version: 66.07
glider: 513
mission: 7
dive: 202
start: 8 5 111 4 7 59
data:
$ID,513
$MISSION,7
$DIVE,202
$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,160
$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,300
$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,-425589.5
$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,2000
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,46
$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,201
$AR_SAMPLENUM,4
$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
$GPS1,050811,035231,1956.966,-15654.944,39,1.3,39,9.7
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.5
$GPS2,050811,040702,1956.955,-15655.219,15,1.6,15,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.252,-0.025
$KALMAN_X,-164453.3,1449.6,844.4,134246.7,-13371.1
$KALMAN_Y,118891.5,880.5,263.6,-103909.6,-5603.6
$MHEAD_RNG_PITCHd_Wd,73.6,55108,-14.5,-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,-0.77,-156.2,0.0,0.0,0,135,0.00,0.00,-106.07,0.000,2,0.000,0.000,36,2001,3519,0,0,0,0,0,0
$GC,140,-0.77,-156.2,3.0,-4.9,16,163,9.65,2.20,-7.85,0.000,4,0.249,0.052,2342,586,3962,0,0,0,0,0,0
$GC,214,-0.77,-156.2,34.0,-38.7,27,219,0.00,2.15,0.00,0.000,6,0.000,0.043,2338,1995,3964,0,0,0,0,0,0
$GC,479,-0.77,-156.2,130.6,-32.3,51,483,0.00,2.20,0.00,0.000,4,0.000,0.051,2327,3416,3965,0,0,0,0,0,0
$GC,508,-0.77,-156.2,139.5,-27.7,53,513,0.00,2.15,0.00,0.000,6,0.000,0.034,2327,2008,3964,0,0,0,0,0,0
$GC,779,-0.77,-156.2,211.0,-25.8,76,783,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3413,3965,0,0,0,0,0,0
$GC,797,-0.77,-156.2,215.4,-24.7,77,802,0.12,2.15,0.00,0.000,6,0.172,0.033,2346,1985,3963,0,0,0,0,0,0
$GC,1067,-0.77,-156.2,272.6,-18.6,90,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1979,3968,0,0,0,0,0,0
$GC,1313,-0.77,-156.2,313.8,-16.0,100,1317,0.00,2.20,0.00,0.000,4,0.000,0.050,2338,3409,3966,0,0,0,0,0,0
$GC,1336,-0.77,-156.2,317.5,-16.8,100,1340,0.00,2.12,0.00,0.000,6,0.000,0.032,2337,2004,3966,0,0,0,0,0,0
$GC,1591,-0.77,-156.2,362.2,-17.4,107,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1998,3965,0,0,0,0,0,0
$GC,1835,-0.77,-156.2,404.2,-17.1,113,1839,0.00,2.17,0.00,0.000,4,0.000,0.050,2327,3408,3964,0,0,0,0,0,0
$GC,1953,-0.77,-156.2,422.8,-14.3,115,1957,0.00,2.12,0.00,0.000,6,0.000,0.034,2327,1995,3963,0,0,0,0,0,0
$GC,2208,-0.77,-156.2,463.1,-15.7,122,2211,0.00,2.10,0.00,0.000,4,0.000,0.045,2327,585,3960,0,0,0,0,0,0
$GC,2285,-0.77,-156.2,474.9,-14.8,123,2294,0.12,2.15,-0.05,0.000,6,0.171,0.043,2348,1999,3969,0,0,0,0,0,0
$GC,2536,-0.77,-156.2,507.9,-13.4,130,2540,0.00,2.20,0.00,0.000,4,0.000,0.051,2339,3415,3969,0,0,0,0,0,0
$GC,2695,-0.77,-156.2,528.6,-11.9,133,2699,0.00,2.12,0.00,0.000,6,0.000,0.034,2339,1996,3968,0,0,0,0,0,0
$GC,2961,-0.77,-156.2,564.2,-13.3,140,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1990,3964,0,0,0,0,0,0
$GC,3206,-0.77,-156.2,596.8,-13.3,146,3210,0.00,2.20,0.00,0.000,4,0.000,0.054,2329,3404,3961,0,0,0,0,0,0
$GC,3240,-0.77,-156.2,601.8,-14.7,146,3246,0.00,2.15,0.00,0.000,6,0.000,0.036,2329,1995,3961,0,0,0,0,0,0
