version: 66.07
glider: 513
mission: 7
dive: 191
start: 8 3 111 11 7 8
data:
$ID,513
$MISSION,7
$DIVE,191
$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,-425006.59
$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,48
$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,190
$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
$GPS1,030811,103822,1949.807,-15655.844,152,4.2,171,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.9
$GPS2,030811,110611,1950.059,-15656.370,9,2.5,28,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.205,0.160
$KALMAN_X,-128271.8,1630.2,1210.3,95515.3,-15390.9
$KALMAN_Y,131122.3,-243.2,-91.4,-127442.0,-1803.8
$MHEAD_RNG_PITCHd_Wd,80.1,65061,-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,-40.35,0.000,2,0.000,0.000,36,1957,3554,0,0,0,0,0,0
$GC,74,-0.76,-166.0,3.5,-5.8,6,96,9.57,2.12,-7.03,0.000,4,0.242,0.053,2348,586,3962,0,0,0,0,0,0
$GC,146,-0.76,-166.0,33.0,-35.8,18,150,0.00,2.12,0.00,0.000,6,0.000,0.044,2340,1983,3965,0,0,0,0,0,0
$GC,410,-0.76,-166.0,126.0,-30.0,42,414,0.00,2.20,0.00,0.000,4,0.000,0.047,2329,3408,3964,0,0,0,0,0,0
$GC,495,-0.76,-166.0,150.4,-26.2,49,499,0.00,2.15,0.00,0.000,6,0.000,0.033,2329,1983,3965,0,0,0,0,0,0
$GC,754,-0.76,-166.0,216.0,-25.0,70,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1977,3967,0,0,0,0,0,0
$GC,1003,-0.76,-166.0,269.5,-20.6,82,1007,0.00,2.17,0.00,0.000,4,0.000,0.049,2319,3400,3968,0,0,0,0,0,0
$GC,1058,-0.76,-166.0,280.6,-17.8,84,1064,0.12,2.08,0.00,0.000,6,0.165,0.031,2350,1986,3969,0,0,0,0,0,0
$GC,1310,-0.76,-166.0,322.2,-17.1,94,1314,0.00,2.17,0.00,0.000,4,0.000,0.048,2342,3405,3968,0,0,0,0,0,0
$GC,1338,-0.76,-166.0,327.4,-18.8,94,1342,0.00,2.12,0.00,0.000,6,0.000,0.031,2341,1981,3968,0,0,0,0,0,0
$GC,1587,-0.76,-166.0,370.0,-16.9,100,1591,0.00,2.20,0.00,0.000,4,0.000,0.048,2334,3402,3968,0,0,0,0,0,0
$GC,1648,-0.76,-166.0,379.5,-15.1,101,1652,0.00,2.15,0.00,0.000,6,0.000,0.032,2331,1978,3967,0,0,0,0,0,0
$GC,1916,-0.76,-166.0,420.9,-15.3,108,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1974,3966,0,0,0,0,0,0
$GC,2159,-0.76,-166.0,457.9,-15.2,114,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1974,3964,0,0,0,0,0,0
$GC,2402,-0.76,-166.0,496.9,-15.7,120,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1974,3962,0,0,0,0,0,0
$GC,2647,-0.76,-166.0,532.9,-14.7,126,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1974,3962,0,0,0,0,0,0
$GC,2891,-0.76,-166.0,567.7,-14.3,132,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1974,3958,0,0,0,0,0,0
$GC,3134,-0.76,-166.0,603.6,-14.8,138,3138,0.00,2.22,0.00,0.000,4,0.000,0.051,2320,3400,3954,0,0,0,0,0,0
$GC,3245,-0.76,-166.0,620.2,-15.8,140,3249,0.00,2.10,0.00,0.000,6,0.000,0.034,2320,1995,3951,0,0,0,0,0,0
$GC,3507,-0.76,-166.0,661.9,-16.3,147,3509,0.10,0.00,0.00,0.000,6,0.196,0.000,2344,1989,3949,0,0,0,0,0,0
$GC,3750,-0.76,-166.0,697.6,-14.4,153,3754,0.00,2.22,0.00,0.000,4,0.000,0.054,2335,3405,3950,0,0,0,0,0,0
