version: 66.07
glider: 513
mission: 7
dive: 239
start: 8 10 111 20 57 18
data:
$ID,513
$MISSION,7
$DIVE,239
$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,-426649.66
$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,43
$R_STBD_OVSHOOT,56
$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,238
$AR_SAMPLENUM,3
$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
$GPS1,100811,202801,2014.369,-15629.985,59,0.9,59,9.8
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.4
$GPS2,100811,205602,2014.012,-15629.876,15,1.7,15,9.7
$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,-85110.8,1072.8,724.6,124781.7,-12267.4
$KALMAN_Y,-20789.0,577.2,216.7,46500.5,-6869.2
$MHEAD_RNG_PITCHd_Wd,348.1,1843,-21.3,-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,27,-0.95,-78.7,0.0,0.0,0,82,0.00,0.00,-52.83,0.000,6,0.000,0.000,35,2020,3622,0,0,0,0,0,0
$GC,87,-0.98,-102.4,4.1,-6.8,8,108,9.57,2.17,-1.62,0.000,4,0.252,0.047,2285,585,3721,0,0,0,0,0,0
$GC,128,-0.98,-102.4,24.5,-49.1,14,136,0.00,2.17,0.00,0.000,6,0.000,0.044,2272,1974,3721,0,0,0,0,0,0
$GC,400,-0.98,-102.4,123.1,-27.9,40,404,0.00,2.22,0.00,0.000,4,0.000,0.050,2265,3418,3723,0,0,0,0,0,0
$GC,433,-0.98,-102.4,133.7,-30.0,42,440,0.00,2.17,0.00,0.000,6,0.000,0.031,2265,1990,3723,0,0,0,0,0,0
$GC,697,-0.98,-102.4,200.7,-26.7,67,701,0.00,2.08,0.00,0.000,4,0.000,0.043,2264,604,3725,0,0,0,0,0,0
$GC,769,-0.98,-102.4,219.7,-24.0,70,774,0.10,2.12,0.00,0.000,6,0.212,0.041,2275,2018,3724,0,0,0,0,0,0
$GC,1029,-0.98,-102.4,273.2,-21.3,83,1033,0.00,2.12,0.00,0.000,4,0.000,0.039,2276,601,3726,0,0,0,0,0,0
$GC,1057,-0.98,-102.4,279.5,-21.7,84,1061,0.00,2.15,0.00,0.000,6,0.000,0.043,2267,1993,3725,0,0,0,0,0,0
$GC,1334,-0.98,-102.4,336.2,-20.4,94,1338,0.00,2.20,0.00,0.000,4,0.000,0.054,2256,3412,3726,0,0,0,0,0,0
$GC,1493,-0.98,-102.4,367.5,-20.3,97,1497,0.00,2.10,0.00,0.000,6,0.000,0.034,2256,2002,3725,0,0,0,0,0,0
$GC,1759,-0.98,-102.4,421.0,-20.2,104,1763,0.00,2.20,0.00,0.000,4,0.000,0.054,2245,3415,3726,0,0,0,0,0,0
$GC,1805,-0.98,-102.4,429.9,-18.8,105,1810,0.15,2.12,0.00,0.000,6,0.195,0.033,2281,1987,3725,0,0,0,0,0,0
$GC,2083,-0.98,-102.4,478.5,-17.5,112,2087,0.00,2.20,0.00,0.000,4,0.000,0.053,2272,3411,3723,0,0,0,0,0,0
$GC,2110,-0.98,-102.4,483.4,-17.1,112,2114,0.00,2.10,0.00,0.000,6,0.000,0.034,2272,2006,3721,0,0,0,0,0,0
$GC,2367,-0.98,-102.4,525.1,-16.3,119,2371,0.00,2.20,0.00,0.000,4,0.000,0.054,2261,3413,3720,0,0,0,0,0,0
$GC,2405,-0.98,-102.4,532.2,-17.4,119,2412,0.00,2.12,0.00,0.000,6,0.000,0.035,2261,2002,3720,0,0,0,0,0,0
$GC,2655,-0.98,-102.4,572.8,-16.5,126,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1999,3717,0,0,0,0,0,0
$GC,2899,-0.98,-102.4,611.1,-15.8,132,2903,0.00,2.22,0.00,0.000,4,0.000,0.054,2250,3419,3712,0,0,0,0,0,0
$GC,2955,-0.98,-102.4,621.1,-17.3,133,2960,0.12,2.17,0.00,0.000,6,0.199,0.034,2279,1984,3714,0,0,0,0,0,0
