version: 66.07
glider: 513
mission: 7
dive: 196
start: 8 4 111 5 46 46
data:
$ID,513
$MISSION,7
$DIVE,196
$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,-425466.62
$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,37
$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,195
$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
$GPS1,040811,050401,1953.419,-15655.300,49,1.0,49,9.7
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,040811,054550,1953.615,-15656.330,9,1.1,15,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.246,-0.085
$KALMAN_X,-144303.9,1315.0,387.1,112776.7,-13231.4
$KALMAN_Y,123585.2,1096.9,1015.4,-115808.1,-5181.1
$MHEAD_RNG_PITCHd_Wd,77.4,60511,-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,-110.55,0.000,2,0.000,0.000,35,1998,3646,0,0,0,0,0,0
$GC,144,-0.76,-166.0,3.4,-5.0,17,167,9.57,2.17,-5.40,0.000,4,0.243,0.055,2351,580,3961,0,0,0,0,0,0
$GC,196,-0.76,-166.0,28.5,-48.6,25,204,0.00,2.17,0.00,0.000,6,0.000,0.043,2342,1975,3962,0,0,0,0,0,0
$GC,460,-0.76,-166.0,123.2,-27.1,50,464,0.00,2.22,0.00,0.000,4,0.000,0.054,2332,3402,3962,0,0,0,0,0,0
$GC,502,-0.76,-166.0,133.8,-24.4,53,506,0.00,2.10,0.00,0.000,6,0.000,0.034,2334,1994,3962,0,0,0,0,0,0
$GC,766,-0.76,-166.0,202.2,-25.3,77,770,0.00,2.10,0.00,0.000,4,0.000,0.044,2332,586,3963,0,0,0,0,0,0
$GC,810,-0.76,-166.0,214.1,-23.1,79,814,0.00,2.12,0.00,0.000,6,0.000,0.044,2323,1990,3962,0,0,0,0,0,0
$GC,1076,-0.76,-166.0,273.1,-20.9,92,1079,0.00,2.17,0.00,0.000,4,0.000,0.056,2312,3402,3963,0,0,0,0,0,0
$GC,1149,-0.76,-166.0,287.2,-18.7,95,1154,0.12,2.10,0.00,0.000,6,0.170,0.032,2344,1981,3963,0,0,0,0,0,0
$GC,1400,-0.76,-166.0,334.3,-19.0,103,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1975,3963,0,0,0,0,0,0
$GC,1643,-0.76,-166.0,377.0,-17.2,109,1647,0.00,2.22,0.00,0.000,4,0.000,0.054,2335,3402,3963,0,0,0,0,0,0
$GC,1756,-0.76,-166.0,394.4,-14.3,111,1761,0.00,2.10,-0.03,0.000,6,0.000,0.032,2335,1979,3969,0,0,0,0,0,0
$GC,2016,-0.76,-166.0,434.2,-15.9,118,2020,0.00,2.05,0.00,0.000,4,0.000,0.039,2335,582,3968,0,0,0,0,0,0
$GC,2056,-0.76,-166.0,440.8,-15.4,119,2060,0.00,2.12,0.00,0.000,6,0.000,0.042,2325,1992,3967,0,0,0,0,0,0
$GC,2340,-0.76,-166.0,489.7,-17.8,126,2344,0.00,2.17,0.00,0.000,4,0.000,0.054,2314,3406,3964,0,0,0,0,0,0
$GC,2519,-0.76,-166.0,521.1,-17.4,130,2524,0.12,2.12,0.00,0.000,6,0.166,0.033,2345,1979,3961,0,0,0,0,0,0
$GC,2797,-0.76,-166.0,562.2,-14.8,137,2801,0.00,2.25,0.00,0.000,4,0.000,0.056,2337,3406,3960,0,0,0,0,0,0
$GC,2858,-0.76,-166.0,571.1,-13.7,138,2862,0.00,2.10,0.00,0.000,6,0.000,0.034,2337,1994,3956,0,0,0,0,0,0
$GC,3125,-0.76,-166.0,607.5,-13.4,145,3129,0.00,2.20,0.00,0.000,4,0.000,0.055,2326,3400,3953,0,0,0,0,0,0
$GC,3154,-0.76,-166.0,611.4,-14.4,145,3158,0.00,2.10,0.00,0.000,6,0.000,0.035,2331,1990,3953,0,0,0,0,0,0
