version: 66.07
glider: 513
mission: 7
dive: 197
start: 8 4 111 9 28 46
data:
$ID,513
$MISSION,7
$DIVE,197
$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,-425488.47
$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,41
$R_STBD_OVSHOOT,38
$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,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
$GPS1,040811,085337,1954.167,-15655.846,69,2.0,69,9.7
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.4
$GPS2,040811,092750,1954.445,-15656.526,19,1.6,19,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.219,0.141
$KALMAN_X,-149231.0,1057.1,872.3,117128.5,-15259.6
$KALMAN_Y,127736.8,1387.1,789.5,-118487.8,-1595.3
$MHEAD_RNG_PITCHd_Wd,85.7,59778,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.76,-166.0,0.0,0.0,0,89,0.00,0.00,-57.72,0.000,2,0.000,0.000,34,1973,3806,0,0,0,0,0,0
$GC,92,-0.76,-166.0,4.2,-6.7,9,114,9.62,2.28,-2.53,0.000,4,0.244,0.069,2329,3384,3962,0,0,0,0,0,0
$GC,124,-0.76,-166.0,21.7,-47.1,13,132,0.00,2.17,0.00,0.000,6,0.000,0.038,2338,1997,3965,0,0,0,0,0,0
$GC,395,-0.76,-166.0,126.8,-34.2,39,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1990,3965,0,0,0,0,0,0
$GC,650,-0.76,-166.0,195.8,-24.5,63,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1990,3966,0,0,0,0,0,0
$GC,915,-0.76,-166.0,257.2,-22.5,77,919,0.00,2.12,0.00,0.000,4,0.000,0.041,2337,576,3967,0,0,0,0,0,0
$GC,932,-0.76,-166.0,261.2,-22.3,78,936,0.00,2.12,0.00,0.000,6,0.000,0.044,2328,1985,3967,0,0,0,0,0,0
$GC,1216,-0.76,-166.0,320.3,-21.0,90,1220,0.00,2.17,0.00,0.000,4,0.000,0.052,2317,3405,3968,0,0,0,0,0,0
$GC,1356,-0.76,-166.0,346.7,-18.6,93,1361,0.12,2.12,0.00,0.000,6,0.162,0.034,2349,1971,3968,0,0,0,0,0,0
$GC,1629,-0.76,-166.0,389.2,-15.5,100,1633,0.00,2.05,0.00,0.000,4,0.000,0.041,2354,589,3967,0,0,0,0,0,0
$GC,1678,-0.76,-166.0,396.5,-13.8,101,1682,0.00,2.15,0.00,0.000,6,0.000,0.045,2346,1985,3967,0,0,0,0,0,0
$GC,1956,-0.76,-166.0,435.6,-14.1,108,1960,0.00,2.17,0.00,0.000,4,0.000,0.053,2335,3399,3966,0,0,0,0,0,0
$GC,1979,-0.76,-166.0,438.9,-14.5,108,1983,0.00,2.10,0.00,0.000,6,0.000,0.033,2336,1984,3965,0,0,0,0,0,0
$GC,2234,-0.76,-166.0,479.0,-16.1,115,2238,0.00,2.22,0.00,0.000,4,0.000,0.058,2324,3400,3962,0,0,0,0,0,0
$GC,2356,-0.76,-166.0,498.3,-15.1,117,2360,0.00,2.10,0.00,0.000,6,0.000,0.035,2324,1987,3961,0,0,0,0,0,0
$GC,2613,-0.76,-166.0,540.4,-16.8,124,2617,0.00,2.22,0.00,0.000,4,0.000,0.059,2309,3401,3958,0,0,0,0,0,0
$GC,2679,-0.76,-166.0,551.7,-16.1,125,2683,0.12,2.12,0.00,0.000,6,0.163,0.037,2345,1983,3958,0,0,0,0,0,0
$GC,2945,-0.76,-166.0,590.6,-14.4,132,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1978,3954,0,0,0,0,0,0
$GC,3190,-0.76,-166.0,624.8,-13.7,138,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1978,3952,0,0,0,0,0,0
$GC,3432,-0.76,-166.0,657.7,-13.7,144,3436,0.00,2.25,0.00,0.000,4,0.000,0.059,2336,3406,3946,0,0,0,0,0,0
$GC,3465,-0.76,-166.0,662.3,-13.8,144,3469,0.00,2.15,0.00,0.000,6,0.000,0.037,2336,1995,3949,0,0,0,0,0,0
