version: 66.07
glider: 513
mission: 7
dive: 208
start: 8 6 111 3 8 8
data:
$ID,513
$MISSION,7
$DIVE,208
$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,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,-425726.25
$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,54
$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,207
$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
$GPS1,060811,023307,2000.036,-15652.770,27,1.5,27,9.7
$_CALLS,4
$_XMS_NAKs,21
$_XMS_TOUTs,8
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.4
$GPS2,060811,030714,1959.941,-15653.133,9,1.6,9,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.210,0.142
$KALMAN_X,-817.6,-817.6,-817.6,3570.2,1119.0
$KALMAN_Y,-621.5,-621.5,-621.5,2391.2,850.7
$MHEAD_RNG_PITCHd_Wd,67.0,48922,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,140,0.00,0.00,-110.80,0.000,2,0.000,0.000,35,2027,3674,0,0,0,0,0,0
$GC,144,-0.77,-156.2,3.2,-3.9,17,166,9.57,2.20,-4.57,0.000,4,0.243,0.068,2325,3382,3940,0,0,0,0,0,0
$GC,176,-0.77,-156.2,18.5,-39.7,21,184,0.00,2.12,0.00,0.000,6,0.000,0.035,2333,2014,3940,0,0,0,0,0,0
$GC,447,-0.77,-156.2,124.6,-33.5,48,451,0.00,2.15,0.00,0.000,4,0.000,0.046,2343,586,3941,0,0,0,0,0,0
$GC,469,-0.77,-156.2,130.9,-31.5,49,473,0.00,2.12,0.00,0.000,6,0.000,0.041,2335,1987,3940,0,0,0,0,0,0
$GC,734,-0.77,-156.2,200.2,-22.8,73,738,0.00,2.17,0.00,0.000,4,0.000,0.051,2324,3412,3942,0,0,0,0,0,0
$GC,783,-0.77,-156.2,213.2,-21.6,75,787,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,1981,3942,0,0,0,0,0,0
$GC,1044,-0.77,-156.2,269.3,-20.7,88,1048,0.00,2.20,0.00,0.000,4,0.000,0.050,2313,3415,3942,0,0,0,0,0,0
$GC,1115,-0.77,-156.2,285.9,-21.9,91,1119,0.00,2.10,0.00,0.000,6,0.000,0.031,2313,2004,3943,0,0,0,0,0,0
$GC,1392,-0.77,-156.2,340.4,-19.4,100,1397,0.12,2.10,0.00,0.000,4,0.176,0.040,2354,592,3942,0,0,0,0,0,0
$GC,1420,-0.77,-156.2,345.4,-17.9,100,1424,0.00,2.10,0.00,0.000,6,0.000,0.042,2345,1996,3943,0,0,0,0,0,0
$GC,1670,-0.77,-156.2,383.4,-14.9,106,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1996,3942,0,0,0,0,0,0
$GC,1913,-0.77,-156.2,420.2,-14.9,112,1917,0.00,2.17,0.00,0.000,4,0.000,0.050,2335,3403,3940,0,0,0,0,0,0
$GC,1947,-0.77,-156.2,425.4,-16.0,112,1954,0.00,2.10,0.00,0.000,6,0.000,0.031,2334,2002,3939,0,0,0,0,0,0
$GC,2197,-0.77,-156.2,461.7,-14.6,119,2201,0.00,2.17,0.00,0.000,4,0.000,0.051,2325,3415,3934,0,0,0,0,0,0
$GC,2241,-0.77,-156.2,468.2,-14.1,120,2245,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,1985,3936,0,0,0,0,0,0
$GC,2524,-0.77,-156.2,511.0,-15.3,127,2528,0.00,2.08,0.00,0.000,4,0.000,0.041,2324,602,3932,0,0,0,0,0,0
$GC,2574,-0.77,-156.2,519.1,-15.8,128,2579,0.12,2.12,0.00,0.000,6,0.170,0.044,2346,2007,3932,0,0,0,0,0,0
$GC,2852,-0.77,-156.2,556.9,-13.5,135,2856,0.00,2.15,0.00,0.000,4,0.000,0.051,2336,3403,3928,0,0,0,0,0,0
$GC,2931,-0.77,-156.2,567.7,-13.1,136,2937,0.00,2.12,0.00,0.000,6,0.000,0.035,2337,1996,3927,0,0,0,0,0,0
$GC,3180,-0.77,-156.2,601.7,-13.7,143,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1991,3924,0,0,0,0,0,0
$GC,3425,-0.77,-156.2,636.2,-14.2,149,3429,0.00,2.20,0.00,0.000,4,0.000,0.054,2326,3403,3921,0,0,0,0,0,0
