version: 66.07
glider: 513
mission: 7
dive: 200
start: 8 4 111 20 27 30
data:
$ID,513
$MISSION,7
$DIVE,200
$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,1
$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,-425538.28
$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,48
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,199
$AR_SAMPLENUM,2
$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
$GPS1,040811,200531,1955.987,-15655.698,42,1.2,42,9.7
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.6
$GPS2,040811,202632,1956.139,-15656.077,11,1.3,11,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.218,0.129
$KALMAN_X,-160003.5,2046.9,966.8,127589.0,-16383.5
$KALMAN_Y,125192.6,-1480.4,386.0,-109491.7,-1532.4
$MHEAD_RNG_PITCHd_Wd,87.7,57211,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.77,-156.2,0.0,0.0,0,140,0.00,0.00,-109.50,0.000,2,0.000,0.000,37,1969,3642,0,0,0,0,0,0
$GC,145,-0.77,-156.2,3.7,-6.7,16,166,9.48,2.28,-5.40,0.000,4,0.242,0.065,2326,3417,3961,0,0,0,0,0,0
$GC,235,-0.77,-156.2,41.4,-34.0,28,239,0.00,2.15,0.00,0.000,6,0.000,0.037,2327,2007,3964,0,0,0,0,0,0
$GC,500,-0.77,-156.2,134.5,-32.1,52,504,0.00,2.17,0.00,0.000,4,0.000,0.048,2327,591,3964,0,0,0,0,0,0
$GC,529,-0.77,-156.2,143.4,-28.9,54,533,0.00,2.15,0.00,0.000,6,0.000,0.046,2318,2005,3964,0,0,0,0,0,0
$GC,801,-0.77,-156.2,211.0,-24.4,77,805,0.00,2.17,0.00,0.000,4,0.000,0.055,2308,3408,3964,0,0,0,0,0,0
$GC,913,-0.77,-156.2,238.8,-22.5,82,918,0.15,2.10,0.00,0.000,6,0.171,0.034,2345,1996,3963,0,0,0,0,0,0
$GC,1179,-0.77,-156.2,289.3,-18.4,95,1183,0.00,2.10,0.00,0.000,4,0.000,0.044,2346,590,3965,0,0,0,0,0,0
$GC,1223,-0.77,-156.2,296.9,-15.0,97,1227,0.00,2.12,0.00,0.000,6,0.000,0.044,2337,1997,3965,0,0,0,0,0,0
$GC,1505,-0.77,-156.2,341.5,-15.9,105,1509,0.00,2.17,0.00,0.000,4,0.000,0.054,2327,3415,3965,0,0,0,0,0,0
$GC,1612,-0.77,-156.2,358.7,-15.9,107,1616,0.00,2.12,0.00,0.000,6,0.000,0.034,2326,2003,3964,0,0,0,0,0,0
$GC,1873,-0.77,-156.2,401.2,-16.3,114,1876,0.00,2.12,0.00,0.000,4,0.000,0.044,2326,597,3959,0,0,0,0,0,0
$GC,1900,-0.77,-156.2,406.0,-16.9,114,1905,0.12,2.15,0.00,0.000,6,0.168,0.045,2348,2010,3962,0,0,0,0,0,0
$GC,2152,-0.77,-156.2,445.4,-16.0,120,2156,0.00,2.17,0.00,0.000,4,0.000,0.055,2338,3414,3960,0,0,0,0,0,0
$GC,2269,-0.77,-156.2,464.4,-14.7,122,2273,0.00,2.15,0.00,0.000,6,0.000,0.034,2339,2004,3959,0,0,0,0,0,0
$GC,2525,-0.77,-156.2,504.6,-16.2,129,2529,0.00,2.20,0.00,0.000,4,0.000,0.056,2328,3411,3956,0,0,0,0,0,0
$GC,2619,-0.77,-156.2,519.8,-14.6,131,2623,0.00,2.12,0.00,0.000,6,0.000,0.036,2328,2000,3955,0,0,0,0,0,0
$GC,2897,-0.77,-156.2,561.6,-15.2,138,2901,0.00,2.10,0.00,0.000,4,0.000,0.046,2328,601,3952,0,0,0,0,0,0
$GC,2919,-0.77,-156.2,565.0,-15.0,138,2923,0.00,2.15,0.00,0.000,6,0.000,0.048,2321,1999,3952,0,0,0,0,0,0
$GC,3174,-0.77,-156.2,601.4,-14.2,145,3178,0.00,2.20,0.00,0.000,4,0.000,0.058,2307,3401,3949,0,0,0,0,0,0
$GC,3229,-0.77,-156.2,609.4,-14.0,146,3234,0.12,2.10,0.00,0.000,6,0.166,0.035,2339,2003,3948,0,0,0,0,0,0
$GC,3502,-0.77,-156.2,642.3,-12.0,153,3506,0.00,2.20,0.00,0.000,4,0.000,0.058,2330,3403,3945,0,0,0,0,0,0
