version: 66.07
glider: 513
mission: 7
dive: 209
start: 8 6 111 6 50 30
data:
$ID,513
$MISSION,7
$DIVE,209
$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,-425781.5
$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,69
$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,208
$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
$GPS1,060811,062756,2000.358,-15652.469,104,3.2,123,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.0
$GPS2,060811,064934,2000.301,-15652.806,32,2.9,51,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.205,0.149
$KALMAN_X,-3720.9,-1135.8,-701.2,7218.5,-794.1
$KALMAN_Y,-2577.0,-793.8,-344.6,4882.9,-724.9
$MHEAD_RNG_PITCHd_Wd,68.1,48076,-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,-156.2,0.0,0.0,0,80,0.00,0.00,-51.42,0.000,2,0.000,0.000,34,2039,3564,0,0,0,0,0,0
$GC,85,-0.77,-156.2,3.4,-5.8,8,107,9.62,2.17,-6.43,0.000,4,0.248,0.051,2345,602,3941,0,0,0,0,0,0
$GC,125,-0.77,-156.2,22.8,-47.9,14,133,0.00,2.12,0.00,0.000,6,0.000,0.050,2336,1962,3940,0,0,0,0,0,0
$GC,393,-0.77,-156.2,126.2,-36.7,40,397,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3411,3941,0,0,0,0,0,0
$GC,433,-0.77,-156.2,138.8,-30.0,43,437,0.00,2.12,0.00,0.000,6,0.000,0.035,2323,2001,3941,0,0,0,0,0,0
$GC,694,-0.77,-156.2,213.0,-25.8,65,698,0.00,2.20,0.00,0.000,4,0.000,0.049,2314,3414,3943,0,0,0,0,0,0
$GC,727,-0.77,-156.2,222.1,-25.5,66,733,0.12,2.12,0.00,0.000,6,0.176,0.031,2344,1993,3943,0,0,0,0,0,0
$GC,980,-0.77,-156.2,270.8,-19.0,79,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1988,3948,0,0,0,0,0,0
$GC,1228,-0.77,-156.2,314.2,-16.7,89,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1987,3943,0,0,0,0,0,0
$GC,1470,-0.77,-156.2,353.8,-16.8,95,1474,0.00,2.08,0.00,0.000,4,0.000,0.043,2345,603,3942,0,0,0,0,0,0
$GC,1510,-0.77,-156.2,360.8,-17.9,96,1514,0.00,2.12,0.00,0.000,6,0.000,0.041,2336,2005,3945,0,0,0,0,0,0
$GC,1794,-0.77,-156.2,408.9,-17.2,103,1798,0.00,2.12,0.00,0.000,4,0.000,0.048,2326,3404,3941,0,0,0,0,0,0
$GC,1826,-0.77,-156.2,414.6,-16.6,103,1833,0.00,2.10,0.00,0.000,6,0.000,0.031,2330,1997,3944,0,0,0,0,0,0
$GC,2076,-0.77,-156.2,456.4,-16.9,110,2080,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3415,3941,0,0,0,0,0,0
$GC,2155,-0.77,-156.2,469.4,-15.1,111,2160,0.12,2.12,0.00,0.000,6,0.161,0.032,2343,1997,3941,0,0,0,0,0,0
$GC,2405,-0.77,-156.2,503.6,-13.5,117,2409,0.00,2.10,0.00,0.000,4,0.000,0.042,2348,593,3939,0,0,0,0,0,0
$GC,2437,-0.77,-156.2,508.5,-14.1,117,2441,0.00,2.12,0.00,0.000,6,0.000,0.044,2339,2005,3937,0,0,0,0,0,0
$GC,2693,-0.77,-156.2,544.0,-13.7,124,2697,0.00,2.15,0.00,0.000,4,0.000,0.052,2328,3398,3936,0,0,0,0,0,0
$GC,2783,-0.77,-156.2,556.5,-13.6,126,2787,0.00,2.10,0.00,0.000,6,0.000,0.033,2328,2001,3935,0,0,0,0,0,0
$GC,3061,-0.77,-156.2,595.9,-14.4,133,3065,0.00,2.10,0.00,0.000,4,0.000,0.042,2328,593,3931,0,0,0,0,0,0
$GC,3088,-0.77,-156.2,600.3,-15.7,133,3092,0.00,2.12,0.00,0.000,6,0.000,0.044,2317,1993,3932,0,0,0,0,0,0
$GC,3339,-0.77,-156.2,640.1,-16.2,139,3344,0.10,2.22,0.00,0.000,4,0.187,0.051,2332,3410,3929,0,0,0,0,0,0
