version: 66.07
glider: 513
mission: 7
dive: 198
start: 8 4 111 13 13 42
data:
$ID,513
$MISSION,7
$DIVE,198
$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,-425506.16
$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,42
$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,197
$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
$GPS1,040811,124301,1954.597,-15655.888,42,1.8,42,9.7
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.2
$GPS2,040811,131244,1954.682,-15656.362,15,1.8,15,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.222,0.136
$KALMAN_X,-152823.4,1166.2,1219.9,120533.4,-15429.8
$KALMAN_Y,127503.6,685.2,-849.4,-115429.5,89.0
$MHEAD_RNG_PITCHd_Wd,71.3,59280,-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,25,begin dive
$GC,28,-0.76,-166.0,0.0,0.0,0,140,0.00,0.00,-109.57,0.000,2,0.000,0.000,36,1994,3635,0,0,0,0,0,0
$GC,144,-0.76,-166.0,3.4,-5.6,17,166,9.48,2.17,-5.72,0.000,4,0.240,0.054,2351,576,3966,0,0,0,0,0,0
$GC,195,-0.76,-166.0,27.3,-45.7,25,203,0.00,2.20,0.00,0.000,6,0.000,0.047,2342,1982,3964,0,0,0,0,0,0
$GC,460,-0.76,-166.0,123.7,-33.0,50,464,0.00,2.20,0.00,0.000,4,0.000,0.054,2328,3404,3964,0,0,0,0,0,0
$GC,545,-0.76,-166.0,147.3,-24.5,57,549,0.00,2.15,0.00,0.000,6,0.000,0.032,2337,1973,3964,0,0,0,0,0,0
$GC,806,-0.76,-166.0,215.5,-24.5,78,810,0.00,2.08,0.00,0.000,4,0.000,0.041,2332,593,3963,0,0,0,0,0,0
$GC,834,-0.76,-166.0,222.9,-23.6,79,838,0.00,2.15,0.00,0.000,6,0.000,0.043,2321,1987,3965,0,0,0,0,0,0
$GC,1093,-0.76,-166.0,280.2,-20.9,92,1097,0.00,2.15,0.00,0.000,4,0.000,0.049,2308,3399,3965,0,0,0,0,0,0
$GC,1194,-0.76,-166.0,300.1,-18.4,96,1200,0.15,2.10,0.00,0.000,6,0.160,0.033,2349,1994,3965,0,0,0,0,0,0
$GC,1443,-0.76,-166.0,341.2,-16.7,103,1447,0.00,2.17,0.00,0.000,4,0.000,0.051,2341,3404,3963,0,0,0,0,0,0
$GC,1487,-0.76,-166.0,348.1,-15.5,104,1491,0.00,2.12,0.00,0.000,6,0.000,0.032,2341,1975,3965,0,0,0,0,0,0
$GC,1772,-0.76,-166.0,391.8,-15.8,111,1776,0.00,2.05,0.00,0.000,4,0.000,0.041,2341,592,3964,0,0,0,0,0,0
$GC,1812,-0.76,-166.0,397.8,-15.1,112,1816,0.00,2.12,0.00,0.000,6,0.000,0.044,2330,1999,3963,0,0,0,0,0,0
$GC,2095,-0.76,-166.0,440.5,-14.9,119,2099,0.00,2.17,0.00,0.000,4,0.000,0.052,2319,3399,3961,0,0,0,0,0,0
$GC,2185,-0.76,-166.0,454.4,-15.8,121,2190,0.12,2.10,0.00,0.000,6,0.166,0.033,2351,1996,3960,0,0,0,0,0,0
$GC,2463,-0.76,-166.0,493.2,-13.5,128,2468,0.00,2.12,-0.08,0.000,4,0.000,0.058,2352,581,3972,0,0,0,0,0,0
$GC,2486,-0.76,-166.0,496.5,-15.3,128,2490,0.00,2.15,0.00,0.000,6,0.000,0.044,2343,1997,3972,0,0,0,0,0,0
$GC,2742,-0.76,-166.0,534.1,-14.8,135,2746,0.00,2.15,0.00,0.000,4,0.000,0.053,2333,3398,3970,0,0,0,0,0,0
$GC,2820,-0.76,-166.0,545.8,-13.9,136,2825,0.00,2.12,0.00,0.000,6,0.000,0.034,2333,1979,3969,0,0,0,0,0,0
$GC,3070,-0.76,-166.0,582.4,-14.7,143,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1972,3966,0,0,0,0,0,0
$GC,3314,-0.76,-166.0,615.1,-13.0,149,3318,0.00,2.22,0.00,0.000,4,0.000,0.055,2322,3400,3963,0,0,0,0,0,0
$GC,3387,-0.76,-166.0,625.1,-12.6,150,3391,0.00,2.12,0.00,0.000,6,0.000,0.035,2322,1995,3961,0,0,0,0,0,0
