version: 66.07
glider: 513
mission: 7
dive: 199
start: 8 4 111 16 55 5
data:
$ID,513
$MISSION,7
$DIVE,199
$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,-425524.28
$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,51
$R_STBD_OVSHOOT,35
$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,198
$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
$GPS1,040811,163325,1955.272,-15655.832,152,0.9,153,9.7
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.0
$GPS2,040811,165408,1955.397,-15656.199,15,1.8,15,9.7
$SPEED_LIMITS,0.086,0.260
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.221,0.137
$KALMAN_X,-156077.6,1713.8,725.8,124018.5,-14762.8
$KALMAN_Y,126319.7,-826.2,154.2,-112409.2,-1063.3
$MHEAD_RNG_PITCHd_Wd,79.3,58227,-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,-166.0,0.0,0.0,0,74,0.00,0.00,-44.88,0.000,2,0.000,0.000,35,1955,3710,0,0,0,0,0,0
$GC,78,-0.76,-166.0,4.1,-8.0,7,100,9.62,0.00,-4.10,0.000,6,0.245,0.000,2337,1953,3963,0,0,0,0,0,0
$GC,363,-0.76,-166.0,120.3,-34.7,37,367,0.00,2.28,0.00,0.000,4,0.000,0.051,2327,3410,3965,0,0,0,0,0,0
$GC,426,-0.76,-166.0,138.2,-23.4,42,431,0.00,2.12,0.00,0.000,6,0.000,0.033,2329,1988,3965,0,0,0,0,0,0
$GC,687,-0.76,-166.0,206.8,-23.9,65,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3966,0,0,0,0,0,0
$GC,935,-0.76,-166.0,264.8,-21.2,77,939,0.00,2.20,0.00,0.000,4,0.000,0.050,2319,3404,3971,0,0,0,0,0,0
$GC,952,-0.76,-166.0,268.6,-20.9,78,957,0.12,2.10,0.00,0.000,6,0.169,0.032,2350,1992,3969,0,0,0,0,0,0
$GC,1215,-0.76,-166.0,315.6,-16.6,89,1219,0.00,2.17,0.00,0.000,4,0.000,0.050,2341,3398,3969,0,0,0,0,0,0
$GC,1267,-0.76,-166.0,323.9,-16.3,90,1271,0.00,2.10,0.00,0.000,6,0.000,0.032,2341,1976,3969,0,0,0,0,0,0
$GC,1544,-0.76,-166.0,369.4,-16.0,97,1548,0.00,2.08,0.00,0.000,4,0.000,0.043,2341,586,3973,0,0,0,0,0,0
$GC,1588,-0.76,-166.0,376.3,-14.6,98,1592,0.00,2.12,0.00,0.000,6,0.000,0.042,2334,1996,3969,0,0,0,0,0,0
$GC,1872,-0.76,-166.0,421.4,-16.0,105,1876,0.00,2.15,0.00,0.000,4,0.000,0.049,2320,3400,3969,0,0,0,0,0,0
$GC,1995,-0.76,-166.0,441.6,-16.4,107,2001,0.00,2.10,0.00,0.000,6,0.000,0.033,2320,1984,3967,0,0,0,0,0,0
$GC,2246,-0.76,-166.0,486.7,-18.6,114,2250,0.10,2.12,0.00,0.000,4,0.189,0.046,2350,598,3965,0,0,0,0,0,0
$GC,2268,-0.76,-166.0,490.7,-17.7,114,2272,0.00,2.12,0.00,0.000,6,0.000,0.047,2342,1987,3965,0,0,0,0,0,0
$GC,2522,-0.76,-166.0,534.0,-16.9,121,2526,0.00,2.20,0.00,0.000,4,0.000,0.052,2329,3402,3962,0,0,0,0,0,0
$GC,2583,-0.76,-166.0,544.3,-16.0,122,2587,0.00,2.10,0.00,0.000,6,0.000,0.035,2331,1996,3961,0,0,0,0,0,0
$GC,2851,-0.76,-166.0,586.4,-15.5,129,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1991,3959,0,0,0,0,0,0
$GC,3094,-0.76,-166.0,620.7,-14.0,135,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1990,3956,0,0,0,0,0,0
$GC,3338,-0.76,-166.0,653.2,-13.3,141,3342,0.00,2.20,0.00,0.000,4,0.000,0.056,2321,3402,3951,0,0,0,0,0,0
$GC,3365,-0.76,-166.0,656.9,-13.3,141,3369,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,1999,3953,0,0,0,0,0,0
$GC,3622,-0.76,-166.0,691.4,-13.6,148,3626,0.12,2.25,0.00,0.000,4,0.186,0.057,2342,3406,3950,0,0,0,0,0,0
