version: 66.07
glider: 513
mission: 7
dive: 234
start: 8 10 111 3 13 53
data:
$ID,513
$MISSION,7
$DIVE,234
$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,-426477.12
$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,29
$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,233
$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
$GPS1,100811,030000,2011.801,-15632.834,39,1.6,39,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.1
$GPS2,100811,031256,2011.672,-15632.911,13,1.6,13,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.218,0.130
$KALMAN_X,-72827.6,745.3,445.9,107832.8,-10778.5
$KALMAN_Y,-11695.1,622.3,109.2,33164.0,-3330.7
$MHEAD_RNG_PITCHd_Wd,18.3,7973,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,142,0.00,0.00,-112.30,0.000,2,0.000,0.000,38,1995,3750,0,0,0,0,0,0
$GC,147,-0.77,-156.2,4.1,-6.7,17,170,9.73,2.25,-2.97,0.000,4,0.248,0.060,2327,3420,3942,0,0,0,0,0,0
$GC,346,-0.77,-156.2,80.6,-31.8,38,350,0.00,2.15,0.00,0.000,6,0.000,0.044,2327,2003,3942,0,0,0,0,0,0
$GC,612,-0.77,-156.2,158.7,-25.4,62,616,0.00,2.12,0.00,0.000,4,0.000,0.046,2327,596,3945,0,0,0,0,0,0
$GC,698,-0.77,-156.2,180.4,-22.9,69,702,0.12,2.17,0.00,0.000,6,0.178,0.047,2347,2010,3942,0,0,0,0,0,0
$GC,964,-0.77,-156.2,234.9,-20.5,86,968,0.00,2.15,0.00,0.000,4,0.000,0.054,2338,3407,3943,0,0,0,0,0,0
$GC,1030,-0.77,-156.2,247.6,-17.7,89,1034,0.00,2.15,0.00,0.000,6,0.000,0.031,2338,1981,3946,0,0,0,0,0,0
$GC,1296,-0.77,-156.2,295.3,-17.5,102,1300,0.00,2.08,0.00,0.000,4,0.000,0.041,2338,602,3944,0,0,0,0,0,0
$GC,1351,-0.77,-156.2,305.1,-16.8,104,1355,0.00,2.12,0.00,0.000,6,0.000,0.041,2328,2008,3944,0,0,0,0,0,0
$GC,1623,-0.77,-156.2,349.1,-16.3,111,1627,0.00,2.15,0.00,0.000,4,0.000,0.050,2317,3413,3944,0,0,0,0,0,0
$GC,1652,-0.77,-156.2,353.7,-15.7,111,1657,0.10,2.10,0.00,0.000,6,0.170,0.032,2341,2000,3943,0,0,0,0,0,0
$GC,1902,-0.77,-156.2,390.6,-15.1,117,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3942,0,0,0,0,0,0
$GC,2145,-0.77,-156.2,426.4,-14.6,123,2149,0.00,2.20,0.00,0.000,4,0.000,0.053,2333,3401,3940,0,0,0,0,0,0
$GC,2241,-0.77,-156.2,440.0,-14.1,125,2245,0.00,2.10,0.00,0.000,6,0.000,0.034,2333,2000,3937,0,0,0,0,0,0
$GC,2513,-0.77,-156.2,479.8,-14.9,132,2517,0.00,2.10,0.00,0.000,4,0.000,0.043,2333,591,3936,0,0,0,0,0,0
$GC,2591,-0.77,-156.2,491.8,-14.6,133,2597,0.00,2.12,0.00,0.000,6,0.000,0.046,2323,1989,3935,0,0,0,0,0,0
$GC,2843,-0.77,-156.2,528.3,-14.7,140,2847,0.00,2.20,0.00,0.000,4,0.000,0.052,2311,3413,3932,0,0,0,0,0,0
$GC,2948,-0.77,-156.2,544.2,-14.7,142,2953,0.12,2.12,0.00,0.000,6,0.160,0.034,2344,1984,3931,0,0,0,0,0,0
$GC,3210,-0.77,-156.2,576.4,-12.0,149,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1979,3928,0,0,0,0,0,0
$GC,3452,-0.77,-156.2,606.1,-12.2,155,3456,0.00,2.25,0.00,0.000,4,0.000,0.058,2335,3408,3925,0,0,0,0,0,0
$GC,3525,-0.77,-156.2,615.4,-12.1,156,3529,0.00,2.12,0.00,0.000,6,0.000,0.037,2335,2000,3925,0,0,0,0,0,0