$GC,3642,-0.76,-166.0,660.6,-13.8,157,3644,0.10,0.00,0.00,0.000,6,0.196,0.000,2345,1990,3958,0,0,0,0,0,0
$GC,3887,-0.76,-166.0,690.6,-12.2,163,3891,0.00,2.22,0.00,0.000,4,0.000,0.057,2336,3399,3956,0,0,0,0,0,0
$GC,3919,-0.76,-166.0,695.0,-12.9,163,3926,0.00,2.12,0.00,0.000,6,0.000,0.034,2336,1976,3955,0,0,0,0,0,0
$GC,4169,-0.76,-166.0,728.5,-13.8,170,4173,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3400,3953,0,0,0,0,0,0
$GC,4202,-0.76,-166.0,733.4,-14.9,170,4208,0.00,2.12,0.00,0.000,6,0.000,0.034,2326,1996,3952,0,0,0,0,0,0
$GC,4453,-0.76,-166.0,769.7,-14.5,177,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1990,3948,0,0,0,0,0,0
$GC,4696,-0.76,-166.0,803.4,-13.6,183,4700,0.00,2.25,0.00,0.000,4,0.000,0.056,2314,3402,3948,0,0,0,0,0,0
$GC,4729,-0.76,-166.0,808.2,-13.9,183,4733,0.15,2.15,0.00,0.000,6,0.163,0.034,2353,1976,3947,0,0,0,0,0,0
$GC,4980,-0.76,-166.0,836.8,-11.3,189,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1974,3946,0,0,0,0,0,0
$GC,5222,-0.76,-166.0,862.3,-10.4,195,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1974,3945,0,0,0,0,0,0
$GC,5466,-0.76,-166.0,886.9,-9.9,201,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1974,3942,0,0,0,0,0,0
$STATE,5626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5626,begin apogee
$GC,5632,-0.28,0.0,902.8,9.8,205,5750,0.47,0.00,113.95,1.111,6,0.143,0.000,2498,1972,3381,0,0,0,0,0,0
$STATE,5753,end apogee,CONTROL_FINISHED_OK
$STATE,5753,begin climb
$GC,5756,0.76,166.0,905.7,0.0,208,5909,1.00,2.35,142.52,1.074,4,0.093,0.044,2848,574,2704,0,0,0,0,0,0
$GC,5948,0.76,166.0,880.2,21.1,212,5951,0.00,2.22,0.00,0.000,6,0.000,0.038,2846,1963,2699,0,0,0,0,0,0
$GC,6210,0.76,166.0,824.9,21.0,219,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1964,2694,0,0,0,0,0,0
$GC,6452,0.76,166.0,775.1,20.4,225,6456,0.00,2.17,0.00,0.000,4,0.000,0.041,2855,557,2693,0,0,0,0,0,0
$GC,6474,0.76,166.0,770.4,21.4,225,6478,0.00,2.15,0.00,0.000,6,0.000,0.038,2854,1962,2690,0,0,0,0,0,0
$GC,6736,0.76,166.0,717.9,19.8,232,6740,0.00,2.20,0.00,0.000,4,0.000,0.054,2854,3361,2689,0,0,0,0,0,0
$GC,6769,0.76,166.0,710.4,22.1,232,6773,0.00,2.10,0.00,0.000,6,0.000,0.031,2859,1960,2690,0,0,0,0,0,0
$GC,7025,0.76,166.0,658.0,20.3,239,7029,0.00,2.10,0.00,0.000,4,0.000,0.041,2874,560,2689,0,0,0,0,0,0
$GC,7080,0.76,166.0,646.2,21.2,240,7084,0.00,2.15,0.00,0.000,6,0.000,0.037,2866,1965,2686,0,0,0,0,0,0
$GC,7354,0.76,166.0,592.0,20.0,247,7358,0.00,2.20,0.00,0.000,4,0.000,0.054,2872,3370,2687,0,0,0,0,0,0
$GC,7386,0.76,166.0,584.8,21.5,247,7394,0.12,2.12,0.00,0.000,6,0.210,0.031,2847,1953,2690,0,0,0,0,0,0
$GC,7636,0.76,166.0,538.2,18.6,254,7640,0.00,2.10,0.00,0.000,4,0.000,0.041,2857,556,2686,0,0,0,0,0,0
$GC,7659,0.76,166.0,534.0,18.8,254,7663,0.00,2.15,0.00,0.000,6,0.000,0.037,2857,1963,2684,0,0,0,0,0,0
$GC,7919,0.76,166.0,485.1,18.6,261,7923,0.00,2.17,0.00,0.000,4,0.000,0.052,2847,3366,2684,0,0,0,0,0,0
$GC,7980,0.76,166.0,473.4,17.8,262,7984,0.00,2.12,0.00,0.000,6,0.000,0.032,2856,1961,2685,0,0,0,0,0,0
$GC,8248,0.76,166.0,428.9,17.0,269,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1957,2684,0,0,0,0,0,0