$GC,3834,-0.76,-166.0,709.5,-13.9,155,3838,0.00,2.12,0.00,0.000,6,0.000,0.034,2334,1985,3948,0,0,0,0,0,0
$GC,4118,-0.76,-166.0,749.3,-13.9,162,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1974,3944,0,0,0,0,0,0
$GC,4360,-0.76,-166.0,780.6,-12.7,168,4364,0.00,2.10,0.00,0.000,4,0.000,0.046,2335,588,3942,0,0,0,0,0,0
$GC,4399,-0.76,-166.0,785.6,-12.2,168,4405,0.00,2.15,0.00,0.000,6,0.000,0.047,2321,1995,3942,0,0,0,0,0,0
$GC,4649,-0.76,-166.0,818.3,-13.1,175,4653,0.00,2.17,0.00,0.000,4,0.000,0.051,2313,3397,3939,0,0,0,0,0,0
$GC,4671,-0.76,-166.0,821.2,-13.4,175,4676,0.12,2.12,0.00,0.000,6,0.171,0.033,2344,1983,3939,0,0,0,0,0,0
$GC,4927,-0.76,-166.0,849.2,-11.0,182,4930,0.00,2.12,0.00,0.000,4,0.000,0.048,2352,587,3937,0,0,0,0,0,0
$GC,4948,-0.76,-166.0,851.9,-11.6,182,4952,0.00,2.15,0.00,0.000,6,0.000,0.046,2344,1971,3937,0,0,0,0,0,0
$GC,5210,-0.76,-166.0,880.5,-11.1,189,5215,0.00,2.22,0.00,0.000,4,0.000,0.051,2333,3406,3933,0,0,0,0,0,0
$GC,5288,-0.76,-166.0,889.6,-11.1,190,5294,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,1992,3934,0,0,0,0,0,0
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5420,-0.28,0.0,904.1,11.4,194,5537,0.57,0.00,112.38,1.114,6,0.147,0.000,2506,1983,3382,0,0,0,0,0,0
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5563,0.76,166.0,907.2,0.0,197,5710,1.00,0.00,143.05,1.072,6,0.090,0.000,2843,1983,2705,0,0,0,0,0,0
$GC,5983,0.76,166.0,837.4,20.4,208,5987,0.00,2.20,0.00,0.000,4,0.000,0.042,2854,554,2697,0,0,0,0,0,0
$GC,6016,0.76,166.0,830.7,20.5,208,6022,0.00,2.17,0.00,0.000,6,0.000,0.038,2854,1963,2694,0,0,0,0,0,0
$GC,6266,0.76,166.0,779.9,20.1,215,6270,0.00,2.15,0.00,0.000,4,0.000,0.043,2865,554,2694,0,0,0,0,0,0
$GC,6281,0.76,166.0,776.5,20.2,215,6285,0.00,2.15,0.00,0.000,6,0.000,0.039,2865,1962,2692,0,0,0,0,0,0
$GC,6549,0.76,166.0,720.4,21.2,222,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1963,2692,0,0,0,0,0,0
$GC,6793,0.76,166.0,669.3,20.8,228,6797,0.00,2.22,0.00,0.000,4,0.000,0.054,2865,3370,2690,0,0,0,0,0,0
$GC,6843,0.76,166.0,657.6,22.7,229,6848,0.15,2.15,0.00,0.000,6,0.206,0.035,2841,1952,2690,0,0,0,0,0,0
$GC,7120,0.76,166.0,603.3,19.2,236,7124,0.00,2.12,0.00,0.000,4,0.000,0.042,2850,550,2689,0,0,0,0,0,0
$GC,7162,0.76,166.0,595.5,19.3,237,7166,0.00,2.12,0.00,0.000,6,0.000,0.038,2848,1959,2685,0,0,0,0,0,0
$GC,7445,0.76,166.0,542.2,18.8,244,7449,0.00,2.22,0.00,0.000,4,0.000,0.055,2848,3370,2687,0,0,0,0,0,0
$GC,7530,0.76,166.0,525.7,19.9,246,7534,0.00,2.15,0.00,0.000,6,0.000,0.034,2858,1954,2688,0,0,0,0,0,0
$GC,7814,0.76,166.0,473.7,17.9,253,7818,0.00,2.10,0.00,0.000,4,0.000,0.041,2869,550,2687,0,0,0,0,0,0
$GC,7835,0.76,166.0,469.4,18.2,253,7839,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1968,2687,0,0,0,0,0,0
$GC,8097,0.76,166.0,420.7,19.1,260,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1971,2685,0,0,0,0,0,0
$GC,8342,0.76,166.0,381.2,16.0,266,8346,0.00,2.12,0.00,0.000,4,0.000,0.042,2880,554,2685,0,0,0,0,0,0
