version: 66.07
glider: 513
mission: 7
dive: 231
start: 8 9 111 16 1 46
data:
$ID,513
$MISSION,7
$DIVE,231
$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,-426421.03
$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,50
$R_STBD_OVSHOOT,37
$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,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
$GPS1,090811,153631,2011.000,-15634.990,40,1.4,40,9.7
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-77.0
$GPS2,090811,160050,2010.689,-15635.068,14,1.6,14,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.240,0.082
$KALMAN_X,-64685.3,1478.2,338.4,95301.6,-10373.6
$KALMAN_Y,-5283.9,-476.3,-594.4,26730.0,1382.7
$MHEAD_RNG_PITCHd_Wd,25.8,11887,-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,27,-0.77,-156.2,0.0,0.0,0,87,0.00,0.00,-57.00,0.000,2,0.000,0.000,36,1989,3748,0,0,0,0,0,0
$GC,90,-0.77,-156.2,4.2,-7.2,9,112,9.95,2.28,-3.10,0.000,4,0.254,0.064,2326,3405,3939,0,0,0,0,0,0
$GC,220,-0.77,-156.2,55.1,-31.6,24,224,0.00,2.12,0.00,0.000,6,0.000,0.038,2326,2014,3942,0,0,0,0,0,0
$GC,483,-0.77,-156.2,144.5,-29.6,48,487,0.00,2.17,0.00,0.000,4,0.000,0.043,2326,586,3942,0,0,0,0,0,0
$GC,568,-0.77,-156.2,167.0,-25.3,55,573,0.12,2.15,0.00,0.000,6,0.176,0.042,2346,1998,3941,0,0,0,0,0,0
$GC,826,-0.77,-156.2,223.4,-21.2,74,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1998,3947,0,0,0,0,0,0
$GC,1074,-0.77,-156.2,270.0,-18.4,86,1078,0.00,2.17,0.00,0.000,4,0.000,0.049,2337,3419,3946,0,0,0,0,0,0
$GC,1204,-0.77,-156.2,292.4,-15.8,92,1208,0.00,2.12,0.00,0.000,6,0.000,0.030,2337,1986,3945,0,0,0,0,0,0
$GC,1465,-0.77,-156.2,335.1,-16.6,100,1469,0.00,2.05,0.00,0.000,4,0.000,0.040,2337,602,3948,0,0,0,0,0,0
$GC,1543,-0.77,-156.2,348.3,-16.4,101,1549,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,2006,3944,0,0,0,0,0,0
$GC,1793,-0.77,-156.2,390.3,-16.9,108,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2006,3945,0,0,0,0,0,0
$GC,2037,-0.77,-156.2,430.2,-16.0,114,2041,0.00,2.15,0.00,0.000,4,0.000,0.050,2316,3409,3943,0,0,0,0,0,0
$GC,2065,-0.77,-156.2,434.8,-16.6,114,2070,0.12,2.10,0.00,0.000,6,0.160,0.033,2348,1999,3944,0,0,0,0,0,0
$GC,2315,-0.77,-156.2,471.2,-14.4,120,2319,0.00,2.20,0.00,0.000,4,0.000,0.051,2340,3411,3941,0,0,0,0,0,0
$GC,2353,-0.77,-156.2,477.0,-14.9,120,2359,0.00,2.10,0.00,0.000,6,0.000,0.032,2340,1997,3940,0,0,0,0,0,0
$GC,2603,-0.77,-156.2,511.6,-13.7,127,2607,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3402,3938,0,0,0,0,0,0
$GC,2625,-0.77,-156.2,514.8,-14.4,127,2629,0.00,2.10,0.00,0.000,6,0.000,0.032,2329,1989,3938,0,0,0,0,0,0
$GC,2880,-0.77,-156.2,550.7,-13.9,134,2884,0.00,2.08,0.00,0.000,4,0.000,0.043,2329,603,3934,0,0,0,0,0,0
$GC,2919,-0.77,-156.2,556.3,-13.7,135,2923,0.00,2.12,0.00,0.000,6,0.000,0.043,2319,1991,3934,0,0,0,0,0,0
$GC,3204,-0.77,-156.2,597.7,-14.6,142,3208,0.00,2.20,0.00,0.000,4,0.000,0.051,2307,3415,3929,0,0,0,0,0,0
$GC,3304,-0.77,-156.2,612.7,-14.0,144,3308,0.15,2.10,0.00,0.000,6,0.156,0.034,2348,2001,3930,0,0,0,0,0,0
