version: 66.07
glider: 513
mission: 7
dive: 207
start: 8 5 111 23 21 17
data:
$ID,513
$MISSION,7
$DIVE,207
$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,-425712.47
$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,47
$R_STBD_OVSHOOT,65
$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,206
$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
$GPS1,050811,225001,1959.577,-15653.449,122,1.2,122,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.2
$GPS2,050811,232026,1959.690,-15653.728,21,1.0,21,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.209,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,73.6,50037,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.77,-156.2,0.0,0.0,0,82,0.00,0.00,-50.85,0.000,2,0.000,0.000,34,2025,3645,0,0,0,0,0,0
$GC,86,-0.77,-156.2,3.8,-7.0,8,107,9.68,2.15,-4.93,0.000,4,0.246,0.049,2349,597,3937,0,0,0,0,0,0
$GC,145,-0.77,-156.2,30.3,-43.2,17,152,0.00,2.12,0.00,0.000,6,0.000,0.044,2346,1966,3933,0,0,0,0,0,0
$GC,409,-0.77,-156.2,126.1,-32.9,42,413,0.00,2.22,0.00,0.000,4,0.000,0.053,2330,3406,3939,0,0,0,0,0,0
$GC,528,-0.77,-156.2,157.0,-22.4,52,532,0.00,2.10,0.00,0.000,6,0.000,0.035,2329,2009,3942,0,0,0,0,0,0
$GC,792,-0.77,-156.2,221.3,-23.1,73,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2002,3941,0,0,0,0,0,0
$GC,1040,-0.77,-156.2,277.9,-21.8,85,1044,0.00,2.10,0.00,0.000,4,0.000,0.043,2329,591,3941,0,0,0,0,0,0
$GC,1062,-0.77,-156.2,282.6,-20.3,86,1066,0.00,2.12,0.00,0.000,6,0.000,0.044,2319,2002,3941,0,0,0,0,0,0
$GC,1325,-0.77,-156.2,336.2,-19.8,95,1328,0.00,2.17,0.00,0.000,4,0.000,0.053,2308,3408,3941,0,0,0,0,0,0
$GC,1448,-0.77,-156.2,358.1,-17.5,97,1453,0.15,2.10,0.00,0.000,6,0.163,0.035,2348,2003,3941,0,0,0,0,0,0
$GC,1698,-0.77,-156.2,395.5,-14.6,103,1702,0.00,2.10,0.00,0.000,4,0.000,0.043,2354,586,3941,0,0,0,0,0,0
$GC,1770,-0.77,-156.2,406.1,-14.3,104,1774,0.00,2.12,0.00,0.000,6,0.000,0.044,2343,1991,3941,0,0,0,0,0,0
$GC,2032,-0.77,-156.2,445.8,-15.4,111,2036,0.00,2.17,0.00,0.000,4,0.000,0.051,2334,3414,3939,0,0,0,0,0,0
$GC,2127,-0.77,-156.2,461.5,-15.3,113,2131,0.00,2.15,0.00,0.000,6,0.000,0.032,2334,1979,3939,0,0,0,0,0,0
$GC,2399,-0.77,-156.2,503.3,-15.2,120,2403,0.00,2.22,0.00,0.000,4,0.000,0.053,2324,3414,3935,0,0,0,0,0,0
$GC,2446,-0.77,-156.2,510.3,-14.5,121,2450,0.00,2.10,0.00,0.000,6,0.000,0.033,2323,2003,3935,0,0,0,0,0,0
$GC,2735,-0.77,-156.2,553.2,-14.8,128,2739,0.00,2.20,0.00,0.000,4,0.000,0.051,2312,3422,3931,0,0,0,0,0,0
$GC,2807,-0.77,-156.2,564.5,-14.5,129,2812,0.12,2.12,0.00,0.000,6,0.164,0.033,2344,1993,3931,0,0,0,0,0,0
$GC,3059,-0.77,-156.2,596.9,-13.1,135,3062,0.00,2.08,0.00,0.000,4,0.000,0.044,2344,604,3928,0,0,0,0,0,0
$GC,3086,-0.77,-156.2,601.0,-14.1,135,3090,0.00,2.17,0.00,0.000,6,0.000,0.043,2337,2008,3928,0,0,0,0,0,0
$GC,3341,-0.77,-156.2,638.1,-14.8,142,3345,0.00,2.20,0.00,0.000,4,0.000,0.054,2325,3411,3925,0,0,0,0,0,0
$GC,3385,-0.77,-156.2,645.0,-15.4,143,3390,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,1995,3924,0,0,0,0,0,0
