version: 66.07
glider: 513
mission: 7
dive: 237
start: 8 10 111 14 5 33
data:
$ID,513
$MISSION,7
$DIVE,237
$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,-426592.41
$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,44
$R_STBD_OVSHOOT,34
$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,236
$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
$GPS1,100811,133144,2013.476,-15631.185,11,1.9,11,9.7
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.5
$GPS2,100811,140436,2012.946,-15631.080,39,1.3,39,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.199,0.157
$KALMAN_X,-80750.0,1418.3,621.5,118086.4,-11544.4
$KALMAN_Y,-17349.8,113.8,531.0,41238.3,-6800.6
$MHEAD_RNG_PITCHd_Wd,15.9,4242,-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,23,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,86,0.00,0.00,-56.35,0.000,2,0.000,0.000,34,2007,3719,0,0,0,0,0,0
$GC,90,-0.77,-156.2,3.9,-6.1,9,112,9.68,2.28,-3.62,0.000,4,0.243,0.065,2325,3413,3939,0,0,0,0,0,0
$GC,195,-0.77,-156.2,48.8,-33.1,23,199,0.00,2.15,0.00,0.000,6,0.000,0.035,2331,2005,3942,0,0,0,0,0,0
$GC,460,-0.77,-156.2,127.6,-26.1,47,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1999,3942,0,0,0,0,0,0
$GC,723,-0.77,-156.2,197.6,-24.8,72,727,0.00,2.15,0.00,0.000,4,0.000,0.043,2326,584,3943,0,0,0,0,0,0
$GC,752,-0.77,-156.2,204.2,-22.1,73,756,0.00,2.15,0.00,0.000,6,0.000,0.044,2318,2002,3943,0,0,0,0,0,0
$GC,1011,-0.77,-156.2,261.9,-22.4,86,1015,0.10,2.12,0.00,0.000,4,0.188,0.042,2347,593,3945,0,0,0,0,0,0
$GC,1050,-0.77,-156.2,269.5,-18.1,88,1054,0.00,2.12,0.00,0.000,6,0.000,0.040,2339,2007,3945,0,0,0,0,0,0
$GC,1314,-0.77,-156.2,316.2,-17.8,99,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2010,3943,0,0,0,0,0,0
$GC,1557,-0.77,-156.2,359.3,-17.6,105,1561,0.00,2.15,0.00,0.000,4,0.000,0.050,2334,3412,3945,0,0,0,0,0,0
$GC,1669,-0.77,-156.2,377.7,-15.2,107,1673,0.00,2.10,0.00,0.000,6,0.000,0.032,2328,1991,3945,0,0,0,0,0,0
$GC,1931,-0.77,-156.2,418.8,-15.7,114,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1985,3944,0,0,0,0,0,0
$GC,2174,-0.77,-156.2,455.3,-14.8,120,2178,0.00,2.10,0.00,0.000,4,0.000,0.044,2328,593,3941,0,0,0,0,0,0
$GC,2207,-0.77,-156.2,460.5,-14.9,120,2213,0.00,2.12,0.00,0.000,6,0.000,0.043,2318,2002,3941,0,0,0,0,0,0
$GC,2457,-0.77,-156.2,500.0,-15.9,127,2461,0.10,2.17,0.00,0.000,4,0.187,0.052,2332,3401,3938,0,0,0,0,0,0
$GC,2575,-0.77,-156.2,516.6,-13.4,129,2579,0.00,2.10,0.00,0.000,6,0.000,0.033,2333,1998,3937,0,0,0,0,0,0
$GC,2830,-0.77,-156.2,552.7,-14.4,136,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3934,0,0,0,0,0,0
$GC,3074,-0.77,-156.2,586.6,-13.6,142,3078,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3409,3931,0,0,0,0,0,0
$GC,3120,-0.77,-156.2,593.1,-13.7,143,3124,0.00,2.12,0.00,0.000,6,0.000,0.034,2322,1998,3931,0,0,0,0,0,0
$GC,3409,-0.77,-156.2,634.6,-14.5,150,3412,0.00,2.10,0.00,0.000,4,0.000,0.042,2323,593,3925,0,0,0,0,0,0
$GC,3458,-0.77,-156.2,642.3,-15.1,151,3463,0.12,2.12,0.00,0.000,6,0.173,0.042,2343,1995,3927,0,0,0,0,0,0