$GC,3481,-0.77,-156.2,644.1,-13.6,150,3485,0.00,2.12,0.00,0.000,6,0.000,0.035,2326,2002,3924,0,0,0,0,0,0
$GC,3748,-0.77,-156.2,680.9,-13.7,157,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1997,3918,0,0,0,0,0,0
$GC,3991,-0.77,-156.2,713.9,-13.8,163,3995,0.00,2.20,0.00,0.000,4,0.000,0.052,2315,3416,3914,0,0,0,0,0,0
$GC,4024,-0.77,-156.2,718.6,-13.6,163,4031,0.12,2.15,0.00,0.000,6,0.170,0.033,2347,1992,3915,0,0,0,0,0,0
$GC,4276,-0.77,-156.2,747.5,-11.3,170,4280,0.00,2.20,0.00,0.000,4,0.000,0.053,2338,3401,3909,0,0,0,0,0,0
$GC,4320,-0.77,-156.2,752.9,-11.5,171,4324,0.00,2.12,0.00,0.000,6,0.000,0.035,2338,2003,3911,0,0,0,0,0,0
$GC,4603,-0.77,-156.2,786.2,-11.8,178,4607,0.00,2.12,0.00,0.000,4,0.000,0.044,2338,584,3908,0,0,0,0,0,0
$GC,4649,-0.77,-156.2,791.8,-11.4,179,4653,0.00,2.15,0.00,0.000,6,0.000,0.044,2328,1995,3909,0,0,0,0,0,0
$GC,4926,-0.77,-156.2,825.2,-12.0,186,4930,0.00,2.20,0.00,0.000,4,0.000,0.053,2316,3412,3906,0,0,0,0,0,0
$GC,4971,-0.77,-156.2,830.6,-11.7,187,4975,0.12,2.12,0.00,0.000,6,0.170,0.034,2348,2000,3905,0,0,0,0,0,0
$GC,5249,-0.77,-156.2,858.0,-9.8,194,5253,0.00,2.12,0.00,0.000,4,0.000,0.045,2348,585,3903,0,0,0,0,0,0
$GC,5310,-0.77,-156.2,864.2,-9.6,195,5314,0.00,2.20,0.00,0.000,6,0.000,0.044,2340,1997,3903,0,0,0,0,0,0
$GC,5577,-0.77,-156.2,891.0,-10.1,202,5581,0.00,2.20,0.00,0.000,4,0.000,0.054,2328,3407,3900,0,0,0,0,0,0
$GC,5633,-0.77,-156.2,896.7,-10.3,203,5637,0.00,2.15,0.00,0.000,6,0.000,0.035,2328,1990,3898,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5706,-0.28,0.0,904.1,11.0,205,5833,0.57,0.00,123.38,1.107,6,0.150,0.000,2499,1927,3300,0,0,0,0,0,0
$STATE,5835,end apogee,CONTROL_FINISHED_OK
$STATE,5835,begin climb
$GC,5839,0.77,156.2,906.8,0.0,208,5982,1.05,0.00,135.30,1.067,6,0.098,0.000,2843,1926,2662,0,0,0,0,0,0
$GC,6227,0.77,156.2,837.1,21.0,218,6231,0.00,2.15,0.00,0.000,4,0.000,0.039,2854,526,2658,0,0,0,0,0,0
$GC,6267,0.77,156.2,828.3,20.4,219,6271,0.00,2.17,0.00,0.000,6,0.000,0.036,2854,1941,2653,0,0,0,0,0,0
$GC,6551,0.77,156.2,769.8,20.2,226,6555,0.00,2.15,0.00,0.000,4,0.000,0.038,2865,524,2652,0,0,0,0,0,0
$GC,6566,0.77,156.2,766.1,20.6,226,6571,0.00,2.17,0.00,0.000,6,0.000,0.035,2865,1925,2651,0,0,0,0,0,0
$GC,6833,0.77,156.2,710.8,20.8,233,6838,0.00,2.25,0.00,0.000,4,0.000,0.054,2865,3346,2650,0,0,0,0,0,0
$GC,6862,0.77,156.2,704.7,21.1,233,6866,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1917,2650,0,0,0,0,0,0
$GC,7112,0.77,156.2,651.4,21.7,239,7116,0.00,2.25,0.00,0.000,4,0.000,0.051,2876,3346,2649,0,0,0,0,0,0
$GC,7157,0.77,156.2,641.5,22.0,240,7162,0.15,2.15,0.00,0.000,6,0.209,0.031,2852,1923,2649,0,0,0,0,0,0
$GC,7447,0.77,156.2,586.6,18.7,247,7450,0.00,2.10,0.00,0.000,4,0.000,0.041,2858,522,2647,0,0,0,0,0,0
$GC,7486,0.77,156.2,578.9,18.7,248,7490,0.00,2.12,0.00,0.000,6,0.000,0.035,2862,1940,2645,0,0,0,0,0,0
$GC,7770,0.77,156.2,524.2,19.3,255,7774,0.00,2.20,0.00,0.000,4,0.000,0.052,2862,3336,2645,0,0,0,0,0,0
$GC,7837,0.77,156.2,510.8,20.2,256,7841,0.00,2.12,0.00,0.000,6,0.000,0.033,2873,1925,2645,0,0,0,0,0,0
$GC,8093,0.77,156.2,460.2,19.5,263,8097,0.00,2.12,0.00,0.000,4,0.000,0.040,2883,515,2645,0,0,0,0,0,0
