version: 66.07
glider: 513
mission: 7
dive: 203
start: 8 5 111 7 53 23
data:
$ID,513
$MISSION,7
$DIVE,203
$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,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,-425625.91
$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,58
$R_STBD_OVSHOOT,41
$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,202
$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
$GPS1,050811,072330,1957.518,-15654.665,61,3.3,80,9.7
$_CALLS,5
$_XMS_NAKs,55
$_XMS_TOUTs,6
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.4
$GPS2,050811,075224,1957.639,-15655.260,14,1.5,30,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.253,0.001
$KALMAN_X,-168369.6,1160.3,575.8,138667.6,-13418.2
$KALMAN_Y,119966.9,1552.3,1068.1,-105239.7,-5944.2
$MHEAD_RNG_PITCHd_Wd,78.7,54406,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.77,-156.2,0.0,0.0,0,83,0.00,0.00,-52.62,0.000,2,0.000,0.000,34,1978,3691,0,0,0,0,0,0
$GC,88,-0.77,-156.2,3.8,-5.9,8,110,9.60,2.10,-4.53,0.000,4,0.244,0.049,2348,609,3963,0,0,0,0,0,0
$GC,125,-0.77,-156.2,23.2,-48.5,13,132,0.00,2.15,0.00,0.000,6,0.000,0.039,2336,1997,3964,0,0,0,0,0,0
$GC,396,-0.77,-156.2,123.0,-31.8,39,400,0.00,2.17,0.00,0.000,4,0.000,0.048,2329,3413,3967,0,0,0,0,0,0
$GC,439,-0.77,-156.2,134.3,-25.9,42,443,0.00,2.12,0.00,0.000,6,0.000,0.035,2329,2024,3966,0,0,0,0,0,0
$GC,701,-0.77,-156.2,202.5,-26.4,66,705,0.00,2.15,0.00,0.000,4,0.000,0.050,2318,3409,3967,0,0,0,0,0,0
$GC,713,-0.77,-156.2,206.1,-26.9,66,720,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,1980,3967,0,0,0,0,0,0
$GC,969,-0.77,-156.2,270.8,-24.2,79,970,0.10,0.00,0.00,0.000,6,0.194,0.000,2340,1974,3966,0,0,0,0,0,0
$GC,1213,-0.77,-156.2,314.9,-16.8,89,1217,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3417,3972,0,0,0,0,0,0
$GC,1252,-0.77,-156.2,321.4,-17.8,90,1256,0.00,2.12,0.00,0.000,6,0.000,0.031,2331,1987,3969,0,0,0,0,0,0
$GC,1536,-0.77,-156.2,371.1,-17.3,97,1540,0.00,2.22,0.00,0.000,4,0.000,0.052,2319,3405,3969,0,0,0,0,0,0
$GC,1591,-0.77,-156.2,380.9,-16.8,98,1595,0.00,2.08,0.00,0.000,6,0.000,0.031,2319,2005,3969,0,0,0,0,0,0
$GC,1863,-0.77,-156.2,428.0,-17.3,105,1867,0.00,2.17,0.00,0.000,4,0.000,0.051,2312,3409,3971,0,0,0,0,0,0
$GC,1897,-0.77,-156.2,433.7,-16.7,105,1903,0.12,2.12,0.00,0.000,6,0.164,0.033,2341,2000,3967,0,0,0,0,0,0
$GC,2147,-0.77,-156.2,469.1,-14.4,112,2151,0.00,2.20,0.00,0.000,4,0.000,0.052,2333,3403,3965,0,0,0,0,0,0
$GC,2202,-0.77,-156.2,477.5,-14.3,113,2206,0.00,2.10,0.00,0.000,6,0.000,0.034,2333,1997,3964,0,0,0,0,0,0
$GC,2475,-0.77,-156.2,518.2,-14.9,120,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1991,3962,0,0,0,0,0,0
$GC,2717,-0.77,-156.2,556.9,-16.1,126,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1991,3959,0,0,0,0,0,0
$GC,2961,-0.77,-156.2,595.8,-16.0,132,2965,0.00,2.20,0.00,0.000,4,0.000,0.054,2322,3404,3955,0,0,0,0,0,0
$GC,2982,-0.77,-156.2,599.4,-16.3,132,2986,0.00,2.10,0.00,0.000,6,0.000,0.035,2322,2003,3958,0,0,0,0,0,0
