version: 66.07
glider: 513
mission: 7
dive: 298
start: 8 20 111 1 25 0
data:
$ID,513
$MISSION,7
$DIVE,298
$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,-428045.34
$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,51
$R_STBD_OVSHOOT,31
$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,297
$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
$GPS1,200811,011330,1904.359,-15615.039,36,0.9,41,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.9
$GPS2,200811,012350,1904.185,-15615.062,15,0.9,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.002
$KALMAN_X,-83050.0,-1310.4,-551.1,152226.6,11902.6
$KALMAN_Y,-59282.9,1086.5,487.7,-45107.1,-7820.0
$MHEAD_RNG_PITCHd_Wd,172.4,7752,-17.8,-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,-0.85,-109.2,0.0,0.0,0,86,0.00,0.00,-57.22,0.000,2,0.000,0.000,35,1991,3719,0,0,0,0,0,0
$GC,90,-0.88,-136.7,3.7,-5.0,9,112,9.48,2.30,-2.35,0.000,4,0.239,0.065,2292,3409,3861,0,0,0,0,0,0
$GC,317,-0.88,-136.7,87.3,-32.7,34,322,0.00,2.17,0.00,0.000,6,0.000,0.041,2300,2005,3865,0,0,0,0,0,0
$GC,585,-0.88,-136.7,168.5,-26.4,58,589,0.00,2.22,0.00,0.000,4,0.000,0.048,2291,3414,3863,0,0,0,0,0,0
$GC,648,-0.88,-136.7,185.9,-26.2,63,652,0.00,2.15,0.00,0.000,6,0.000,0.033,2291,1989,3867,0,0,0,0,0,0
$GC,913,-0.88,-136.7,254.7,-24.9,78,917,0.00,2.08,0.00,0.000,4,0.000,0.040,2301,599,3868,0,0,0,0,0,0
$GC,981,-0.88,-136.7,270.2,-21.9,81,985,0.00,2.12,0.00,0.000,6,0.000,0.042,2292,2006,3870,0,0,0,0,0,0
$GC,1258,-0.88,-136.7,330.7,-22.0,92,1262,0.00,2.17,0.00,0.000,4,0.000,0.051,2281,3405,3870,0,0,0,0,0,0
$GC,1418,-0.88,-136.7,361.4,-18.7,95,1423,0.12,2.12,0.00,0.000,6,0.182,0.034,2312,1996,3870,0,0,0,0,0,0
$GC,1673,-0.88,-136.7,403.5,-16.1,102,1677,0.00,2.22,0.00,0.000,4,0.000,0.052,2303,3401,3870,0,0,0,0,0,0
$GC,1728,-0.88,-136.7,413.1,-16.5,103,1732,0.00,2.12,0.00,0.000,6,0.000,0.033,2303,1982,3870,0,0,0,0,0,0
$GC,2001,-0.88,-136.7,458.1,-16.7,110,2005,0.00,2.08,0.00,0.000,4,0.000,0.041,2303,594,3868,0,0,0,0,0,0
$GC,2029,-0.88,-136.7,463.5,-18.7,110,2033,0.00,2.17,0.00,0.000,6,0.000,0.043,2293,2009,3868,0,0,0,0,0,0
$GC,2279,-0.88,-136.7,509.0,-18.5,116,2283,0.00,2.17,0.00,0.000,4,0.000,0.051,2282,3401,3866,0,0,0,0,0,0
$GC,2312,-0.88,-136.7,515.3,-18.9,116,2319,0.12,2.12,0.00,0.000,6,0.179,0.034,2312,2002,3865,0,0,0,0,0,0
$GC,2562,-0.88,-136.7,554.8,-15.5,123,2566,0.00,2.22,0.00,0.000,4,0.000,0.052,2303,3409,3863,0,0,0,0,0,0
$GC,2617,-0.88,-136.7,563.1,-14.1,124,2621,0.00,2.12,0.00,0.000,6,0.000,0.032,2303,1996,3862,0,0,0,0,0,0
$GC,2891,-0.88,-136.7,604.3,-15.5,131,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,1990,3859,0,0,0,0,0,0
$GC,3133,-0.88,-136.7,640.3,-14.5,137,3137,0.00,2.22,0.00,0.000,4,0.000,0.053,2292,3403,3857,0,0,0,0,0,0
