version: 66.07
glider: 513
mission: 7
dive: 193
start: 8 3 111 18 21 57
data:
$ID,513
$MISSION,7
$DIVE,193
$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,-425400.34
$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,46
$R_STBD_OVSHOOT,39
$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,192
$AR_SAMPLENUM,2
$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
$GPS1,030811,175226,1951.204,-15655.701,24,1.7,24,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.7
$GPS2,030811,182101,1951.419,-15656.438,53,2.4,374,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.203,0.162
$KALMAN_X,-134172.2,1454.7,813.6,101878.5,-14401.1
$KALMAN_Y,126292.7,56.2,229.9,-120721.9,-4639.9
$MHEAD_RNG_PITCHd_Wd,81.7,63383,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.76,-166.0,0.0,0.0,0,75,0.00,0.00,-44.62,0.000,2,0.000,0.000,35,1960,3708,0,0,0,0,0,0
$GC,78,-0.76,-166.0,4.0,-7.3,7,100,9.48,2.12,-4.20,0.000,4,0.242,0.055,2346,585,3962,0,0,0,0,0,0
$GC,110,-0.76,-166.0,20.1,-43.3,11,118,0.00,2.17,0.00,0.000,6,0.000,0.043,2341,1991,3965,0,0,0,0,0,0
$GC,375,-0.76,-166.0,125.0,-35.4,37,379,0.00,2.15,0.00,0.000,4,0.000,0.048,2330,3397,3965,0,0,0,0,0,0
$GC,417,-0.76,-166.0,137.1,-28.6,40,421,0.00,2.10,0.00,0.000,6,0.000,0.031,2330,1985,3964,0,0,0,0,0,0
$GC,687,-0.76,-166.0,213.1,-25.7,63,691,0.00,2.20,0.00,0.000,4,0.000,0.052,2319,3403,3965,0,0,0,0,0,0
$GC,715,-0.76,-166.0,220.6,-25.4,64,719,0.10,2.12,0.00,0.000,6,0.183,0.033,2344,1988,3966,0,0,0,0,0,0
$GC,980,-0.76,-166.0,269.7,-15.7,77,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1982,3967,0,0,0,0,0,0
$GC,1246,-0.76,-166.0,317.6,-18.6,88,1250,0.00,2.17,0.00,0.000,4,0.000,0.051,2335,3394,3966,0,0,0,0,0,0
$GC,1285,-0.76,-166.0,324.4,-17.5,89,1289,0.00,2.08,0.00,0.000,6,0.000,0.032,2335,1995,3967,0,0,0,0,0,0
$GC,1570,-0.76,-166.0,381.0,-20.2,96,1574,0.00,2.17,0.00,0.000,4,0.000,0.054,2325,3396,3968,0,0,0,0,0,0
$GC,1597,-0.76,-166.0,386.8,-20.2,96,1601,0.00,2.12,0.00,0.000,6,0.000,0.032,2325,1993,3969,0,0,0,0,0,0
$GC,1853,-0.76,-166.0,434.7,-18.6,103,1857,0.00,2.12,0.00,0.000,4,0.000,0.046,2324,587,3966,0,0,0,0,0,0
$GC,1881,-0.76,-166.0,439.7,-17.3,103,1886,0.12,2.15,0.00,0.000,6,0.167,0.046,2346,1990,3967,0,0,0,0,0,0
$GC,2131,-0.76,-166.0,476.0,-14.4,109,2134,0.00,2.17,0.00,0.000,4,0.000,0.052,2337,3397,3964,0,0,0,0,0,0
$GC,2182,-0.76,-166.0,483.1,-13.5,110,2186,0.00,2.10,0.00,0.000,6,0.000,0.032,2337,1981,3964,0,0,0,0,0,0
$GC,2461,-0.76,-166.0,522.2,-13.9,117,2465,0.00,2.20,0.00,0.000,4,0.000,0.051,2326,3402,3961,0,0,0,0,0,0
$GC,2521,-0.76,-166.0,530.9,-14.3,118,2525,0.00,2.10,0.00,0.000,6,0.000,0.034,2327,1984,3960,0,0,0,0,0,0
$GC,2790,-0.76,-166.0,568.9,-14.6,125,2794,0.00,2.22,0.00,0.000,4,0.000,0.053,2316,3402,3956,0,0,0,0,0,0
$GC,2852,-0.76,-166.0,578.2,-14.7,126,2856,0.12,2.10,0.00,0.000,6,0.165,0.035,2347,1995,3955,0,0,0,0,0,0
$GC,3112,-0.76,-166.0,612.9,-13.5,133,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1988,3954,0,0,0,0,0,0
$GC,3356,-0.76,-166.0,644.5,-13.0,139,3360,0.00,2.20,0.00,0.000,4,0.000,0.054,2339,3402,3950,0,0,0,0,0,0