$GC,3245,-0.77,-156.2,642.4,-16.6,139,3249,0.00,2.20,0.00,0.000,4,0.000,0.054,2307,3405,3953,0,0,0,0,0,0
$GC,3296,-0.77,-156.2,651.1,-16.2,140,3300,0.12,2.15,0.00,0.000,6,0.167,0.035,2342,1995,3955,0,0,0,0,0,0
$GC,3573,-0.77,-156.2,689.1,-13.3,147,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1989,3949,0,0,0,0,0,0
$GC,3818,-0.77,-156.2,718.8,-12.0,153,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1989,3947,0,0,0,0,0,0
$GC,4061,-0.77,-156.2,746.0,-11.1,159,4065,0.00,2.25,0.00,0.000,4,0.000,0.055,2333,3413,3945,0,0,0,0,0,0
$GC,4099,-0.77,-156.2,750.5,-11.5,159,4104,0.00,2.12,0.00,0.000,6,0.000,0.035,2334,2004,3945,0,0,0,0,0,0
$GC,4350,-0.77,-156.2,780.7,-12.1,166,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1998,3942,0,0,0,0,0,0
$GC,4592,-0.77,-156.2,812.2,-13.0,172,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1998,3938,0,0,0,0,0,0
$GC,4836,-0.77,-156.2,843.2,-12.6,178,4840,0.00,2.20,0.00,0.000,4,0.000,0.053,2323,3406,3938,0,0,0,0,0,0
$GC,4863,-0.77,-156.2,846.9,-13.3,178,4867,0.00,2.12,0.00,0.000,6,0.000,0.034,2323,2001,3938,0,0,0,0,0,0
$GC,5125,-0.77,-156.2,881.2,-13.3,185,5129,0.00,2.22,0.00,0.000,4,0.000,0.055,2312,3413,3937,0,0,0,0,0,0
$GC,5180,-0.77,-156.2,888.9,-13.3,186,5184,0.12,2.15,0.00,0.000,6,0.168,0.035,2343,1995,3934,0,0,0,0,0,0
$STATE,5287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5287,begin apogee
$GC,5293,-0.28,0.0,901.9,11.7,189,5409,0.52,0.00,113.07,1.109,6,0.143,0.000,2504,1928,3379,0,0,0,0,0,0
$STATE,5412,end apogee,CONTROL_FINISHED_OK
$STATE,5412,begin climb
$GC,5416,0.77,156.2,905.6,0.0,192,5554,1.00,0.00,134.25,1.068,6,0.091,0.000,2842,1927,2743,0,0,0,0,0,0
$GC,5781,0.77,156.2,847.8,19.8,201,5785,0.00,2.25,0.00,0.000,4,0.000,0.051,2842,3330,2736,0,0,0,0,0,0
$GC,5859,0.77,156.2,831.4,21.6,202,5866,0.00,2.17,0.00,0.000,6,0.000,0.031,2853,1927,2736,0,0,0,0,0,0
$GC,6109,0.77,156.2,781.4,19.8,209,6113,0.00,2.15,0.00,0.000,4,0.000,0.041,2861,521,2734,0,0,0,0,0,0
$GC,6158,0.77,156.2,770.9,21.1,210,6162,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1933,2728,0,0,0,0,0,0
$GC,6437,0.77,156.2,713.7,20.3,217,6441,0.00,2.20,0.00,0.000,4,0.000,0.051,2865,3327,2728,0,0,0,0,0,0
$GC,6498,0.77,156.2,699.9,21.5,218,6502,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1923,2728,0,0,0,0,0,0
$GC,6765,0.77,156.2,645.1,20.3,225,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1921,2726,0,0,0,0,0,0
$GC,7010,0.77,156.2,597.7,19.5,231,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1921,2723,0,0,0,0,0,0
$GC,7252,0.77,156.2,548.6,20.4,237,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1921,2725,0,0,0,0,0,0
$GC,7497,0.77,156.2,500.7,19.4,243,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1921,2724,0,0,0,0,0,0
$GC,7740,0.77,156.2,455.8,18.8,249,7744,0.12,2.22,0.00,0.000,4,0.216,0.051,2837,3335,2723,0,0,0,0,0,0
$GC,7865,0.77,156.2,434.7,16.9,251,7872,0.00,2.12,0.00,0.000,6,0.000,0.032,2850,1928,2724,0,0,0,0,0,0