$GC,3155,-0.88,-136.7,643.6,-14.4,137,3159,0.00,2.15,0.00,0.000,6,0.000,0.035,2292,1996,3857,0,0,0,0,0,0
$GC,3416,-0.88,-136.7,680.5,-14.2,144,3420,0.00,2.22,0.00,0.000,4,0.000,0.053,2282,3399,3853,0,0,0,0,0,0
$GC,3473,-0.88,-136.7,689.2,-15.3,145,3478,0.12,2.15,0.00,0.000,6,0.182,0.038,2311,1987,3852,0,0,0,0,0,0
$GC,3739,-0.88,-136.7,727.7,-14.6,152,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1982,3854,0,0,0,0,0,0
$GC,3983,-0.88,-136.7,762.8,-14.2,158,3987,0.00,2.28,0.00,0.000,4,0.000,0.057,2302,3398,3849,0,0,0,0,0,0
$GC,4011,-0.88,-136.7,766.7,-14.2,158,4015,0.00,2.12,0.00,0.000,6,0.000,0.036,2302,2004,3848,0,0,0,0,0,0
$GC,4267,-0.88,-136.7,803.3,-14.2,165,4271,0.00,2.12,0.00,0.000,4,0.000,0.044,2303,594,3846,0,0,0,0,0,0
$GC,4311,-0.88,-136.7,809.8,-14.1,166,4315,0.00,2.17,0.00,0.000,6,0.000,0.047,2292,1992,3844,0,0,0,0,0,0
$GC,4597,-0.88,-136.7,850.2,-14.4,173,4601,0.00,2.25,0.00,0.000,4,0.000,0.057,2281,3411,3843,0,0,0,0,0,0
$GC,4681,-0.88,-136.7,863.2,-14.9,175,4686,0.12,2.15,0.00,0.000,6,0.183,0.034,2309,2000,3838,0,0,0,0,0,0
$STATE,4961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4969,-0.28,0.0,902.0,13.6,182,5086,0.65,0.00,112.65,1.088,6,0.150,0.000,2504,1924,3300,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5130,0.88,136.7,906.6,0.0,185,5258,1.10,2.28,118.60,1.061,4,0.093,0.036,2886,521,2743,0,0,0,0,0,0
$GC,5276,0.88,136.7,890.6,18.8,188,5280,0.00,2.28,0.00,0.000,6,0.000,0.035,2886,1942,2738,0,0,0,0,0,0
$GC,5531,0.88,136.7,835.1,22.0,195,5535,0.00,2.25,0.00,0.000,4,0.000,0.051,2886,3339,2734,0,0,0,0,0,0
$GC,5597,0.88,136.7,819.1,24.0,196,5601,0.00,2.17,0.00,0.000,6,0.000,0.028,2896,1917,2734,0,0,0,0,0,0
$GC,5865,0.88,136.7,757.2,23.0,203,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1914,2732,0,0,0,0,0,0
$GC,6108,0.88,136.7,700.5,23.2,209,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1915,2730,0,0,0,0,0,0
$GC,6352,0.88,136.7,648.0,21.1,215,6356,0.00,2.30,0.00,0.000,4,0.000,0.050,2900,3345,2729,0,0,0,0,0,0
$GC,6408,0.88,136.7,635.9,21.3,216,6412,0.00,2.17,0.00,0.000,6,0.000,0.031,2907,1926,2729,0,0,0,0,0,0
$GC,6680,0.88,136.7,578.9,20.7,223,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1923,2727,0,0,0,0,0,0
$GC,6924,0.88,136.7,529.0,20.1,229,6928,0.00,2.22,0.00,0.000,4,0.000,0.048,2899,3339,2726,0,0,0,0,0,0
$GC,6967,0.88,136.7,520.1,19.6,230,6971,0.00,2.12,0.00,0.000,6,0.000,0.030,2908,1922,2729,0,0,0,0,0,0
$GC,7253,0.88,136.7,462.0,21.0,237,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1920,2725,0,0,0,0,0,0
$GC,7495,0.88,136.7,412.5,19.8,243,7499,0.00,2.12,0.00,0.000,4,0.000,0.038,2919,518,2723,0,0,0,0,0,0
$GC,7522,0.88,136.7,407.0,20.4,243,7526,0.15,2.15,0.00,0.000,6,0.216,0.035,2886,1934,2722,0,0,0,0,0,0