$GC,3577,-0.77,-156.2,645.6,-12.0,151,3581,0.00,2.12,0.00,0.000,4,0.000,0.041,2349,591,3927,0,0,0,0,0,0
$GC,3662,-0.77,-156.2,655.9,-12.2,153,3666,0.00,2.17,0.00,0.000,6,0.000,0.043,2340,2011,3923,0,0,0,0,0,0
$GC,3945,-0.77,-156.2,691.3,-12.5,160,3949,0.00,2.20,0.00,0.000,4,0.000,0.053,2329,3404,3924,0,0,0,0,0,0
$GC,3990,-0.77,-156.2,697.1,-13.1,161,3994,0.00,2.12,0.00,0.000,6,0.000,0.035,2329,1999,3923,0,0,0,0,0,0
$GC,4267,-0.77,-156.2,734.0,-13.2,168,4271,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3403,3922,0,0,0,0,0,0
$GC,4328,-0.77,-156.2,742.0,-12.6,169,4333,0.00,2.15,0.00,0.000,6,0.000,0.034,2318,2002,3920,0,0,0,0,0,0
$GC,4596,-0.77,-156.2,776.5,-13.1,176,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1996,3917,0,0,0,0,0,0
$GC,4839,-0.77,-156.2,807.5,-12.5,182,4843,0.00,2.25,0.00,0.000,4,0.000,0.054,2307,3401,3914,0,0,0,0,0,0
$GC,4916,-0.77,-156.2,817.7,-13.2,183,4923,0.15,2.10,0.00,0.000,6,0.160,0.033,2348,1999,3913,0,0,0,0,0,0
$GC,5168,-0.77,-156.2,844.1,-10.6,190,5171,0.00,2.12,0.00,0.000,4,0.000,0.043,2348,587,3916,0,0,0,0,0,0
$GC,5189,-0.77,-156.2,846.8,-11.1,190,5193,0.00,2.15,0.00,0.000,6,0.000,0.042,2339,2000,3912,0,0,0,0,0,0
$GC,5451,-0.77,-156.2,876.4,-11.6,197,5455,0.00,2.20,0.00,0.000,4,0.000,0.054,2329,3405,3910,0,0,0,0,0,0
$GC,5518,-0.77,-156.2,884.6,-11.7,198,5522,0.00,2.12,0.00,0.000,6,0.000,0.035,2328,1999,3910,0,0,0,0,0,0
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5649,begin apogee
$GC,5655,-0.28,0.0,900.7,12.2,202,5783,0.57,0.00,125.20,1.101,6,0.146,0.000,2500,1922,3302,0,0,0,0,0,0
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5788,0.77,156.2,904.5,0.0,205,5932,1.05,0.00,137.02,1.064,6,0.097,0.000,2843,1921,2662,0,0,0,0,0,0
$GC,6176,0.77,156.2,836.2,21.3,215,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1921,2652,0,0,0,0,0,0
$GC,6419,0.77,156.2,784.9,21.0,221,6423,0.00,2.25,0.00,0.000,4,0.000,0.051,2843,3333,2651,0,0,0,0,0,0
$GC,6468,0.77,156.2,773.6,21.9,222,6472,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1928,2652,0,0,0,0,0,0
$GC,6747,0.77,156.2,715.2,21.0,229,6751,0.00,2.15,0.00,0.000,4,0.000,0.039,2866,515,2651,0,0,0,0,0,0
$GC,6775,0.77,156.2,708.5,22.7,229,6778,0.00,2.15,0.00,0.000,6,0.000,0.037,2866,1930,2648,0,0,0,0,0,0
$GC,7030,0.77,156.2,653.8,21.4,236,7034,0.00,2.22,0.00,0.000,4,0.000,0.053,2862,3335,2648,0,0,0,0,0,0
$GC,7102,0.77,156.2,637.1,24.4,237,7106,0.00,2.12,0.00,0.000,6,0.000,0.033,2875,1937,2648,0,0,0,0,0,0
$GC,7364,0.77,156.2,580.0,22.2,244,7368,0.00,2.15,0.00,0.000,4,0.000,0.041,2887,511,2647,0,0,0,0,0,0
$GC,7404,0.77,156.2,571.0,21.9,245,7408,0.15,2.15,0.00,0.000,6,0.197,0.036,2852,1935,2645,0,0,0,0,0,0
$GC,7688,0.77,156.2,517.2,18.0,252,7692,0.00,2.15,0.00,0.000,4,0.000,0.042,2861,522,2645,0,0,0,0,0,0
$GC,7721,0.77,156.2,510.5,19.1,252,7728,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1929,2644,0,0,0,0,0,0
$GC,7971,0.77,156.2,465.7,17.9,259,7975,0.00,2.20,0.00,0.000,4,0.000,0.051,2861,3341,2644,0,0,0,0,0,0