$GC,3379,-0.77,-156.2,646.2,-14.4,140,3383,0.00,2.15,0.00,0.000,6,0.000,0.035,2336,2001,3928,0,0,0,0,0,0
$GC,3663,-0.77,-156.2,688.3,-14.8,147,3667,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3414,3925,0,0,0,0,0,0
$GC,3690,-0.77,-156.2,692.7,-15.9,147,3694,0.00,2.15,0.00,0.000,6,0.000,0.034,2321,2001,3925,0,0,0,0,0,0
$GC,3945,-0.77,-156.2,730.5,-14.7,154,3949,0.00,2.22,0.00,0.000,4,0.000,0.054,2310,3412,3922,0,0,0,0,0,0
$GC,4036,-0.77,-156.2,743.4,-14.2,156,4041,0.12,2.15,0.00,0.000,6,0.168,0.035,2342,2001,3920,0,0,0,0,0,0
$GC,4320,-0.77,-156.2,775.2,-10.9,163,4324,0.00,2.12,0.00,0.000,4,0.000,0.045,2338,585,3918,0,0,0,0,0,0
$GC,4353,-0.77,-156.2,779.1,-11.0,163,4360,0.00,2.17,0.00,0.000,6,0.000,0.047,2334,2007,3918,0,0,0,0,0,0
$GC,4603,-0.77,-156.2,807.0,-11.3,170,4607,0.00,2.17,0.00,0.000,4,0.000,0.054,2323,3407,3916,0,0,0,0,0,0
$GC,4643,-0.77,-156.2,811.5,-11.5,171,4647,0.00,2.15,0.00,0.000,6,0.000,0.037,2323,1987,3916,0,0,0,0,0,0
$GC,4926,-0.77,-156.2,845.0,-12.1,178,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1982,3913,0,0,0,0,0,0
$GC,5170,-0.77,-156.2,877.0,-13.5,184,5174,0.00,2.28,0.00,0.000,4,0.000,0.056,2312,3417,3911,0,0,0,0,0,0
$GC,5203,-0.77,-156.2,881.4,-13.2,184,5210,0.12,2.17,0.00,0.000,6,0.168,0.035,2343,1995,3911,0,0,0,0,0,0
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5369,begin apogee
$GC,5376,-0.28,0.0,901.5,11.8,189,5504,0.52,0.00,125.43,1.102,6,0.145,0.000,2503,1928,3300,0,0,0,0,0,0
$STATE,5507,end apogee,CONTROL_FINISHED_OK
$STATE,5507,begin climb
$GC,5509,0.77,156.2,905.6,0.0,192,5652,1.00,2.38,134.43,1.063,4,0.097,0.049,2837,3336,2664,0,0,0,0,0,0
$GC,5663,0.77,156.2,887.9,18.3,195,5669,0.00,2.25,0.00,0.000,6,0.000,0.030,2847,1930,2663,0,0,0,0,0,0
$GC,5914,0.77,156.2,836.4,20.8,202,5918,0.00,2.17,0.00,0.000,4,0.000,0.042,2859,513,2656,0,0,0,0,0,0
$GC,5975,0.77,156.2,823.0,21.0,203,5979,0.00,2.22,0.00,0.000,6,0.000,0.040,2858,1925,2652,0,0,0,0,0,0
$GC,6241,0.77,156.2,767.1,20.7,210,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1925,2653,0,0,0,0,0,0
$GC,6485,0.77,156.2,717.2,20.4,216,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1925,2652,0,0,0,0,0,0
$GC,6730,0.77,156.2,669.2,20.1,222,6734,0.00,2.22,0.00,0.000,4,0.000,0.053,2859,3341,2651,0,0,0,0,0,0
$GC,6841,0.77,156.2,645.6,20.0,224,6845,0.00,2.15,0.00,0.000,6,0.000,0.033,2870,1920,2652,0,0,0,0,0,0
$GC,7102,0.77,156.2,594.3,19.6,231,7106,0.00,2.10,0.00,0.000,4,0.000,0.042,2881,524,2648,0,0,0,0,0,0
$GC,7170,0.77,156.2,580.6,20.4,232,7175,0.12,2.17,0.00,0.000,6,0.201,0.038,2853,1945,2646,0,0,0,0,0,0
$GC,7425,0.77,156.2,534.8,17.7,239,7429,0.00,2.17,0.00,0.000,4,0.000,0.051,2853,3338,2646,0,0,0,0,0,0
$GC,7474,0.77,156.2,525.4,18.3,240,7478,0.00,2.12,0.00,0.000,6,0.000,0.032,2862,1923,2647,0,0,0,0,0,0
$GC,7753,0.77,156.2,473.4,19.2,247,7757,0.00,2.10,0.00,0.000,4,0.000,0.041,2873,530,2646,0,0,0,0,0,0
$GC,7831,0.77,156.2,458.5,18.4,248,7837,0.10,2.10,0.00,0.000,6,0.206,0.036,2852,1930,2644,0,0,0,0,0,0
$GC,8082,0.77,156.2,414.0,17.8,255,8086,0.00,2.20,0.00,0.000,4,0.000,0.052,2852,3340,2644,0,0,0,0,0,0
