version: 66.07
glider: 513
mission: 7
dive: 232
start: 8 9 111 19 49 41
data:
$ID,513
$MISSION,7
$DIVE,232
$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,-426436.88
$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,48
$R_STBD_OVSHOOT,43
$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,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
$GPS1,090811,191825,2011.275,-15634.056,47,1.1,47,9.7
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.0
$GPS2,090811,194844,2010.809,-15634.196,11,1.6,11,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.228,0.111
$KALMAN_X,-67846.1,1239.1,960.2,99607.8,-12089.1
$KALMAN_Y,-7212.7,-1588.6,645.3,28761.8,-1667.4
$MHEAD_RNG_PITCHd_Wd,18.4,10648,-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,26,-0.77,-156.2,0.0,0.0,0,86,0.00,0.00,-57.00,0.000,2,0.000,0.000,34,2064,3747,0,0,0,0,0,0
$GC,90,-0.77,-156.2,4.1,-6.9,9,112,9.88,2.25,-3.12,0.000,4,0.251,0.049,2348,601,3939,0,0,0,0,0,0
$GC,307,-0.77,-156.2,88.2,-29.5,32,311,0.00,2.12,0.00,0.000,6,0.000,0.040,2339,2006,3941,0,0,0,0,0,0
$GC,574,-0.77,-156.2,159.4,-25.5,56,578,0.00,2.12,0.00,0.000,4,0.000,0.038,2339,600,3943,0,0,0,0,0,0
$GC,638,-0.77,-156.2,174.7,-20.7,61,642,0.00,2.10,0.00,0.000,6,0.000,0.040,2329,1998,3942,0,0,0,0,0,0
$GC,896,-0.77,-156.2,230.9,-20.9,78,900,0.00,2.17,0.00,0.000,4,0.000,0.049,2318,3412,3943,0,0,0,0,0,0
$GC,923,-0.77,-156.2,236.8,-20.5,79,926,0.00,2.08,0.00,0.000,6,0.000,0.031,2318,2000,3943,0,0,0,0,0,0
$GC,1182,-0.77,-156.2,291.0,-20.0,92,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1994,3945,0,0,0,0,0,0
$GC,1448,-0.77,-156.2,337.7,-18.1,100,1453,0.10,2.10,0.00,0.000,4,0.187,0.040,2341,592,3944,0,0,0,0,0,0
$GC,1497,-0.77,-156.2,346.4,-17.0,101,1501,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2010,3948,0,0,0,0,0,0
$GC,1775,-0.77,-156.2,391.4,-16.0,108,1779,0.00,2.12,0.00,0.000,4,0.000,0.048,2318,3400,3944,0,0,0,0,0,0
$GC,1849,-0.77,-156.2,403.2,-14.9,109,1853,0.00,2.10,0.00,0.000,6,0.000,0.031,2322,1990,3943,0,0,0,0,0,0
$GC,2099,-0.77,-156.2,444.5,-16.7,115,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1983,3941,0,0,0,0,0,0
$GC,2343,-0.77,-156.2,484.3,-16.5,121,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1988,3937,0,0,0,0,0,0
$GC,2586,-0.77,-156.2,522.2,-15.4,127,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1983,3937,0,0,0,0,0,0
$GC,2831,-0.77,-156.2,558.3,-14.4,133,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1983,3933,0,0,0,0,0,0
$GC,3074,-0.77,-156.2,591.6,-13.6,139,3078,0.00,2.22,0.00,0.000,4,0.000,0.053,2312,3405,3933,0,0,0,0,0,0
$GC,3152,-0.77,-156.2,602.6,-13.9,140,3156,0.12,2.10,0.00,0.000,6,0.163,0.035,2344,1998,3929,0,0,0,0,0,0
$GC,3403,-0.77,-156.2,632.6,-11.9,146,3407,0.00,2.10,0.00,0.000,4,0.000,0.042,2343,603,3926,0,0,0,0,0,0
$GC,3430,-0.77,-156.2,636.1,-12.3,146,3434,0.00,2.12,0.00,0.000,6,0.000,0.044,2335,2002,3927,0,0,0,0,0,0
$GC,3692,-0.77,-156.2,669.3,-12.8,153,3696,0.00,2.17,0.00,0.000,4,0.000,0.054,2325,3406,3924,0,0,0,0,0,0
$GC,3765,-0.77,-156.2,679.1,-12.3,154,3769,0.00,2.12,0.00,0.000,6,0.000,0.036,2325,1997,3924,0,0,0,0,0,0
