version: 66.07
glider: 513
mission: 7
dive: 210
start: 8 6 111 10 30 10
data:
$ID,513
$MISSION,7
$DIVE,210
$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,-425798.12
$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,43
$R_STBD_OVSHOOT,66
$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,209
$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
$GPS1,060811,100607,2000.804,-15652.098,33,1.1,33,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.9
$GPS2,060811,102914,2000.853,-15652.487,14,1.6,14,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.216,0.132
$KALMAN_X,-9139.2,1.2,-57.4,11374.1,-6451.9
$KALMAN_Y,-5855.7,101.0,-27.7,7945.1,-4054.5
$MHEAD_RNG_PITCHd_Wd,76.1,47044,-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,-156.2,0.0,0.0,0,142,0.00,0.00,-111.93,0.000,2,0.000,0.000,36,2037,3736,0,0,0,0,0,0
$GC,147,-0.77,-156.2,3.9,-6.7,17,168,9.52,2.17,-3.42,0.000,4,0.243,0.068,2330,3384,3940,0,0,0,0,0,0
$GC,177,-0.77,-156.2,19.5,-41.3,21,185,0.00,2.15,0.00,0.000,6,0.000,0.044,2338,2017,3942,0,0,0,0,0,0
$GC,449,-0.77,-156.2,122.2,-31.4,48,453,0.00,2.17,0.00,0.000,4,0.000,0.054,2330,3385,3942,0,0,0,0,0,0
$GC,469,-0.77,-156.2,128.0,-28.6,49,473,0.00,2.12,0.00,0.000,6,0.000,0.035,2330,1985,3940,0,0,0,0,0,0
$GC,734,-0.77,-156.2,198.2,-23.9,73,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1976,3942,0,0,0,0,0,0
$GC,987,-0.77,-156.2,255.4,-21.2,86,991,0.00,2.17,0.00,0.000,4,0.000,0.050,2322,3382,3943,0,0,0,0,0,0
$GC,1060,-0.77,-156.2,269.5,-17.9,89,1063,0.00,2.05,0.00,0.000,6,0.000,0.033,2323,1998,3943,0,0,0,0,0,0
$GC,1339,-0.77,-156.2,322.4,-18.0,100,1342,0.00,2.12,0.00,0.000,4,0.000,0.049,2312,3377,3941,0,0,0,0,0,0
$GC,1371,-0.77,-156.2,328.7,-17.9,100,1376,0.10,2.08,0.00,0.000,6,0.170,0.033,2346,2004,3943,0,0,0,0,0,0
$GC,1626,-0.77,-156.2,372.0,-17.4,107,1630,0.00,2.08,0.00,0.000,4,0.000,0.041,2342,595,3943,0,0,0,0,0,0
$GC,1672,-0.77,-156.2,379.6,-17.0,108,1676,0.00,2.08,0.00,0.000,6,0.000,0.044,2334,1974,3946,0,0,0,0,0,0
$GC,1949,-0.77,-156.2,426.4,-16.5,115,1953,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3407,3941,0,0,0,0,0,0
$GC,2055,-0.77,-156.2,442.9,-15.0,117,2059,0.00,2.15,0.00,0.000,6,0.000,0.034,2322,1985,3939,0,0,0,0,0,0
$GC,2323,-0.77,-156.2,484.7,-15.7,124,2327,0.00,2.10,0.00,0.000,4,0.000,0.044,2322,593,3936,0,0,0,0,0,0
$GC,2365,-0.77,-156.2,491.3,-16.5,125,2369,0.12,2.15,0.00,0.000,6,0.171,0.044,2343,2004,3936,0,0,0,0,0,0
$GC,2647,-0.77,-156.2,532.7,-14.5,132,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2004,3935,0,0,0,0,0,0
$GC,2892,-0.77,-156.2,568.5,-14.6,138,2896,0.00,2.20,0.00,0.000,4,0.000,0.054,2335,3411,3930,0,0,0,0,0,0
$GC,2948,-0.77,-156.2,576.7,-14.7,139,2952,0.00,2.12,0.00,0.000,6,0.000,0.036,2334,2005,3930,0,0,0,0,0,0
$GC,3220,-0.77,-156.2,616.2,-14.7,146,3224,0.00,2.22,0.00,0.000,4,0.000,0.054,2323,3403,3926,0,0,0,0,0,0
$GC,3276,-0.77,-156.2,624.5,-14.6,147,3280,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1987,3926,0,0,0,0,0,0
$GC,3548,-0.77,-156.2,665.9,-15.4,154,3552,0.00,2.08,0.00,0.000,4,0.000,0.047,2324,605,3922,0,0,0,0,0,0
$GC,3576,-0.77,-156.2,670.4,-16.3,154,3581,0.12,2.15,0.00,0.000,6,0.175,0.046,2345,1992,3923,0,0,0,0,0,0
$GC,3832,-0.77,-156.2,706.2,-13.9,161,3836,0.00,2.22,0.00,0.000,4,0.000,0.055,2336,3403,3920,0,0,0,0,0,0
$GC,3950,-0.77,-156.2,723.2,-13.9,163,3954,0.00,2.15,0.00,0.000,6,0.000,0.035,2336,2007,3918,0,0,0,0,0,0
