version: 66.07
glider: 513
mission: 7
dive: 163
start: 7 30 111 0 30 30
data:
$ID,513
$MISSION,7
$DIVE,163
$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,-424266.28
$T_RSLEEP,1
$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,42
$R_STBD_OVSHOOT,38
$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,162
$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
$GPS1,300711,001825,1921.089,-15650.243,42,2.7,61,9.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,6
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-80.2
$GPS2,300711,002934,1921.220,-15650.454,15,2.3,34,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.089,-0.230
$KALMAN_X,-51872.0,1235.2,917.9,30126.9,-9158.9
$KALMAN_Y,73433.7,-594.8,-330.7,-122549.1,9137.5
$MHEAD_RNG_PITCHd_Wd,149.3,40444,-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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.78,-146.5,0.0,0.0,0,85,0.00,0.00,-51.35,0.000,2,0.000,0.000,43,1965,3766,0,0,0,0,0,0
$GC,89,-0.78,-146.5,3.6,-5.8,8,110,9.57,2.12,-3.28,0.000,4,0.246,0.051,2349,579,3963,0,0,0,0,0,0
$GC,249,-0.78,-146.5,57.6,-26.0,27,253,0.00,2.15,0.00,0.000,6,0.000,0.049,2339,1994,3966,0,0,0,0,0,0
$GC,512,-0.78,-146.5,121.7,-23.4,51,516,0.00,2.15,0.00,0.000,4,0.000,0.049,2328,3389,3969,0,0,0,0,0,0
$GC,597,-0.78,-146.5,141.4,-20.0,58,601,0.00,2.12,0.00,0.000,6,0.000,0.034,2328,1986,3970,0,0,0,0,0,0
$GC,864,-0.78,-146.5,197.6,-21.0,82,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1977,3971,0,0,0,0,0,0
$GC,1117,-0.78,-146.5,253.1,-20.8,95,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1984,3973,0,0,0,0,0,0
$GC,1365,-0.78,-146.5,300.6,-19.0,107,1369,0.00,2.20,0.00,0.000,4,0.000,0.052,2317,3400,3973,0,0,0,0,0,0
$GC,1404,-0.78,-146.5,307.9,-18.3,107,1410,0.10,2.12,0.00,0.000,6,0.176,0.032,2341,1981,3972,0,0,0,0,0,0
$GC,1654,-0.78,-146.5,349.5,-16.7,114,1658,0.00,2.08,0.00,0.000,4,0.000,0.043,2352,582,3973,0,0,0,0,0,0
$GC,1703,-0.78,-146.5,357.9,-15.8,115,1707,0.00,2.12,0.00,0.000,6,0.000,0.044,2343,1991,3972,0,0,0,0,0,0
$GC,1982,-0.78,-146.5,403.9,-16.7,122,1986,0.00,2.17,0.00,0.000,4,0.000,0.052,2332,3393,3972,0,0,0,0,0,0
$GC,2122,-0.78,-146.5,426.3,-15.2,125,2126,0.00,2.10,0.00,0.000,6,0.000,0.035,2332,1986,3971,0,0,0,0,0,0
$GC,2394,-0.78,-146.5,466.9,-14.5,132,2398,0.00,2.10,0.00,0.000,4,0.000,0.046,2330,592,3969,0,0,0,0,0,0
$GC,2441,-0.78,-146.5,473.3,-13.8,133,2445,0.00,2.12,0.00,0.000,6,0.000,0.047,2322,1993,3970,0,0,0,0,0,0
$GC,2730,-0.78,-146.5,515.0,-14.1,140,2734,0.00,2.17,0.00,0.000,4,0.000,0.051,2310,3402,3964,0,0,0,0,0,0
$GC,2796,-0.78,-146.5,525.4,-15.5,141,2801,0.12,2.12,0.00,0.000,6,0.170,0.035,2341,1993,3966,0,0,0,0,0,0
$GC,3058,-0.78,-146.5,563.5,-15.0,148,3062,0.00,2.20,0.00,0.000,4,0.000,0.058,2333,3396,3963,0,0,0,0,0,0
$GC,3130,-0.78,-146.5,574.5,-14.4,149,3134,0.00,2.15,0.00,0.000,6,0.000,0.037,2333,1994,3962,0,0,0,0,0,0
$GC,3385,-0.78,-146.5,612.6,-14.9,156,3389,0.00,2.20,0.00,0.000,4,0.000,0.057,2318,3396,3960,0,0,0,0,0,0
$GC,3447,-0.78,-146.5,621.9,-14.8,157,3451,0.00,2.12,0.00,0.000,6,0.000,0.037,2322,1985,3963,0,0,0,0,0,0