$GC,3663,-0.77,-156.2,689.4,-16.0,150,3667,0.00,2.22,0.00,0.000,4,0.000,0.057,2311,3406,3922,0,0,0,0,0,0
$GC,3696,-0.77,-156.2,694.9,-16.1,150,3703,0.12,2.12,0.00,0.000,6,0.170,0.036,2345,2004,3921,0,0,0,0,0,0
$GC,3947,-0.77,-156.2,729.9,-14.0,157,3951,0.00,2.20,0.00,0.000,4,0.000,0.053,2336,3411,3919,0,0,0,0,0,0
$GC,3982,-0.77,-156.2,734.7,-14.4,157,3987,0.00,2.15,0.00,0.000,6,0.000,0.035,2336,2002,3918,0,0,0,0,0,0
$GC,4232,-0.77,-156.2,770.7,-14.2,164,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1998,3916,0,0,0,0,0,0
$GC,4475,-0.77,-156.2,802.6,-12.9,170,4479,0.00,2.22,0.00,0.000,4,0.000,0.052,2326,3411,3914,0,0,0,0,0,0
$GC,4531,-0.77,-156.2,809.7,-12.6,171,4535,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,2001,3913,0,0,0,0,0,0
$GC,4797,-0.77,-156.2,843.3,-12.5,178,4801,0.00,2.12,0.00,0.000,4,0.000,0.044,2326,583,3911,0,0,0,0,0,0
$GC,4824,-0.77,-156.2,847.0,-13.9,178,4829,0.12,2.17,0.00,0.000,6,0.179,0.045,2346,2013,3911,0,0,0,0,0,0
$GC,5075,-0.77,-156.2,873.0,-10.2,184,5079,0.00,2.17,0.00,0.000,4,0.000,0.054,2338,3399,3909,0,0,0,0,0,0
$GC,5125,-0.77,-156.2,878.5,-10.5,185,5129,0.00,2.12,0.00,0.000,6,0.000,0.035,2338,1987,3908,0,0,0,0,0,0
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5366,-0.28,0.0,904.1,11.1,191,5493,0.55,0.00,124.10,1.101,6,0.145,0.000,2502,1980,3302,0,0,0,0,0,0
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5499,0.77,156.2,906.9,0.0,194,5642,1.00,2.35,134.98,1.061,4,0.097,0.039,2847,531,2662,0,0,0,0,0,0
$GC,5666,0.77,156.2,885.5,19.8,198,5670,0.00,2.25,0.00,0.000,6,0.000,0.036,2843,1931,2658,0,0,0,0,0,0
$GC,5943,0.77,156.2,826.9,20.9,205,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1931,2654,0,0,0,0,0,0
$GC,6187,0.77,156.2,776.4,20.7,211,6191,0.00,2.28,0.00,0.000,4,0.000,0.054,2847,3344,2656,0,0,0,0,0,0
$GC,6208,0.77,156.2,771.6,22.0,211,6212,0.00,2.17,0.00,0.000,6,0.000,0.033,2858,1923,2652,0,0,0,0,0,0
$GC,6475,0.77,156.2,715.3,21.4,218,6479,0.00,2.12,0.00,0.000,4,0.000,0.042,2869,523,2651,0,0,0,0,0,0
$GC,6515,0.77,156.2,706.5,21.8,219,6519,0.00,2.17,0.00,0.000,6,0.000,0.038,2869,1943,2648,0,0,0,0,0,0
$GC,6798,0.77,156.2,643.7,22.3,226,6802,0.00,2.17,0.00,0.000,4,0.000,0.051,2858,3332,2653,0,0,0,0,0,0
$GC,6904,0.77,156.2,621.4,19.5,228,6908,0.00,2.12,0.00,0.000,6,0.000,0.032,2870,1927,2648,0,0,0,0,0,0
$GC,7165,0.77,156.2,570.4,19.6,235,7169,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3334,2647,0,0,0,0,0,0
$GC,7181,0.77,156.2,566.8,19.7,235,7186,0.08,2.15,0.00,0.000,6,0.189,0.032,2855,1935,2646,0,0,0,0,0,0
$GC,7449,0.77,156.2,517.8,18.5,242,7453,0.00,2.22,0.00,0.000,4,0.000,0.051,2846,3344,2645,0,0,0,0,0,0
$GC,7465,0.77,156.2,514.1,19.5,242,7468,0.00,2.12,0.00,0.000,6,0.000,0.032,2854,1929,2645,0,0,0,0,0,0
$GC,7731,0.77,156.2,464.3,19.0,249,7735,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,514,2644,0,0,0,0,0,0
$GC,7778,0.77,156.2,455.7,19.7,250,7782,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1931,2642,0,0,0,0,0,0
$GC,8067,0.77,156.2,398.8,19.3,257,8071,0.00,2.17,0.00,0.000,4,0.000,0.051,2865,3333,2643,0,0,0,0,0,0