$GC,3384,-0.76,-166.0,648.2,-13.5,139,3387,0.00,2.12,0.00,0.000,6,0.000,0.035,2339,1989,3950,0,0,0,0,0,0
$GC,3640,-0.76,-166.0,681.9,-13.2,146,3644,0.00,2.20,0.00,0.000,4,0.000,0.053,2328,3397,3948,0,0,0,0,0,0
$GC,3668,-0.76,-166.0,686.0,-14.4,146,3672,0.00,2.10,0.00,0.000,6,0.000,0.034,2328,1987,3947,0,0,0,0,0,0
$GC,3929,-0.76,-166.0,721.8,-13.8,153,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1981,3946,0,0,0,0,0,0
$GC,4174,-0.76,-166.0,753.9,-13.1,159,4178,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3396,3942,0,0,0,0,0,0
$GC,4246,-0.76,-166.0,763.9,-12.8,160,4250,0.12,2.10,0.00,0.000,6,0.169,0.034,2349,1998,3942,0,0,0,0,0,0
$GC,4501,-0.76,-166.0,794.1,-11.8,167,4505,0.00,2.22,0.00,0.000,4,0.000,0.056,2340,3397,3940,0,0,0,0,0,0
$GC,4524,-0.76,-166.0,797.0,-12.2,167,4528,0.00,2.12,0.00,0.000,6,0.000,0.035,2340,1980,3940,0,0,0,0,0,0
$GC,4779,-0.76,-166.0,830.2,-13.3,174,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1974,3937,0,0,0,0,0,0
$GC,5022,-0.76,-166.0,863.1,-13.6,180,5026,0.00,2.22,0.00,0.000,4,0.000,0.053,2329,3405,3936,0,0,0,0,0,0
$GC,5095,-0.76,-166.0,873.3,-14.0,181,5099,0.00,2.12,0.00,0.000,6,0.000,0.035,2329,1994,3933,0,0,0,0,0,0
$STATE,5308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5308,begin apogee
$GC,5315,-0.28,0.0,903.5,14.3,187,5430,0.57,0.00,112.45,1.116,6,0.151,0.000,2500,1987,3382,0,0,0,0,0,0
$STATE,5433,end apogee,CONTROL_FINISHED_OK
$STATE,5433,begin climb
$GC,5435,0.76,166.0,909.3,0.0,190,5588,1.00,2.40,142.60,1.073,4,0.091,0.040,2849,547,2704,0,0,0,0,0,0
$GC,5610,0.76,166.0,891.4,17.9,194,5614,0.00,2.25,0.00,0.000,6,0.000,0.036,2847,1965,2700,0,0,0,0,0,0
$GC,5882,0.76,166.0,837.5,19.8,201,5887,0.00,2.28,0.00,0.000,4,0.000,0.054,2848,3372,2696,0,0,0,0,0,0
$GC,5911,0.76,166.0,831.6,21.5,201,5915,0.00,2.17,0.00,0.000,6,0.000,0.031,2863,1956,2697,0,0,0,0,0,0
$GC,6161,0.76,166.0,778.6,21.6,207,6165,0.00,2.12,0.00,0.000,4,0.000,0.039,2869,548,2695,0,0,0,0,0,0
$GC,6233,0.76,166.0,762.8,20.4,208,6238,0.00,2.15,0.00,0.000,6,0.000,0.036,2861,1966,2691,0,0,0,0,0,0
$GC,6484,0.76,166.0,710.9,20.9,214,6488,0.00,2.20,0.00,0.000,4,0.000,0.052,2851,3364,2691,0,0,0,0,0,0
$GC,6506,0.76,166.0,705.8,21.0,214,6510,0.00,2.12,0.00,0.000,6,0.000,0.032,2859,1955,2691,0,0,0,0,0,0
$GC,6767,0.76,166.0,654.1,20.0,221,6771,0.00,2.10,0.00,0.000,4,0.000,0.040,2870,557,2689,0,0,0,0,0,0
$GC,6800,0.76,166.0,647.2,19.9,221,6804,0.00,2.12,0.00,0.000,6,0.000,0.035,2862,1960,2687,0,0,0,0,0,0
$GC,7050,0.76,166.0,599.1,18.9,227,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1962,2687,0,0,0,0,0,0
$GC,7294,0.76,166.0,553.4,18.5,233,7298,0.00,2.20,0.00,0.000,4,0.000,0.052,2851,3369,2687,0,0,0,0,0,0
$GC,7400,0.76,166.0,532.4,19.2,235,7404,0.00,2.12,0.00,0.000,6,0.000,0.034,2860,1958,2687,0,0,0,0,0,0
$GC,7667,0.76,166.0,483.8,18.3,242,7672,0.00,2.22,0.00,0.000,4,0.000,0.050,2852,3370,2686,0,0,0,0,0,0
$GC,7717,0.76,166.0,473.0,22.4,243,7721,0.00,2.12,0.00,0.000,6,0.000,0.031,2861,1953,2686,0,0,0,0,0,0
$GC,7995,0.76,166.0,417.7,19.9,250,7999,0.00,2.22,0.00,0.000,4,0.000,0.049,2855,3373,2686,0,0,0,0,0,0