$GC,3222,-0.98,-102.4,661.1,-15.1,140,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1978,3711,0,0,0,0,0,0
$GC,3465,-0.98,-102.4,698.7,-15.1,146,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1978,3709,0,0,0,0,0,0
$GC,3710,-0.98,-102.4,736.1,-15.2,152,3714,0.00,2.25,0.00,0.000,4,0.000,0.057,2268,3407,3706,0,0,0,0,0,0
$GC,3811,-0.98,-102.4,752.4,-15.6,154,3815,0.00,2.12,0.00,0.000,6,0.000,0.036,2276,2006,3704,0,0,0,0,0,0
$GC,4083,-0.98,-102.4,796.0,-16.4,161,4087,0.00,2.20,0.00,0.000,4,0.000,0.055,2259,3403,3701,0,0,0,0,0,0
$GC,4150,-0.98,-102.4,806.8,-15.6,162,4154,0.00,2.12,0.00,0.000,6,0.000,0.036,2259,2002,3701,0,0,0,0,0,0
$GC,4406,-0.98,-102.4,847.1,-15.7,169,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1996,3699,0,0,0,0,0,0
$GC,4649,-0.98,-102.4,885.3,-15.7,175,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1996,3697,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4769,begin apogee
$GC,4776,-0.28,0.0,904.2,15.4,178,4861,0.85,0.00,81.62,1.096,6,0.172,0.000,2500,1904,3298,0,0,0,0,0,0
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4867,0.98,102.4,908.4,0.0,180,4961,1.17,0.00,89.30,1.065,6,0.095,0.000,2895,1903,2881,0,0,0,0,0,0
$GC,5237,0.98,102.4,845.8,20.1,189,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1903,2872,0,0,0,0,0,0
$GC,5479,0.98,102.4,798.5,19.1,195,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1903,2871,0,0,0,0,0,0
$GC,5723,0.98,102.4,753.7,18.0,201,5727,0.00,2.28,0.00,0.000,4,0.000,0.057,2895,3332,2869,0,0,0,0,0,0
$GC,5795,0.98,102.4,739.9,17.9,202,5799,0.00,2.12,0.00,0.000,6,0.000,0.032,2905,1925,2869,0,0,0,0,0,0
$GC,6046,0.98,102.4,695.2,18.0,208,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1921,2867,0,0,0,0,0,0
$GC,6288,0.98,102.4,650.2,18.7,214,6292,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3342,2865,0,0,0,0,0,0
$GC,6304,0.98,102.4,646.7,18.7,214,6308,0.00,2.12,0.00,0.000,6,0.000,0.032,2906,1925,2865,0,0,0,0,0,0
$GC,6578,0.98,102.4,595.0,19.3,221,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1922,2864,0,0,0,0,0,0
$GC,6821,0.98,102.4,550.0,18.1,227,6825,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3335,2863,0,0,0,0,0,0
$GC,6853,0.98,102.4,543.7,19.1,227,6860,0.00,2.10,0.00,0.000,6,0.000,0.032,2906,1931,2864,0,0,0,0,0,0
$GC,7103,0.98,102.4,500.8,17.0,234,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1927,2862,0,0,0,0,0,0
$GC,7349,0.98,102.4,461.1,15.7,240,7353,0.00,2.10,0.00,0.000,4,0.000,0.039,2917,529,2861,0,0,0,0,0,0
$GC,7359,0.98,102.4,459.2,15.4,240,7363,0.00,2.10,0.00,0.000,6,0.000,0.036,2916,1936,2863,0,0,0,0,0,0
$GC,7632,0.98,102.4,418.7,14.8,247,7636,0.00,2.17,0.00,0.000,4,0.000,0.051,2904,3331,2860,0,0,0,0,0,0
$GC,7888,0.98,102.4,379.2,15.8,252,7894,0.00,2.10,0.00,0.000,6,0.000,0.031,2917,1927,2860,0,0,0,0,0,0
$GC,8138,0.98,102.4,343.4,14.1,259,8142,0.00,2.10,0.00,0.000,4,0.000,0.040,2930,531,2857,0,0,0,0,0,0