$GC,3489,-0.77,-156.2,637.5,-14.3,153,3493,0.00,2.20,0.00,0.000,4,0.000,0.054,2318,3405,3958,0,0,0,0,0,0
$GC,3530,-0.77,-156.2,643.2,-14.3,154,3535,0.10,2.12,0.00,0.000,6,0.176,0.036,2341,1996,3956,0,0,0,0,0,0
$GC,3813,-0.77,-156.2,680.2,-13.1,161,3817,0.00,2.10,0.00,0.000,4,0.000,0.047,2341,603,3955,0,0,0,0,0,0
$GC,3834,-0.77,-156.2,683.2,-13.1,161,3838,0.00,2.15,0.00,0.000,6,0.000,0.044,2333,2010,3955,0,0,0,0,0,0
$GC,4097,-0.77,-156.2,718.3,-13.8,168,4101,0.00,2.20,0.00,0.000,4,0.000,0.054,2322,3407,3952,0,0,0,0,0,0
$GC,4187,-0.77,-156.2,730.9,-13.1,170,4191,0.00,2.15,0.00,0.000,6,0.000,0.037,2322,2009,3950,0,0,0,0,0,0
$GC,4470,-0.77,-156.2,770.7,-14.5,177,4473,0.00,2.12,0.00,0.000,4,0.000,0.046,2321,590,3948,0,0,0,0,0,0
$GC,4492,-0.77,-156.2,774.1,-14.6,177,4497,0.12,2.15,0.00,0.000,6,0.174,0.045,2342,1998,3947,0,0,0,0,0,0
$GC,4747,-0.77,-156.2,806.8,-12.5,184,4751,0.00,2.20,0.00,0.000,4,0.000,0.054,2333,3407,3946,0,0,0,0,0,0
$GC,4780,-0.77,-156.2,811.1,-13.0,184,4784,0.00,2.12,0.00,0.000,6,0.000,0.036,2334,1999,3946,0,0,0,0,0,0
$GC,5038,-0.77,-156.2,845.0,-13.4,191,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1994,3944,0,0,0,0,0,0
$GC,5279,-0.77,-156.2,878.2,-13.6,197,5283,0.00,2.22,0.00,0.000,4,0.000,0.054,2323,3410,3941,0,0,0,0,0,0
$GC,5357,-0.77,-156.2,888.9,-13.1,198,5364,0.00,2.15,0.00,0.000,6,0.000,0.036,2323,1985,3940,0,0,0,0,0,0
$STATE,5442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.28,0.0,900.8,13.8,201,5565,0.60,0.00,113.72,1.111,6,0.150,0.000,2501,1978,3382,0,0,0,0,0,0
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5584,0.77,156.2,905.4,0.0,204,5725,1.00,0.00,133.93,1.075,6,0.092,0.000,2841,1978,2744,0,0,0,0,0,0
$GC,5951,0.77,156.2,849.9,19.4,213,5955,0.00,2.20,0.00,0.000,4,0.000,0.053,2841,3347,2737,0,0,0,0,0,0
$GC,6000,0.77,156.2,839.4,21.0,214,6004,0.00,2.20,0.00,0.000,6,0.000,0.031,2852,1931,2737,0,0,0,0,0,0
$GC,6278,0.77,156.2,782.4,20.5,221,6282,0.00,2.12,0.00,0.000,4,0.000,0.041,2863,525,2734,0,0,0,0,0,0
$GC,6328,0.77,156.2,772.3,20.6,222,6333,0.00,2.17,0.00,0.000,6,0.000,0.036,2863,1941,2729,0,0,0,0,0,0
$GC,6601,0.77,156.2,718.1,20.2,229,6605,0.00,2.20,0.00,0.000,4,0.000,0.054,2863,3331,2729,0,0,0,0,0,0
$GC,6628,0.77,156.2,712.2,21.3,229,6632,0.00,2.12,0.00,0.000,6,0.000,0.033,2873,1925,2729,0,0,0,0,0,0
$GC,6883,0.77,156.2,660.8,20.1,236,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1921,2728,0,0,0,0,0,0
$GC,7128,0.77,156.2,613.7,19.3,242,7132,0.00,2.22,0.00,0.000,4,0.000,0.054,2865,3334,2726,0,0,0,0,0,0
$GC,7168,0.77,156.2,605.7,20.1,243,7172,0.00,2.12,0.00,0.000,6,0.000,0.033,2872,1930,2727,0,0,0,0,0,0
$GC,7451,0.77,156.2,553.5,18.3,250,7455,0.00,2.12,0.00,0.000,4,0.000,0.040,2885,512,2725,0,0,0,0,0,0
$GC,7505,0.77,156.2,543.1,19.1,251,7510,0.15,2.15,0.00,0.000,6,0.206,0.035,2844,1935,2724,0,0,0,0,0,0
$GC,7772,0.77,156.2,499.9,16.0,258,7776,0.00,2.22,0.00,0.000,4,0.000,0.052,2847,3336,2724,0,0,0,0,0,0
$GC,7793,0.77,156.2,496.4,15.2,258,7797,0.00,2.12,0.00,0.000,6,0.000,0.033,2857,1922,2724,0,0,0,0,0,0
$GC,8056,0.77,156.2,454.9,16.1,265,8060,0.00,2.22,0.00,0.000,4,0.000,0.051,2848,3337,2724,0,0,0,0,0,0