$GC,8137,0.77,156.2,403.0,19.2,256,8142,0.00,2.17,0.00,0.000,6,0.000,0.034,2861,1927,2645,0,0,0,0,0,0
$GC,8410,0.77,156.2,355.8,16.5,263,8414,0.00,2.10,0.00,0.000,4,0.000,0.041,2873,527,2644,0,0,0,0,0,0
$GC,8431,0.77,156.2,352.4,15.4,263,8435,0.00,2.15,0.00,0.000,6,0.000,0.036,2873,1943,2642,0,0,0,0,0,0
$GC,8693,0.77,156.2,312.1,16.0,270,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1944,2642,0,0,0,0,0,0
$GC,8939,0.77,156.2,275.6,14.3,280,8943,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3328,2642,0,0,0,0,0,0
$GC,8978,0.77,156.2,270.0,14.0,282,8982,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1922,2646,0,0,0,0,0,0
$GC,9243,0.77,156.2,231.5,15.2,295,9247,0.00,2.08,0.00,0.000,4,0.000,0.041,2883,532,2642,0,0,0,0,0,0
$GC,9321,0.77,156.2,219.1,14.6,298,9328,0.15,2.12,0.00,0.000,6,0.190,0.036,2848,1935,2641,0,0,0,0,0,0
$GC,9581,0.77,156.2,188.3,12.2,315,9585,0.00,2.17,0.00,0.000,4,0.000,0.051,2847,3338,2641,0,0,0,0,0,0
$GC,9667,0.77,156.2,176.7,13.5,322,9675,0.00,2.15,0.00,0.000,6,0.000,0.031,2856,1932,2641,0,0,0,0,0,0
$GC,9934,0.77,156.2,148.3,10.8,347,9938,0.00,2.20,0.00,0.000,4,0.000,0.049,2856,3331,2642,0,0,0,0,0,0
$GC,9967,0.77,156.2,143.8,12.3,349,9975,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,1920,2642,0,0,0,0,0,0
$GC,10232,0.77,156.2,119.6,10.1,374,10236,0.00,2.08,0.00,0.000,4,0.000,0.041,2878,523,2642,0,0,0,0,0,0
$GC,10485,0.84,211.0,100.0,6.5,396,10532,0.00,2.12,41.65,0.530,6,0.000,0.035,2878,1929,2439,0,0,0,0,0,0
$GC,10791,0.84,211.0,70.6,10.7,424,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1929,2436,0,0,0,0,0,0
$GC,11054,0.84,211.0,41.2,11.6,449,11058,0.00,2.22,0.00,0.000,4,0.000,0.049,2877,3334,2437,0,0,0,0,0,0
$GC,11099,0.84,211.0,35.0,14.9,452,11106,0.00,2.15,0.00,0.000,6,0.000,0.032,2885,1934,2437,0,0,0,0,0,0
$STATE,11323,end climb,SURFACE_DEPTH_REACHED
$STATE,11323,begin surface coast
$FINISH,0.2,1.023083
$STATE,11345,end surface coast,CONTROL_FINISHED_OK
$STATE,11346,begin surface
$SM_CCo,11366,282.15,0.435,0,0,394,712.83
$SM_GC,1.05,0.00,0.00,282.15,0.000,0.000,0.435,43,2038,394,-7.94,1.05,712.83
$IRIDIUM_FIX,1955.00,-15651.40,290113,010140
$TT8_MAMPS,0.056758
$HUMID,1078750313
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.00
$XPDR_PINGS,102
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339330048
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,47188279296
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,29.727
$10V_AH,10.0,27.641
$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,19.575,125.325,301.500,282.150,0.000,139.660,179.564,446.257,25.500,0.000,54.632,1089.952,8292.368,650.729,2503.047,415.450,31.423,1395.375,0.000,1695.895,0.000,0.542,0.000
$DEVICE_MAMPS,247.741,103.545,1102.179,434.889,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,337.656,0.000,827.166,0.000,0.000,0.000,0.000,28719.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.995,0.000,0.000
$MEM,353708
$DATA_FILE_SIZE,23556,495
$CAP_FILE_SIZE,121560,0
$CFSIZE,260165632,190435328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,289.2,1
$GPS,060811,100607,2000.804,-15652.098,33,1.1,33,9.7