$GC,3403,-0.76,-166.0,646.9,-14.4,151,3407,0.00,2.22,0.00,0.000,4,0.000,0.056,2315,3405,3950,0,0,0,0,0,0
$GC,3444,-0.76,-166.0,652.9,-14.5,152,3448,0.12,2.12,0.00,0.000,6,0.173,0.035,2346,1985,3949,0,0,0,0,0,0
$GC,3728,-0.76,-166.0,689.5,-12.9,159,3732,0.00,2.12,0.00,0.000,4,0.000,0.044,2347,578,3947,0,0,0,0,0,0
$GC,3749,-0.76,-166.0,692.7,-13.0,159,3753,0.00,2.15,0.00,0.000,6,0.000,0.044,2339,1990,3946,0,0,0,0,0,0
$GC,4011,-0.76,-166.0,727.7,-13.7,166,4014,0.00,2.22,0.00,0.000,4,0.000,0.057,2327,3401,3943,0,0,0,0,0,0
$GC,4067,-0.76,-166.0,735.9,-14.0,167,4071,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,1985,3943,0,0,0,0,0,0
$GC,4339,-0.76,-166.0,776.3,-15.0,174,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1974,3940,0,0,0,0,0,0
$GC,4584,-0.76,-166.0,813.2,-14.9,180,4588,0.00,2.25,0.00,0.000,4,0.000,0.058,2317,3402,3937,0,0,0,0,0,0
$GC,4662,-0.76,-166.0,825.2,-15.1,181,4668,0.10,2.12,0.00,0.000,6,0.186,0.035,2343,1983,3936,0,0,0,0,0,0
$GC,4913,-0.76,-166.0,858.1,-13.1,188,4917,0.00,2.28,0.00,0.000,4,0.000,0.060,2334,3403,3934,0,0,0,0,0,0
$GC,4990,-0.76,-166.0,868.5,-12.4,189,4996,0.00,2.15,0.00,0.000,6,0.000,0.035,2334,1987,3934,0,0,0,0,0,0
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5246,-0.28,0.0,901.7,13.3,196,5361,0.55,0.00,112.15,1.104,6,0.149,0.000,2499,1980,3380,0,0,0,0,0,0
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5366,0.76,166.0,907.0,0.0,199,5512,1.02,0.00,142.75,1.070,6,0.094,0.000,2840,1980,2705,0,0,0,0,0,0
$GC,5725,0.76,166.0,853.5,19.1,208,5729,0.00,2.20,0.00,0.000,4,0.000,0.041,2851,548,2695,0,0,0,0,0,0
$GC,5747,0.76,166.0,849.1,19.1,208,5751,0.00,2.20,0.00,0.000,6,0.000,0.038,2851,1966,2692,0,0,0,0,0,0
$GC,6002,0.76,166.0,798.8,19.7,215,6006,0.00,2.25,0.00,0.000,4,0.000,0.056,2851,3368,2693,0,0,0,0,0,0
$GC,6074,0.76,166.0,783.4,20.8,216,6078,0.00,2.17,0.00,0.000,6,0.000,0.033,2862,1935,2693,0,0,0,0,0,0
$GC,6330,0.76,166.0,731.3,20.6,223,6334,0.00,2.08,0.00,0.000,4,0.000,0.041,2873,549,2691,0,0,0,0,0,0
$GC,6363,0.76,166.0,723.8,21.1,223,6369,0.00,2.17,0.00,0.000,6,0.000,0.038,2873,1965,2689,0,0,0,0,0,0
$GC,6613,0.76,166.0,671.3,21.0,230,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1970,2688,0,0,0,0,0,0
$GC,6857,0.76,166.0,621.9,20.4,236,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1970,2688,0,0,0,0,0,0
$GC,7101,0.76,166.0,573.3,19.8,242,7105,0.00,2.17,0.00,0.000,4,0.000,0.053,2873,3364,2687,0,0,0,0,0,0
$GC,7128,0.76,166.0,567.4,20.4,242,7133,0.17,2.10,0.00,0.000,6,0.206,0.032,2841,1955,2687,0,0,0,0,0,0
$GC,7378,0.76,166.0,525.7,16.6,248,7382,0.00,2.10,0.00,0.000,4,0.000,0.041,2851,560,2686,0,0,0,0,0,0
$GC,7406,0.76,166.0,521.0,16.4,248,7410,0.00,2.12,0.00,0.000,6,0.000,0.037,2851,1967,2684,0,0,0,0,0,0
$GC,7661,0.76,166.0,478.0,17.3,255,7665,0.00,2.12,0.00,0.000,4,0.000,0.041,2861,556,2684,0,0,0,0,0,0
$GC,7700,0.76,166.0,471.1,17.6,255,7706,0.00,2.12,0.00,0.000,6,0.000,0.038,2861,1965,2681,0,0,0,0,0,0
