version: 66.07
glider: 513
mission: 7
dive: 240
start: 8 11 111 0 52 50
data:
$ID,513
$MISSION,7
$DIVE,240
$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,-426689.88
$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,61
$R_STBD_OVSHOOT,58
$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,239
$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
$GPS1,110811,000907,2014.650,-15630.035,127,1.7,128,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.6
$GPS2,110811,005145,2014.096,-15630.016,36,1.4,37,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.190,0.168
$KALMAN_X,-88341.6,871.6,535.9,128167.9,-11307.4
$KALMAN_Y,-23898.6,996.8,423.8,49140.3,-8345.5
$MHEAD_RNG_PITCHd_Wd,359.0,1675,-22.1,-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,-0.97,-73.6,0.0,0.0,0,87,0.00,0.00,-53.47,0.000,6,0.000,0.000,34,2038,3601,0,0,0,0,0,0
$GC,91,-1.00,-97.0,4.3,-6.7,9,113,9.40,2.22,-1.62,0.000,4,0.245,0.052,2276,602,3699,0,0,0,0,0,0
$GC,142,-1.00,-97.0,29.2,-45.9,17,150,0.00,2.15,0.00,0.000,6,0.000,0.047,2273,1968,3701,0,0,0,0,0,0
$GC,406,-1.00,-97.0,125.8,-30.0,42,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1973,3703,0,0,0,0,0,0
$GC,669,-1.00,-97.0,193.8,-25.4,67,673,0.00,2.03,0.00,0.000,4,0.000,0.037,2267,602,3703,0,0,0,0,0,0
$GC,683,-1.00,-97.0,197.2,-25.2,68,687,0.00,2.15,0.00,0.000,6,0.000,0.042,2257,2016,3703,0,0,0,0,0,0
$GC,949,-1.00,-97.0,255.7,-21.6,81,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2015,3704,0,0,0,0,0,0
$GC,1215,-1.00,-97.0,311.1,-21.2,93,1219,0.00,2.17,0.00,0.000,4,0.000,0.054,2247,3413,3704,0,0,0,0,0,0
$GC,1275,-1.00,-97.0,325.1,-21.9,94,1279,0.00,2.10,0.00,0.000,6,0.000,0.034,2246,2019,3704,0,0,0,0,0,0
$GC,1544,-1.00,-97.0,382.1,-21.3,101,1548,0.00,2.15,0.00,0.000,4,0.000,0.054,2235,3402,3708,0,0,0,0,0,0
$GC,1661,-1.00,-97.0,407.5,-21.2,103,1666,0.15,2.12,0.00,0.000,6,0.198,0.038,2271,2002,3704,0,0,0,0,0,0
$GC,1912,-1.00,-97.0,450.6,-16.7,109,1916,0.00,2.20,0.00,0.000,4,0.000,0.054,2261,3404,3701,0,0,0,0,0,0
$GC,2013,-1.00,-97.0,469.5,-18.7,111,2017,0.00,2.12,0.00,0.000,6,0.000,0.037,2262,1999,3701,0,0,0,0,0,0
$GC,2279,-1.00,-97.0,516.4,-17.6,118,2283,0.00,2.20,0.00,0.000,4,0.000,0.056,2256,3407,3699,0,0,0,0,0,0
$GC,2306,-1.00,-97.0,521.6,-18.8,118,2310,0.00,2.15,0.00,0.000,6,0.000,0.037,2254,1980,3697,0,0,0,0,0,0
$GC,2563,-1.00,-97.0,569.0,-18.9,125,2567,0.00,2.25,0.00,0.000,4,0.000,0.055,2240,3405,3695,0,0,0,0,0,0
$GC,2668,-1.00,-97.0,590.4,-20.6,127,2673,0.15,2.12,0.00,0.000,6,0.198,0.037,2275,1999,3694,0,0,0,0,0,0
$GC,2930,-1.00,-97.0,631.8,-15.5,134,2934,0.00,2.20,0.00,0.000,4,0.000,0.056,2266,3399,3690,0,0,0,0,0,0
$GC,2957,-1.00,-97.0,636.4,-16.1,134,2960,0.00,2.12,0.00,0.000,6,0.000,0.035,2266,1998,3687,0,0,0,0,0,0
$GC,3213,-1.00,-97.0,676.7,-15.8,141,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1993,3688,0,0,0,0,0,0