$GC,8381,0.76,166.0,374.0,19.0,267,8386,0.15,2.15,0.00,0.000,6,0.202,0.038,2844,1967,2684,0,0,0,0,0,0
$GC,8664,0.76,166.0,333.1,13.7,274,8668,0.00,2.17,0.00,0.000,4,0.000,0.054,2844,3361,2684,0,0,0,0,0,0
$GC,8771,0.76,166.0,319.6,13.1,276,8775,0.00,2.12,0.00,0.000,6,0.000,0.035,2853,1950,2685,0,0,0,0,0,0
$GC,9033,0.76,166.0,282.2,15.6,285,9037,0.00,2.08,0.00,0.000,4,0.000,0.041,2864,555,2684,0,0,0,0,0,0
$GC,9051,0.76,166.0,279.7,14.6,286,9055,0.00,2.10,0.00,0.000,6,0.000,0.036,2864,1961,2682,0,0,0,0,0,0
$GC,9316,0.76,166.0,242.4,13.5,299,9320,0.00,2.12,0.00,0.000,4,0.000,0.043,2874,553,2683,0,0,0,0,0,0
$GC,9490,0.76,166.0,219.6,11.9,307,9495,0.12,2.12,0.00,0.000,6,0.196,0.038,2846,1965,2681,0,0,0,0,0,0
$GC,9749,0.76,166.0,190.9,11.6,323,9753,0.00,2.20,0.00,0.000,4,0.000,0.053,2846,3371,2681,0,0,0,0,0,0
$GC,9822,0.76,166.0,181.4,13.7,329,9826,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1955,2682,0,0,0,0,0,0
$GC,10088,0.76,166.0,151.4,11.0,353,10092,0.00,2.22,0.00,0.000,4,0.000,0.051,2855,3367,2683,0,0,0,0,0,0
$GC,10251,0.76,166.0,134.4,11.0,367,10255,0.00,2.10,0.00,0.000,6,0.000,0.031,2866,1948,2683,0,0,0,0,0,0
$GC,10517,0.76,166.0,110.1,9.1,391,10520,0.00,2.08,0.00,0.000,4,0.000,0.041,2876,557,2681,0,0,0,0,0,0
$GC,10729,0.94,305.4,98.2,3.7,410,10845,0.00,2.12,106.90,0.536,6,0.000,0.035,2877,1960,2134,0,0,0,0,0,0
$GC,11099,0.94,305.4,52.3,14.2,444,11103,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3370,2129,0,0,0,0,0,0
$GC,11219,0.94,305.4,34.2,14.3,454,11227,0.00,2.17,0.00,0.000,6,0.000,0.034,2887,1970,2131,0,0,0,0,0,0
$STATE,11418,end climb,SURFACE_DEPTH_REACHED
$STATE,11418,begin surface coast
$FINISH,0.2,1.022975
$STATE,11435,end surface coast,CONTROL_FINISHED_OK
$STATE,11435,begin surface
$SM_CCo,11455,240.40,0.442,0,0,394,732.45
$SM_GC,0.98,0.00,0.00,240.40,0.000,0.000,0.442,45,1967,394,-7.95,-0.68,732.45
$IRIDIUM_FIX,1941.24,-15656.20,260113,050536
$TT8_MAMPS,0.060593
$HUMID,1078777410
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.50
$XPDR_PINGS,38
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6339919872
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49307484160
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,26.559
$10V_AH,10.1,25.071
$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,19.375,107.500,362.325,240.400,0.000,142.907,203.001,821.034,9.500,0.000,30.772,1071.425,8391.244,651.728,2708.354,547.970,33.350,1355.321,0.000,1648.592,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,55.224,1114.451,441.792,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,335.476,0.000,797.547,0.000,0.000,0.000,0.000,28723.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,10.852,0.000,0.000
$MEM,353796
$DATA_FILE_SIZE,23593,491
$CAP_FILE_SIZE,122164,0
$CFSIZE,260165632,191741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,298.3,1
$GPS,030811,142336,1950.508,-15655.896,37,0.8,37,9.7