version: 66.07
glider: 513
mission: 7
dive: 188
start: 8 2 111 23 27 41
data:
$ID,513
$MISSION,7
$DIVE,188
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$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,250
$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,-424942.38
$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,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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,41
$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,187
$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
$GPS1,020811,230336,1945.830,-15654.845,25,1.3,25,9.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.3
$GPS2,020811,232643,1945.946,-15655.386,13,1.4,13,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.192,0.175
$KALMAN_X,-116168.5,1161.7,996.5,85820.8,-13927.2
$KALMAN_Y,134371.9,-252.8,-46.4,-138345.6,632.8
$MHEAD_RNG_PITCHd_Wd,29.6,69576,-14.0,-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,-0.76,-166.0,0.0,0.0,0,140,0.00,0.00,-110.07,0.000,2,0.000,0.000,37,1982,3669,0,0,0,0,0,0
$GC,144,-0.76,-166.0,3.7,-6.3,17,166,9.48,2.25,-4.95,0.000,4,0.242,0.064,2330,3402,3962,0,0,0,0,0,0
$GC,185,-0.76,-166.0,23.7,-48.2,23,193,0.00,2.22,0.00,0.000,6,0.000,0.041,2337,2001,3964,0,0,0,0,0,0
$GC,457,-0.76,-166.0,117.7,-30.6,49,461,0.00,2.17,0.00,0.000,4,0.000,0.050,2329,3408,3964,0,0,0,0,0,0
$GC,533,-0.76,-166.0,140.3,-24.4,55,541,0.00,2.17,0.00,0.000,6,0.000,0.035,2329,1985,3964,0,0,0,0,0,0
$GC,798,-0.76,-166.0,201.4,-21.9,80,802,0.00,2.20,0.00,0.000,4,0.000,0.053,2324,3395,3964,0,0,0,0,0,0
$GC,883,-0.76,-166.0,220.1,-19.8,84,888,0.12,2.12,0.00,0.000,6,0.170,0.035,2349,1981,3965,0,0,0,0,0,0
$GC,1153,-0.76,-166.0,274.6,-20.3,97,1157,0.00,2.20,0.00,0.000,4,0.000,0.050,2340,3393,3965,0,0,0,0,0,0
$GC,1186,-0.76,-166.0,281.7,-19.7,98,1192,0.00,2.10,0.00,0.000,6,0.000,0.032,2340,1984,3965,0,0,0,0,0,0
$GC,1459,-0.76,-166.0,329.2,-16.9,108,1463,0.00,2.20,0.00,0.000,4,0.000,0.049,2330,3399,3965,0,0,0,0,0,0
$GC,1486,-0.76,-166.0,333.4,-14.4,108,1490,0.00,2.12,0.00,0.000,6,0.000,0.033,2330,1996,3965,0,0,0,0,0,0
$GC,1741,-0.76,-166.0,373.9,-16.6,115,1745,0.00,2.17,0.00,0.000,4,0.000,0.054,2319,3394,3965,0,0,0,0,0,0
$GC,1769,-0.76,-166.0,379.0,-18.6,115,1774,0.12,2.10,0.00,0.000,6,0.166,0.032,2351,1981,3964,0,0,0,0,0,0
$GC,2019,-0.76,-166.0,416.9,-14.9,121,2023,0.00,2.17,0.00,0.000,4,0.000,0.049,2342,3392,3961,0,0,0,0,0,0
$GC,2125,-0.76,-166.0,432.5,-13.6,123,2130,0.00,2.12,-0.03,0.000,6,0.000,0.033,2340,1995,3967,0,0,0,0,0,0
$GC,2398,-0.76,-166.0,469.8,-13.2,130,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1988,3968,0,0,0,0,0,0
$GC,2641,-0.76,-166.0,502.7,-13.6,136,2645,0.00,2.17,0.00,0.000,4,0.000,0.051,2332,3391,3965,0,0,0,0,0,0
$GC,2685,-0.76,-166.0,509.6,-15.0,137,2689,0.00,2.10,0.00,0.000,6,0.000,0.035,2335,1982,3964,0,0,0,0,0,0
$GC,2970,-0.76,-166.0,555.5,-16.8,144,2974,0.00,2.17,0.00,0.000,4,0.000,0.050,2321,3392,3961,0,0,0,0,0,0
$GC,2997,-0.76,-166.0,560.6,-17.8,144,3001,0.00,2.12,0.00,0.000,6,0.000,0.034,2320,1981,3961,0,0,0,0,0,0
$GC,3247,-0.76,-166.0,601.2,-15.9,150,3252,0.10,2.22,0.00,0.000,4,0.199,0.051,2336,3392,3957,0,0,0,0,0,0