$GC,3546,-0.77,-156.2,647.9,-11.5,154,3551,0.00,2.12,0.00,0.000,6,0.000,0.036,2330,1997,3944,0,0,0,0,0,0
$GC,3836,-0.77,-156.2,683.8,-12.5,161,3840,0.00,2.22,0.00,0.000,4,0.000,0.055,2320,3403,3941,0,0,0,0,0,0
$GC,3903,-0.77,-156.2,692.5,-12.4,162,3907,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,1994,3940,0,0,0,0,0,0
$GC,4159,-0.77,-156.2,726.5,-13.4,169,4163,0.00,2.25,0.00,0.000,4,0.000,0.055,2309,3409,3938,0,0,0,0,0,0
$GC,4191,-0.77,-156.2,731.4,-13.8,169,4198,0.15,2.12,0.00,0.000,6,0.163,0.035,2347,2003,3937,0,0,0,0,0,0
$GC,4443,-0.77,-156.2,760.9,-11.9,176,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3935,0,0,0,0,0,0
$GC,4685,-0.77,-156.2,790.8,-12.3,182,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1998,3936,0,0,0,0,0,0
$GC,4929,-0.77,-156.2,820.4,-12.0,188,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1998,3930,0,0,0,0,0,0
$GC,5173,-0.77,-156.2,850.7,-12.4,194,5176,0.00,2.15,0.00,0.000,4,0.000,0.048,2354,593,3928,0,0,0,0,0,0
$GC,5229,-0.77,-156.2,857.7,-12.1,195,5233,0.00,2.17,0.00,0.000,6,0.000,0.048,2345,1999,3928,0,0,0,0,0,0
$GC,5495,-0.77,-156.2,890.5,-12.4,202,5499,0.00,2.20,0.00,0.000,4,0.000,0.055,2334,3403,3926,0,0,0,0,0,0
$GC,5534,-0.77,-156.2,895.2,-12.0,203,5538,0.00,2.15,0.00,0.000,6,0.000,0.036,2334,2004,3926,0,0,0,0,0,0
$STATE,5571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5571,begin apogee
$GC,5579,-0.28,0.0,900.2,12.7,204,5693,0.55,0.00,111.12,1.111,6,0.143,0.000,2501,1904,3380,0,0,0,0,0,0
$STATE,5696,end apogee,CONTROL_FINISHED_OK
$STATE,5696,begin climb
$GC,5698,0.77,156.2,904.7,0.0,207,5838,1.02,0.00,135.43,1.071,6,0.093,0.000,2841,1903,2743,0,0,0,0,0,0
$GC,6058,0.77,156.2,848.0,20.2,216,6061,0.00,2.15,0.00,0.000,4,0.000,0.043,2853,525,2736,0,0,0,0,0,0
$GC,6086,0.77,156.2,842.2,20.8,216,6090,0.00,2.20,0.00,0.000,6,0.000,0.039,2857,1928,2732,0,0,0,0,0,0
$GC,6341,0.77,156.2,791.2,19.9,223,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1929,2730,0,0,0,0,0,0
$GC,6584,0.77,156.2,744.4,18.9,229,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1928,2728,0,0,0,0,0,0
$GC,6828,0.77,156.2,697.3,19.7,235,6832,0.00,2.25,0.00,0.000,4,0.000,0.058,2851,3345,2727,0,0,0,0,0,0
$GC,6884,0.77,156.2,685.7,20.8,236,6888,0.00,2.17,0.00,0.000,6,0.000,0.033,2862,1919,2728,0,0,0,0,0,0
$GC,7150,0.77,156.2,631.8,19.9,243,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1919,2726,0,0,0,0,0,0
$GC,7394,0.77,156.2,584.7,19.1,249,7398,0.00,2.25,0.00,0.000,4,0.000,0.055,2853,3343,2725,0,0,0,0,0,0
$GC,7450,0.77,156.2,573.8,19.2,250,7454,0.00,2.15,0.00,0.000,6,0.000,0.035,2862,1928,2725,0,0,0,0,0,0
$GC,7721,0.77,156.2,526.6,17.2,257,7725,0.00,2.12,0.00,0.000,4,0.000,0.044,2873,524,2724,0,0,0,0,0,0
$GC,7737,0.77,156.2,523.8,16.5,257,7741,0.00,2.15,0.00,0.000,6,0.000,0.040,2875,1944,2722,0,0,0,0,0,0
$GC,8006,0.77,156.2,478.6,17.7,264,8010,0.00,2.20,0.00,0.000,4,0.000,0.054,2873,3337,2723,0,0,0,0,0,0
$GC,8156,0.77,156.2,450.8,16.9,267,8161,0.15,2.15,0.00,0.000,6,0.206,0.034,2851,1927,2723,0,0,0,0,0,0
$GC,8423,0.77,156.2,410.8,15.2,274,8427,0.00,2.25,0.00,0.000,4,0.000,0.055,2839,3343,2721,0,0,0,0,0,0
$GC,8518,0.77,156.2,395.3,16.0,276,8522,0.00,2.15,0.00,0.000,6,0.000,0.034,2848,1924,2721,0,0,0,0,0,0
