version: 66.07
glider: 513
mission: 7
dive: 189
start: 8 3 111 3 29 59
data:
$ID,513
$MISSION,7
$DIVE,189
$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,732.45386
$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,-424953.81
$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,53
$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,188
$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
$GPS1,030811,025055,1947.654,-15655.297,140,1.5,140,9.7
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.7
$GPS2,030811,032902,1947.853,-15656.252,8,1.9,8,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.201,0.166
$KALMAN_X,-120863.4,1493.2,668.5,89002.9,-14056.9
$KALMAN_Y,134085.3,45.4,-286.0,-134581.2,828.9
$MHEAD_RNG_PITCHd_Wd,73.3,67884,-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,-166.0,0.0,0.0,0,69,0.00,0.00,-39.67,0.000,2,0.000,0.000,35,1972,3523,0,0,0,0,0,0
$GC,73,-0.76,-166.0,3.3,-5.3,6,96,9.52,2.15,-7.78,0.000,4,0.241,0.056,2347,600,3964,0,0,0,0,0,0
$GC,111,-0.76,-166.0,19.3,-39.2,11,119,0.00,2.15,0.00,0.000,6,0.000,0.043,2340,1984,3965,0,0,0,0,0,0
$GC,380,-0.76,-166.0,118.1,-37.8,38,383,0.00,2.20,0.00,0.000,4,0.000,0.050,2328,3402,3968,0,0,0,0,0,0
$GC,475,-0.76,-166.0,146.4,-26.9,46,479,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,1988,3966,0,0,0,0,0,0
$GC,735,-0.76,-166.0,212.1,-24.5,68,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3967,0,0,0,0,0,0
$GC,983,-0.76,-166.0,268.7,-21.2,80,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3968,0,0,0,0,0,0
$GC,1249,-0.76,-166.0,318.2,-18.0,91,1253,0.00,2.20,0.00,0.000,4,0.000,0.051,2318,3406,3969,0,0,0,0,0,0
$GC,1271,-0.76,-166.0,322.0,-17.0,91,1275,0.00,2.12,0.00,0.000,6,0.000,0.032,2318,1981,3972,0,0,0,0,0,0
$GC,1539,-0.76,-166.0,369.5,-18.8,98,1543,0.12,2.22,0.00,0.000,4,0.182,0.051,2340,3409,3969,0,0,0,0,0,0
$GC,1582,-0.76,-166.0,377.4,-15.6,99,1586,0.00,2.10,0.00,0.000,6,0.000,0.031,2340,1987,3969,0,0,0,0,0,0
$GC,1866,-0.76,-166.0,421.1,-15.4,106,1870,0.00,2.17,0.00,0.000,4,0.000,0.051,2330,3397,3967,0,0,0,0,0,0
$GC,1906,-0.76,-166.0,426.8,-14.0,107,1910,0.00,2.08,0.00,0.000,6,0.000,0.031,2330,1990,3964,0,0,0,0,0,0
$GC,2190,-0.76,-166.0,466.7,-14.1,114,2194,0.00,2.17,0.00,0.000,4,0.000,0.051,2319,3399,3964,0,0,0,0,0,0
$GC,2229,-0.76,-166.0,472.1,-13.7,115,2234,0.12,2.12,0.00,0.000,6,0.165,0.031,2347,1983,3967,0,0,0,0,0,0
$GC,2513,-0.76,-166.0,505.4,-11.3,122,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1974,3960,0,0,0,0,0,0
$GC,2756,-0.76,-166.0,534.7,-12.1,128,2760,0.00,2.20,0.00,0.000,4,0.000,0.050,2342,3399,3957,0,0,0,0,0,0
$GC,2801,-0.76,-166.0,540.2,-12.2,129,2805,0.00,2.10,0.00,0.000,6,0.000,0.032,2342,1984,3957,0,0,0,0,0,0
$GC,3091,-0.76,-166.0,578.9,-13.6,136,3095,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3402,3951,0,0,0,0,0,0
$GC,3140,-0.76,-166.0,586.2,-13.7,137,3144,0.00,2.12,0.00,0.000,6,0.000,0.034,2327,1995,3952,0,0,0,0,0,0
$GC,3418,-0.76,-166.0,625.9,-14.3,144,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1989,3949,0,0,0,0,0,0