$GC,3303,-0.76,-166.0,609.2,-14.2,151,3307,0.00,2.10,0.00,0.000,6,0.000,0.035,2335,1994,3957,0,0,0,0,0,0
$GC,3569,-0.76,-166.0,645.1,-13.3,158,3573,0.00,2.17,0.00,0.000,4,0.000,0.051,2325,3395,3955,0,0,0,0,0,0
$GC,3602,-0.76,-166.0,649.8,-13.9,158,3607,0.00,2.10,0.00,0.000,6,0.000,0.034,2325,1982,3953,0,0,0,0,0,0
$GC,3853,-0.76,-166.0,684.7,-14.1,165,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1977,3950,0,0,0,0,0,0
$GC,4095,-0.76,-166.0,717.7,-13.5,171,4099,0.00,2.20,0.00,0.000,4,0.000,0.051,2314,3389,3948,0,0,0,0,0,0
$GC,4139,-0.76,-166.0,723.5,-12.8,172,4144,0.12,2.10,0.00,0.000,6,0.174,0.034,2345,1987,3948,0,0,0,0,0,0
$GC,4423,-0.76,-166.0,755.0,-11.5,179,4427,0.00,2.17,0.00,0.000,4,0.000,0.051,2336,3387,3945,0,0,0,0,0,0
$GC,4479,-0.76,-166.0,761.7,-11.9,180,4483,0.00,2.12,0.00,0.000,6,0.000,0.034,2336,1986,3945,0,0,0,0,0,0
$GC,4751,-0.76,-166.0,794.8,-12.2,187,4755,0.00,2.20,0.00,0.000,4,0.000,0.051,2326,3398,3942,0,0,0,0,0,0
$GC,4819,-0.76,-166.0,803.4,-12.7,188,4823,0.00,2.12,0.00,0.000,6,0.000,0.033,2325,1984,3942,0,0,0,0,0,0
$GC,5079,-0.76,-166.0,836.9,-13.0,195,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1978,3940,0,0,0,0,0,0
$GC,5323,-0.76,-166.0,869.2,-13.1,201,5327,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3390,3937,0,0,0,0,0,0
$GC,5379,-0.76,-166.0,876.9,-14.4,202,5384,0.12,2.10,0.00,0.000,6,0.173,0.035,2346,2002,3936,0,0,0,0,0,0
$STATE,5608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5608,begin apogee
$GC,5615,-0.28,0.0,903.7,11.6,208,5731,0.52,0.00,113.20,1.119,6,0.145,0.000,2507,1995,3383,0,0,0,0,0,0
$STATE,5734,end apogee,CONTROL_FINISHED_OK
$STATE,5734,begin climb
$GC,5736,0.76,166.0,907.8,0.0,211,5885,1.00,0.00,144.23,1.078,6,0.088,0.000,2842,1994,2704,0,0,0,0,0,0
$GC,6095,0.76,166.0,851.2,20.2,220,6099,0.00,2.22,0.00,0.000,4,0.000,0.040,2852,545,2698,0,0,0,0,0,0
$GC,6135,0.76,166.0,842.6,21.9,221,6139,0.00,2.15,0.00,0.000,6,0.000,0.034,2851,1947,2693,0,0,0,0,0,0
$GC,6419,0.76,166.0,785.8,19.8,228,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1954,2687,0,0,0,0,0,0
$GC,6664,0.76,166.0,739.5,18.9,234,6668,0.00,2.25,0.00,0.000,4,0.000,0.053,2849,3371,2692,0,0,0,0,0,0
$GC,6713,0.76,166.0,729.0,20.4,235,6717,0.00,2.17,0.00,0.000,6,0.000,0.034,2858,1938,2691,0,0,0,0,0,0
$GC,6991,0.76,166.0,676.2,19.1,242,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1934,2690,0,0,0,0,0,0
$GC,7235,0.76,166.0,626.3,20.6,248,7239,0.00,2.08,0.00,0.000,4,0.000,0.041,2869,553,2686,0,0,0,0,0,0
$GC,7291,0.76,166.0,614.7,21.2,249,7295,0.00,2.15,0.00,0.000,6,0.000,0.037,2869,1970,2686,0,0,0,0,0,0
$GC,7557,0.76,166.0,557.8,21.3,256,7561,0.00,2.20,0.00,0.000,4,0.000,0.052,2869,3360,2686,0,0,0,0,0,0
$GC,7635,0.76,166.0,540.8,21.5,257,7641,0.15,2.12,0.00,0.000,6,0.206,0.035,2845,1946,2686,0,0,0,0,0,0
$GC,7886,0.76,166.0,497.8,16.7,264,7890,0.00,2.08,0.00,0.000,4,0.000,0.041,2854,555,2685,0,0,0,0,0,0
$GC,7902,0.76,166.0,494.9,16.5,264,7906,0.00,2.10,0.00,0.000,6,0.000,0.035,2854,1961,2683,0,0,0,0,0,0
$GC,8162,0.76,166.0,456.2,14.3,271,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1961,2684,0,0,0,0,0,0
$GC,8408,0.76,166.0,419.3,14.9,277,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1963,2683,0,0,0,0,0,0