$GC,4021,-0.77,-156.2,713.9,-13.6,161,4025,0.00,2.20,0.00,0.000,4,0.000,0.054,2314,3406,3920,0,0,0,0,0,0
$GC,4060,-0.77,-156.2,719.5,-13.3,162,4065,0.10,2.12,0.00,0.000,6,0.175,0.034,2341,2001,3920,0,0,0,0,0,0
$GC,4345,-0.77,-156.2,754.6,-12.5,169,4349,0.00,2.12,0.00,0.000,4,0.000,0.045,2341,592,3917,0,0,0,0,0,0
$GC,4378,-0.77,-156.2,759.3,-14.3,169,4383,0.00,2.15,0.00,0.000,6,0.000,0.045,2330,1998,3917,0,0,0,0,0,0
$GC,4628,-0.77,-156.2,791.7,-13.0,176,4632,0.00,2.20,0.00,0.000,4,0.000,0.054,2323,3402,3915,0,0,0,0,0,0
$GC,4689,-0.77,-156.2,799.9,-13.2,177,4693,0.00,2.10,0.00,0.000,6,0.000,0.035,2322,1999,3911,0,0,0,0,0,0
$GC,4962,-0.77,-156.2,837.3,-13.7,184,4966,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3402,3912,0,0,0,0,0,0
$GC,4997,-0.77,-156.2,842.3,-14.1,184,5004,0.12,2.15,0.00,0.000,6,0.165,0.035,2343,1997,3913,0,0,0,0,0,0
$GC,5247,-0.77,-156.2,872.4,-11.9,191,5250,0.00,2.12,0.00,0.000,4,0.000,0.044,2343,592,3910,0,0,0,0,0,0
$GC,5287,-0.77,-156.2,877.3,-12.1,192,5291,0.00,2.15,0.00,0.000,6,0.000,0.043,2334,2005,3909,0,0,0,0,0,0
$STATE,5487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5488,begin apogee
$GC,5494,-0.28,0.0,903.2,13.0,197,5623,0.55,0.00,125.57,1.101,6,0.143,0.000,2499,1922,3301,0,0,0,0,0,0
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5629,0.77,156.2,908.7,0.0,200,5774,1.00,2.25,135.25,1.066,4,0.097,0.038,2844,535,2663,0,0,0,0,0,0
$GC,5792,0.77,156.2,892.0,17.0,204,5796,0.00,2.25,0.00,0.000,6,0.000,0.035,2845,1927,2659,0,0,0,0,0,0
$GC,6076,0.77,156.2,837.1,19.5,211,6080,0.00,2.15,0.00,0.000,4,0.000,0.041,2856,532,2657,0,0,0,0,0,0
$GC,6099,0.77,156.2,832.1,21.2,211,6103,0.00,2.17,0.00,0.000,6,0.000,0.036,2855,1941,2651,0,0,0,0,0,0
$GC,6354,0.77,156.2,781.8,19.8,218,6358,0.00,2.22,0.00,0.000,4,0.000,0.054,2855,3337,2652,0,0,0,0,0,0
$GC,6405,0.77,156.2,771.6,20.1,219,6408,0.00,2.12,0.00,0.000,6,0.000,0.032,2868,1930,2652,0,0,0,0,0,0
$GC,6676,0.77,156.2,717.2,20.0,226,6680,0.00,2.15,0.00,0.000,4,0.000,0.040,2877,524,2650,0,0,0,0,0,0
$GC,6709,0.77,156.2,710.1,21.0,226,6716,0.12,2.17,0.00,0.000,6,0.202,0.038,2849,1939,2648,0,0,0,0,0,0
$GC,6961,0.77,156.2,663.8,18.5,233,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1943,2648,0,0,0,0,0,0
$GC,7203,0.77,156.2,617.6,19.1,239,7207,0.00,2.20,0.00,0.000,4,0.000,0.051,2849,3342,2648,0,0,0,0,0,0
$GC,7269,0.77,156.2,604.6,18.8,240,7273,0.00,2.12,0.00,0.000,6,0.000,0.033,2858,1931,2647,0,0,0,0,0,0
$GC,7531,0.77,156.2,555.3,19.1,247,7535,0.00,2.22,0.00,0.000,4,0.000,0.050,2858,3336,2646,0,0,0,0,0,0
$GC,7547,0.77,156.2,551.6,19.5,247,7552,0.00,2.15,0.00,0.000,6,0.000,0.032,2869,1936,2647,0,0,0,0,0,0
$GC,7814,0.77,156.2,499.4,19.0,254,7818,0.00,2.12,0.00,0.000,4,0.000,0.040,2880,527,2646,0,0,0,0,0,0
$GC,7886,0.77,156.2,484.9,19.3,255,7891,0.12,2.12,0.00,0.000,6,0.202,0.035,2851,1937,2644,0,0,0,0,0,0
$GC,8137,0.77,156.2,440.9,17.6,261,8141,0.00,2.15,0.00,0.000,4,0.000,0.050,2851,3330,2644,0,0,0,0,0,0
$GC,8165,0.77,156.2,435.3,18.7,261,8169,0.00,2.10,0.00,0.000,6,0.000,0.031,2860,1921,2645,0,0,0,0,0,0
