version: 66.07
glider: 513
mission: 7
dive: 236
start: 8 10 111 10 21 38
data:
$ID,513
$MISSION,7
$DIVE,236
$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,-426549.38
$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,39
$R_STBD_OVSHOOT,41
$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,235
$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
$GPS1,100811,100544,2012.867,-15631.597,49,3.2,68,9.7
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.7
$GPS2,100811,102040,2012.687,-15631.594,13,2.8,32,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.206,0.148
$KALMAN_X,-78196.7,1239.6,738.2,114700.7,-11986.5
$KALMAN_Y,-15411.2,827.5,88.2,38542.9,-6300.5
$MHEAD_RNG_PITCHd_Wd,15.1,5101,-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,26,-0.77,-156.2,0.0,0.0,0,86,0.00,0.00,-56.95,0.000,2,0.000,0.000,36,2012,3742,0,0,0,0,0,0
$GC,90,-0.77,-156.2,4.0,-7.3,9,113,9.73,2.28,-3.20,0.000,4,0.244,0.068,2330,3411,3940,0,0,0,0,0,0
$GC,139,-0.77,-156.2,29.6,-54.4,16,147,0.00,2.22,0.00,0.000,6,0.000,0.040,2331,2006,3942,0,0,0,0,0,0
$GC,404,-0.77,-156.2,123.4,-26.5,41,408,0.00,2.15,0.00,0.000,4,0.000,0.042,2330,586,3943,0,0,0,0,0,0
$GC,457,-0.77,-156.2,137.1,-25.3,45,461,0.00,2.15,0.00,0.000,6,0.000,0.041,2322,1989,3943,0,0,0,0,0,0
$GC,717,-0.77,-156.2,205.3,-23.9,68,721,0.00,2.22,0.00,0.000,4,0.000,0.050,2306,3421,3945,0,0,0,0,0,0
$GC,773,-0.77,-156.2,218.1,-21.5,70,779,0.12,2.17,0.00,0.000,6,0.168,0.034,2338,1981,3945,0,0,0,0,0,0
$GC,1027,-0.77,-156.2,267.4,-18.5,83,1031,0.00,2.05,0.00,0.000,4,0.000,0.040,2341,599,3946,0,0,0,0,0,0
$GC,1055,-0.77,-156.2,272.8,-18.4,84,1059,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2016,3947,0,0,0,0,0,0
$GC,1338,-0.77,-156.2,324.7,-18.2,95,1342,0.00,2.15,0.00,0.000,4,0.000,0.051,2323,3414,3947,0,0,0,0,0,0
$GC,1400,-0.77,-156.2,335.4,-17.2,96,1405,0.00,2.10,0.00,0.000,6,0.000,0.031,2323,2002,3947,0,0,0,0,0,0
$GC,1667,-0.77,-156.2,381.1,-17.1,103,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1996,3947,0,0,0,0,0,0
$GC,1911,-0.77,-156.2,420.9,-16.1,109,1915,0.00,2.20,0.00,0.000,4,0.000,0.051,2312,3406,3946,0,0,0,0,0,0
$GC,1956,-0.77,-156.2,428.8,-17.0,110,1961,0.12,2.10,0.00,0.000,6,0.160,0.033,2344,2000,3946,0,0,0,0,0,0
$GC,2233,-0.77,-156.2,469.2,-14.3,117,2237,0.00,2.12,0.00,0.000,4,0.000,0.040,2344,588,3944,0,0,0,0,0,0
$GC,2277,-0.77,-156.2,475.9,-14.4,118,2281,0.00,2.15,0.00,0.000,6,0.000,0.041,2336,2004,3943,0,0,0,0,0,0
$GC,2562,-0.77,-156.2,517.0,-14.5,125,2566,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3420,3940,0,0,0,0,0,0
$GC,2595,-0.77,-156.2,522.0,-14.3,125,2601,0.00,2.12,0.00,0.000,6,0.000,0.033,2325,1999,3940,0,0,0,0,0,0
$GC,2846,-0.77,-156.2,558.7,-14.7,132,2850,0.00,2.22,0.00,0.000,4,0.000,0.054,2314,3412,3938,0,0,0,0,0,0
$GC,2902,-0.77,-156.2,567.2,-14.2,133,2907,0.12,2.12,0.00,0.000,6,0.161,0.034,2346,2000,3937,0,0,0,0,0,0
$GC,3174,-0.77,-156.2,602.2,-12.7,140,3178,0.00,2.10,0.00,0.000,4,0.000,0.040,2347,587,3935,0,0,0,0,0,0
$GC,3202,-0.77,-156.2,606.2,-14.3,140,3206,0.00,2.20,0.00,0.000,6,0.000,0.042,2337,2006,3936,0,0,0,0,0,0