$GC,3663,-0.76,-166.0,660.0,-14.1,150,3667,0.00,2.20,0.00,0.000,4,0.000,0.052,2321,3413,3947,0,0,0,0,0,0
$GC,3703,-0.76,-166.0,665.6,-13.9,151,3707,0.00,2.15,0.00,0.000,6,0.000,0.036,2320,1990,3946,0,0,0,0,0,0
$GC,3986,-0.76,-166.0,708.2,-14.9,158,3988,0.10,0.00,0.00,0.000,6,0.199,0.000,2344,1985,3943,0,0,0,0,0,0
$GC,4230,-0.76,-166.0,739.2,-12.5,164,4234,0.00,2.20,0.00,0.000,4,0.000,0.055,2335,3396,3943,0,0,0,0,0,0
$GC,4331,-0.76,-166.0,752.1,-12.2,166,4335,0.00,2.15,0.00,0.000,6,0.000,0.034,2335,1980,3940,0,0,0,0,0,0
$GC,4597,-0.76,-166.0,786.5,-13.0,173,4601,0.00,2.25,0.00,0.000,4,0.000,0.052,2324,3407,3938,0,0,0,0,0,0
$GC,4643,-0.76,-166.0,792.6,-13.3,174,4647,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1995,3938,0,0,0,0,0,0
$GC,4921,-0.76,-166.0,831.2,-13.9,181,4925,0.00,2.12,0.00,0.000,4,0.000,0.048,2324,585,3935,0,0,0,0,0,0
$GC,4948,-0.76,-166.0,835.3,-14.7,181,4953,0.12,2.12,0.00,0.000,6,0.179,0.046,2344,1994,3933,0,0,0,0,0,0
$GC,5199,-0.76,-166.0,865.5,-12.0,187,5203,0.00,2.17,0.00,0.000,4,0.000,0.053,2335,3394,3933,0,0,0,0,0,0
$GC,5249,-0.76,-166.0,871.9,-12.8,188,5253,0.00,2.12,0.00,0.000,6,0.000,0.034,2335,1981,3930,0,0,0,0,0,0
$STATE,5484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5484,begin apogee
$GC,5490,-0.28,0.0,901.2,12.4,194,5608,0.55,0.00,112.35,1.118,6,0.148,0.000,2502,1975,3379,0,0,0,0,0,0
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5614,0.76,166.0,905.3,0.0,197,5761,1.02,0.00,142.85,1.075,6,0.093,0.000,2842,1975,2705,0,0,0,0,0,0
$GC,5971,0.76,166.0,847.2,20.6,206,5975,0.00,2.17,0.00,0.000,4,0.000,0.040,2853,556,2697,0,0,0,0,0,0
$GC,6015,0.76,166.0,837.6,21.3,207,6018,0.00,2.17,0.00,0.000,6,0.000,0.035,2853,1962,2695,0,0,0,0,0,0
$GC,6300,0.76,166.0,781.3,19.5,214,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1963,2694,0,0,0,0,0,0
$GC,6542,0.76,166.0,734.6,19.1,220,6546,0.00,2.22,0.00,0.000,4,0.000,0.055,2843,3368,2692,0,0,0,0,0,0
$GC,6563,0.76,166.0,730.3,19.0,220,6567,0.00,2.15,0.00,0.000,6,0.000,0.033,2852,1951,2699,0,0,0,0,0,0
$GC,6824,0.76,166.0,682.4,18.3,227,6828,0.00,2.10,0.00,0.000,4,0.000,0.041,2863,558,2691,0,0,0,0,0,0
$GC,6858,0.76,166.0,676.1,19.6,227,6863,0.00,2.15,0.00,0.000,6,0.000,0.036,2863,1969,2689,0,0,0,0,0,0
$GC,7108,0.76,166.0,627.3,19.6,234,7112,0.00,2.22,0.00,0.000,4,0.000,0.053,2863,3372,2689,0,0,0,0,0,0
$GC,7147,0.76,166.0,619.3,20.0,235,7151,0.00,2.12,0.00,0.000,6,0.000,0.031,2871,1958,2689,0,0,0,0,0,0
$GC,7431,0.76,166.0,563.5,19.8,242,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1954,2689,0,0,0,0,0,0
$GC,7674,0.76,166.0,515.6,19.5,248,7678,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3372,2688,0,0,0,0,0,0
$GC,7701,0.76,166.0,510.2,20.0,248,7705,0.12,2.12,0.00,0.000,6,0.210,0.032,2850,1954,2687,0,0,0,0,0,0
$GC,7962,0.76,166.0,467.0,16.6,255,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1950,2687,0,0,0,0,0,0
$GC,8206,0.76,166.0,426.6,16.4,261,8210,0.00,2.08,0.00,0.000,4,0.000,0.041,2859,558,2687,0,0,0,0,0,0
$GC,8227,0.76,166.0,422.9,16.7,261,8231,0.00,2.10,0.00,0.000,6,0.000,0.037,2859,1965,2684,0,0,0,0,0,0
