78,146.5,805.9,20.0,228,6419,0.00,2.22,0.00,0.000,4,0.000,0.040,2866,551,2773,0,0,0,0,0,0
$GC,6459,0.78,146.5,797.0,19.9,229,6463,0.00,2.17,0.00,0.000,6,0.000,0.038,2866,1957,2771,0,0,0,0,0,0
$GC,6737,0.78,146.5,740.7,20.3,236,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1958,2770,0,0,0,0,0,0
$GC,6981,0.78,146.5,691.9,19.8,242,6985,0.00,2.25,0.00,0.000,4,0.000,0.058,2866,3366,2770,0,0,0,0,0,0
$GC,7037,0.78,146.5,680.0,21.5,243,7041,0.00,2.15,0.00,0.000,6,0.000,0.034,2873,1953,2769,0,0,0,0,0,0
$GC,7308,0.78,146.5,625.8,19.5,250,7312,0.00,2.10,0.00,0.000,4,0.000,0.039,2887,556,2769,0,0,0,0,0,0
$GC,7347,0.78,146.5,618.0,20.2,250,7353,0.15,2.15,0.00,0.000,6,0.210,0.038,2853,1967,2766,0,0,0,0,0,0
$GC,7598,0.78,146.5,575.5,16.8,257,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1969,2766,0,0,0,0,0,0
$GC,7841,0.78,146.5,535.9,16.2,263,7844,0.00,2.12,0.00,0.000,4,0.000,0.039,2863,557,2764,0,0,0,0,0,0
$GC,7868,0.78,146.5,531.2,16.6,263,7872,0.00,2.12,0.00,0.000,6,0.000,0.038,2862,1955,2765,0,0,0,0,0,0
$GC,8123,0.78,146.5,488.8,16.7,270,8127,0.00,2.22,0.00,0.000,4,0.000,0.055,2862,3382,2768,0,0,0,0,0,0
$GC,8146,0.78,146.5,484.8,18.4,270,8150,0.00,2.15,0.00,0.000,6,0.000,0.032,2873,1953,2765,0,0,0,0,0,0
$GC,8406,0.78,146.5,438.4,17.4,277,8410,0.00,2.08,0.00,0.000,4,0.000,0.038,2884,552,2765,0,0,0,0,0,0
$GC,8427,0.78,146.5,434.6,17.7,277,8432,0.10,2.17,0.00,0.000,6,0.201,0.035,2857,1973,2763,0,0,0,0,0,0
$GC,8689,0.78,146.5,393.1,16.1,284,8693,0.00,2.15,0.00,0.000,4,0.000,0.040,2866,551,2763,0,0,0,0,0,0
$GC,8733,0.78,146.5,385.4,16.9,285,8737,0.00,2.12,0.00,0.000,6,0.000,0.036,2867,1962,2763,0,0,0,0,0,0
$GC,9016,0.78,146.5,340.1,16.0,292,9020,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,557,2763,0,0,0,0,0,0
$GC,9078,0.78,146.5,330.5,15.9,293,9082,0.00,2.12,0.00,0.000,6,0.000,0.037,2877,1959,2763,0,0,0,0,0,0
$GC,9346,0.78,146.5,289.1,15.9,301,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1960,2762,0,0,0,0,0,0
$GC,9593,0.78,146.5,251.9,14.7,313,9597,0.00,2.20,0.00,0.000,4,0.000,0.054,2877,3364,2762,0,0,0,0,0,0
$GC,9711,0.78,146.5,233.2,15.7,318,9715,0.15,2.12,0.00,0.000,6,0.209,0.033,2852,1951,2763,0,0,0,0,0,0
$GC,9969,0.78,146.5,203.6,9.7,331,9973,0.00,2.08,0.00,0.000,4,0.000,0.039,2862,548,2762,0,0,0,0,0,0
$GC,10111,0.78,146.5,190.3,10.5,342,10115,0.00,2.12,0.00,0.000,6,0.000,0.037,2862,1961,2761,0,0,0,0,0,0
$GC,10375,0.78,146.5,159.8,12.1,366,10379,0.00,2.10,0.00,0.000,4,0.000,0.039,2872,556,2761,0,0,0,0,0,0
$GC,10625,0.78,146.5,127.8,10.8,388,10632,0.00,2.12,0.00,0.000,6,0.000,0.035,2872,1956,2761,0,0,0,0,0,0
$GC,10890,0.79,153.2,105.7,8.3,413,10894,0.00,2.08,0.00,0.000,4,0.000,0.038,2882,555,2762,0,0,0,0,0,0
$GC,10942,0.79,154.5,101.7,8.5,417,10955,0.00,2.10,4.07,0.407,6,0.000,0.034,2882,1964,2748,0,0,0,0,0,0
$GC,11211,0.79,155.3,79.8,8.5,442,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1963,2751,0,0,0,0,0,0
$GC,11466,0.84,195.6,62.3,7.0,466,11506,0.00,2.12,34.55,0.530,4,0.000,0.037,2892,555,2581,0,0,0,0,0,0
$GC,11694,0.84,195.6,42.2,10.2,486,11698,0.00,2.12,0.00,0.000,6,0.000,0.033,2893,1965,2580,0,0,0,0,0,0
$GC,11955,0.84,195.6,20.0,8.8,522,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1966,2574,0,0,0,0,0,0
$STATE,12151,end climb,SURFACE_DEPTH_REACHED
$STATE,12152,begin surface coast
$FINISH,0.1,1.009903
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12209,20.40,0.457,0,0,2404,240.14
$SM_GC,3.45,0.00,0.00,20.40,0.000,0.000,0.457,55,1972,2404,-7.96,-0.51,240.14
$IRIDIUM_FIX,1927.51,-15643.58,180113,181802
$TT8_MAMPS,0.255411
$HUMID,1078893539
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,25.10
$XPDR_PINGS,72
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,1983184896
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,56863129600
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,19.794
$10V_AH,10.2,18.858
$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,19.550,116.225,280.750,20.400,0.000,54.435,70.374,377.767,18.000,0.000,15.333,1150.753,8620.557,395.349,2464.333,392.917,33.360,1160.512,0.000,1951.599,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,71.331,1128.257,457.132,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,387.780,0.000,1021.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,26952,566
$CAP_FILE_SIZE,119346,0
$CFSIZE,260165632,195342336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,035325,1936.984,-15644.977,92,1.6,93,9.6