$GC,3713,-0.78,-146.5,663.0,-15.3,164,3715,0.10,0.00,0.00,0.000,6,0.202,0.000,2344,1977,3957,0,0,0,0,0,0
$GC,3957,-0.78,-146.5,695.7,-13.2,170,3961,0.00,2.22,0.00,0.000,4,0.000,0.058,2335,3399,3956,0,0,0,0,0,0
$GC,4018,-0.78,-146.5,704.0,-13.1,171,4022,0.00,2.15,0.00,0.000,6,0.000,0.035,2335,1983,3952,0,0,0,0,0,0
$GC,4279,-0.78,-146.5,740.5,-14.3,178,4283,0.00,2.20,0.00,0.000,4,0.000,0.056,2325,3391,3953,0,0,0,0,0,0
$GC,4323,-0.78,-146.5,747.1,-14.2,179,4327,0.00,2.12,0.00,0.000,6,0.000,0.038,2325,2002,3950,0,0,0,0,0,0
$GC,4608,-0.78,-146.5,787.4,-14.1,186,4612,0.00,2.22,0.00,0.000,4,0.000,0.058,2313,3402,3952,0,0,0,0,0,0
$GC,4692,-0.78,-146.5,799.5,-13.7,188,4697,0.12,2.15,0.00,0.000,6,0.176,0.036,2344,1982,3950,0,0,0,0,0,0
$GC,4976,-0.78,-146.5,833.3,-11.7,195,4980,0.00,2.22,0.00,0.000,4,0.000,0.056,2336,3398,3947,0,0,0,0,0,0
$GC,4997,-0.78,-146.5,836.0,-11.6,195,5001,0.00,2.15,0.00,0.000,6,0.000,0.035,2335,1985,3948,0,0,0,0,0,0
$GC,5258,-0.78,-146.5,868.1,-12.5,202,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1980,3947,0,0,0,0,0,0
$GC,5502,-0.78,-146.5,899.0,-12.9,208,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1980,3946,0,0,0,0,0,0
$STATE,5540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5540,begin apogee
$GC,5547,-0.28,0.0,904.3,13.0,209,5665,0.57,0.00,115.35,1.128,6,0.152,0.000,2508,1979,3381,0,0,0,0,0,0
$STATE,5668,end apogee,CONTROL_FINISHED_OK
$STATE,5668,begin climb
$GC,5670,0.78,146.5,908.8,0.0,212,5808,1.00,2.35,126.68,1.088,4,0.091,0.041,2857,562,2783,0,0,0,0,0,0
$GC,5825,0.78,146.5,893.8,17.3,215,5829,0.00,2.25,0.00,0.000,6,0.000,0.041,2848,1955,2779,0,0,0,0,0,0
$GC,6075,0.78,146.5,845.5,19.4,221,6079,0.00,2.15,0.00,0.000,4,0.000,0.041,2854,554,2775,0,0,0,0,0,0
$GC,6102,0.78,146.5,839.8,20.7,221,6106,0.00,2.17,0.00,0.000,6,0.000,0.037,2849,1971,2774,0,0,0,0,0,0
$GC,6358,0.78,146.5,790.1,19.3,228,6362,0.00,2.22,0.00,0.000,4,0.000,0.054,2837,3363,2773,0,0,0,0,0,0
$GC,6396,0.78,146.5,782.5,18.9,228,6402,0.00,2.17,0.00,0.000,6,0.000,0.032,2847,1951,2774,0,0,0,0,0,0
$GC,6646,0.78,146.5,736.9,18.3,235,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1947,2772,0,0,0,0,0,0
$GC,6889,0.78,146.5,692.7,17.9,241,6893,0.00,2.22,0.00,0.000,4,0.000,0.054,2837,3365,2771,0,0,0,0,0,0
$GC,6975,0.78,146.5,677.5,17.6,243,6979,0.00,2.15,0.00,0.000,6,0.000,0.034,2847,1957,2771,0,0,0,0,0,0
$GC,7259,0.78,146.5,630.2,16.4,250,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1953,2770,0,0,0,0,0,0
$GC,7502,0.78,146.5,590.9,16.3,256,7506,0.00,2.25,0.00,0.000,4,0.000,0.052,2843,3375,2772,0,0,0,0,0,0
$GC,7543,0.78,146.5,583.6,18.6,257,7547,0.00,2.12,0.00,0.000,6,0.000,0.031,2852,1958,2769,0,0,0,0,0,0
$GC,7826,0.78,146.5,532.8,18.0,264,7830,0.00,2.20,0.00,0.000,4,0.000,0.052,2852,3368,2769,0,0,0,0,0,0
$GC,7910,0.78,146.5,516.2,19.6,266,7914,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1957,2768,0,0,0,0,0,0
$GC,8194,0.78,146.5,464.0,18.8,273,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1952,2767,0,0,0,0,0,0