$GC,3737,-0.77,-156.2,678.6,-13.2,158,3741,0.00,2.20,0.00,0.000,4,0.000,0.053,2334,3408,3924,0,0,0,0,0,0
$GC,3867,-0.77,-156.2,696.5,-12.8,161,3871,0.00,2.15,0.00,0.000,6,0.000,0.035,2334,1999,3924,0,0,0,0,0,0
$GC,4157,-0.77,-156.2,735.5,-13.3,168,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1993,3920,0,0,0,0,0,0
$GC,4399,-0.77,-156.2,766.7,-12.8,174,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1993,3921,0,0,0,0,0,0
$GC,4643,-0.77,-156.2,797.7,-12.8,180,4647,0.00,2.22,0.00,0.000,4,0.000,0.053,2324,3408,3915,0,0,0,0,0,0
$GC,4704,-0.77,-156.2,805.6,-12.7,181,4707,0.00,2.15,0.00,0.000,6,0.000,0.035,2323,1999,3915,0,0,0,0,0,0
$GC,4977,-0.77,-156.2,840.3,-12.8,188,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1991,3913,0,0,0,0,0,0
$GC,5220,-0.77,-156.2,869.9,-12.1,194,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1992,3914,0,0,0,0,0,0
$GC,5463,-0.77,-156.2,898.1,-11.4,200,5467,0.00,2.22,0.00,0.000,4,0.000,0.053,2312,3409,3909,0,0,0,0,0,0
$STATE,5477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5477,begin apogee
$GC,5487,-0.28,0.0,900.1,11.8,200,5615,0.60,0.00,125.05,1.101,6,0.148,0.000,2496,1922,3302,0,0,0,0,0,0
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5620,0.77,156.2,903.7,0.0,203,5761,1.05,0.00,136.48,1.062,6,0.098,0.000,2843,1923,2665,0,0,0,0,0,0
$GC,5997,0.77,156.2,839.3,20.3,213,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1922,2656,0,0,0,0,0,0
$GC,6241,0.77,156.2,791.6,19.4,219,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1922,2651,0,0,0,0,0,0
$GC,6485,0.77,156.2,745.2,19.1,225,6489,0.00,2.28,0.00,0.000,4,0.000,0.051,2840,3351,2652,0,0,0,0,0,0
$GC,6517,0.77,156.2,738.3,21.4,225,6521,0.00,2.15,0.00,0.000,6,0.000,0.030,2850,1921,2652,0,0,0,0,0,0
$GC,6773,0.77,156.2,688.9,19.4,232,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1919,2650,0,0,0,0,0,0
$GC,7018,0.77,156.2,642.7,19.2,238,7022,0.00,2.25,0.00,0.000,4,0.000,0.052,2842,3343,2648,0,0,0,0,0,0
$GC,7039,0.77,156.2,638.2,19.5,238,7043,0.00,2.15,0.00,0.000,6,0.000,0.033,2851,1920,2650,0,0,0,0,0,0
$GC,7300,0.77,156.2,590.8,18.3,245,7304,0.00,2.12,0.00,0.000,4,0.000,0.042,2862,517,2649,0,0,0,0,0,0
$GC,7373,0.77,156.2,577.4,18.3,246,7377,0.00,2.15,0.00,0.000,6,0.000,0.038,2860,1938,2646,0,0,0,0,0,0
$GC,7630,0.77,156.2,529.8,18.7,253,7634,0.00,2.20,0.00,0.000,4,0.000,0.053,2862,3341,2646,0,0,0,0,0,0
$GC,7691,0.77,156.2,516.7,20.4,254,7694,0.00,2.15,0.00,0.000,6,0.000,0.032,2873,1918,2647,0,0,0,0,0,0
$GC,7959,0.77,156.2,466.6,18.8,261,7963,0.00,2.10,0.00,0.000,4,0.000,0.041,2884,514,2646,0,0,0,0,0,0
$GC,7974,0.77,156.2,463.3,18.2,261,7979,0.10,2.17,0.00,0.000,6,0.186,0.035,2843,1939,2644,0,0,0,0,0,0
$GC,8241,0.77,156.2,419.7,16.3,268,8245,0.00,2.20,0.00,0.000,4,0.000,0.051,2843,3330,2651,0,0,0,0,0,0
$GC,8268,0.77,156.2,414.6,18.2,268,8272,0.00,2.12,0.00,0.000,6,0.000,0.032,2856,1918,2645,0,0,0,0,0,0
$GC,8525,0.77,156.2,372.9,16.2,275,8529,0.00,2.20,0.00,0.000,4,0.000,0.049,2857,3325,2644,0,0,0,0,0,0