$GC,8139,0.77,156.2,440.0,18.0,266,8146,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1928,2723,0,0,0,0,0,0
$GC,8389,0.77,156.2,401.2,15.4,273,8393,0.00,2.10,0.00,0.000,4,0.000,0.041,2868,523,2723,0,0,0,0,0,0
$GC,8411,0.77,156.2,397.7,16.1,273,8415,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1929,2720,0,0,0,0,0,0
$GC,8667,0.77,156.2,357.5,15.5,280,8671,0.00,2.20,0.00,0.000,4,0.000,0.051,2868,3337,2721,0,0,0,0,0,0
$GC,8892,0.77,156.2,320.1,16.0,285,8897,0.12,2.12,0.00,0.000,6,0.206,0.031,2850,1922,2721,0,0,0,0,0,0
$GC,9150,0.77,156.2,284.6,13.6,294,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1918,2720,0,0,0,0,0,0
$GC,9398,0.77,156.2,252.0,12.5,306,9402,0.00,2.08,0.00,0.000,4,0.000,0.040,2860,532,2720,0,0,0,0,0,0
$GC,9421,0.77,156.2,249.2,13.0,307,9426,0.00,2.10,0.00,0.000,6,0.000,0.034,2859,1933,2718,0,0,0,0,0,0
$GC,9686,0.77,156.2,218.5,11.5,320,9690,0.00,2.20,0.00,0.000,4,0.000,0.050,2860,3330,2719,0,0,0,0,0,0
$GC,9707,0.77,156.2,215.7,12.6,321,9711,0.00,2.10,0.00,0.000,6,0.000,0.031,2870,1922,2719,0,0,0,0,0,0
$GC,9969,0.77,156.2,186.3,10.8,339,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1917,2721,0,0,0,0,0,0
$GC,10232,0.77,156.2,160.3,8.7,364,10236,0.00,2.20,0.00,0.000,4,0.000,0.048,2872,3326,2719,0,0,0,0,0,0
$GC,10486,0.77,156.2,137.3,8.8,386,10495,0.10,2.12,0.00,0.000,6,0.173,0.029,2850,1928,2719,0,0,0,0,0,0
$GC,10750,0.91,264.7,120.4,4.5,411,10848,0.12,2.28,82.68,0.554,4,0.097,0.051,2902,3319,2300,0,0,0,0,0,0
$GC,10949,0.91,264.7,93.5,18.3,428,10953,0.00,2.15,0.00,0.000,6,0.000,0.031,2910,1932,2300,0,0,0,0,0,0
$GC,11217,0.91,264.7,52.5,14.9,452,11221,0.00,2.17,0.00,0.000,4,0.000,0.041,2910,3335,2295,0,0,0,0,0,0
$GC,11258,0.91,264.7,45.6,15.5,455,11263,0.12,2.12,0.00,0.000,6,0.193,0.030,2892,1928,2295,0,0,0,0,0,0
$GC,11521,0.91,264.7,4.8,17.3,494,11530,0.00,2.20,0.00,0.000,4,0.000,0.045,2889,3318,2295,0,0,1,0,0,0
$STATE,11536,end climb,SURFACE_DEPTH_REACHED
$STATE,11536,begin surface coast
$FINISH,0.2,1.011389
$STATE,11555,end surface coast,CONTROL_FINISHED_OK
$STATE,11555,begin surface
$SM_CCo,11576,13.80,0.420,0,0,2160,300.24
$SM_GC,1.38,0.00,0.00,13.80,0.000,0.000,0.420,62,1978,2160,-7.92,-0.62,300.24
$IRIDIUM_FIX,1950.41,-15657.42,270113,181826
$TT8_MAMPS,0.254644
$HUMID,1078956764
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.50
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262685696
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48319070208
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,28.445
$10V_AH,10.1,26.484
$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,19.850,125.175,330.325,13.800,0.000,28.777,32.508,592.366,22.500,0.000,17.421,1093.018,8168.049,427.207,2319.016,463.288,33.353,1226.098,0.000,1722.397,0.000,0.541,0.000
$DEVICE_MAMPS,248.508,54.457,1111.383,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,339.943,0.000,807.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354112
$DATA_FILE_SIZE,26833,499
$CAP_FILE_SIZE,119857,0
$CFSIZE,260165632,190980096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.167,293.6,1
$GPS,050811,072330,1957.518,-15654.665,61,3.3,80,9.7