$GC,8436,0.78,146.5,420.6,17.5,279,8440,0.00,2.08,0.00,0.000,4,0.000,0.039,2874,556,2767,0,0,0,0,0,0
$GC,8486,0.78,146.5,412.1,17.8,280,8490,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1964,2764,0,0,0,0,0,0
$GC,8771,0.78,146.5,366.7,15.6,287,8775,0.00,2.17,0.00,0.000,4,0.000,0.050,2865,3362,2764,0,0,0,0,0,0
$GC,8832,0.78,146.5,356.6,15.5,288,8836,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,1956,2764,0,0,0,0,0,0
$GC,9104,0.78,146.5,314.8,15.9,295,9108,0.00,2.08,0.00,0.000,4,0.000,0.038,2885,550,2764,0,0,0,0,0,0
$GC,9127,0.78,146.5,311.2,16.1,295,9132,0.12,2.10,0.00,0.000,6,0.209,0.034,2853,1970,2763,0,0,0,0,0,0
$GC,9384,0.78,146.5,269.8,15.9,306,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1970,2763,0,0,0,0,0,0
$GC,9632,0.78,146.5,232.8,15.0,318,9636,0.00,2.17,0.00,0.000,4,0.000,0.050,2854,3365,2763,0,0,0,0,0,0
$GC,9654,0.78,146.5,229.5,15.1,319,9658,0.00,2.12,0.00,0.000,6,0.000,0.030,2862,1945,2763,0,0,0,0,0,0
$GC,9916,0.78,146.5,194.8,13.1,333,9920,0.00,2.20,0.00,0.000,4,0.000,0.050,2862,3363,2763,0,0,0,0,0,0
$GC,9999,0.78,146.5,182.3,17.1,340,10003,0.00,2.10,0.00,0.000,6,0.000,0.030,2873,1959,2763,0,0,0,0,0,0
$GC,10267,0.78,146.5,149.4,11.2,364,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1956,2763,0,0,0,0,0,0
$GC,10529,0.78,146.5,119.2,10.0,389,10533,0.00,2.08,0.00,0.000,4,0.000,0.038,2884,555,2766,0,0,0,0,0,0
$GC,10599,0.78,146.5,111.3,12.2,395,10604,0.12,2.08,0.00,0.000,6,0.200,0.032,2856,1963,2761,0,0,0,0,0,0
$GC,10862,0.82,176.8,86.3,7.4,419,10889,0.00,2.22,21.58,0.559,4,0.000,0.049,2856,3359,2659,0,0,0,0,0,0
$GC,11136,0.82,176.8,60.2,10.5,444,11140,0.00,2.10,0.00,0.000,6,0.000,0.031,2865,1960,2657,0,0,0,0,0,0
$GC,11402,0.82,176.8,34.3,9.7,468,11406,0.00,2.17,0.00,0.000,4,0.000,0.048,2865,3356,2658,0,0,0,0,0,0
$GC,11532,0.84,191.9,22.0,8.0,488,11553,0.00,2.12,13.52,0.478,6,0.000,0.030,2875,1956,2598,0,0,0,0,0,0
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,0.1,1.023711
$STATE,11820,end surface coast,CONTROL_FINISHED_OK
$STATE,11820,begin surface
$SM_CCo,11839,30.17,0.475,0,0,2401,240.14
$SM_GC,4.37,0.00,0.00,30.17,0.000,0.000,0.475,51,1954,2401,-7.97,-1.02,240.14
$IRIDIUM_FIX,1911.51,-15645.39,210113,151547
$TT8_MAMPS,0.269217
$HUMID,1078977410
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.50
$XPDR_PINGS,51
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,2912288768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,-512
$AR_DDRIVE_SIZE,-512
$24V_AH,24.0,22.197
$10V_AH,10.2,20.812
$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,19.350,116.425,277.125,30.175,0.000,27.364,37.309,368.251,12.750,0.000,38.968,1103.864,8352.663,375.129,2350.099,374.961,33.357,1137.786,0.000,1865.809,0.000,0.540,0.000
$DEVICE_MAMPS,246.207,57.525,1128.257,474.773,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,371.169,0.000,965.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353784
$DATA_FILE_SIZE,26877,541
$CAP_FILE_SIZE,115761,0
$CFSIZE,260165632,193933312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,035124,1920.423,-15650.101,119,1.1,119,9.6