version: 66.07
glider: 513
mission: 7
dive: 248
start: 8 12 111 6 51 45
data:
$ID,513
$MISSION,7
$DIVE,248
$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,140
$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,-426856.97
$T_RSLEEP,3
$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,50
$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,247
$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
$GPS1,120811,062336,2015.016,-15629.854,55,1.3,60,9.8
$_CALLS,4
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.5
$GPS2,120811,065032,2014.798,-15629.729,12,2.0,12,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.169,0.169
$KALMAN_X,-110573.8,1187.9,882.7,150229.1,-12340.5
$KALMAN_Y,-45469.4,888.7,867.3,71649.6,-11546.5
$MHEAD_RNG_PITCHd_Wd,342.7,602,-35.3,-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,-1.45,-30.1,0.0,0.0,0,83,0.00,0.00,-48.35,0.000,6,0.000,0.000,35,1994,3421,0,0,0,0,0,0
$GC,87,-1.47,-47.6,3.4,-5.2,8,102,8.90,2.33,-1.40,0.000,4,0.248,0.067,2104,3426,3494,0,0,0,0,0,0
$GC,218,-1.47,-47.6,62.1,-46.2,24,225,0.00,2.17,0.00,0.000,6,0.000,0.034,2108,2014,3498,0,0,0,0,0,0
$GC,483,-1.47,-47.6,155.7,-26.1,49,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2007,3500,0,0,0,0,0,0
$GC,741,-1.47,-47.6,223.0,-26.7,70,745,0.00,2.15,0.00,0.000,4,0.000,0.043,2120,584,3501,0,0,0,0,0,0
$GC,763,-1.47,-47.6,228.6,-24.3,71,767,0.00,2.20,0.00,0.000,6,0.000,0.047,2112,2001,3502,0,0,0,0,0,0
$GC,1030,-1.47,-47.6,285.9,-21.1,84,1034,0.00,2.20,0.00,0.000,4,0.000,0.056,2100,3409,3502,0,0,0,0,0,0
$GC,1119,-1.47,-47.6,306.0,-20.1,88,1123,0.00,2.12,0.00,0.000,6,0.000,0.033,2100,1988,3502,0,0,0,0,0,0
$GC,1402,-1.47,-47.6,360.2,-19.1,95,1407,0.00,2.25,0.00,0.000,4,0.000,0.055,2089,3411,3506,0,0,0,0,0,0
$GC,1660,-1.47,-47.6,413.9,-19.4,100,1666,0.12,2.12,0.00,0.000,6,0.218,0.033,2122,1998,3503,0,0,0,0,0,0
$GC,1911,-1.47,-47.6,455.9,-17.2,107,1915,0.00,2.22,0.00,0.000,4,0.000,0.055,2114,3409,3502,0,0,0,0,0,0
$GC,2107,-1.47,-47.6,490.5,-16.5,111,2111,0.00,2.15,0.00,0.000,6,0.000,0.035,2120,2004,3500,0,0,0,0,0,0
$GC,2374,-1.47,-47.6,531.3,-14.8,118,2378,0.00,2.22,0.00,0.000,4,0.000,0.055,2113,3414,3498,0,0,0,0,0,0
$GC,2464,-1.47,-47.6,545.2,-14.9,120,2468,0.00,2.15,0.00,0.000,6,0.000,0.034,2122,1996,3497,0,0,0,0,0,0
$GC,2741,-1.47,-47.6,584.8,-13.8,127,2745,0.00,2.25,0.00,0.000,4,0.000,0.055,2109,3422,3494,0,0,0,0,0,0
$GC,2809,-1.47,-47.6,595.0,-15.1,128,2813,0.00,2.15,0.00,0.000,6,0.000,0.034,2113,1987,3493,0,0,0,0,0,0
$GC,3070,-1.47,-47.6,634.6,-14.8,135,3074,0.00,2.25,0.00,0.000,4,0.000,0.056,2102,3410,3491,0,0,0,0,0,0
$GC,3328,-1.47,-47.6,674.3,-15.5,140,3334,0.00,2.15,0.00,0.000,6,0.000,0.036,2104,1998,3486,0,0,0,0,0,0
$GC,3578,-1.47,-47.6,710.7,-15.0,147,3582,0.00,2.25,0.00,0.000,4,0.000,0.055,2096,3418,3483,0,0,0,0,0,0
$GC,3836,-1.47,-47.6,749.7,-15.7,152,3842,0.00,2.15,0.00,0.000,6,0.000,0.034,2098,1998,3486,0,0,0,0,0,0