$GC,3456,-1.00,-97.0,714.9,-16.0,147,3460,0.00,2.28,0.00,0.000,4,0.000,0.071,2256,3397,3686,0,0,0,0,0,0
$GC,3552,-1.00,-97.0,729.9,-16.1,149,3556,0.00,2.15,0.00,0.000,6,0.000,0.036,2255,1985,3684,0,0,0,0,0,0
$GC,3824,-1.00,-97.0,772.5,-15.6,156,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1978,3682,0,0,0,0,0,0
$GC,4067,-1.00,-97.0,808.9,-14.9,162,4071,0.00,2.33,0.00,0.000,4,0.000,0.074,2245,3401,3679,0,0,0,0,0,0
$GC,4186,-1.00,-97.0,826.0,-14.4,164,4190,0.00,2.12,0.00,0.000,6,0.000,0.038,2247,2006,3678,0,0,0,0,0,0
$GC,4441,-1.00,-97.0,862.1,-14.2,171,4446,0.10,2.15,0.00,0.000,4,0.227,0.047,2266,594,3675,0,0,0,0,0,0
$GC,4486,-1.00,-97.0,868.2,-13.6,172,4490,0.00,2.20,0.00,0.000,6,0.000,0.061,2263,1977,3674,0,0,0,0,0,0
$STATE,4761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4761,begin apogee
$GC,4767,-0.28,0.0,905.5,13.5,179,4846,0.85,0.00,76.32,1.098,6,0.176,0.000,2496,1978,3302,0,0,0,0,0,0
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4851,1.00,97.0,907.9,0.0,181,4946,1.25,2.33,84.38,1.067,4,0.098,0.038,2932,525,2905,0,0,0,0,0,0
$GC,5008,1.00,97.0,883.7,22.2,184,5012,0.00,2.28,0.00,0.000,6,0.000,0.050,2926,1933,2903,0,0,0,0,0,0
$GC,5258,1.00,97.0,828.1,22.2,190,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1933,2897,0,0,0,0,0,0
$GC,5503,1.00,97.0,775.0,21.6,196,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1932,2894,0,0,0,0,0,0
$GC,5745,1.00,97.0,726.8,19.5,202,5749,0.00,2.28,0.00,0.000,4,0.000,0.064,2922,3340,2892,0,0,0,0,0,0
$GC,5789,1.00,97.0,717.3,20.8,203,5793,0.00,2.15,0.00,0.000,6,0.000,0.031,2931,1914,2892,0,0,0,0,0,0
$GC,6074,1.00,97.0,663.3,19.1,210,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1910,2890,0,0,0,0,0,0
$GC,6317,1.00,97.0,618.8,18.4,216,6321,0.00,2.30,0.00,0.000,4,0.000,0.061,2923,3343,2889,0,0,0,0,0,0
$GC,6401,1.00,97.0,603.2,19.0,218,6405,0.00,2.12,0.00,0.000,6,0.000,0.031,2931,1926,2889,0,0,0,0,0,0
$GC,6685,1.00,97.0,551.0,18.4,225,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1920,2887,0,0,0,0,0,0
$GC,6930,1.00,97.0,506.7,18.1,231,6933,0.00,2.28,0.00,0.000,4,0.000,0.058,2923,3353,2886,0,0,0,0,0,0
$GC,7047,1.00,97.0,483.9,18.6,233,7051,0.00,2.12,0.00,0.000,6,0.000,0.030,2932,1925,2886,0,0,0,0,0,0
$GC,7308,1.00,97.0,438.6,17.1,240,7312,0.00,2.08,0.00,0.000,4,0.000,0.035,2943,524,2885,0,0,0,0,0,0
$GC,7342,1.00,97.0,433.0,16.5,240,7346,0.00,2.15,0.00,0.000,6,0.000,0.039,2933,1949,2883,0,0,0,0,0,0
$GC,7591,1.00,97.0,392.9,15.7,246,7595,0.00,2.22,0.00,0.000,4,0.000,0.055,2923,3343,2884,0,0,0,0,0,0
$GC,7804,1.00,97.0,362.1,15.8,250,7809,0.00,2.10,0.00,0.000,6,0.000,0.029,2932,1930,2883,0,0,0,0,0,0
$GC,8054,1.00,97.0,330.4,12.3,257,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1926,2882,0,0,0,0,0,0
$GC,8297,1.00,97.0,298.3,13.1,263,8301,0.00,2.10,0.00,0.000,4,0.000,0.036,2943,520,2882,0,0,0,0,0,0