$GC,8491,0.76,166.0,387.7,17.0,275,8495,0.00,2.20,0.00,0.000,4,0.000,0.051,2848,3368,2684,0,0,0,0,0,0
$GC,8529,0.76,166.0,380.7,17.9,275,8536,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1953,2684,0,0,0,0,0,0
$GC,8779,0.76,166.0,340.8,15.7,282,8783,0.00,2.08,0.00,0.000,4,0.000,0.040,2868,562,2683,0,0,0,0,0,0
$GC,8852,0.76,166.0,327.9,17.4,283,8856,0.00,2.10,0.00,0.000,6,0.000,0.035,2868,1965,2681,0,0,0,0,0,0
$GC,9103,0.76,166.0,287.8,14.7,291,9107,0.00,2.17,0.00,0.000,4,0.000,0.051,2868,3369,2681,0,0,0,0,0,0
$GC,9192,0.76,166.0,275.0,13.5,295,9197,0.12,2.10,0.00,0.000,6,0.201,0.030,2849,1958,2681,0,0,0,0,0,0
$GC,9451,0.76,166.0,240.8,13.7,308,9455,0.00,2.12,0.00,0.000,4,0.000,0.041,2858,555,2681,0,0,0,0,0,0
$GC,9540,0.76,166.0,230.0,13.0,312,9544,0.00,2.10,0.00,0.000,6,0.000,0.035,2858,1961,2679,0,0,0,0,0,0
$GC,9808,0.76,166.0,200.8,9.9,325,9812,0.00,2.17,0.00,0.000,4,0.000,0.049,2849,3370,2679,0,0,0,0,0,0
$GC,9984,0.76,166.0,179.1,11.7,340,9992,0.00,2.12,0.00,0.000,6,0.000,0.028,2859,1956,2680,0,0,0,0,0,0
$GC,10250,0.76,166.0,154.4,9.7,365,10254,0.00,2.08,0.00,0.000,4,0.000,0.039,2869,558,2680,0,0,0,0,0,0
$GC,10479,0.78,177.5,133.2,8.2,385,10493,0.00,2.12,6.95,0.487,6,0.000,0.035,2869,1980,2656,0,0,0,0,0,0
$GC,10748,0.85,235.3,111.8,6.6,410,10807,0.00,2.25,47.83,0.546,4,0.000,0.040,2880,556,2418,0,0,0,0,0,0
$GC,10943,0.85,235.3,91.5,11.5,427,10951,0.00,2.15,0.00,0.000,6,0.000,0.037,2879,1947,2414,0,0,0,0,0,0
$GC,11208,0.85,235.3,64.5,10.7,452,11212,0.00,2.20,0.00,0.000,4,0.000,0.048,2880,3375,2415,0,0,0,0,0,0
$GC,11262,0.85,235.3,59.2,10.3,456,11266,0.00,2.10,0.00,0.000,6,0.000,0.031,2891,1960,2415,0,0,0,0,0,0
$GC,11526,0.85,235.3,26.7,13.0,482,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1955,2415,0,0,0,0,0,0
$STATE,11716,end climb,SURFACE_DEPTH_REACHED
$STATE,11716,begin surface coast
$FINISH,0.3,1.022971
$STATE,11734,end surface coast,CONTROL_FINISHED_OK
$STATE,11734,begin surface
$SM_CCo,11765,4.93,0.337,0,0,2361,250.20
$SM_GC,2.91,0.00,0.00,4.93,0.000,0.000,0.337,46,1956,2361,-7.97,-0.93,250.20
$IRIDIUM_FIX,1945.83,-15655.31,270113,070736
$TT8_MAMPS,0.243139
$HUMID,1078955474
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.00
$XPDR_PINGS,43
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6299025408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48790470656
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,27.798
$10V_AH,10.2,25.928
$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,19.250,120.475,311.250,4.925,0.000,87.824,117.741,1221.333,10.750,0.000,17.052,1115.121,8416.677,418.238,2968.762,645.419,33.351,1195.677,0.000,1766.124,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,58.292,1111.383,337.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.010,0.000,886.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,26901,520
$CAP_FILE_SIZE,131072,0
$CFSIZE,260165632,191266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,292.1,1
$GPS,040811,163325,1955.272,-15655.832,152,0.9,153,9.7