version: 66.07
glider: 513
mission: 7
dive: 204
start: 8 5 111 11 37 38
data:
$ID,513
$MISSION,7
$DIVE,204
$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,-425648.84
$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,43
$R_STBD_OVSHOOT,60
$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,203
$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
$GPS1,050811,110825,1958.072,-15654.444,51,1.2,51,9.7
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,7
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.7
$GPS2,050811,113643,1958.140,-15654.732,9,1.2,20,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.218,0.129
$KALMAN_X,-172004.8,1009.4,945.2,142998.2,-13835.2
$KALMAN_Y,122659.4,1308.6,273.8,-105964.3,-2334.9
$MHEAD_RNG_PITCHd_Wd,74.2,53119,-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,-156.2,0.0,0.0,0,141,0.00,0.00,-111.50,0.000,2,0.000,0.000,36,2024,3730,0,0,0,0,0,0
$GC,146,-0.77,-156.2,4.1,-7.6,17,167,9.52,2.17,-3.80,0.000,4,0.242,0.048,2341,593,3965,0,0,0,0,0,0
$GC,176,-0.77,-156.2,20.6,-42.3,21,184,0.00,2.12,0.00,0.000,6,0.000,0.047,2335,1972,3962,0,0,0,0,0,0
$GC,442,-0.77,-156.2,127.3,-36.8,47,446,0.00,2.22,0.00,0.000,4,0.000,0.051,2324,3407,3963,0,0,0,0,0,0
$GC,574,-0.77,-156.2,164.6,-24.9,58,581,0.00,2.15,0.00,0.000,6,0.000,0.037,2324,2014,3964,0,0,0,0,0,0
$GC,831,-0.77,-156.2,230.2,-23.1,77,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2009,3964,0,0,0,0,0,0
$GC,1080,-0.77,-156.2,283.5,-20.9,89,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2007,3965,0,0,0,0,0,0
$GC,1344,-0.77,-156.2,335.4,-19.5,98,1348,0.00,2.12,0.00,0.000,4,0.000,0.043,2324,584,3965,0,0,0,0,0,0
$GC,1410,-0.77,-156.2,347.8,-17.0,99,1415,0.12,2.12,0.00,0.000,6,0.171,0.042,2348,2005,3965,0,0,0,0,0,0
$GC,1672,-0.77,-156.2,387.1,-14.6,106,1676,0.00,2.15,0.00,0.000,4,0.000,0.052,2336,3400,3964,0,0,0,0,0,0
$GC,1789,-0.77,-156.2,403.0,-12.3,108,1793,0.00,2.10,0.00,0.000,6,0.000,0.032,2336,1991,3963,0,0,0,0,0,0
$GC,2044,-0.77,-156.2,436.4,-13.2,115,2049,0.00,2.12,-0.03,0.000,4,0.000,0.057,2336,587,3968,0,0,0,0,0,0
$GC,2089,-0.77,-156.2,442.0,-12.5,116,2093,0.00,2.12,0.00,0.000,6,0.000,0.041,2323,1999,3969,0,0,0,0,0,0
$GC,2366,-0.77,-156.2,480.0,-13.9,123,2370,0.00,2.17,0.00,0.000,4,0.000,0.052,2315,3407,3965,0,0,0,0,0,0
$GC,2415,-0.77,-156.2,487.6,-15.3,124,2419,0.00,2.12,0.00,0.000,6,0.000,0.034,2315,2000,3964,0,0,0,0,0,0
$GC,2694,-0.77,-156.2,530.2,-15.1,131,2699,0.12,2.12,0.00,0.000,4,0.175,0.046,2357,596,3961,0,0,0,0,0,0
$GC,2733,-0.77,-156.2,535.6,-12.4,132,2738,0.00,2.12,0.00,0.000,6,0.000,0.044,2349,2000,3960,0,0,0,0,0,0
$GC,3017,-0.77,-156.2,573.0,-13.6,139,3021,0.00,2.20,0.00,0.000,4,0.000,0.053,2336,3404,3956,0,0,0,0,0,0
$GC,3112,-0.77,-156.2,586.0,-13.8,141,3116,0.00,2.12,0.00,0.000,6,0.000,0.035,2337,1990,3955,0,0,0,0,0,0
$GC,3384,-0.77,-156.2,625.8,-14.8,148,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1985,3953,0,0,0,0,0,0
$GC,3627,-0.77,-156.2,663.2,-15.3,154,3631,0.00,2.25,0.00,0.000,4,0.000,0.054,2327,3417,3950,0,0,0,0,0,0