$GC,8650,0.76,166.0,378.9,17.2,283,8654,0.00,2.20,0.00,0.000,4,0.000,0.051,2838,3362,2681,0,0,0,0,0,0
$GC,8694,0.76,166.0,370.7,18.5,284,8698,0.00,2.10,0.00,0.000,6,0.000,0.033,2847,1957,2684,0,0,0,0,0,0
$GC,8978,0.76,166.0,324.1,16.3,291,8982,0.00,2.20,0.00,0.000,4,0.000,0.050,2839,3369,2683,0,0,0,0,0,0
$GC,9073,0.76,166.0,308.9,14.4,293,9078,0.00,2.12,0.00,0.000,6,0.000,0.031,2848,1953,2683,0,0,0,0,0,0
$GC,9330,0.76,166.0,271.7,14.0,304,9333,0.00,2.08,0.00,0.000,4,0.000,0.040,2859,557,2682,0,0,0,0,0,0
$GC,9403,0.76,166.0,261.0,15.3,307,9407,0.00,2.12,0.00,0.000,6,0.000,0.035,2859,1970,2680,0,0,0,0,0,0
$GC,9656,0.76,166.0,231.8,10.0,319,9660,0.00,2.17,0.00,0.000,4,0.000,0.051,2858,3363,2680,0,0,0,0,0,0
$GC,9679,0.76,166.0,229.1,11.4,320,9683,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1952,2681,0,0,0,0,0,0
$GC,9937,0.76,166.0,197.6,12.1,333,9941,0.00,2.20,0.00,0.000,4,0.000,0.048,2868,3369,2684,0,0,0,0,0,0
$GC,9966,0.76,166.0,193.6,13.4,335,9971,0.12,2.10,0.00,0.000,6,0.203,0.031,2849,1961,2681,0,0,0,0,0,0
$GC,10232,0.76,166.0,165.8,9.7,359,10235,0.00,2.08,0.00,0.000,4,0.000,0.039,2859,562,2681,0,0,0,0,0,0
$GC,10404,0.76,166.0,147.8,10.9,374,10411,0.00,2.12,0.00,0.000,6,0.000,0.034,2858,1964,2678,0,0,0,0,0,0
$GC,10672,0.82,208.9,128.9,7.1,399,10714,0.00,2.25,31.60,0.565,4,0.000,0.050,2855,3359,2529,0,0,0,0,0,0
$GC,10730,0.82,208.9,123.1,9.0,404,10738,0.00,2.15,0.00,0.000,6,0.000,0.031,2869,1957,2528,0,0,0,0,0,0
$GC,10997,0.82,208.9,95.6,9.7,429,11000,0.00,2.10,0.00,0.000,4,0.000,0.038,2880,554,2527,0,0,0,0,0,0
$GC,11095,0.82,208.9,85.1,8.9,437,11103,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1965,2526,0,0,0,0,0,0
$GC,11361,0.82,208.9,60.3,9.4,462,11365,0.00,2.17,0.00,0.000,4,0.000,0.047,2880,3367,2527,0,0,0,0,0,0
$GC,11554,0.82,208.9,40.7,9.6,479,11558,0.00,2.10,0.00,0.000,6,0.000,0.029,2891,1956,2529,0,0,0,0,0,0
$GC,11819,0.82,208.9,12.9,9.6,518,11826,0.00,2.20,0.00,0.000,4,0.000,0.051,2891,3358,2530,0,0,0,0,0,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,0.1,1.012402
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11941,begin surface
$SM_CCo,11976,18.10,0.431,0,0,2361,250.20
$SM_GC,3.46,0.00,0.00,18.10,0.000,0.000,0.431,48,1974,2361,-7.97,-0.45,250.20
$IRIDIUM_FIX,1941.24,-15654.10,250113,171743
$TT8_MAMPS,0.263081
$HUMID,1078884506
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.30
$XPDR_PINGS,72
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6269173760
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49599840256
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,25.976
$10V_AH,10.2,24.599
$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,19.325,129.100,289.025,18.100,0.000,53.538,66.122,981.015,18.000,0.000,15.274,1160.783,8443.397,444.355,2719.172,623.467,33.357,1214.922,0.000,1825.120,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,63.661,1119.053,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.755,0.000,949.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354156
$DATA_FILE_SIZE,26977,540
$CAP_FILE_SIZE,128775,0
$CFSIZE,260165632,191975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,298.3,1
$GPS,030811,025055,1947.654,-15655.297,140,1.5,140,9.7