version: 66.07
glider: 513
mission: 7
dive: 233
start: 8 9 111 23 44 27
data:
$ID,513
$MISSION,7
$DIVE,233
$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,712.8302
$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,-426459.19
$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,41
$R_STBD_OVSHOOT,50
$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,232
$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
$GPS1,090811,230607,2011.577,-15633.445,89,1.2,89,9.7
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,4
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-81.2
$GPS2,090811,234332,2011.052,-15633.463,19,1.0,19,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.237,0.089
$KALMAN_X,-69849.2,926.1,626.6,103523.8,-10414.9
$KALMAN_Y,-8415.1,-881.1,-767.0,31105.7,1160.4
$MHEAD_RNG_PITCHd_Wd,14.3,9469,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.77,-156.2,0.0,0.0,0,83,0.00,0.00,-51.55,0.000,2,0.000,0.000,34,2012,3563,0,0,0,0,0,0
$GC,88,-0.77,-156.2,3.2,-3.9,8,110,9.77,0.00,-6.45,0.000,6,0.246,0.000,2338,2010,3939,0,0,0,0,0,0
$GC,375,-0.77,-156.2,113.1,-33.1,39,379,0.00,2.15,0.00,0.000,4,0.000,0.051,2329,3405,3941,0,0,0,0,0,0
$GC,394,-0.77,-156.2,119.1,-28.6,40,398,0.00,2.10,0.00,0.000,6,0.000,0.032,2329,1996,3941,0,0,0,0,0,0
$GC,658,-0.77,-156.2,187.0,-25.5,64,662,0.00,2.10,0.00,0.000,4,0.000,0.040,2329,588,3943,0,0,0,0,0,0
$GC,701,-0.77,-156.2,197.8,-23.7,67,705,0.00,2.12,0.00,0.000,6,0.000,0.044,2319,1985,3943,0,0,0,0,0,0
$GC,960,-0.77,-156.2,256.3,-21.9,80,964,0.00,2.17,0.00,0.000,4,0.000,0.051,2308,3416,3947,0,0,0,0,0,0
$GC,1049,-0.77,-156.2,275.1,-19.2,84,1054,0.15,2.08,0.00,0.000,6,0.159,0.031,2348,1999,3944,0,0,0,0,0,0
$GC,1328,-0.77,-156.2,318.9,-15.2,95,1332,0.00,2.17,0.00,0.000,4,0.000,0.049,2339,3417,3944,0,0,0,0,0,0
$GC,1343,-0.77,-156.2,321.7,-15.6,95,1347,0.00,2.10,0.00,0.000,6,0.000,0.031,2339,1991,3944,0,0,0,0,0,0
$GC,1610,-0.77,-156.2,364.6,-16.1,102,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1988,3947,0,0,0,0,0,0
$GC,1855,-0.77,-156.2,402.8,-15.7,108,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1987,3943,0,0,0,0,0,0
$GC,2098,-0.77,-156.2,439.6,-14.9,114,2102,0.00,2.20,0.00,0.000,4,0.000,0.051,2328,3412,3940,0,0,0,0,0,0
$GC,2153,-0.77,-156.2,447.7,-13.9,115,2157,0.00,2.10,0.00,0.000,6,0.000,0.034,2329,1997,3940,0,0,0,0,0,0
$GC,2425,-0.77,-156.2,486.6,-14.4,122,2429,0.00,2.10,0.00,0.000,4,0.000,0.042,2329,594,3939,0,0,0,0,0,0
$GC,2471,-0.77,-156.2,493.5,-15.3,123,2475,0.00,2.12,0.00,0.000,6,0.000,0.042,2318,2004,3935,0,0,0,0,0,0
$GC,2748,-0.77,-156.2,535.1,-15.0,130,2753,0.10,2.20,0.00,0.000,4,0.189,0.051,2334,3411,3934,0,0,0,0,0,0
$GC,2814,-0.77,-156.2,544.8,-13.3,131,2818,0.00,2.10,0.00,0.000,6,0.000,0.034,2333,1998,3933,0,0,0,0,0,0
$GC,3071,-0.77,-156.2,580.6,-13.9,138,3075,0.00,2.20,0.00,0.000,4,0.000,0.051,2323,3401,3930,0,0,0,0,0,0
$GC,3098,-0.77,-156.2,584.6,-14.4,138,3101,0.00,2.10,0.00,0.000,6,0.000,0.033,2322,1996,3929,0,0,0,0,0,0