$GC,3648,-0.76,-166.0,695.2,-12.4,148,3652,0.00,2.12,0.00,0.000,6,0.000,0.036,2342,1997,3950,0,0,0,0,0,0
$GC,3904,-0.76,-166.0,726.1,-12.4,155,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1991,3948,0,0,0,0,0,0
$GC,4148,-0.76,-166.0,756.2,-12.3,161,4152,0.00,2.20,0.00,0.000,4,0.000,0.055,2331,3399,3946,0,0,0,0,0,0
$GC,4193,-0.76,-166.0,761.7,-11.6,162,4197,0.00,2.12,0.00,0.000,6,0.000,0.036,2335,1980,3945,0,0,0,0,0,0
$GC,4470,-0.76,-166.0,796.4,-12.5,169,4474,0.00,2.25,0.00,0.000,4,0.000,0.057,2321,3398,3943,0,0,0,0,0,0
$GC,4510,-0.76,-166.0,801.5,-13.3,170,4514,0.00,2.15,0.00,0.000,6,0.000,0.036,2321,1992,3943,0,0,0,0,0,0
$GC,4794,-0.76,-166.0,840.4,-13.9,177,4798,0.10,2.17,0.00,0.000,4,0.196,0.051,2355,578,3941,0,0,0,0,0,0
$GC,4820,-0.76,-166.0,844.2,-12.7,177,4824,0.00,2.20,0.00,0.000,6,0.000,0.046,2346,2003,3944,0,0,0,0,0,0
$GC,5076,-0.76,-166.0,874.9,-12.2,184,5080,0.00,2.20,0.00,0.000,4,0.000,0.057,2332,3395,3937,0,0,0,0,0,0
$GC,5109,-0.76,-166.0,879.3,-12.6,184,5113,0.00,2.12,0.00,0.000,6,0.000,0.035,2335,1985,3938,0,0,0,0,0,0
$STATE,5275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5275,begin apogee
$GC,5281,-0.28,0.0,901.2,13.2,188,5398,0.55,0.00,113.03,1.107,6,0.147,0.000,2500,1979,3383,0,0,0,0,0,0
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5401,begin climb
$GC,5403,0.76,166.0,906.7,0.0,191,5555,1.00,2.35,142.27,1.073,4,0.093,0.041,2849,563,2703,0,0,0,0,0,0
$GC,5571,0.76,166.0,890.1,17.5,195,5575,0.00,2.25,0.00,0.000,6,0.000,0.038,2844,1959,2700,0,0,0,0,0,0
$GC,5857,0.76,166.0,836.9,18.7,202,5861,0.00,2.28,0.00,0.000,4,0.000,0.054,2844,3369,2696,0,0,0,0,0,0
$GC,5879,0.76,166.0,832.2,18.6,202,5883,0.00,2.17,0.00,0.000,6,0.000,0.031,2853,1947,2696,0,0,0,0,0,0
$GC,6134,0.76,166.0,783.4,19.4,209,6138,0.00,2.12,0.00,0.000,4,0.000,0.041,2864,553,2693,0,0,0,0,0,0
$GC,6179,0.76,166.0,774.1,20.8,210,6183,0.00,2.15,0.00,0.000,6,0.000,0.038,2865,1962,2690,0,0,0,0,0,0
$GC,6456,0.76,166.0,715.6,21.1,217,6460,0.00,2.22,0.00,0.000,4,0.000,0.053,2864,3374,2690,0,0,0,0,0,0
$GC,6478,0.76,166.0,710.5,22.3,217,6482,0.12,2.15,0.00,0.000,6,0.209,0.033,2853,1954,2690,0,0,0,0,0,0
$GC,6739,0.76,166.0,655.7,20.9,224,6743,0.00,2.12,0.00,0.000,4,0.000,0.042,2857,554,2689,0,0,0,0,0,0
$GC,6761,0.76,166.0,650.6,22.2,224,6765,0.00,2.17,0.00,0.000,6,0.000,0.037,2857,1972,2687,0,0,0,0,0,0
$GC,7028,0.76,166.0,595.3,20.7,231,7032,0.00,2.20,0.00,0.000,4,0.000,0.053,2848,3369,2687,0,0,0,0,0,0
$GC,7043,0.76,166.0,591.6,21.1,231,7048,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1971,2688,0,0,0,0,0,0
$GC,7312,0.76,166.0,540.3,18.7,238,7316,0.00,2.15,0.00,0.000,4,0.000,0.041,2868,555,2690,0,0,0,0,0,0
$GC,7379,0.76,166.0,527.7,17.7,239,7383,0.00,2.12,0.00,0.000,6,0.000,0.036,2864,1967,2685,0,0,0,0,0,0
$GC,7634,0.76,166.0,482.5,17.7,246,7638,0.00,2.22,0.00,0.000,4,0.000,0.053,2854,3373,2686,0,0,0,0,0,0
$GC,7720,0.76,166.0,466.6,19.4,248,7724,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1956,2686,0,0,0,0,0,0