$GC,7950,0.76,166.0,431.4,16.0,262,7954,0.00,2.17,0.00,0.000,4,0.000,0.054,2852,3364,2683,0,0,0,0,0,0
$GC,8097,0.76,166.0,406.4,17.7,265,8101,0.00,2.10,0.00,0.000,6,0.000,0.032,2862,1958,2685,0,0,0,0,0,0
$GC,8370,0.76,166.0,361.4,16.2,272,8374,0.00,2.08,0.00,0.000,4,0.000,0.040,2872,561,2683,0,0,0,0,0,0
$GC,8414,0.76,166.0,353.7,17.3,273,8418,0.00,2.10,0.00,0.000,6,0.000,0.037,2871,1962,2679,0,0,0,0,0,0
$GC,8699,0.76,166.0,305.4,16.3,280,8703,0.00,2.20,0.00,0.000,4,0.000,0.052,2872,3366,2681,0,0,0,0,0,0
$GC,8905,0.76,166.0,270.5,17.3,288,8910,0.15,2.08,0.00,0.000,6,0.196,0.031,2847,1955,2682,0,0,0,0,0,0
$GC,9165,0.76,166.0,234.1,14.3,301,9169,0.00,2.22,0.00,0.000,4,0.000,0.051,2841,3370,2681,0,0,0,0,0,0
$GC,9187,0.76,166.0,230.9,13.6,302,9191,0.00,2.12,0.00,0.000,6,0.000,0.030,2849,1969,2679,0,0,0,0,0,0
$GC,9452,0.76,166.0,198.1,11.4,315,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1963,2679,0,0,0,0,0,0
$GC,9708,0.76,166.0,173.3,9.3,339,9712,0.00,2.10,0.00,0.000,4,0.000,0.038,2860,561,2679,0,0,0,0,0,0
$GC,9792,0.76,166.0,164.5,11.3,346,9796,0.00,2.10,0.00,0.000,6,0.000,0.035,2860,1964,2678,0,0,0,0,0,0
$GC,10060,0.76,166.0,136.2,11.9,370,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1964,2678,0,0,0,0,0,0
$GC,10323,0.94,309.6,118.3,3.6,395,10445,0.10,2.28,110.05,0.556,4,0.111,0.048,2905,3354,2117,0,0,0,0,0,0
$GC,10483,0.94,309.6,98.5,18.5,408,10491,0.00,2.17,0.00,0.000,6,0.000,0.033,2916,1968,2115,0,0,0,0,0,0
$GC,10749,0.94,309.6,48.3,20.5,433,10753,0.00,2.15,0.00,0.000,4,0.000,0.038,2927,553,2112,0,0,0,0,0,0
$GC,10812,0.94,309.6,35.8,17.8,438,10816,0.00,2.12,0.00,0.000,6,0.000,0.032,2927,1968,2110,0,0,0,0,0,0
$STATE,10993,end climb,SURFACE_DEPTH_REACHED
$STATE,10993,begin surface coast
$FINISH,0.2,1.022958
$STATE,11011,end surface coast,CONTROL_FINISHED_OK
$STATE,11011,begin surface
$SM_CCo,11090,0.00,0.000,0,0,2111,312.02
$SM_GC,0.93,7.57,0.00,0.00,0.045,0.000,0.000,56,1975,2111,-7.88,-0.42,312.02
$IRIDIUM_FIX,1945.83,-15657.42,260113,232316
$TT8_MAMPS,0.146497
$HUMID,1079010734
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.00
$XPDR_PINGS,18
$AR_DIVENUM,196
$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
$24V_AH,24.2,27.410
$10V_AH,10.2,25.695
$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,19.625,116.225,364.950,0.000,0.000,113.508,146.565,1822.024,4.500,0.000,17.726,1027.857,8017.108,459.721,3353.320,741.286,33.356,1199.788,0.000,1617.459,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,59.826,1104.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,321.107,0.000,771.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,23607,472
$CAP_FILE_SIZE,137754,0
$CFSIZE,260165632,191406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,301.9,1
$GPS,040811,085337,1954.167,-15655.846,69,2.0,69,9.7