$GC,3353,-0.77,-156.2,622.6,-14.8,145,3357,0.00,2.20,0.00,0.000,4,0.000,0.051,2312,3405,3926,0,0,0,0,0,0
$GC,3400,-0.77,-156.2,629.3,-14.8,146,3404,0.12,2.12,0.00,0.000,6,0.163,0.034,2344,1991,3926,0,0,0,0,0,0
$GC,3688,-0.77,-156.2,666.9,-12.9,153,3692,0.00,2.20,0.00,0.000,4,0.000,0.054,2335,3399,3923,0,0,0,0,0,0
$GC,3738,-0.77,-156.2,673.6,-12.7,154,3742,0.00,2.10,0.00,0.000,6,0.000,0.035,2335,2003,3921,0,0,0,0,0,0
$GC,4017,-0.77,-156.2,710.9,-13.5,161,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1993,3919,0,0,0,0,0,0
$GC,4260,-0.77,-156.2,743.0,-13.2,167,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1993,3918,0,0,0,0,0,0
$GC,4504,-0.77,-156.2,773.9,-12.5,173,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1990,3915,0,0,0,0,0,0
$GC,4748,-0.77,-156.2,803.6,-12.0,179,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1994,3912,0,0,0,0,0,0
$GC,4992,-0.77,-156.2,832.9,-12.0,185,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1993,3917,0,0,0,0,0,0
$GC,5235,-0.77,-156.2,862.0,-11.9,191,5239,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3399,3910,0,0,0,0,0,0
$GC,5284,-0.77,-156.2,868.1,-12.8,192,5288,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1993,3905,0,0,0,0,0,0
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5561,begin apogee
$GC,5568,-0.28,0.0,903.0,12.6,199,5696,0.60,0.00,125.05,1.104,6,0.149,0.000,2503,1921,3300,0,0,0,0,0,0
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5702,0.77,156.2,907.3,0.0,202,5844,1.02,2.28,134.88,1.066,4,0.094,0.041,2854,527,2664,0,0,0,0,0,0
$GC,5872,0.77,156.2,885.8,20.1,206,5876,0.00,2.22,0.00,0.000,6,0.000,0.038,2854,1920,2657,0,0,0,0,0,0
$GC,6145,0.77,156.2,828.0,21.5,213,6149,0.00,2.25,0.00,0.000,4,0.000,0.051,2851,3338,2655,0,0,0,0,0,0
$GC,6207,0.77,156.2,814.3,22.2,214,6211,0.00,2.15,0.00,0.000,6,0.000,0.033,2865,1931,2655,0,0,0,0,0,0
$GC,6468,0.77,156.2,757.4,21.8,221,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1931,2652,0,0,0,0,0,0
$GC,6712,0.77,156.2,705.0,21.3,227,6716,0.00,2.12,0.00,0.000,4,0.000,0.042,2876,528,2651,0,0,0,0,0,0
$GC,6756,0.77,156.2,695.5,20.9,228,6760,0.00,2.15,0.00,0.000,6,0.000,0.039,2876,1936,2648,0,0,0,0,0,0
$GC,7041,0.77,156.2,634.5,21.7,235,7045,0.00,2.22,0.00,0.000,4,0.000,0.052,2876,3338,2648,0,0,0,0,0,0
$GC,7125,0.77,156.2,615.0,22.6,237,7130,0.15,2.12,0.00,0.000,6,0.199,0.033,2851,1928,2648,0,0,0,0,0,0
$GC,7409,0.77,156.2,560.2,19.4,244,7413,0.00,2.22,0.00,0.000,4,0.000,0.052,2841,3340,2648,0,0,0,0,0,0
$GC,7436,0.77,156.2,554.7,18.9,244,7440,0.00,2.12,0.00,0.000,6,0.000,0.033,2850,1923,2648,0,0,0,0,0,0
$GC,7693,0.77,156.2,506.1,19.3,251,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1924,2648,0,0,0,0,0,0
$GC,7936,0.77,156.2,462.6,17.7,257,7940,0.00,2.15,0.00,0.000,4,0.000,0.041,2861,519,2646,0,0,0,0,0,0
$GC,8022,0.77,156.2,447.7,17.5,259,8026,0.00,2.15,0.00,0.000,6,0.000,0.038,2861,1938,2644,0,0,0,0,0,0
$GC,8310,0.77,156.2,396.6,17.3,266,8314,0.00,2.20,0.00,0.000,4,0.000,0.051,2861,3340,2644,0,0,0,0,0,0