$GC,8546,0.77,156.2,368.9,16.4,275,8550,0.00,2.10,0.00,0.000,6,0.000,0.031,2863,1922,2644,0,0,0,0,0,0
$GC,8813,0.77,156.2,325.4,16.3,282,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1919,2644,0,0,0,0,0,0
$GC,9059,0.77,156.2,284.9,16.1,290,9063,0.00,2.10,0.00,0.000,4,0.000,0.040,2874,528,2643,0,0,0,0,0,0
$GC,9092,0.77,156.2,278.9,17.2,291,9096,0.00,2.10,0.00,0.000,6,0.000,0.034,2874,1923,2641,0,0,0,0,0,0
$GC,9352,0.77,156.2,239.5,14.6,304,9356,0.00,2.22,0.00,0.000,4,0.000,0.048,2875,3345,2642,0,0,0,0,0,0
$GC,9397,0.77,156.2,232.8,15.1,306,9402,0.15,2.12,0.00,0.000,6,0.199,0.030,2849,1921,2642,0,0,0,0,0,0
$GC,9656,0.77,156.2,199.3,12.6,319,9659,0.00,2.08,0.00,0.000,4,0.000,0.040,2858,532,2641,0,0,0,0,0,0
$GC,9752,0.77,156.2,188.5,11.2,327,9756,0.00,2.10,0.00,0.000,6,0.000,0.034,2858,1947,2641,0,0,0,0,0,0
$GC,10017,0.77,156.2,156.5,12.1,351,10021,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3328,2641,0,0,0,0,0,0
$GC,10080,0.77,156.2,147.9,13.2,356,10084,0.00,2.08,0.00,0.000,6,0.000,0.030,2874,1930,2642,0,0,0,0,0,0
$GC,10348,0.77,156.2,118.8,10.5,380,10352,0.00,2.17,0.00,0.000,4,0.000,0.046,2869,3339,2641,0,0,0,0,0,0
$GC,10369,0.77,156.2,116.8,8.8,381,10373,0.12,2.10,0.00,0.000,6,0.189,0.029,2852,1915,2644,0,0,0,0,0,0
$GC,10632,0.90,258.8,102.3,4.8,405,10718,0.10,2.17,78.60,0.537,4,0.109,0.041,2906,539,2243,0,0,0,0,0,0
$GC,10939,0.90,258.8,63.6,15.5,432,10943,0.00,2.10,0.00,0.000,6,0.000,0.034,2903,1935,2238,0,0,0,0,0,0
$GC,11204,0.90,258.8,21.0,16.4,461,11211,0.00,2.20,0.00,0.000,4,0.000,0.045,2903,3324,2238,0,0,0,0,0,0
$GC,11262,0.90,258.8,10.9,18.7,471,11269,0.00,2.12,0.00,0.000,6,0.000,0.031,2912,1951,2236,0,0,0,0,0,0
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,0.1,1.022941
$STATE,11325,end surface coast,CONTROL_FINISHED_OK
$STATE,11325,begin surface
$SM_CCo,11345,258.25,0.440,0,0,395,712.83
$SM_GC,1.04,0.00,0.00,258.25,0.000,0.000,0.440,47,1997,395,-7.94,-0.03,712.83
$IRIDIUM_FIX,2004.18,-15635.12,020213,080858
$TT8_MAMPS,0.060593
$HUMID,1078773539
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.50
$XPDR_PINGS,104
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6338412544
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,42917101568
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,34.195
$10V_AH,10.1,31.412
$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,19.700,107.775,340.125,258.250,0.000,142.391,221.959,1086.770,26.000,0.000,42.400,1046.649,8430.113,661.105,2830.420,612.960,33.375,1342.584,0.000,1554.733,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,150.332,1100.645,440.258,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,329.146,0.000,777.767,0.000,0.000,0.000,0.000,54437.602,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.939,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,23605,482
$CAP_FILE_SIZE,124208,0
$CFSIZE,260165632,188461056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,197.3,1
$GPS,100811,172002,2013.793,-15630.503,9,1.9,9,9.7