$GC,3780,-0.77,-156.2,647.5,-12.6,163,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1993,3922,0,0,0,0,0,0
$GC,4025,-0.77,-156.2,680.0,-13.4,169,4029,0.00,2.25,0.00,0.000,4,0.000,0.054,2325,3416,3920,0,0,0,0,0,0
$GC,4114,-0.77,-156.2,692.6,-13.5,171,4118,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,1989,3919,0,0,0,0,0,0
$GC,4397,-0.77,-156.2,732.9,-14.1,178,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1982,3915,0,0,0,0,0,0
$GC,4643,-0.77,-156.2,766.5,-13.6,184,4646,0.00,2.12,0.00,0.000,4,0.000,0.048,2325,595,3913,0,0,0,0,0,0
$GC,4675,-0.77,-156.2,771.6,-13.9,184,4680,0.12,2.17,0.00,0.000,6,0.173,0.048,2345,2004,3913,0,0,0,0,0,0
$GC,4925,-0.77,-156.2,800.6,-11.4,190,4929,0.00,2.20,0.00,0.000,4,0.000,0.055,2337,3404,3911,0,0,0,0,0,0
$GC,5004,-0.77,-156.2,809.5,-11.4,191,5011,0.00,2.12,0.00,0.000,6,0.000,0.037,2336,2005,3910,0,0,0,0,0,0
$GC,5254,-0.77,-156.2,838.1,-11.4,198,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1999,3909,0,0,0,0,0,0
$GC,5498,-0.77,-156.2,865.4,-11.1,204,5502,0.00,2.25,0.00,0.000,4,0.000,0.058,2326,3402,3907,0,0,0,0,0,0
$GC,5525,-0.77,-156.2,868.8,-11.7,204,5529,0.00,2.12,0.00,0.000,6,0.000,0.036,2326,2000,3906,0,0,0,0,0,0
$GC,5782,-0.77,-156.2,899.4,-12.1,211,5786,0.00,2.22,0.00,0.000,4,0.000,0.055,2315,3401,3905,0,0,0,0,0,0
$STATE,5790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5790,begin apogee
$GC,5799,-0.28,0.0,901.0,12.2,211,5927,0.60,0.00,125.10,1.101,6,0.152,0.000,2497,1926,3301,0,0,0,0,0,0
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5930,begin climb
$GC,5934,0.77,156.2,904.8,0.0,214,6075,1.02,0.00,136.50,1.065,6,0.098,0.000,2838,1923,2663,0,0,0,0,0,0
$GC,6299,0.77,156.2,845.0,19.8,223,6303,0.00,2.28,0.00,0.000,4,0.000,0.052,2837,3339,2657,0,0,0,0,0,0
$GC,6314,0.77,156.2,841.9,19.5,223,6318,0.00,2.17,0.00,0.000,6,0.000,0.031,2848,1926,2655,0,0,0,0,0,0
$GC,6582,0.77,156.2,788.2,20.0,230,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1924,2655,0,0,0,0,0,0
$GC,6825,0.77,156.2,739.4,19.9,236,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1924,2654,0,0,0,0,0,0
$GC,7068,0.77,156.2,693.5,18.7,242,7072,0.00,2.15,0.00,0.000,4,0.000,0.041,2859,515,2650,0,0,0,0,0,0
$GC,7125,0.77,156.2,682.6,19.0,243,7129,0.00,2.15,0.00,0.000,6,0.000,0.037,2858,1928,2647,0,0,0,0,0,0
$GC,7391,0.77,156.2,631.0,19.6,250,7395,0.00,2.25,0.00,0.000,4,0.000,0.055,2859,3337,2647,0,0,0,0,0,0
$GC,7501,0.77,156.2,608.6,20.8,252,7505,0.00,2.12,0.00,0.000,6,0.000,0.034,2870,1930,2648,0,0,0,0,0,0
$GC,7764,0.77,156.2,556.9,20.3,259,7768,0.00,2.22,0.00,0.000,4,0.000,0.051,2870,3339,2650,0,0,0,0,0,0
$GC,7825,0.77,156.2,543.6,21.2,260,7830,0.12,2.15,0.00,0.000,6,0.204,0.032,2853,1923,2646,0,0,0,0,0,0
$GC,8085,0.77,156.2,495.4,18.2,267,8089,0.00,2.10,0.00,0.000,4,0.000,0.040,2862,518,2645,0,0,0,0,0,0
$GC,8127,0.77,156.2,487.7,18.5,268,8131,0.00,2.12,0.00,0.000,6,0.000,0.036,2862,1930,2644,0,0,0,0,0,0
$GC,8410,0.77,156.2,436.4,18.2,275,8414,0.00,2.12,0.00,0.000,4,0.000,0.041,2873,527,2644,0,0,0,0,0,0