$GC,8052,0.76,166.0,407.1,18.6,251,8056,0.00,2.12,0.00,0.000,6,0.000,0.030,2865,1957,2686,0,0,0,0,0,0
$GC,8324,0.76,166.0,362.1,16.1,258,8328,0.00,2.08,0.00,0.000,4,0.000,0.039,2876,556,2687,0,0,0,0,0,0
$GC,8340,0.76,166.0,359.4,16.1,258,8344,0.12,2.12,0.00,0.000,6,0.201,0.034,2848,1970,2683,0,0,0,0,0,0
$GC,8607,0.76,166.0,320.3,14.8,265,8611,0.00,2.12,0.00,0.000,4,0.000,0.038,2857,557,2684,0,0,0,0,0,0
$GC,8652,0.76,166.0,313.5,15.2,266,8656,0.00,2.10,0.00,0.000,6,0.000,0.033,2857,1968,2682,0,0,0,0,0,0
$GC,8923,0.76,166.0,274.3,14.3,276,8927,0.00,2.17,0.00,0.000,4,0.000,0.050,2856,3361,2682,0,0,0,0,0,0
$GC,9146,0.76,166.0,238.9,15.2,286,9150,0.00,2.10,0.00,0.000,6,0.000,0.031,2868,1948,2685,0,0,0,0,0,0
$GC,9413,0.76,166.0,204.3,12.8,299,9416,0.00,2.05,0.00,0.000,4,0.000,0.038,2878,564,2682,0,0,0,0,0,0
$GC,9505,0.76,166.0,193.3,11.3,305,9509,0.12,2.08,0.00,0.000,6,0.193,0.033,2849,1965,2681,0,0,0,0,0,0
$GC,9767,0.76,166.0,166.6,9.9,329,9771,0.00,2.15,0.00,0.000,4,0.000,0.049,2850,3358,2681,0,0,0,0,0,0
$GC,9975,0.76,166.0,141.6,10.8,347,9979,0.00,2.08,0.00,0.000,6,0.000,0.031,2858,1953,2683,0,0,0,0,0,0
$GC,10244,0.83,219.0,117.9,6.7,371,10292,0.00,2.25,39.95,0.558,4,0.000,0.047,2858,3360,2488,0,0,0,0,0,0
$GC,10317,0.83,219.0,111.4,10.1,377,10321,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1960,2487,0,0,0,0,0,0
$GC,10583,0.90,275.9,86.8,6.6,401,10634,0.00,2.12,46.12,0.521,4,0.000,0.038,2880,560,2255,0,0,0,0,0,0
$GC,10801,0.90,275.9,64.1,12.1,420,10805,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,1966,2249,0,0,0,0,0,0
$GC,11066,0.90,275.9,28.1,13.9,445,11074,0.00,2.20,0.00,0.000,4,0.000,0.047,2880,3361,2249,0,0,0,0,0,0
$GC,11130,0.90,275.9,18.0,14.9,456,11138,0.00,2.15,0.00,0.000,6,0.000,0.030,2891,1955,2249,0,0,0,0,0,0
$STATE,11227,end climb,SURFACE_DEPTH_REACHED
$STATE,11227,begin surface coast
$FINISH,0.1,1.022889
$STATE,11248,end surface coast,CONTROL_FINISHED_OK
$STATE,11248,begin surface
$SM_CCo,11267,258.58,0.443,0,0,392,732.45
$SM_GC,1.07,0.00,0.00,258.58,0.000,0.000,0.443,46,1951,392,-7.96,-1.10,732.45
$IRIDIUM_FIX,1945.83,-15657.42,260113,121207
$TT8_MAMPS,0.060593
$HUMID,1078767087
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.70
$XPDR_PINGS,39
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6339854336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49153409024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,26.859
$10V_AH,10.1,25.329
$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,19.200,129.200,341.125,258.575,0.000,139.643,240.118,474.645,9.750,0.000,376.772,1073.120,8235.271,627.048,2905.567,405.338,33.353,1386.549,0.000,1662.601,0.000,0.541,0.000
$DEVICE_MAMPS,242.372,55.991,1115.985,443.326,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,326.026,0.000,781.154,0.000,0.000,0.000,0.000,27332.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,10.049,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,23577,477
$CAP_FILE_SIZE,123219,0
$CFSIZE,260165632,191610880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,313.5,1
$GPS,030811,213537,1952.213,-15655.874,38,1.0,38,9.7