$GC,8791,0.77,156.2,352.7,15.2,283,8794,0.00,2.10,0.00,0.000,4,0.000,0.045,2859,526,2721,0,0,0,0,0,0
$GC,8864,0.77,156.2,341.6,14.4,284,8868,0.00,2.12,0.00,0.000,6,0.000,0.038,2858,1940,2719,0,0,0,0,0,0
$GC,9114,0.77,156.2,306.3,14.0,290,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1940,2721,0,0,0,0,0,0
$GC,9361,0.77,156.2,275.3,11.7,300,9365,0.00,2.20,0.00,0.000,4,0.000,0.053,2859,3342,2719,0,0,0,0,0,0
$GC,9382,0.77,156.2,272.6,11.2,301,9386,0.00,2.17,0.00,0.000,6,0.000,0.033,2869,1933,2719,0,0,0,0,0,0
$GC,9647,0.77,156.2,240.9,12.5,314,9651,0.00,2.22,0.00,0.000,4,0.000,0.054,2869,3341,2722,0,0,0,0,0,0
$GC,9675,0.77,156.2,237.6,11.7,315,9680,0.12,2.15,0.00,0.000,6,0.201,0.031,2851,1924,2719,0,0,0,0,0,0
$GC,9929,0.77,156.2,213.1,9.9,327,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1916,2719,0,0,0,0,0,0
$GC,10181,0.77,156.2,185.2,10.8,345,10185,0.00,2.22,0.00,0.000,4,0.000,0.049,2841,3334,2719,0,0,0,0,0,0
$GC,10266,0.77,156.2,174.9,11.8,352,10270,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1918,2719,0,0,0,0,0,0
$GC,10534,0.78,166.3,151.6,8.2,376,10547,0.00,2.25,5.20,0.457,4,0.000,0.048,2853,3325,2703,0,0,0,0,0,0
$GC,10617,0.78,166.3,143.9,8.8,383,10626,0.00,2.15,0.00,0.000,6,0.000,0.032,2860,1928,2703,0,0,0,0,0,0
$GC,10886,0.84,213.7,122.5,6.8,408,10930,0.00,2.25,39.75,0.553,4,0.000,0.048,2861,3336,2507,0,0,0,0,0,0
$GC,11011,0.84,213.7,112.0,10.6,419,11015,0.00,2.17,0.00,0.000,6,0.000,0.032,2871,1920,2508,0,0,0,0,0,0
$GC,11283,0.85,220.2,89.0,8.3,444,11291,0.00,0.00,6.47,0.431,6,0.000,0.000,2871,1920,2483,0,0,0,0,0,0
$GC,11549,0.85,220.2,64.3,9.7,469,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1920,2483,0,0,0,0,0,0
$GC,11813,0.85,220.2,39.5,10.1,494,11817,0.00,2.25,0.00,0.000,4,0.000,0.048,2871,3347,2483,0,0,0,0,0,0
$GC,11876,0.85,220.2,32.4,11.1,499,11880,0.00,2.15,0.00,0.000,6,0.000,0.033,2882,1920,2484,0,0,0,0,0,0
$STATE,12132,end climb,SURFACE_DEPTH_REACHED
$STATE,12132,begin surface coast
$FINISH,0.3,1.023003
$STATE,12160,end surface coast,CONTROL_FINISHED_OK
$STATE,12160,begin surface
$SM_CCo,12180,33.78,0.434,0,0,2160,300.24
$SM_GC,1.31,0.00,0.00,33.78,0.000,0.000,0.434,53,2035,2160,-7.95,0.90,300.24
$IRIDIUM_FIX,1950.41,-15657.42,270113,141422
$TT8_MAMPS,0.252343
$HUMID,1078854829
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,72
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6262751232
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,48614834176
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,28.114
$10V_AH,10.1,26.189
$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,19.325,121.775,297.975,33.775,0.000,61.957,68.193,861.443,18.000,0.000,13.386,1185.723,8626.641,450.628,2718.423,505.848,33.357,1222.164,0.000,1842.365,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,92.040,1110.616,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.346,0.000,959.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,26957,549
$CAP_FILE_SIZE,127850,0
$CFSIZE,260165632,191123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,306.5,1
$GPS,040811,235301,1956.466,-15655.309,11,1.8,57,9.7