$GC,3458,-0.77,-156.2,641.0,-13.9,147,3462,0.00,2.17,0.00,0.000,4,0.000,0.054,2327,3404,3932,0,0,0,0,0,0
$GC,3508,-0.77,-156.2,648.2,-13.9,148,3511,0.00,2.12,0.00,0.000,6,0.000,0.035,2328,2000,3931,0,0,0,0,0,0
$GC,3786,-0.77,-156.2,688.3,-14.6,155,3790,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3412,3929,0,0,0,0,0,0
$GC,3814,-0.77,-156.2,692.4,-14.5,155,3819,0.12,2.17,0.00,0.000,6,0.162,0.035,2348,1985,3931,0,0,0,0,0,0
$GC,4064,-0.77,-156.2,722.5,-11.8,161,4068,0.00,2.25,0.00,0.000,4,0.000,0.054,2340,3402,3931,0,0,0,0,0,0
$GC,4097,-0.77,-156.2,726.7,-12.8,161,4101,0.00,2.12,0.00,0.000,6,0.000,0.035,2339,2004,3925,0,0,0,0,0,0
$GC,4353,-0.77,-156.2,757.1,-11.9,168,4357,0.00,2.12,0.00,0.000,4,0.000,0.044,2339,589,3924,0,0,0,0,0,0
$GC,4393,-0.77,-156.2,762.0,-11.8,169,4397,0.00,2.17,0.00,0.000,6,0.000,0.044,2329,2011,3926,0,0,0,0,0,0
$GC,4676,-0.77,-156.2,797.3,-12.3,176,4680,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3415,3921,0,0,0,0,0,0
$GC,4762,-0.77,-156.2,808.4,-13.0,178,4766,0.00,2.15,0.00,0.000,6,0.000,0.035,2318,2002,3920,0,0,0,0,0,0
$GC,5046,-0.77,-156.2,845.9,-13.3,185,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1996,3918,0,0,0,0,0,0
$GC,5289,-0.77,-156.2,878.5,-13.3,191,5294,0.12,2.25,0.00,0.000,4,0.186,0.054,2340,3413,3920,0,0,0,0,0,0
$GC,5344,-0.77,-156.2,885.0,-11.7,192,5348,0.00,2.15,0.00,0.000,6,0.000,0.035,2336,1988,3915,0,0,0,0,0,0
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5499,begin apogee
$GC,5506,-0.28,0.0,903.0,11.7,196,5636,0.52,0.00,126.72,1.105,6,0.142,0.000,2499,1928,3302,0,0,0,0,0,0
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5661,0.77,156.2,907.7,0.0,199,5802,1.02,0.00,136.45,1.071,6,0.097,0.000,2842,1928,2664,0,0,0,0,0,0
$GC,6070,0.77,156.2,840.9,19.9,210,6074,0.00,2.28,0.00,0.000,4,0.000,0.052,2842,3348,2659,0,0,0,0,0,0
$GC,6091,0.77,156.2,835.9,21.7,210,6095,0.00,2.17,0.00,0.000,6,0.000,0.031,2852,1932,2655,0,0,0,0,0,0
$GC,6352,0.77,156.2,781.6,20.8,217,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1931,2651,0,0,0,0,0,0
$GC,6597,0.77,156.2,731.8,20.6,223,6601,0.00,2.15,0.00,0.000,4,0.000,0.040,2869,521,2651,0,0,0,0,0,0
$GC,6612,0.77,156.2,728.2,20.3,223,6616,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1935,2649,0,0,0,0,0,0
$GC,6879,0.77,156.2,673.7,20.1,230,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1938,2649,0,0,0,0,0,0
$GC,7123,0.77,156.2,625.4,19.9,236,7127,0.00,2.20,0.00,0.000,4,0.000,0.052,2864,3326,2649,0,0,0,0,0,0
$GC,7176,0.77,156.2,614.3,22.3,237,7181,0.10,2.12,0.00,0.000,6,0.211,0.032,2853,1927,2649,0,0,0,0,0,0
$GC,7454,0.77,156.2,559.2,19.7,244,7458,0.00,2.12,0.00,0.000,4,0.000,0.040,2863,517,2648,0,0,0,0,0,0
$GC,7520,0.77,156.2,546.1,18.5,245,7524,0.00,2.12,0.00,0.000,6,0.000,0.038,2863,1926,2645,0,0,0,0,0,0
$GC,7783,0.77,156.2,497.9,18.2,252,7787,0.00,2.20,0.00,0.000,4,0.000,0.052,2862,3334,2645,0,0,0,0,0,0
$GC,7827,0.77,156.2,488.8,19.7,253,7831,0.00,2.12,0.00,0.000,6,0.000,0.033,2874,1924,2646,0,0,0,0,0,0
$GC,8112,0.77,156.2,433.8,19.5,260,8116,0.10,2.12,0.00,0.000,4,0.219,0.040,2861,524,2644,0,0,0,0,0,0