$GC,3721,-0.76,-166.0,695.8,-13.1,151,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1989,3946,0,0,0,0,0,0
$GC,3966,-0.76,-166.0,726.6,-12.5,157,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1989,3946,0,0,0,0,0,0
$GC,4208,-0.76,-166.0,756.3,-12.0,163,4212,0.00,2.22,0.00,0.000,4,0.000,0.057,2326,3414,3942,0,0,0,0,0,0
$GC,4236,-0.76,-166.0,759.7,-12.9,163,4240,0.00,2.17,0.00,0.000,6,0.000,0.035,2325,1997,3941,0,0,0,0,0,0
$GC,4491,-0.76,-166.0,792.0,-12.6,170,4495,0.00,2.20,0.00,0.000,4,0.000,0.054,2314,3404,3939,0,0,0,0,0,0
$GC,4553,-0.76,-166.0,799.7,-12.2,171,4557,0.12,2.15,0.00,0.000,6,0.170,0.035,2346,1974,3938,0,0,0,0,0,0
$GC,4819,-0.76,-166.0,827.5,-10.3,178,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1969,3936,0,0,0,0,0,0
$GC,5062,-0.76,-166.0,853.5,-10.8,184,5066,0.00,2.22,0.00,0.000,4,0.000,0.055,2336,3398,3937,0,0,0,0,0,0
$GC,5113,-0.76,-166.0,859.2,-11.6,185,5117,0.00,2.10,0.00,0.000,6,0.000,0.035,2337,1995,3934,0,0,0,0,0,0
$GC,5387,-0.76,-166.0,889.4,-11.0,192,5391,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3400,3932,0,0,0,0,0,0
$GC,5430,-0.76,-166.0,894.6,-11.4,193,5434,0.00,2.12,0.00,0.000,6,0.000,0.035,2326,1986,3931,0,0,0,0,0,0
$STATE,5508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5508,begin apogee
$GC,5515,-0.28,0.0,903.5,11.5,195,5631,0.60,0.00,111.78,1.109,6,0.149,0.000,2506,1980,3383,0,0,0,0,0,0
$STATE,5654,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5656,0.76,166.0,905.8,0.0,198,5803,0.98,0.00,141.73,1.072,6,0.091,0.000,2838,1980,2705,0,0,0,0,0,0
$GC,6059,0.76,166.0,834.5,21.3,208,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1979,2696,0,0,0,0,0,0
$GC,6303,0.76,166.0,783.8,20.8,214,6307,0.00,2.20,0.00,0.000,4,0.000,0.042,2850,555,2694,0,0,0,0,0,0
$GC,6348,0.76,166.0,774.4,20.5,215,6352,0.00,2.17,0.00,0.000,6,0.000,0.038,2850,1971,2691,0,0,0,0,0,0
$GC,6625,0.76,166.0,717.0,20.8,222,6629,0.00,2.20,0.00,0.000,4,0.000,0.057,2848,3368,2691,0,0,0,0,0,0
$GC,6714,0.76,166.0,698.3,20.6,224,6718,0.00,2.15,0.00,0.000,6,0.000,0.034,2857,1945,2691,0,0,0,0,0,0
$GC,6998,0.76,166.0,641.6,20.0,231,7002,0.00,2.12,0.00,0.000,4,0.000,0.041,2868,541,2690,0,0,0,0,0,0
$GC,7047,0.76,166.0,631.3,19.7,232,7051,0.00,2.15,0.00,0.000,6,0.000,0.038,2868,1964,2688,0,0,0,0,0,0
$GC,7325,0.76,166.0,575.3,19.8,239,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1966,2688,0,0,0,0,0,0
$GC,7571,0.76,166.0,528.5,19.0,245,7575,0.00,2.22,0.00,0.000,4,0.000,0.053,2868,3371,2687,0,0,0,0,0,0
$GC,7598,0.76,166.0,522.7,19.6,245,7603,0.08,2.17,0.00,0.000,6,0.190,0.033,2853,1954,2687,0,0,0,0,0,0
$GC,7853,0.76,166.0,479.3,16.5,252,7857,0.00,2.12,0.00,0.000,4,0.000,0.041,2858,552,2687,0,0,0,0,0,0
$GC,7894,0.76,166.0,472.9,16.7,253,7898,0.00,2.12,0.00,0.000,6,0.000,0.036,2857,1965,2684,0,0,0,0,0,0
$GC,8178,0.76,166.0,423.2,17.9,260,8182,0.00,2.20,0.00,0.000,4,0.000,0.054,2848,3366,2686,0,0,0,0,0,0