$GC,8115,0.77,156.2,397.8,14.2,258,8119,0.00,2.10,0.00,0.000,4,0.000,0.041,2857,516,2723,0,0,0,0,0,0
$GC,8158,0.77,156.2,391.5,14.2,259,8162,0.00,2.12,0.00,0.000,6,0.000,0.036,2857,1936,2721,0,0,0,0,0,0
$GC,8443,0.77,156.2,349.6,14.9,266,8447,0.00,2.17,0.00,0.000,4,0.000,0.052,2857,3329,2721,0,0,0,0,0,0
$GC,8618,0.77,156.2,316.8,17.6,270,8622,0.00,2.12,0.00,0.000,6,0.000,0.032,2867,1923,2721,0,0,0,0,0,0
$GC,8889,0.77,156.2,272.9,14.5,280,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1919,2720,0,0,0,0,0,0
$GC,9135,0.77,156.2,241.8,11.6,292,9139,0.00,2.08,0.00,0.000,4,0.000,0.041,2878,529,2720,0,0,0,0,0,0
$GC,9175,0.77,156.2,237.4,12.2,294,9180,0.12,2.10,0.00,0.000,6,0.197,0.035,2850,1943,2718,0,0,0,0,0,0
$GC,9441,0.77,156.2,209.9,11.2,307,9445,0.00,2.12,0.00,0.000,4,0.000,0.038,2859,515,2718,0,0,0,0,0,0
$GC,9485,0.77,156.2,204.7,11.4,309,9488,0.00,2.10,0.00,0.000,6,0.000,0.034,2864,1932,2717,0,0,0,0,0,0
$GC,9748,0.77,156.2,178.2,9.4,331,9752,0.00,2.17,0.00,0.000,4,0.000,0.050,2862,3329,2718,0,0,0,0,0,0
$GC,9914,0.77,156.2,162.2,10.3,345,9922,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1931,2719,0,0,0,0,0,0
$GC,10182,0.78,164.6,138.5,8.3,370,10196,0.00,2.12,4.07,0.400,4,0.000,0.038,2880,529,2708,0,0,0,0,0,0
$GC,10443,0.92,278.6,121.0,4.3,393,10544,0.00,2.10,91.20,0.552,6,0.000,0.032,2885,1928,2244,0,0,0,0,0,0
$GC,10801,0.92,278.6,77.5,14.0,426,10805,0.00,2.20,0.00,0.000,4,0.000,0.047,2880,3326,2239,0,0,0,0,0,0
$GC,10857,0.92,278.6,69.4,14.1,430,10865,0.00,2.15,0.00,0.000,6,0.000,0.031,2890,1937,2238,0,0,0,0,0,0
$GC,11120,0.92,278.6,32.0,14.5,455,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1932,2241,0,0,0,0,0,0
$STATE,11304,end climb,SURFACE_DEPTH_REACHED
$STATE,11304,begin surface coast
$FINISH,0.1,1.022989
$STATE,11322,end surface coast,CONTROL_FINISHED_OK
$STATE,11322,begin surface
$SM_CCo,11342,254.30,0.439,0,0,396,732.45
$SM_GC,0.94,0.00,0.00,254.30,0.000,0.000,0.439,44,2028,396,-7.95,0.79,732.45
$IRIDIUM_FIX,1950.41,-15657.42,280113,010128
$TT8_MAMPS,0.059826
$HUMID,1078763216
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.80
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339526656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48111747072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,28.638
$10V_AH,10.1,26.690
$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,19.350,99.175,342.600,254.300,0.000,146.211,178.573,888.740,26.250,0.000,35.774,1055.390,8347.990,647.634,2794.634,493.880,33.348,1358.075,0.000,1631.953,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,108.914,1109.082,439.491,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.970,0.000,807.407,0.000,0.000,0.000,0.000,27592.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.717,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,23521,491
$CAP_FILE_SIZE,123385,0
$CFSIZE,260165632,190881792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,298.8,1
$GPS,050811,110825,1958.072,-15654.444,51,1.2,51,9.7