$GC,4086,-1.47,-47.6,783.8,-13.6,159,4090,0.00,2.22,0.00,0.000,4,0.000,0.054,2094,3412,3480,0,0,0,0,0,0
$GC,4344,-1.47,-47.6,821.5,-14.4,164,4350,0.00,2.15,0.00,0.000,6,0.000,0.037,2098,2000,3478,0,0,0,0,0,0
$GC,4594,-1.47,-47.6,856.2,-14.0,171,4598,0.00,2.20,0.00,0.000,4,0.000,0.053,2088,3412,3475,0,0,0,0,0,0
$GC,4851,-1.47,-47.6,893.6,-15.1,176,4856,0.10,2.15,0.00,0.000,6,0.229,0.035,2117,1997,3473,0,0,0,0,0,0
$STATE,4901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4901,begin apogee
$GC,4907,-0.28,0.0,900.6,13.8,178,4948,1.48,0.00,36.65,1.072,6,0.210,0.000,2501,1924,3302,0,0,0,0,0,0
$STATE,4950,end apogee,CONTROL_FINISHED_OK
$STATE,4950,begin climb
$GC,4953,1.47,47.6,903.1,0.0,179,5003,1.62,2.25,41.80,1.056,4,0.098,0.033,3069,515,3107,0,0,0,0,0,0
$GC,5045,1.47,47.6,892.5,16.9,181,5049,0.00,2.22,0.00,0.000,6,0.000,0.035,3060,1931,3104,0,0,0,0,0,0
$GC,5324,1.47,47.6,842.3,18.2,188,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1930,3101,0,0,0,0,0,0
$GC,5568,1.47,47.6,801.1,16.8,194,5572,0.00,2.22,0.00,0.000,4,0.000,0.047,3049,3343,3099,0,0,0,0,0,0
$GC,5685,1.47,47.6,779.4,17.7,196,5689,0.00,2.15,0.00,0.000,6,0.000,0.027,3058,1914,3099,0,0,0,0,0,0
$GC,5940,1.47,47.6,736.5,16.8,203,5944,0.00,2.25,0.00,0.000,4,0.000,0.049,3045,3340,3097,0,0,0,0,0,0
$GC,5968,1.47,47.6,731.7,16.9,203,5972,0.00,2.12,0.00,0.000,6,0.000,0.028,3059,1917,3097,0,0,0,0,0,0
$GC,6223,1.47,47.6,693.1,14.7,210,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1914,3096,0,0,0,0,0,0
$GC,6467,1.47,47.6,659.1,14.0,216,6471,0.00,2.22,0.00,0.000,4,0.000,0.047,3049,3343,3094,0,0,0,0,0,0
$GC,6590,1.47,47.6,642.0,14.1,218,6594,0.00,2.12,0.00,0.000,6,0.000,0.027,3059,1918,3094,0,0,0,0,0,0
$GC,6841,1.47,47.6,611.6,11.9,224,6845,0.00,2.22,0.00,0.000,4,0.000,0.047,3050,3343,3092,0,0,0,0,0,0
$GC,6919,1.47,47.6,602.2,12.2,225,6924,0.00,2.10,0.00,0.000,6,0.000,0.026,3059,1931,3092,0,0,0,0,0,0
$GC,7170,1.47,47.6,572.4,12.2,232,7174,0.00,2.20,0.00,0.000,4,0.000,0.043,3050,3346,3091,0,0,0,0,0,0
$GC,7428,1.47,47.6,537.9,13.4,237,7434,0.00,2.10,0.00,0.000,6,0.000,0.025,3059,1921,3091,0,0,0,0,0,0
$GC,7680,1.47,47.6,506.6,12.5,244,7684,0.00,2.20,0.00,0.000,4,0.000,0.043,3046,3346,3089,0,0,0,0,0,0
$GC,7937,1.47,47.6,476.3,12.2,249,7941,0.00,2.08,0.00,0.000,6,0.000,0.024,3059,1934,3089,0,0,0,0,0,0
$GC,8195,1.47,47.6,449.9,9.9,256,8199,0.00,2.20,0.00,0.000,4,0.000,0.041,3050,3353,3088,0,0,0,0,0,0
$GC,8452,1.48,59.9,428.1,6.2,261,8467,0.00,2.10,8.48,0.708,6,0.000,0.026,3059,1928,3054,0,0,0,0,0,0
$GC,8747,1.49,63.1,404.6,8.0,269,8757,0.00,2.22,4.07,0.528,4,0.000,0.041,3050,3344,3050,0,0,0,0,0,0
$GC,8960,1.49,63.1,383.3,9.3,273,8964,0.00,2.10,0.00,0.000,6,0.000,0.025,3059,1933,3042,0,0,0,0,0,0
$GC,9210,1.49,68.2,362.3,7.6,279,9220,0.00,2.08,5.62,0.599,4,0.000,0.031,3070,529,3023,0,0,0,0,0,0