$GC,8161,0.77,156.2,380.2,19.4,259,8165,0.00,2.12,0.00,0.000,6,0.000,0.032,2876,1925,2641,0,0,0,0,0,0
$GC,8435,0.77,156.2,331.6,17.4,266,8438,0.00,2.10,0.00,0.000,4,0.000,0.040,2887,514,2642,0,0,0,0,0,0
$GC,8456,0.77,156.2,327.7,15.8,266,8461,0.15,2.15,0.00,0.000,6,0.195,0.035,2851,1942,2640,0,0,0,0,0,0
$GC,8723,0.77,156.2,289.9,13.9,274,8727,0.00,2.15,0.00,0.000,4,0.000,0.051,2851,3325,2640,0,0,0,0,0,0
$GC,8756,0.77,156.2,285.5,13.3,275,8763,0.00,2.12,0.00,0.000,6,0.000,0.031,2860,1922,2641,0,0,0,0,0,0
$GC,9010,0.77,156.2,249.6,14.6,288,9014,0.00,2.10,0.00,0.000,4,0.000,0.039,2871,527,2641,0,0,0,0,0,0
$GC,9071,0.77,156.2,239.7,15.6,290,9077,0.00,2.10,0.00,0.000,6,0.000,0.035,2871,1929,2640,0,0,0,0,0,0
$GC,9326,0.77,156.2,199.9,15.0,303,9330,0.00,2.20,0.00,0.000,4,0.000,0.049,2871,3332,2640,0,0,0,0,0,0
$GC,9378,0.77,156.2,192.2,14.7,307,9383,0.12,2.10,0.00,0.000,6,0.198,0.031,2853,1921,2640,0,0,0,0,0,0
$GC,9642,0.77,156.2,162.3,10.4,331,9646,0.00,2.08,0.00,0.000,4,0.000,0.040,2862,519,2637,0,0,0,0,0,0
$GC,9761,0.77,156.2,148.5,11.4,341,9769,0.00,2.15,0.00,0.000,6,0.000,0.035,2862,1929,2640,0,0,0,0,0,0
$GC,10028,0.85,216.6,126.2,6.3,366,10079,0.00,2.22,45.85,0.559,4,0.000,0.050,2862,3336,2419,0,0,0,0,0,0
$GC,10158,0.85,216.6,112.2,15.4,377,10162,0.00,2.12,0.00,0.000,6,0.000,0.031,2872,1930,2415,0,0,0,0,0,0
$GC,10426,0.85,216.6,83.2,10.8,401,10430,0.00,2.10,0.00,0.000,4,0.000,0.038,2883,520,2413,0,0,0,0,0,0
$GC,10489,0.85,216.6,75.7,11.0,406,10493,0.00,2.10,0.00,0.000,6,0.000,0.032,2883,1934,2411,0,0,0,0,0,0
$GC,10754,0.85,216.6,47.3,11.0,430,10758,0.00,2.15,0.00,0.000,4,0.000,0.047,2883,3330,2412,0,0,0,0,0,0
$GC,10862,0.85,216.6,32.5,12.1,439,10866,0.00,2.10,0.00,0.000,6,0.000,0.031,2894,1917,2414,0,0,0,0,0,0
$STATE,11095,end climb,SURFACE_DEPTH_REACHED
$STATE,11096,begin surface coast
$FINISH,0.2,1.022398
$STATE,11123,end surface coast,CONTROL_FINISHED_OK
$STATE,11123,begin surface
$SM_CCo,11153,273.80,0.438,0,0,397,712.83
$SM_GC,0.95,0.00,0.00,273.80,0.000,0.000,0.438,47,2029,397,-7.95,0.82,712.83
$IRIDIUM_FIX,1952.70,-15653.51,280113,171712
$TT8_MAMPS,0.065195
$HUMID,1078751603
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.00
$XPDR_PINGS,109
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339395584
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,47496101888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,29.376
$10V_AH,10.1,27.330
$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,19.500,133.650,304.925,273.800,0.000,157.834,277.473,861.237,27.250,0.000,23.638,1097.284,8041.046,634.619,2876.797,604.144,29.235,1389.181,0.000,1713.974,0.000,0.542,0.000
$DEVICE_MAMPS,246.207,92.040,1101.412,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,331.911,0.000,830.511,0.000,0.000,0.000,0.000,29076.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.010,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,23593,486
$CAP_FILE_SIZE,128340,0
$CFSIZE,260165632,190578688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,292.8,1
$GPS,060811,023307,2000.036,-15652.770,27,1.5,27,9.7