$GC,8482,0.77,156.2,423.5,17.3,276,8486,0.00,2.12,0.00,0.000,6,0.000,0.036,2871,1944,2642,0,0,0,0,0,0
$GC,8733,0.77,156.2,380.8,17.5,282,8737,0.00,2.20,0.00,0.000,4,0.000,0.051,2872,3341,2643,0,0,0,0,0,0
$GC,8772,0.77,156.2,373.9,18.0,283,8777,0.12,2.15,0.00,0.000,6,0.202,0.031,2852,1923,2643,0,0,0,0,0,0
$GC,9055,0.77,156.2,329.9,14.9,290,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1920,2642,0,0,0,0,0,0
$GC,9300,0.77,156.2,294.6,14.4,296,9304,0.00,2.20,0.00,0.000,4,0.000,0.050,2842,3332,2642,0,0,0,0,0,0
$GC,9350,0.77,156.2,286.6,15.3,298,9354,0.00,2.10,0.00,0.000,6,0.000,0.031,2851,1925,2642,0,0,0,0,0,0
$GC,9609,0.77,156.2,252.1,13.2,311,9613,0.00,2.10,0.00,0.000,4,0.000,0.040,2862,531,2642,0,0,0,0,0,0
$GC,9699,0.77,156.2,241.4,12.4,315,9703,0.00,2.12,0.00,0.000,6,0.000,0.033,2862,1940,2640,0,0,0,0,0,0
$GC,9958,0.77,156.2,208.1,13.1,328,9962,0.00,2.15,0.00,0.000,4,0.000,0.049,2862,3327,2640,0,0,0,0,0,0
$GC,9974,0.77,156.2,205.7,13.8,329,9978,0.00,2.08,0.00,0.000,6,0.000,0.029,2873,1926,2641,0,0,0,0,0,0
$GC,10241,0.77,156.2,169.3,12.0,352,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1926,2641,0,0,0,0,0,0
$GC,10504,0.77,156.2,138.8,10.5,377,10508,0.00,2.08,0.00,0.000,4,0.000,0.038,2884,530,2641,0,0,0,0,0,0
$GC,10753,0.89,249.1,118.8,5.1,399,10831,0.00,2.10,70.90,0.554,6,0.000,0.031,2884,1928,2284,0,0,0,0,0,0
$GC,11088,0.89,249.1,83.7,11.9,430,11091,0.00,2.12,0.00,0.000,4,0.000,0.039,2891,532,2278,0,0,0,0,0,0
$GC,11208,0.89,249.1,66.0,14.9,440,11216,0.00,2.12,0.00,0.000,6,0.000,0.032,2894,1923,2277,0,0,0,0,0,0
$GC,11474,0.89,249.1,29.8,14.9,465,11482,0.00,2.22,0.00,0.000,4,0.000,0.046,2894,3329,2277,0,0,0,0,0,0
$GC,11591,0.89,249.1,14.2,13.7,486,11598,0.00,2.12,0.00,0.000,6,0.000,0.030,2905,1937,2279,0,0,0,0,0,0
$STATE,11675,end climb,SURFACE_DEPTH_REACHED
$STATE,11675,begin surface coast
$FINISH,0.3,1.022915
$STATE,11701,end surface coast,CONTROL_FINISHED_OK
$STATE,11701,begin surface
$SM_CCo,11720,24.10,0.433,0,0,2075,300.24
$SM_GC,0.98,0.00,0.00,24.10,0.000,0.000,0.433,42,2020,2075,-7.99,0.57,300.24
$IRIDIUM_FIX,2004.18,-15635.12,010213,171753
$TT8_MAMPS,0.251576
$HUMID,1078973539
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.00
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261637120
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,43424612352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,33.713
$10V_AH,10.1,30.923
$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,19.500,116.525,332.500,24.100,0.000,25.546,35.206,498.140,25.000,0.000,17.316,1095.519,8302.389,440.607,2240.365,450.429,33.344,1223.314,0.000,1742.160,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,100.477,1101.412,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.895,0.000,830.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,26939,505
$CAP_FILE_SIZE,114688,0
$CFSIZE,260165632,188694528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,184.4,1
$GPS,100811,063236,2012.322,-15632.112,117,1.5,117,9.7