$GC,8406,1.00,97.0,284.5,12.2,268,8410,0.00,2.12,0.00,0.000,6,0.000,0.037,2935,1936,2880,0,0,0,0,0,0
$GC,8670,1.00,97.0,253.8,11.3,281,8674,0.00,2.22,0.00,0.000,4,0.000,0.054,2920,3335,2880,0,0,0,0,0,0
$GC,8777,1.00,97.0,243.4,10.2,285,8782,0.00,2.12,0.00,0.000,6,0.000,0.029,2933,1918,2880,0,0,0,0,0,0
$GC,9031,1.00,97.0,220.6,9.5,298,9035,0.00,2.22,0.00,0.000,4,0.000,0.050,2924,3334,2880,0,0,0,0,0,0
$GC,9162,1.00,97.0,207.3,12.0,304,9167,0.00,2.10,0.00,0.000,6,0.000,0.029,2933,1918,2884,0,0,0,0,0,0
$GC,9428,1.05,133.8,187.1,5.7,325,9460,0.00,2.12,26.27,0.609,4,0.000,0.036,2944,532,2754,0,0,0,0,0,0
$GC,9491,1.05,133.8,182.5,9.6,331,9495,0.00,2.10,0.00,0.000,6,0.000,0.034,2936,1934,2751,0,0,0,0,0,0
$GC,9758,1.05,133.8,149.6,13.0,355,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1933,2750,0,0,0,0,0,0
$GC,10021,1.05,133.8,117.6,9.0,380,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1934,2750,0,0,0,0,0,0
$GC,10278,1.12,195.7,106.7,3.7,404,10338,0.00,2.17,49.90,0.535,4,0.000,0.037,2945,538,2500,0,0,0,0,0,0
$GC,10504,1.12,195.7,82.7,14.0,424,10508,0.00,2.10,0.00,0.000,6,0.000,0.035,2943,1927,2496,0,0,0,0,0,0
$GC,10770,1.12,195.7,51.1,12.7,448,10774,0.00,2.20,0.00,0.000,4,0.000,0.052,2943,3328,2500,0,0,0,0,0,0
$GC,10811,1.12,195.7,45.3,13.6,451,10815,0.00,2.08,0.00,0.000,6,0.000,0.029,2952,1933,2498,0,0,0,0,0,0
$GC,11073,1.12,195.7,6.9,16.2,490,11081,0.00,2.22,0.00,0.000,4,0.000,0.046,2944,3339,2496,0,0,0,0,0,0
$STATE,11093,end climb,SURFACE_DEPTH_REACHED
$STATE,11093,begin surface coast
$FINISH,0.3,1.022944
$STATE,11110,end surface coast,CONTROL_FINISHED_OK
$STATE,11110,begin surface
$SM_CCo,11133,281.90,0.436,0,0,393,713.08
$SM_GC,1.08,0.00,0.00,281.90,0.000,0.000,0.436,43,1985,393,-7.96,-0.42,713.08
$IRIDIUM_FIX,2008.77,-15629.08,020213,191953
$TT8_MAMPS,0.060593
$HUMID,1078776119
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,25.70
$XPDR_PINGS,58
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6338314240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,42595319808
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,34.700
$10V_AH,10.2,31.842
$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,19.550,104.050,236.875,281.900,0.000,136.181,223.363,1663.339,14.500,0.000,39.603,1089.192,8105.647,578.404,3474.722,737.562,33.346,1317.372,0.000,1738.363,0.000,0.543,0.000
$DEVICE_MAMPS,244.673,74.399,1097.577,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.476,0.000,847.019,0.000,0.000,0.000,0.000,40901.102,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,13.101,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,23645,496
$CAP_FILE_SIZE,133968,0
$CFSIZE,260165632,188260352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,194.6,1
$GPS,110811,040437,2014.569,-15629.924,38,1.4,38,9.8