$GC,8004,0.76,166.0,417.8,16.2,255,8007,0.00,2.10,0.00,0.000,4,0.000,0.041,2878,554,2685,0,0,0,0,0,0
$GC,8036,0.76,166.0,412.1,16.7,255,8043,0.12,2.15,0.00,0.000,6,0.202,0.036,2850,1966,2683,0,0,0,0,0,0
$GC,8288,0.76,166.0,374.4,15.2,262,8292,0.00,2.20,0.00,0.000,4,0.000,0.053,2850,3366,2683,0,0,0,0,0,0
$GC,8393,0.76,166.0,355.7,16.2,264,8397,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1960,2683,0,0,0,0,0,0
$GC,8666,0.76,166.0,313.1,15.5,271,8670,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3370,2683,0,0,0,0,0,0
$GC,8682,0.76,166.0,310.5,15.4,271,8686,0.00,2.12,0.00,0.000,6,0.000,0.032,2869,1949,2683,0,0,0,0,0,0
$GC,8946,0.76,166.0,276.5,12.7,282,8951,0.10,2.22,0.00,0.000,4,0.216,0.048,2838,3368,2682,0,0,0,0,0,0
$GC,8973,0.76,166.0,272.7,12.9,283,8977,0.00,2.10,0.00,0.000,6,0.000,0.031,2846,1962,2682,0,0,0,0,0,0
$GC,9233,0.76,166.0,237.8,12.5,296,9237,0.00,2.10,0.00,0.000,4,0.000,0.043,2857,559,2681,0,0,0,0,0,0
$GC,9273,0.76,166.0,232.6,12.9,298,9278,0.00,2.12,0.00,0.000,6,0.000,0.037,2858,1962,2683,0,0,0,0,0,0
$GC,9538,0.76,166.0,199.6,12.0,311,9542,0.00,2.20,0.00,0.000,4,0.000,0.051,2857,3364,2680,0,0,0,0,0,0
$GC,9747,0.76,166.0,170.5,13.3,329,9751,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1949,2681,0,0,0,0,0,0
$GC,10013,0.76,166.0,140.3,12.1,353,10017,0.00,2.10,0.00,0.000,4,0.000,0.040,2878,559,2682,0,0,0,0,0,0
$GC,10267,0.76,166.0,112.7,10.1,376,10271,0.12,2.12,0.00,0.000,6,0.186,0.036,2849,1968,2681,0,0,0,0,0,0
$GC,10531,0.99,352.4,101.6,2.1,400,10685,0.17,2.28,143.70,0.536,4,0.081,0.041,2932,565,1940,0,0,0,0,0,0
$GC,10789,0.99,352.4,62.9,20.2,422,10793,0.00,2.15,0.00,0.000,6,0.000,0.035,2935,1963,1934,0,0,0,0,0,0
$GC,11054,0.99,352.4,4.9,23.1,456,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1968,1933,0,0,0,0,0,0
$STATE,11068,end climb,SURFACE_DEPTH_REACHED
$STATE,11068,begin surface coast
$FINISH,0.3,1.022953
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$SM_CCo,11109,218.35,0.444,0,0,391,732.45
$SM_GC,0.87,0.00,0.00,218.35,0.000,0.000,0.444,51,1966,391,-7.95,-0.65,732.45
$IRIDIUM_FIX,1948.12,-15654.41,270113,111136
$TT8_MAMPS,0.059826
$HUMID,1078819990
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.80
$XPDR_PINGS,47
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,6339657728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48688955392
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,27.965
$10V_AH,10.1,26.093
$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,19.825,125.575,399.000,218.350,0.000,152.715,213.116,380.015,11.750,0.000,17.504,1037.276,8150.986,620.549,2360.288,407.179,33.352,1385.237,0.000,1588.766,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,56.758,1106.781,444.093,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,314.201,0.000,701.974,0.000,0.000,0.000,0.000,28027.400,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,10.356,0.000,0.000
$MEM,353796
$DATA_FILE_SIZE,23566,460
$CAP_FILE_SIZE,119263,0
$CFSIZE,260165632,191176704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,304.4,1
$GPS,040811,200531,1955.987,-15655.698,42,1.2,42,9.7