version: 66.07
glider: 513
mission: 7
dive: 230
start: 8 9 111 12 18 20
data:
$ID,513
$MISSION,7
$DIVE,230
$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,0
$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,-426403.81
$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,44
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$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,229
$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
$GPS1,090811,115300,2010.632,-15635.941,95,1.3,95,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.7
$GPS2,090811,121725,2010.352,-15636.080,16,1.4,33,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.236,0.093
$KALMAN_X,-62748.8,1242.5,840.0,91338.7,-11861.4
$KALMAN_Y,-5207.0,860.8,-560.2,24652.6,-297.3
$MHEAD_RNG_PITCHd_Wd,32.2,13627,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.77,-156.2,0.0,0.0,0,83,0.00,0.00,-52.33,0.000,2,0.000,0.000,35,2021,3606,0,0,0,0,0,0
$GC,88,-0.77,-156.2,3.8,-6.7,8,109,9.85,2.17,-5.60,0.000,4,0.251,0.064,2324,3388,3941,0,0,0,0,0,0
$GC,163,-0.77,-156.2,38.7,-34.7,19,171,0.00,2.15,0.00,0.000,6,0.000,0.037,2329,2003,3941,0,0,0,0,0,0
$GC,428,-0.77,-156.2,131.4,-29.5,44,432,0.00,2.12,0.00,0.000,4,0.000,0.039,2329,589,3942,0,0,0,0,0,0
$GC,449,-0.77,-156.2,137.4,-28.8,45,453,0.00,2.12,0.00,0.000,6,0.000,0.039,2321,1984,3946,0,0,0,0,0,0
$GC,710,-0.77,-156.2,206.9,-23.8,68,714,0.00,2.10,0.00,0.000,4,0.000,0.039,2320,583,3944,0,0,0,0,0,0
$GC,731,-0.77,-156.2,212.0,-23.1,69,736,0.12,2.17,0.00,0.000,6,0.184,0.042,2340,2006,3944,0,0,0,0,0,0
$GC,991,-0.77,-156.2,261.3,-18.8,82,995,0.00,2.17,0.00,0.000,4,0.000,0.053,2331,3403,3946,0,0,0,0,0,0
$GC,1040,-0.77,-156.2,269.6,-15.0,84,1044,0.00,2.10,0.00,0.000,6,0.000,0.032,2331,1987,3945,0,0,0,0,0,0
$GC,1320,-0.77,-156.2,316.5,-16.9,96,1324,0.00,2.10,0.00,0.000,4,0.000,0.041,2331,607,3945,0,0,0,0,0,0
$GC,1372,-0.77,-156.2,325.1,-16.5,97,1376,0.00,2.10,0.00,0.000,6,0.000,0.042,2321,2007,3945,0,0,0,0,0,0
$GC,1650,-0.77,-156.2,372.4,-17.3,104,1654,0.00,2.17,0.00,0.000,4,0.000,0.053,2310,3401,3947,0,0,0,0,0,0
$GC,1700,-0.77,-156.2,381.1,-16.4,105,1705,0.12,2.10,0.00,0.000,6,0.164,0.031,2342,2000,3945,0,0,0,0,0,0
$GC,1972,-0.77,-156.2,421.2,-14.3,112,1976,0.00,2.08,0.00,0.000,4,0.000,0.040,2342,597,3943,0,0,0,0,0,0
$GC,2028,-0.77,-156.2,429.8,-14.5,113,2032,0.00,2.15,0.00,0.000,6,0.000,0.043,2334,2000,3943,0,0,0,0,0,0
$GC,2302,-0.77,-156.2,470.5,-14.9,120,2306,0.00,2.22,0.00,0.000,4,0.000,0.054,2324,3406,3942,0,0,0,0,0,0
$GC,2431,-0.77,-156.2,488.6,-13.9,123,2435,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,2000,3939,0,0,0,0,0,0
$GC,2714,-0.77,-156.2,529.6,-14.8,130,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1995,3936,0,0,0,0,0,0
$GC,2959,-0.77,-156.2,564.3,-14.2,136,2963,0.00,2.10,0.00,0.000,4,0.000,0.041,2324,593,3933,0,0,0,0,0,0
$GC,2991,-0.77,-156.2,569.2,-13.9,136,2998,0.12,2.17,0.00,0.000,6,0.173,0.044,2344,2008,3933,0,0,0,0,0,0
$GC,3241,-0.77,-156.2,600.3,-12.6,143,3245,0.00,2.17,0.00,0.000,4,0.000,0.054,2335,3408,3931,0,0,0,0,0,0