$GC,8177,0.98,102.4,337.9,14.4,259,8183,0.00,2.10,0.00,0.000,6,0.000,0.038,2928,1932,2857,0,0,0,0,0,0
$GC,8428,0.98,102.4,305.0,13.3,266,8432,0.00,2.12,0.00,0.000,4,0.000,0.040,2939,519,2857,0,0,0,0,0,0
$GC,8471,0.98,102.4,298.9,13.5,267,8475,0.00,2.15,0.00,0.000,6,0.000,0.039,2930,1934,2857,0,0,0,0,0,0
$GC,8737,0.98,102.4,266.8,10.9,280,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1933,2857,0,0,0,0,0,0
$GC,8986,0.98,102.4,239.4,10.6,292,8989,0.00,2.10,0.00,0.000,4,0.000,0.039,2939,528,2857,0,0,0,0,0,0
$GC,9086,0.98,102.4,227.9,11.2,296,9092,0.00,2.12,0.00,0.000,6,0.000,0.038,2931,1925,2856,0,0,0,0,0,0
$GC,9341,0.98,102.4,201.7,10.6,309,9345,0.00,2.20,0.00,0.000,4,0.000,0.048,2920,3344,2857,0,0,0,0,0,0
$GC,9401,0.98,102.4,196.2,9.6,313,9405,0.00,2.12,0.00,0.000,6,0.000,0.028,2929,1916,2857,0,0,0,0,0,0
$GC,9666,1.00,118.2,174.8,7.4,337,9680,0.00,2.12,9.40,0.543,4,0.000,0.038,2939,535,2819,0,0,0,0,0,0
$GC,9851,1.00,118.2,158.7,8.8,353,9855,0.00,2.10,0.00,0.000,6,0.000,0.037,2934,1934,2814,0,0,0,0,0,0
$GC,10117,1.00,118.2,134.6,9.9,377,10120,0.00,2.10,0.00,0.000,4,0.000,0.038,2942,542,2815,0,0,0,0,0,0
$GC,10357,1.03,143.6,111.2,6.7,398,10389,0.00,2.12,21.70,0.527,6,0.000,0.038,2934,1921,2714,0,0,0,0,0,0
$GC,10645,1.14,234.0,95.9,2.0,425,10729,0.00,2.17,72.10,0.520,4,0.000,0.038,2943,553,2345,0,0,0,0,0,0
$GC,10799,1.14,234.0,81.2,14.3,438,10803,0.00,2.12,0.00,0.000,6,0.000,0.036,2939,1945,2338,0,0,0,0,0,0
$GC,11064,1.14,234.0,35.8,17.3,462,11068,0.00,2.12,0.00,0.000,4,0.000,0.039,2948,539,2340,0,0,0,0,0,0
$GC,11074,1.14,234.0,33.1,17.3,462,11082,0.00,2.15,0.00,0.000,6,0.000,0.038,2948,1918,2339,0,0,0,0,0,0
$STATE,11254,end climb,SURFACE_DEPTH_REACHED
$STATE,11254,begin surface coast
$FINISH,0.1,1.007227
$STATE,11272,end surface coast,CONTROL_FINISHED_OK
$STATE,11272,begin surface
$SM_CCo,11292,29.45,0.432,0,0,2074,300.24
$SM_GC,1.23,0.00,0.00,29.45,0.000,0.000,0.432,53,2037,2074,-7.95,1.05,300.24
$IRIDIUM_FIX,2006.47,-15629.08,020213,141401
$TT8_MAMPS,0.263081
$HUMID,1078939990
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.50
$XPDR_PINGS,69
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6261473280
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,42755096576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,34.485
$10V_AH,10.2,31.587
$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,19.725,103.450,274.125,29.450,0.000,90.903,105.965,1137.016,17.250,0.000,17.674,1090.625,8177.370,352.606,2813.208,600.529,33.344,1084.002,0.000,1680.267,0.000,0.542,0.000
$DEVICE_MAMPS,251.576,92.807,1096.043,431.821,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.359,0.000,833.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,23673,496
$CAP_FILE_SIZE,123604,0
$CFSIZE,260165632,188342272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,194.9,1
$GPS,110811,000907,2014.650,-15630.035,127,1.7,128,9.8