$GC,7773,0.88,136.7,364.8,16.1,249,7777,0.00,2.20,0.00,0.000,4,0.000,0.050,2886,3334,2722,0,0,0,0,0,0
$GC,7851,0.88,136.7,350.8,17.3,250,7855,0.00,2.15,0.00,0.000,6,0.000,0.031,2895,1922,2723,0,0,0,0,0,0
$GC,8107,0.88,136.7,309.1,16.2,257,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1919,2720,0,0,0,0,0,0
$GC,8354,0.88,136.7,274.3,13.7,267,8358,0.00,2.22,0.00,0.000,4,0.000,0.050,2896,3336,2722,0,0,0,0,0,0
$GC,8393,0.88,136.7,268.7,13.4,268,8400,0.00,2.10,0.00,0.000,6,0.000,0.028,2906,1925,2722,0,0,0,0,0,0
$GC,8647,0.88,136.7,236.6,11.8,281,8651,0.00,2.10,0.00,0.000,4,0.000,0.036,2917,524,2721,0,0,0,0,0,0
$GC,8770,0.88,136.7,219.8,14.9,286,8775,0.15,2.12,0.00,0.000,6,0.202,0.032,2882,1947,2719,0,0,0,0,0,0
$GC,9028,0.88,136.7,189.1,11.1,302,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1949,2719,0,0,0,0,0,0
$GC,9284,0.88,136.7,159.6,11.9,326,9288,0.00,2.12,0.00,0.000,4,0.000,0.037,2891,532,2721,0,0,0,0,0,0
$GC,9304,0.88,136.7,157.2,11.7,327,9308,0.00,2.10,0.00,0.000,6,0.000,0.033,2891,1937,2719,0,0,0,0,0,0
$GC,9570,0.92,165.7,133.4,7.0,351,9594,0.00,0.00,21.20,0.544,6,0.000,0.000,2891,1937,2624,0,0,0,0,0,0
$GC,9853,0.92,165.7,108.4,9.7,377,9857,0.00,2.20,0.00,0.000,4,0.000,0.048,2891,3332,2626,0,0,0,0,0,0
$GC,10073,0.92,165.7,86.4,9.8,396,10081,0.00,2.15,0.00,0.000,6,0.000,0.028,2902,1924,2624,0,0,0,0,0,0
$GC,10340,0.98,220.2,71.6,5.7,421,10392,0.00,0.00,45.40,0.493,6,0.000,0.000,2902,1925,2402,0,0,0,0,0,0
$GC,10648,0.98,220.2,33.7,13.7,450,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1925,2398,0,0,0,0,0,0
$STATE,10873,end climb,SURFACE_DEPTH_REACHED
$STATE,10873,begin surface coast
$FINISH,0.7,1.022824
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10918,41.65,0.433,0,0,2073,300.24
$SM_GC,2.12,0.00,0.00,41.65,0.000,0.000,0.433,52,2022,2073,-7.96,0.62,300.24
$IRIDIUM_FIX,1857.82,-15615.45,110213,161642
$TT8_MAMPS,0.269984
$HUMID,1078879345
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.30
$XPDR_PINGS,85
$AR_DIVENUM,298
$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
$24V_AH,23.8,42.310
$10V_AH,9.9,38.362
$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,19.525,100.175,297.850,41.650,0.000,22.771,47.718,322.130,21.250,0.000,17.319,1084.880,7629.960,387.988,2132.963,372.711,33.358,1091.568,0.000,1684.456,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,106.613,1088.373,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,337.083,0.000,883.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,23572,494
$CAP_FILE_SIZE,104905,0
$CFSIZE,260165632,184004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,182.4,1
$GPS,200811,042937,1901.869,-15615.253,51,1.0,51,9.6