$GC,3354,-0.77,-156.2,614.5,-12.9,145,3358,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,1998,3928,0,0,0,0,0,0
$GC,3609,-0.77,-156.2,648.1,-13.2,152,3613,0.00,2.10,0.00,0.000,4,0.000,0.041,2335,590,3926,0,0,0,0,0,0
$GC,3676,-0.77,-156.2,657.6,-13.6,153,3680,0.00,2.15,0.00,0.000,6,0.000,0.045,2325,1998,3926,0,0,0,0,0,0
$GC,3939,-0.77,-156.2,693.9,-14.1,160,3943,0.00,2.20,0.00,0.000,4,0.000,0.055,2314,3408,3920,0,0,0,0,0,0
$GC,3966,-0.77,-156.2,697.8,-14.1,160,3970,0.12,2.12,0.00,0.000,6,0.166,0.036,2345,2001,3922,0,0,0,0,0,0
$GC,4216,-0.77,-156.2,728.0,-11.9,166,4220,0.00,2.25,0.00,0.000,4,0.000,0.056,2337,3413,3920,0,0,0,0,0,0
$GC,4244,-0.77,-156.2,731.3,-12.2,166,4248,0.00,2.15,0.00,0.000,6,0.000,0.035,2337,1999,3920,0,0,0,0,0,0
$GC,4494,-0.77,-156.2,762.3,-12.4,172,4498,0.00,2.12,0.00,0.000,4,0.000,0.043,2337,591,3916,0,0,0,0,0,0
$GC,4516,-0.77,-156.2,765.2,-12.6,172,4520,0.00,2.17,0.00,0.000,6,0.000,0.045,2327,2009,3918,0,0,0,0,0,0
$GC,4783,-0.77,-156.2,799.8,-13.1,179,4787,0.00,2.20,0.00,0.000,4,0.000,0.055,2316,3414,3915,0,0,0,0,0,0
$GC,4824,-0.77,-156.2,805.2,-13.7,180,4829,0.12,2.12,0.00,0.000,6,0.169,0.034,2348,1998,3914,0,0,0,0,0,0
$GC,5107,-0.77,-156.2,838.2,-11.5,187,5111,0.00,2.22,0.00,0.000,4,0.000,0.054,2339,3414,3912,0,0,0,0,0,0
$GC,5128,-0.77,-156.2,840.9,-12.1,187,5132,0.00,2.12,0.00,0.000,6,0.000,0.035,2339,1999,3912,0,0,0,0,0,0
$GC,5389,-0.77,-156.2,871.9,-11.9,194,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1993,3911,0,0,0,0,0,0
$STATE,5631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5631,begin apogee
$GC,5638,-0.28,0.0,901.0,12.0,200,5766,0.55,0.00,125.47,1.104,6,0.145,0.000,2503,1926,3301,0,0,0,0,0,0
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5771,0.77,156.2,904.8,0.0,203,5917,1.00,2.28,135.43,1.065,4,0.096,0.037,2847,523,2661,0,0,0,0,0,0
$GC,5927,0.77,156.2,886.9,18.1,206,5933,0.00,2.25,0.00,0.000,6,0.000,0.035,2847,1928,2659,0,0,0,0,0,0
$GC,6178,0.77,156.2,837.8,19.8,213,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1931,2654,0,0,0,0,0,0
$GC,6421,0.77,156.2,791.2,19.1,219,6425,0.00,2.25,0.00,0.000,4,0.000,0.054,2847,3340,2652,0,0,0,0,0,0
$GC,6476,0.77,156.2,779.9,21.3,220,6480,0.00,2.17,0.00,0.000,6,0.000,0.033,2858,1931,2652,0,0,0,0,0,0
$GC,6749,0.77,156.2,726.0,19.8,227,6753,0.00,2.15,0.00,0.000,4,0.000,0.041,2875,526,2650,0,0,0,0,0,0
$GC,6789,0.77,156.2,717.5,22.1,228,6794,0.00,2.15,0.00,0.000,6,0.000,0.038,2869,1937,2649,0,0,0,0,0,0
$GC,7073,0.77,156.2,656.8,21.1,235,7077,0.00,2.20,0.00,0.000,4,0.000,0.052,2869,3336,2648,0,0,0,0,0,0
$GC,7129,0.77,156.2,644.3,22.9,236,7134,0.12,2.12,0.00,0.000,6,0.207,0.033,2852,1928,2648,0,0,0,0,0,0
$GC,7395,0.77,156.2,592.6,19.6,243,7399,0.00,2.10,0.00,0.000,4,0.000,0.040,2861,529,2647,0,0,0,0,0,0
$GC,7422,0.77,156.2,587.1,21.0,243,7426,0.00,2.12,0.00,0.000,6,0.000,0.036,2861,1933,2645,0,0,0,0,0,0
$GC,7677,0.77,156.2,537.5,19.3,250,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1935,2646,0,0,0,0,0,0
$GC,7923,0.77,156.2,490.8,19.0,256,7927,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,528,2646,0,0,0,0,0,0
$GC,7944,0.77,156.2,485.9,19.4,256,7948,0.00,2.15,0.00,0.000,6,0.000,0.036,2872,1938,2643,0,0,0,0,0,0