$GC,8488,0.76,166.0,380.1,16.5,268,8492,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,558,2685,0,0,0,0,0,0
$GC,8505,0.76,166.0,377.2,16.6,268,8510,0.00,2.10,0.00,0.000,6,0.000,0.035,2870,1968,2683,0,0,0,0,0,0
$GC,8772,0.76,166.0,332.4,16.6,275,8776,0.00,2.15,0.00,0.000,4,0.000,0.051,2860,3355,2684,0,0,0,0,0,0
$GC,8866,0.76,166.0,315.8,17.6,277,8870,0.00,2.10,0.00,0.000,6,0.000,0.031,2869,1961,2684,0,0,0,0,0,0
$GC,9127,0.76,166.0,274.0,15.4,287,9131,0.00,2.08,0.00,0.000,4,0.000,0.039,2880,557,2684,0,0,0,0,0,0
$GC,9144,0.76,166.0,271.0,15.7,288,9149,0.15,2.10,0.00,0.000,6,0.201,0.034,2851,1954,2680,0,0,0,0,0,0
$GC,9409,0.76,166.0,236.1,12.0,301,9413,0.00,2.17,0.00,0.000,4,0.000,0.051,2845,3362,2682,0,0,0,0,0,0
$GC,9533,0.76,166.0,220.3,13.1,306,9538,0.00,2.12,0.00,0.000,6,0.000,0.032,2852,1951,2681,0,0,0,0,0,0
$GC,9791,0.76,166.0,188.1,11.8,323,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1948,2682,0,0,0,0,0,0
$GC,10047,0.77,168.8,160.5,8.5,347,10051,0.00,2.17,0.00,0.000,4,0.000,0.048,2854,3364,2682,0,0,0,0,0,0
$GC,10299,0.79,187.5,138.0,7.9,369,10323,0.00,2.10,15.20,0.557,6,0.000,0.029,2864,1953,2616,0,0,0,0,0,0
$GC,10579,0.80,198.6,113.3,8.2,395,10595,0.00,2.12,10.62,0.509,4,0.000,0.038,2875,566,2571,0,0,0,0,0,0
$GC,10766,0.84,230.5,98.8,7.5,412,10803,0.00,2.10,27.05,0.526,6,0.000,0.033,2875,1971,2440,0,0,0,0,0,0
$GC,11060,0.84,230.5,70.7,9.5,439,11064,0.00,2.15,0.00,0.000,4,0.000,0.048,2875,3366,2438,0,0,0,0,0,0
$GC,11235,0.84,230.5,51.3,11.6,454,11243,0.00,2.12,0.00,0.000,6,0.000,0.031,2885,1963,2438,0,0,0,0,0,0
$GC,11501,0.84,230.5,20.4,11.6,486,11509,0.00,2.17,0.00,0.000,4,0.000,0.044,2885,3351,2439,0,0,0,0,0,0
$GC,11586,0.84,230.5,8.9,14.5,501,11594,0.00,2.10,0.00,0.000,6,0.000,0.031,2896,1965,2441,0,0,0,0,0,0
$STATE,11627,end climb,SURFACE_DEPTH_REACHED
$STATE,11627,begin surface coast
$FINISH,0.2,1.000684
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11670,279.70,0.441,0,0,395,732.45
$SM_GC,1.19,0.00,0.00,279.70,0.000,0.000,0.441,44,1959,395,-7.96,-0.79,732.45
$IRIDIUM_FIX,1941.24,-15655.31,250113,212149
$TT8_MAMPS,0.059826
$HUMID,1078742571
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,26.20
$XPDR_PINGS,21
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6339985408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49477844992
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,26.200
$10V_AH,10.2,24.796
$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,19.400,115.950,308.075,279.700,0.000,144.981,195.582,1445.734,5.250,0.000,10.824,1123.070,8498.479,678.890,3071.526,869.198,33.355,1392.104,0.000,1733.460,0.000,0.544,0.000
$DEVICE_MAMPS,240.838,55.991,1117.519,441.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.954,0.000,866.769,0.000,0.000,0.000,0.000,29613.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,11.262,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,26911,512
$CAP_FILE_SIZE,134286,0
$CFSIZE,260165632,191856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214,303.3,1
$GPS,030811,065036,1948.710,-15655.822,32,1.2,32,9.7