$GC,3656,-0.77,-156.2,667.6,-15.7,154,3660,0.00,2.15,0.00,0.000,6,0.000,0.036,2327,1999,3950,0,0,0,0,0,0
$GC,3911,-0.77,-156.2,705.5,-14.7,161,3915,0.00,2.10,0.00,0.000,4,0.000,0.045,2327,593,3946,0,0,0,0,0,0
$GC,3950,-0.77,-156.2,711.5,-15.2,162,3955,0.12,2.17,0.00,0.000,6,0.175,0.046,2347,2007,3946,0,0,0,0,0,0
$GC,4235,-0.77,-156.2,746.8,-12.2,169,4239,0.00,2.17,0.00,0.000,4,0.000,0.054,2338,3401,3941,0,0,0,0,0,0
$GC,4284,-0.77,-156.2,753.4,-11.8,170,4288,0.00,2.12,0.00,0.000,6,0.000,0.038,2338,1994,3943,0,0,0,0,0,0
$GC,4563,-0.77,-156.2,787.7,-12.4,177,4567,0.00,2.25,0.00,0.000,4,0.000,0.055,2328,3405,3941,0,0,0,0,0,0
$GC,4613,-0.77,-156.2,794.2,-12.3,178,4617,0.00,2.15,0.00,0.000,6,0.000,0.037,2328,2007,3940,0,0,0,0,0,0
$GC,4886,-0.77,-156.2,829.9,-13.1,185,4890,0.00,2.20,0.00,0.000,4,0.000,0.055,2317,3401,3937,0,0,0,0,0,0
$GC,4918,-0.77,-156.2,834.3,-13.1,185,4925,0.10,2.12,0.00,0.000,6,0.178,0.035,2341,1990,3937,0,0,0,0,0,0
$GC,5168,-0.77,-156.2,864.2,-11.8,192,5172,0.00,2.25,0.00,0.000,4,0.000,0.056,2333,3407,3935,0,0,0,0,0,0
$GC,5229,-0.77,-156.2,871.8,-11.9,193,5233,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,2008,3936,0,0,0,0,0,0
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5465,-0.28,0.0,900.7,12.6,199,5581,0.57,0.00,112.80,1.107,6,0.146,0.000,2505,1912,3381,0,0,0,0,0,0
$STATE,5584,end apogee,CONTROL_FINISHED_OK
$STATE,5584,begin climb
$GC,5588,0.77,156.2,904.9,0.0,202,5727,1.00,0.00,135.38,1.070,6,0.089,0.000,2841,1911,2742,0,0,0,0,0,0
$GC,5945,0.77,156.2,851.5,19.2,211,5949,0.00,2.30,0.00,0.000,4,0.000,0.052,2841,3338,2735,0,0,0,0,0,0
$GC,5995,0.77,156.2,841.3,21.3,212,5999,0.00,2.15,0.00,0.000,6,0.000,0.031,2852,1941,2735,0,0,0,0,0,0
$GC,6267,0.77,156.2,786.9,20.1,219,6271,0.00,2.25,0.00,0.000,4,0.000,0.054,2852,3334,2733,0,0,0,0,0,0
$GC,6283,0.77,156.2,783.3,20.5,219,6288,0.00,2.17,0.00,0.000,6,0.000,0.032,2862,1935,2733,0,0,0,0,0,0
$GC,6550,0.77,156.2,727.3,21.1,226,6554,0.00,2.22,0.00,0.000,4,0.000,0.052,2863,3334,2731,0,0,0,0,0,0
$GC,6578,0.77,156.2,721.3,21.4,226,6583,0.10,2.15,0.00,0.000,6,0.216,0.031,2853,1925,2731,0,0,0,0,0,0
$GC,6828,0.77,156.2,672.2,19.6,232,6832,0.00,2.10,0.00,0.000,4,0.000,0.041,2862,529,2730,0,0,0,0,0,0
$GC,6928,0.77,156.2,652.6,19.3,234,6932,0.00,2.15,0.00,0.000,6,0.000,0.037,2862,1931,2727,0,0,0,0,0,0
$GC,7208,0.77,156.2,598.7,19.4,241,7212,0.00,2.22,0.00,0.000,4,0.000,0.052,2866,3337,2724,0,0,0,0,0,0
$GC,7269,0.77,156.2,585.4,21.3,242,7272,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,1928,2725,0,0,0,0,0,0
$GC,7542,0.77,156.2,531.5,19.6,249,7546,0.00,2.22,0.00,0.000,4,0.000,0.051,2870,3341,2723,0,0,0,0,0,0
$GC,7592,0.77,156.2,520.4,21.5,250,7597,0.12,2.15,0.00,0.000,6,0.213,0.032,2851,1934,2723,0,0,0,0,0,0
$GC,7865,0.77,156.2,473.6,17.2,257,7869,0.00,2.12,0.00,0.000,4,0.000,0.041,2860,526,2722,0,0,0,0,0,0
$GC,7916,0.77,156.2,464.6,16.9,258,7920,0.00,2.12,0.00,0.000,6,0.000,0.036,2860,1932,2720,0,0,0,0,0,0
$GC,8188,0.77,156.2,419.2,16.6,265,8192,0.00,2.22,0.00,0.000,4,0.000,0.050,2860,3341,2720,0,0,0,0,0,0
$GC,8283,0.77,156.2,402.3,18.0,267,8287,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1919,2721,0,0,0,0,0,0