$GC,8206,0.77,156.2,437.0,18.4,263,8209,0.00,2.20,0.00,0.000,4,0.000,0.051,2868,3330,2644,0,0,0,0,0,0
$GC,8301,0.77,156.2,419.3,17.6,265,8306,0.12,2.10,0.00,0.000,6,0.199,0.031,2848,1928,2644,0,0,0,0,0,0
$GC,8574,0.77,156.2,375.6,15.7,272,8577,0.00,2.12,0.00,0.000,4,0.000,0.039,2858,517,2643,0,0,0,0,0,0
$GC,8613,0.77,156.2,369.2,16.5,273,8617,0.00,2.12,0.00,0.000,6,0.000,0.035,2854,1928,2641,0,0,0,0,0,0
$GC,8898,0.77,156.2,324.2,15.9,280,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1931,2642,0,0,0,0,0,0
$GC,9141,0.77,156.2,287.8,14.8,288,9145,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3346,2642,0,0,0,0,0,0
$GC,9169,0.77,156.2,283.0,16.8,289,9173,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1927,2644,0,0,0,0,0,0
$GC,9435,0.77,156.2,244.9,13.4,302,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1923,2641,0,0,0,0,0,0
$GC,9681,0.77,156.2,211.2,13.1,314,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1923,2642,0,0,0,0,0,0
$GC,9935,0.77,156.2,180.8,11.1,333,9939,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,517,2638,0,0,0,0,0,0
$GC,9999,0.77,156.2,173.0,12.7,338,10003,0.00,2.12,0.00,0.000,6,0.000,0.035,2875,1936,2639,0,0,0,0,0,0
$GC,10264,0.77,156.2,142.3,10.3,362,10268,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,525,2640,0,0,0,0,0,0
$GC,10373,0.77,156.2,131.0,9.7,371,10382,0.10,2.15,0.00,0.000,6,0.163,0.035,2855,1933,2640,0,0,0,0,0,0
$GC,10636,0.84,207.5,112.4,6.7,396,10684,0.00,2.20,38.28,0.547,4,0.000,0.038,2865,522,2454,0,0,0,0,0,0
$GC,10842,0.84,212.2,96.3,8.4,414,10855,0.00,2.12,5.15,0.404,6,0.000,0.034,2863,1935,2435,0,0,0,0,0,0
$GC,11110,0.84,212.2,70.0,10.8,439,11114,0.00,2.20,0.00,0.000,4,0.000,0.049,2865,3342,2435,0,0,0,0,0,0
$GC,11274,0.84,212.2,50.5,11.8,453,11282,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1926,2437,0,0,0,0,0,0
$GC,11540,0.84,212.2,20.6,11.2,485,11548,0.00,2.22,0.00,0.000,4,0.000,0.048,2876,3336,2438,0,0,0,0,0,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FINISH,0.3,1.011117
$STATE,11720,end surface coast,CONTROL_FINISHED_OK
$STATE,11720,begin surface
$SM_CCo,11742,38.92,0.436,0,0,2074,300.24
$SM_GC,1.83,0.00,0.00,38.92,0.000,0.000,0.436,57,1995,2074,-7.94,-0.23,300.24
$IRIDIUM_FIX,2004.18,-15619.74,010213,060635
$TT8_MAMPS,0.247741
$HUMID,1078875474
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,108
$AR_DIVENUM,230
$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
$24V_AH,24.0,33.021
$10V_AH,10.1,30.309
$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,19.825,129.175,304.325,38.925,0.000,112.273,178.551,733.892,27.000,0.000,35.587,1136.111,8486.551,409.392,2773.671,458.075,33.344,1171.013,0.000,1758.818,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,110.448,1103.713,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.778,0.000,876.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353648
$DATA_FILE_SIZE,26845,518
$CAP_FILE_SIZE,129076,0
$CFSIZE,260165632,188968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,183.7,1
$GPS,090811,153631,2011.000,-15634.990,40,1.4,40,9.7