$GC,8368,0.76,166.0,388.4,18.2,264,8372,0.00,2.10,0.00,0.000,6,0.000,0.031,2857,1957,2685,0,0,0,0,0,0
$GC,8641,0.76,166.0,347.8,15.1,271,8645,0.00,2.10,0.00,0.000,4,0.000,0.041,2868,553,2684,0,0,0,0,0,0
$GC,8681,0.76,166.0,341.9,14.7,272,8685,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,1962,2682,0,0,0,0,0,0
$GC,8964,0.76,166.0,300.2,14.3,279,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1965,2683,0,0,0,0,0,0
$GC,9212,0.76,166.0,264.7,14.1,290,9216,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3367,2682,0,0,0,0,0,0
$GC,9301,0.76,166.0,252.3,15.1,294,9306,0.12,2.10,0.00,0.000,6,0.199,0.031,2850,1957,2683,0,0,0,0,0,0
$GC,9561,0.76,166.0,222.1,11.5,307,9565,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,564,2683,0,0,0,0,0,0
$GC,9629,0.76,166.0,213.9,12.5,310,9633,0.00,2.10,0.00,0.000,6,0.000,0.037,2859,1958,2681,0,0,0,0,0,0
$GC,9894,0.76,166.0,183.5,10.1,329,9898,0.00,2.17,0.00,0.000,4,0.000,0.051,2859,3374,2681,0,0,0,0,0,0
$GC,9949,0.76,166.0,176.9,13.0,333,9956,0.00,2.12,0.00,0.000,6,0.000,0.030,2869,1966,2682,0,0,0,0,0,0
$GC,10215,0.76,166.0,143.3,11.5,358,10219,0.00,2.08,0.00,0.000,4,0.000,0.038,2880,564,2682,0,0,0,0,0,0
$GC,10392,0.76,166.0,124.5,8.8,373,10401,0.10,2.12,0.00,0.000,6,0.169,0.036,2851,1962,2683,0,0,0,0,0,0
$GC,10655,0.95,316.4,112.9,3.3,398,10781,0.15,2.28,116.03,0.548,4,0.084,0.040,2924,559,2090,0,0,0,0,0,0
$GC,10985,0.95,316.4,63.4,19.8,426,10992,0.00,2.17,0.00,0.000,6,0.000,0.034,2924,1962,2083,0,0,0,0,0,0
$GC,11250,0.95,316.4,11.9,19.4,460,11259,0.00,2.20,0.00,0.000,4,0.000,0.047,2923,3361,2083,0,0,0,0,0,0
$STATE,11291,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,0.7,1.022961
$STATE,11304,end surface coast,CONTROL_FINISHED_OK
$STATE,11304,begin surface
$SM_CCo,11326,231.98,0.444,0,0,395,732.70
$SM_GC,0.93,0.00,0.00,231.98,0.000,0.000,0.444,45,1990,395,-7.95,0.00,732.70
$IRIDIUM_FIX,1945.83,-15655.31,270113,030312
$TT8_MAMPS,0.060593
$HUMID,1078836764
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.00
$XPDR_PINGS,40
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6339723264
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48845258752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,27.625
$10V_AH,10.2,25.831
$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,19.775,107.900,369.525,231.975,0.000,140.712,196.198,1218.534,10.000,0.000,21.214,1038.906,8329.478,619.475,2891.722,735.459,33.349,1383.683,0.000,1632.795,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,69.030,1109.082,444.093,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,320.153,0.000,715.256,0.000,0.000,0.000,0.000,14569.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,10.607,0.000,0.000
$MEM,354212
$DATA_FILE_SIZE,23559,469
$CAP_FILE_SIZE,126320,0
$CFSIZE,260165632,191307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,293.4,1
$GPS,040811,124301,1954.597,-15655.888,42,1.8,42,9.7