$GC,8015,0.77,156.2,457.6,18.4,260,8019,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,1923,2640,0,0,0,0,0,0
$GC,8299,0.77,156.2,405.7,18.7,267,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1919,2644,0,0,0,0,0,0
$GC,8542,0.77,156.2,360.8,18.7,273,8546,0.00,2.20,0.00,0.000,4,0.000,0.049,2872,3336,2643,0,0,0,0,0,0
$GC,8558,0.77,156.2,357.4,18.5,273,8563,0.15,2.10,0.00,0.000,6,0.191,0.031,2846,1925,2643,0,0,0,0,0,0
$GC,8826,0.77,156.2,313.7,16.5,280,8830,0.00,2.10,0.00,0.000,4,0.000,0.040,2856,525,2642,0,0,0,0,0,0
$GC,8898,0.77,156.2,302.9,15.1,281,8903,0.00,2.12,0.00,0.000,6,0.000,0.035,2856,1942,2640,0,0,0,0,0,0
$GC,9151,0.77,156.2,267.5,13.1,292,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1943,2641,0,0,0,0,0,0
$GC,9400,0.77,156.2,234.7,13.6,304,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1943,2641,0,0,0,0,0,0
$GC,9646,0.77,156.2,203.0,12.8,316,9650,0.00,2.15,0.00,0.000,4,0.000,0.048,2856,3335,2641,0,0,0,0,0,0
$GC,9667,0.77,156.2,199.7,15.0,317,9672,0.00,2.10,0.00,0.000,6,0.000,0.031,2867,1925,2641,0,0,0,0,0,0
$GC,9939,0.77,156.2,164.6,13.6,342,9943,0.00,2.10,0.00,0.000,4,0.000,0.039,2878,522,2640,0,0,0,0,0,0
$GC,9992,0.77,156.2,156.3,13.3,346,10000,0.10,2.15,0.00,0.000,6,0.170,0.036,2849,1922,2639,0,0,0,0,0,0
$GC,10256,0.77,156.2,129.3,9.8,371,10259,0.00,2.12,0.00,0.000,4,0.000,0.041,2858,522,2641,0,0,0,0,0,0
$GC,10506,0.83,204.6,110.4,6.8,393,10550,0.00,2.15,36.47,0.541,6,0.000,0.032,2858,1937,2467,0,0,0,0,0,0
$GC,10803,0.83,204.6,87.0,9.0,421,10807,0.00,2.15,0.00,0.000,4,0.000,0.038,2869,522,2462,0,0,0,0,0,0
$GC,10931,0.83,204.6,73.6,10.7,432,10936,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1936,2460,0,0,0,0,0,0
$GC,11196,0.83,204.6,48.3,10.4,456,11200,0.00,2.15,0.00,0.000,4,0.000,0.052,2869,3327,2461,0,0,0,0,0,0
$GC,11446,0.83,204.6,20.0,12.0,486,11454,0.00,2.12,0.00,0.000,6,0.000,0.028,2879,1917,2464,0,0,0,0,0,0
$STATE,11590,end climb,SURFACE_DEPTH_REACHED
$STATE,11590,begin surface coast
$FINISH,0.4,1.022930
$STATE,11613,end surface coast,CONTROL_FINISHED_OK
$STATE,11613,begin surface
$SM_CCo,11643,42.95,0.437,0,0,2075,300.24
$SM_GC,1.72,0.00,0.00,42.95,0.000,0.000,0.437,53,2064,2075,-7.95,1.81,300.24
$IRIDIUM_FIX,2001.88,-15617.64,010213,101004
$TT8_MAMPS,0.251576
$HUMID,1078866442
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,113
$AR_DIVENUM,231
$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,24.0,33.174
$10V_AH,10.1,30.401
$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,20.000,120.500,298.700,42.950,0.000,110.332,161.755,760.763,28.250,0.000,16.593,1131.922,8353.389,443.604,2769.420,460.747,33.351,1170.164,0.000,1767.414,0.000,0.541,0.000
$DEVICE_MAMPS,253.877,107.380,1100.645,437.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.227,0.000,879.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353716
$DATA_FILE_SIZE,26880,516
$CAP_FILE_SIZE,125609,0
$CFSIZE,260165632,188903424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,182.6,1
$GPS,090811,191825,2011.275,-15634.056,47,1.1,47,9.7