$GC,8420,0.77,156.2,388.0,18.4,268,8424,0.00,2.20,0.00,0.000,4,0.000,0.048,2861,3329,2644,0,0,0,0,0,0
$GC,8443,0.77,156.2,383.8,18.6,268,8447,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1924,2644,0,0,0,0,0,0
$GC,8703,0.77,156.2,337.2,17.6,275,8707,0.00,2.10,0.00,0.000,4,0.000,0.040,2882,520,2644,0,0,0,0,0,0
$GC,8725,0.77,156.2,333.0,19.3,275,8730,0.08,2.15,0.00,0.000,6,0.185,0.034,2849,1928,2642,0,0,0,0,0,0
$GC,8988,0.77,156.2,293.7,14.4,283,8992,0.00,2.10,0.00,0.000,4,0.000,0.040,2854,536,2644,0,0,0,0,0,0
$GC,9051,0.77,156.2,284.5,14.0,286,9055,0.00,2.10,0.00,0.000,6,0.000,0.034,2858,1937,2641,0,0,0,0,0,0
$GC,9315,0.77,156.2,247.6,13.1,299,9319,0.00,2.15,0.00,0.000,4,0.000,0.039,2869,524,2642,0,0,0,0,0,0
$GC,9344,0.77,156.2,243.5,15.0,300,9348,0.00,2.12,0.00,0.000,6,0.000,0.037,2869,1936,2640,0,0,0,0,0,0
$GC,9597,0.77,156.2,207.1,14.1,312,9601,0.00,2.15,0.00,0.000,4,0.000,0.049,2869,3322,2641,0,0,0,0,0,0
$GC,9695,0.77,156.2,192.7,15.3,318,9699,0.15,2.08,0.00,0.000,6,0.196,0.031,2843,1924,2641,0,0,0,0,0,0
$GC,9958,0.77,156.2,163.5,11.5,342,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1922,2640,0,0,0,0,0,0
$GC,10212,0.77,156.2,137.0,10.4,366,10216,0.00,2.10,0.00,0.000,4,0.000,0.041,2852,533,2641,0,0,0,0,0,0
$GC,10299,0.77,156.2,129.0,10.6,373,10303,0.00,2.08,0.00,0.000,6,0.000,0.035,2850,1926,2640,0,0,0,0,0,0
$GC,10564,0.87,234.1,107.5,5.7,397,10635,0.00,2.25,59.53,0.544,4,0.000,0.042,2859,523,2341,0,0,0,0,0,0
$GC,10815,0.87,234.1,86.4,9.6,419,10819,0.00,2.12,0.00,0.000,6,0.000,0.035,2859,1925,2339,0,0,0,0,0,0
$GC,11081,0.87,234.1,59.5,11.0,443,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1927,2338,0,0,0,0,0,0
$GC,11346,0.87,234.1,31.2,10.3,468,11350,0.00,2.20,0.00,0.000,4,0.000,0.046,2859,3336,2339,0,0,0,0,0,0
$GC,11460,0.87,234.1,18.4,12.6,487,11468,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1941,2341,0,0,0,0,0,0
$STATE,11568,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,0.3,1.022917
$STATE,11588,end surface coast,CONTROL_FINISHED_OK
$STATE,11588,begin surface
$SM_CCo,11609,28.33,0.433,0,0,2075,300.24
$SM_GC,1.50,0.00,0.00,28.33,0.000,0.000,0.433,55,2013,2075,-7.94,0.40,300.24
$IRIDIUM_FIX,2001.88,-15635.12,010213,131337
$TT8_MAMPS,0.256178
$HUMID,1078911603
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261702656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,43728502784
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,33.356
$10V_AH,10.1,30.497
$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,19.850,124.700,320.350,28.325,0.000,84.835,109.549,1272.078,26.250,0.000,15.221,1120.466,8340.838,402.029,2897.877,705.312,33.348,1155.325,0.000,1720.853,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,118.885,1101.412,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,348.226,0.000,876.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,26937,510
$CAP_FILE_SIZE,132434,0
$CFSIZE,260165632,188817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,177.6,1
$GPS,090811,230607,2011.577,-15633.445,89,1.2,89,9.7