$GC,8132,0.77,156.2,452.2,20.3,264,8137,0.15,2.15,0.00,0.000,6,0.199,0.035,2853,1936,2643,0,0,0,0,0,0
$GC,8416,0.77,156.2,401.9,17.7,271,8420,0.00,2.17,0.00,0.000,4,0.000,0.052,2847,3332,2643,0,0,0,0,0,0
$GC,8438,0.77,156.2,397.5,18.4,271,8442,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1929,2643,0,0,0,0,0,0
$GC,8699,0.77,156.2,351.4,17.7,278,8703,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,527,2643,0,0,0,0,0,0
$GC,8727,0.77,156.2,346.6,17.5,278,8731,0.00,2.10,0.00,0.000,6,0.000,0.035,2868,1934,2642,0,0,0,0,0,0
$GC,8989,0.77,156.2,304.5,15.6,285,8993,0.00,2.12,0.00,0.000,4,0.000,0.040,2884,532,2642,0,0,0,0,0,0
$GC,9029,0.77,156.2,298.1,16.5,286,9034,0.12,2.12,0.00,0.000,6,0.201,0.035,2850,1932,2641,0,0,0,0,0,0
$GC,9293,0.77,156.2,262.6,13.3,299,9297,0.00,2.12,0.00,0.000,4,0.000,0.041,2860,520,2641,0,0,0,0,0,0
$GC,9367,0.77,156.2,252.8,12.9,302,9371,0.00,2.12,0.00,0.000,6,0.000,0.035,2861,1929,2640,0,0,0,0,0,0
$GC,9620,0.77,156.2,220.9,11.6,314,9624,0.00,2.20,0.00,0.000,4,0.000,0.051,2860,3336,2640,0,0,0,0,0,0
$GC,9850,0.77,156.2,190.5,13.4,327,9854,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1923,2641,0,0,0,0,0,0
$GC,10117,0.77,156.2,157.5,12.0,351,10120,0.00,2.10,0.00,0.000,4,0.000,0.038,2881,532,2641,0,0,0,0,0,0
$GC,10252,0.77,156.2,140.8,12.0,363,10257,0.12,2.10,0.00,0.000,6,0.186,0.031,2851,1942,2640,0,0,0,0,0,0
$GC,10517,0.82,196.9,120.8,7.1,387,10553,0.00,2.17,30.27,0.550,4,0.000,0.046,2851,3325,2497,0,0,0,0,0,0
$GC,10710,0.82,196.9,102.5,11.1,404,10714,0.00,2.10,0.00,0.000,6,0.000,0.031,2861,1924,2497,0,0,0,0,0,0
$GC,10977,0.82,196.9,74.8,10.8,428,10981,0.00,2.08,0.00,0.000,4,0.000,0.039,2872,531,2496,0,0,0,0,0,0
$GC,11185,0.82,197.3,53.9,8.6,446,11189,0.00,2.08,0.00,0.000,6,0.000,0.029,2871,1930,2494,0,0,0,0,0,0
$GC,11451,0.82,197.3,30.8,9.8,470,11455,0.00,2.12,0.00,0.000,4,0.000,0.046,2873,3323,2496,0,0,0,0,0,0
$GC,11623,0.85,220.8,12.4,7.7,501,11651,0.00,2.10,21.15,0.437,6,0.000,0.028,2881,1925,2396,0,0,0,0,0,0
$STATE,11716,end climb,SURFACE_DEPTH_REACHED
$STATE,11716,begin surface coast
$FINISH,0.3,1.023040
$STATE,11741,end surface coast,CONTROL_FINISHED_OK
$STATE,11741,begin surface
$SM_CCo,11772,31.67,0.427,0,0,2075,300.24
$SM_GC,1.63,0.00,0.00,31.67,0.000,0.000,0.427,55,2040,2075,-7.95,1.10,300.24
$IRIDIUM_FIX,1955.00,-15651.40,280113,212134
$TT8_MAMPS,0.247741
$HUMID,1078871603
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,95
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262489088
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,47385116672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,29.563
$10V_AH,10.1,27.431
$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,19.800,137.325,310.100,31.675,0.000,115.502,147.298,1341.007,23.750,0.000,13.156,1151.244,8375.815,454.677,3164.067,714.877,30.184,1250.363,0.000,1810.362,0.000,0.543,0.000
$DEVICE_MAMPS,243.139,141.128,1106.781,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.726,0.000,896.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,26941,521
$CAP_FILE_SIZE,140275,0
$CFSIZE,260165632,190521344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,281.5,1
$GPS,060811,062756,2000.358,-15652.469,104,3.2,123,9.7