$GC,8434,0.77,156.2,374.2,17.8,268,8440,0.00,2.12,0.00,0.000,6,0.000,0.032,2872,1923,2645,0,0,0,0,0,0
$GC,8685,0.77,156.2,329.3,18.0,275,8688,0.00,2.10,0.00,0.000,4,0.000,0.041,2883,524,2644,0,0,0,0,0,0
$GC,8734,0.77,156.2,320.3,18.6,276,8739,0.15,2.12,0.00,0.000,6,0.194,0.039,2847,1927,2642,0,0,0,0,0,0
$GC,8988,0.77,156.2,280.8,15.0,285,8992,0.00,2.22,0.00,0.000,4,0.000,0.051,2849,3344,2649,0,0,0,0,0,0
$GC,9073,0.77,156.2,267.4,14.9,289,9077,0.00,2.12,0.00,0.000,6,0.000,0.033,2856,1925,2643,0,0,0,0,0,0
$GC,9337,0.77,156.2,233.4,12.1,302,9341,0.00,2.10,0.00,0.000,4,0.000,0.041,2868,530,2642,0,0,0,0,0,0
$GC,9394,0.77,156.2,226.0,13.2,304,9398,0.00,2.12,0.00,0.000,6,0.000,0.038,2867,1933,2640,0,0,0,0,0,0
$GC,9651,0.77,156.2,192.1,13.7,318,9655,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3336,2641,0,0,0,0,0,0
$GC,9683,0.77,156.2,187.0,15.1,320,9691,0.00,2.15,0.00,0.000,6,0.000,0.032,2878,1930,2641,0,0,0,0,0,0
$GC,9949,0.77,156.2,152.9,12.7,345,9954,0.10,2.12,0.00,0.000,4,0.205,0.040,2861,530,2642,0,0,0,0,0,0
$GC,9970,0.77,156.2,149.5,12.8,346,9979,0.00,2.15,0.00,0.000,6,0.000,0.037,2864,1929,2641,0,0,0,0,0,0
$GC,10238,0.77,156.2,121.3,9.3,371,10242,0.00,2.15,0.00,0.000,4,0.000,0.042,2872,527,2641,0,0,0,0,0,0
$GC,10488,0.90,260.9,102.8,4.7,393,10578,0.00,2.15,80.03,0.544,6,0.000,0.037,2872,1926,2236,0,0,0,0,0,0
$GC,10833,0.90,260.9,67.9,12.4,425,10837,0.00,2.17,0.00,0.000,4,0.000,0.043,2882,524,2231,0,0,0,0,0,0
$GC,10978,0.90,260.9,50.7,11.6,437,10986,0.00,2.20,0.00,0.000,6,0.000,0.039,2882,1927,2229,0,0,0,0,0,0
$GC,11247,0.90,260.9,15.4,14.3,472,11255,0.00,2.22,0.00,0.000,4,0.000,0.048,2882,3340,2231,0,0,0,0,0,0
$STATE,11331,end climb,SURFACE_DEPTH_REACHED
$STATE,11331,begin surface coast
$FINISH,1.4,1.022885
$STATE,11337,end surface coast,CONTROL_FINISHED_OK
$STATE,11338,begin surface
$SM_CCo,11380,257.12,0.440,0,0,394,712.83
$SM_GC,0.92,0.00,0.00,257.12,0.000,0.000,0.440,48,1994,394,-7.94,-0.20,712.83
$IRIDIUM_FIX,2001.88,-15633.01,010213,171730
$TT8_MAMPS,0.059826
$HUMID,1078794184
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,25.80
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6338543616
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,43529633792
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,33.582
$10V_AH,10.1,30.839
$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,19.675,112.050,339.950,257.125,0.000,130.545,204.862,1394.428,24.250,0.000,21.677,1067.223,8327.013,634.469,3223.270,634.983,33.345,1375.125,0.000,1665.835,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,105.079,1103.713,440.258,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,333.311,0.000,797.544,0.000,0.000,0.000,0.000,57587.102,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.154,0.000,0.000
$MEM,354184
$DATA_FILE_SIZE,23619,488
$CAP_FILE_SIZE,132684,0
$CFSIZE,260165632,188751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,187.2,1
$GPS,100811,030000,2011.801,-15632.834,39,1.6,39,9.7