$GC,8562,0.77,156.2,356.4,16.7,274,8566,0.00,2.22,0.00,0.000,4,0.000,0.049,2868,3331,2720,0,0,0,0,0,0
$GC,8612,0.77,156.2,347.7,17.9,275,8617,0.12,2.10,0.00,0.000,6,0.209,0.031,2850,1931,2720,0,0,0,0,0,0
$GC,8890,0.77,156.2,307.4,13.9,282,8894,0.00,2.10,0.00,0.000,4,0.000,0.041,2859,526,2720,0,0,0,0,0,0
$GC,8952,0.77,156.2,298.6,13.9,283,8956,0.00,2.10,0.00,0.000,6,0.000,0.035,2859,1935,2718,0,0,0,0,0,0
$GC,9221,0.77,156.2,263.9,11.7,296,9225,0.00,2.10,0.00,0.000,4,0.000,0.040,2869,527,2718,0,0,0,0,0,0
$GC,9294,0.77,156.2,254.8,12.5,299,9298,0.00,2.12,0.00,0.000,6,0.000,0.035,2866,1931,2719,0,0,0,0,0,0
$GC,9555,0.77,156.2,222.8,12.1,312,9559,0.00,2.10,0.00,0.000,4,0.000,0.038,2879,516,2717,0,0,0,0,0,0
$GC,9632,0.77,156.2,213.0,13.1,315,9639,0.12,2.12,0.00,0.000,6,0.199,0.034,2851,1938,2716,0,0,0,0,0,0
$GC,9893,0.77,156.2,185.4,9.9,334,9897,0.00,2.10,0.00,0.000,4,0.000,0.038,2860,525,2717,0,0,0,0,0,0
$GC,9915,0.77,156.2,182.9,10.1,335,9922,0.00,2.12,0.00,0.000,6,0.000,0.034,2861,1931,2716,0,0,0,0,0,0
$GC,10180,0.77,156.2,154.6,10.7,360,10184,0.00,2.20,0.00,0.000,4,0.000,0.049,2860,3335,2717,0,0,0,0,0,0
$GC,10433,0.77,156.2,126.9,9.8,382,10441,0.00,2.15,0.00,0.000,6,0.000,0.029,2870,1920,2719,0,0,0,0,0,0
$GC,10701,0.90,257.4,110.2,4.8,407,10785,0.00,2.12,76.85,0.544,4,0.000,0.038,2881,535,2327,0,0,0,0,0,0
$GC,10822,0.90,257.4,100.4,13.0,417,10827,0.00,2.12,0.00,0.000,6,0.000,0.032,2881,1927,2326,0,0,0,0,0,0
$GC,11089,0.90,257.4,66.5,12.5,441,11093,0.00,2.22,0.00,0.000,4,0.000,0.047,2881,3342,2325,0,0,0,0,0,0
$GC,11130,0.90,257.4,60.1,15.0,444,11134,0.00,2.12,0.00,0.000,6,0.000,0.030,2892,1936,2325,0,0,0,0,0,0
$GC,11396,0.90,257.4,24.8,12.4,471,11403,0.00,2.15,0.00,0.000,4,0.000,0.041,2903,528,2325,0,0,0,0,0,0
$GC,11433,0.90,257.4,20.0,13.2,477,11441,0.00,2.12,0.00,0.000,6,0.000,0.031,2903,1936,2325,0,0,0,0,0,0
$STATE,11533,end climb,SURFACE_DEPTH_REACHED
$STATE,11533,begin surface coast
$FINISH,0.3,1.023008
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11574,23.95,0.439,0,0,2156,300.24
$SM_GC,2.16,0.00,0.00,23.95,0.000,0.000,0.439,56,2006,2156,-7.94,0.20,300.24
$IRIDIUM_FIX,1950.41,-15652.30,280113,050538
$TT8_MAMPS,0.253877
$HUMID,1078915474
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.70
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262620160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48005808128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,28.810
$10V_AH,10.2,26.784
$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,19.600,133.825,325.025,23.950,0.000,82.288,110.462,1143.869,25.000,0.000,22.309,1109.651,8226.984,463.322,2831.846,672.120,33.353,1257.149,0.000,1752.775,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,108.914,1106.781,439.491,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.981,0.000,813.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,23554,498
$CAP_FILE_SIZE,133443,0
$CFSIZE,260165632,190832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,292.1,1
$GPS,050811,145306,1958.483,-15653.983,70,1.2,70,9.7