$GC,9362,1.51,78.0,352.2,6.7,282,9376,0.00,2.10,10.05,0.681,6,0.000,0.029,3061,1946,2982,0,0,0,0,0,0
$GC,9626,1.51,78.0,328.4,9.7,289,9630,0.00,2.15,0.00,0.000,4,0.000,0.041,3050,3336,2979,0,0,0,0,0,0
$GC,9711,1.51,78.0,319.7,11.2,291,9715,0.00,2.10,0.00,0.000,6,0.000,0.025,3059,1928,2980,0,0,0,0,0,0
$GC,9976,1.51,78.0,291.2,10.3,299,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1924,2979,0,0,0,0,0,0
$GC,10222,1.53,95.9,277.0,5.2,311,10244,0.00,2.20,15.55,0.661,4,0.000,0.040,3051,3339,2910,0,0,0,0,0,0
$GC,10496,1.53,95.9,248.6,9.8,323,10500,0.00,2.10,0.00,0.000,6,0.000,0.026,3059,1930,2909,0,0,0,0,0,0
$GC,10762,1.53,95.9,227.0,9.7,336,10766,0.00,2.17,0.00,0.000,4,0.000,0.041,3050,3334,2908,0,0,0,0,0,0
$GC,11020,1.53,99.6,204.3,7.9,347,11030,0.00,2.10,4.35,0.441,6,0.000,0.027,3059,1924,2895,0,0,0,0,0,0
$GC,11294,1.53,99.6,181.7,9.5,370,11298,0.00,2.17,0.00,0.000,4,0.000,0.041,3050,3335,2895,0,0,0,0,0,0
$GC,11547,1.53,99.6,155.3,8.6,392,11554,0.00,2.10,0.00,0.000,6,0.000,0.026,3059,1934,2895,0,0,0,0,0,0
$GC,11815,1.54,106.9,133.3,7.2,417,11828,0.00,2.15,7.80,0.479,4,0.000,0.040,3047,3340,2866,0,0,0,0,0,0
$GC,12079,1.56,125.1,115.0,5.1,440,12102,0.08,2.12,16.65,0.509,6,0.079,0.025,3095,1919,2791,0,0,0,0,0,0
$GC,12367,1.62,172.8,99.2,-0.5,467,12416,0.00,2.12,38.85,0.512,4,0.000,0.033,3106,534,2595,0,0,0,0,0,0
$GC,12666,1.62,172.8,61.6,14.6,493,12673,0.00,2.10,0.00,0.000,6,0.000,0.030,3097,1927,2593,0,0,0,0,0,0
$GC,12932,1.62,172.8,20.9,17.1,522,12940,0.00,2.10,0.00,0.000,4,0.000,0.032,3106,533,2591,0,0,0,0,0,0
$GC,12948,1.62,172.8,18.1,17.2,524,12956,0.00,2.10,0.00,0.000,6,0.000,0.028,3097,1933,2591,0,0,0,0,0,0
$STATE,13036,end climb,SURFACE_DEPTH_REACHED
$STATE,13036,begin surface coast
$FINISH,0.3,1.022965
$STATE,13057,end surface coast,CONTROL_FINISHED_OK
$STATE,13057,begin surface
$SM_CCo,13077,59.53,0.436,0,0,2076,300.24
$SM_GC,0.99,0.00,0.00,59.53,0.000,0.000,0.436,54,2004,2076,-7.94,0.06,300.24
$IRIDIUM_FIX,2006.47,-15632.10,040213,000037
$TT8_MAMPS,0.154934
$HUMID,1078901281
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.60
$XPDR_PINGS,57
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6299615232
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,41685843968
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.4,35.874
$10V_AH,10.2,32.804
$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,20.375,121.425,189.875,59.525,0.000,118.368,184.478,896.799,14.250,0.000,16.897,1337.425,9051.029,329.537,3494.404,565.972,33.357,1352.246,0.000,2396.582,0.000,0.542,0.000
$DEVICE_MAMPS,247.741,148.798,1072.266,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.882,0.000,850.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354152
$DATA_FILE_SIZE,26862,543
$CAP_FILE_SIZE,146774,0
$CFSIZE,260165632,187662336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,189.1,1
$GPS,120811,103227,2014.538,-15629.906,27,8.9,46,9.8