$GC,8152,0.77,156.2,426.7,17.5,261,8156,0.00,2.12,0.00,0.000,6,0.000,0.036,2861,1939,2643,0,0,0,0,0,0
$GC,8436,0.77,156.2,378.0,16.8,268,8440,0.00,2.17,0.00,0.000,4,0.000,0.051,2861,3332,2644,0,0,0,0,0,0
$GC,8463,0.77,156.2,373.2,16.5,268,8467,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1928,2644,0,0,0,0,0,0
$GC,8720,0.77,156.2,330.8,16.6,275,8724,0.00,2.20,0.00,0.000,4,0.000,0.050,2871,3325,2644,0,0,0,0,0,0
$GC,8775,0.77,156.2,320.6,18.4,276,8780,0.12,2.10,0.00,0.000,6,0.205,0.031,2853,1925,2644,0,0,0,0,0,0
$GC,9028,0.77,156.2,282.2,14.2,285,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1922,2644,0,0,0,0,0,0
$GC,9277,0.77,156.2,247.1,14.9,297,9281,0.00,2.22,0.00,0.000,4,0.000,0.049,2842,3334,2643,0,0,0,0,0,0
$GC,9349,0.77,156.2,236.6,14.7,300,9352,0.00,2.10,0.00,0.000,6,0.000,0.031,2851,1930,2643,0,0,0,0,0,0
$GC,9609,0.77,156.2,203.0,12.5,313,9613,0.00,2.10,0.00,0.000,4,0.000,0.038,2862,521,2643,0,0,0,0,0,0
$GC,9749,0.77,156.2,184.9,12.4,324,9753,0.00,2.12,0.00,0.000,6,0.000,0.034,2862,1935,2640,0,0,0,0,0,0
$GC,10017,0.77,156.2,153.6,11.8,348,10021,0.00,2.17,0.00,0.000,4,0.000,0.048,2863,3335,2639,0,0,0,0,0,0
$GC,10090,0.77,156.2,144.0,11.9,354,10094,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,1923,2640,0,0,0,0,0,0
$GC,10356,0.77,156.2,113.4,13.2,378,10360,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,525,2643,0,0,0,0,0,0
$GC,10378,0.77,156.2,110.2,14.0,379,10383,0.15,2.10,0.00,0.000,6,0.183,0.034,2847,1940,2642,0,0,0,0,0,0
$GC,10641,0.90,262.4,90.3,4.6,403,10728,0.12,2.20,80.97,0.535,4,0.097,0.038,2913,533,2231,0,0,0,0,0,0
$GC,10928,0.90,262.4,53.3,15.8,428,10935,0.00,2.15,0.00,0.000,6,0.000,0.034,2913,1930,2224,0,0,0,0,0,0
$GC,11193,0.90,262.4,12.9,13.9,463,11201,0.00,2.20,0.00,0.000,4,0.000,0.044,2913,3327,2225,0,0,0,0,0,0
$GC,11220,0.90,262.4,9.0,13.8,467,11229,0.10,2.15,0.00,0.000,6,0.173,0.031,2894,1931,2224,0,0,0,0,0,0
$STATE,11256,end climb,SURFACE_DEPTH_REACHED
$STATE,11256,begin surface coast
$FINISH,0.2,1.022928
$STATE,11274,end surface coast,CONTROL_FINISHED_OK
$STATE,11274,begin surface
$SM_CCo,11316,17.00,0.430,0,0,2076,300.24
$SM_GC,1.54,0.00,0.00,17.00,0.000,0.000,0.430,44,2006,2076,-7.98,0.17,300.24
$IRIDIUM_FIX,2006.47,-15629.99,020213,000040
$TT8_MAMPS,0.24544
$HUMID,1078968377
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.20
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6264684544
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,43121049600
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,33.987
$10V_AH,10.1,31.094
$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,20.025,129.675,344.150,17.000,0.000,29.810,39.191,596.491,22.500,0.000,39.264,1069.988,8031.081,437.813,2249.351,452.985,33.343,1157.494,0.000,1592.815,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,143.429,1105.247,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,324.962,0.000,751.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354212
$DATA_FILE_SIZE,23595,476
$CAP_FILE_SIZE,117683,0
$CFSIZE,260165632,188551168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,204.7,1
$GPS,100811,133144,2013.476,-15631.185,11,1.9,11,9.7