$GC,4205,-0.77,-156.2,759.9,-14.5,170,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2005,3915,0,0,0,0,0,0
$GC,4450,-0.77,-156.2,792.9,-13.2,176,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2003,3913,0,0,0,0,0,0
$GC,4693,-0.77,-156.2,824.9,-13.0,182,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2003,3911,0,0,0,0,0,0
$GC,4936,-0.77,-156.2,855.1,-12.3,188,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2004,3909,0,0,0,0,0,0
$GC,5180,-0.77,-156.2,883.6,-11.6,194,5184,0.00,2.25,0.00,0.000,4,0.000,0.056,2325,3417,3907,0,0,0,0,0,0
$GC,5208,-0.77,-156.2,886.7,-11.2,194,5212,0.00,2.17,0.00,0.000,6,0.000,0.035,2325,1995,3905,0,0,0,0,0,0
$STATE,5334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5334,begin apogee
$GC,5340,-0.28,0.0,902.4,12.3,197,5468,0.60,0.00,124.12,1.099,6,0.146,0.000,2504,1929,3301,0,0,0,0,0,0
$STATE,5470,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5473,0.77,156.2,905.7,0.0,200,5616,1.02,0.00,135.48,1.063,6,0.094,0.000,2842,1929,2664,0,0,0,0,0,0
$GC,5860,0.77,156.2,835.5,21.7,210,5865,0.00,2.28,0.00,0.000,4,0.000,0.053,2842,3340,2656,0,0,0,0,0,0
$GC,5916,0.77,156.2,822.7,21.9,211,5920,0.00,2.20,0.00,0.000,6,0.000,0.033,2853,1925,2656,0,0,0,0,0,0
$GC,6188,0.77,156.2,764.0,21.6,218,6192,0.00,2.17,0.00,0.000,4,0.000,0.044,2863,516,2654,0,0,0,0,0,0
$GC,6250,0.77,156.2,750.3,22.2,219,6255,0.00,2.17,0.00,0.000,6,0.000,0.040,2860,1932,2651,0,0,0,0,0,0
$GC,6511,0.77,156.2,692.9,22.0,226,6515,0.00,2.22,0.00,0.000,4,0.000,0.054,2860,3339,2650,0,0,0,0,0,0
$GC,6589,0.77,156.2,674.5,23.4,227,6595,0.00,2.15,0.00,0.000,6,0.000,0.034,2875,1929,2648,0,0,0,0,0,0
$GC,6840,0.77,156.2,617.2,22.8,234,6844,0.00,2.12,0.00,0.000,4,0.000,0.042,2888,515,2649,0,0,0,0,0,0
$GC,6879,0.77,156.2,607.8,23.6,235,6884,0.15,2.15,0.00,0.000,6,0.196,0.040,2851,1932,2644,0,0,0,0,0,0
$GC,7162,0.77,156.2,553.5,18.5,242,7166,0.00,2.22,0.00,0.000,4,0.000,0.054,2851,3338,2646,0,0,0,0,0,0
$GC,7190,0.77,156.2,548.4,18.6,242,7194,0.00,2.15,0.00,0.000,6,0.000,0.034,2860,1923,2647,0,0,0,0,0,0
$GC,7439,0.77,156.2,502.5,18.5,248,7443,0.00,2.12,0.00,0.000,4,0.000,0.043,2871,520,2641,0,0,0,0,0,0
$GC,7472,0.77,156.2,496.1,19.2,248,7476,0.00,2.12,0.00,0.000,6,0.000,0.040,2871,1930,2644,0,0,0,0,0,0
$GC,7729,0.77,156.2,448.4,18.8,255,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1931,2644,0,0,0,0,0,0
$GC,7972,0.77,156.2,402.1,19.0,261,7976,0.00,2.22,0.00,0.000,4,0.000,0.053,2862,3345,2644,0,0,0,0,0,0
$GC,8077,0.77,156.2,380.7,20.5,263,8081,0.00,2.15,0.00,0.000,6,0.000,0.034,2871,1926,2644,0,0,0,0,0,0
$GC,8344,0.77,156.2,333.5,17.5,270,8348,0.00,2.12,0.00,0.000,4,0.000,0.042,2882,520,2643,0,0,0,0,0,0
$GC,8395,0.77,156.2,324.5,19.0,271,8400,0.15,2.17,0.00,0.000,6,0.195,0.039,2846,1942,2641,0,0,0,0,0,0
$GC,8647,0.77,156.2,287.1,13.5,279,8651,0.00,2.17,0.00,0.000,4,0.000,0.051,2846,3337,2642,0,0,0,0,0,0
$GC,8681,0.77,156.2,282.2,14.3,280,8688,0.00,2.12,0.00,0.000,6,0.000,0.033,2855,1928,2642,0,0,0,0,0,0
$GC,8935,0.77,156.2,249.2,13.1,293,8939,0.00,2.12,0.00,0.000,4,0.000,0.042,2866,522,2641,0,0,0,0,0,0
$GC,8987,0.77,156.2,242.4,12.3,295,8991,0.00,2.12,0.00,0.000,6,0.000,0.038,2867,1937,2640,0,0,0,0,0,0
$GC,9247,0.77,156.2,208.3,12.8,308,9251,0.00,2.20,0.00,0.000,4,0.000,0.051,2867,3337,2640,0,0,0,0,0,0
$GC,9268,0.77,156.2,205.2,13.1,309,9273,0.12,2.12,0.00,0.000,6,0.190,0.032,2848,1927,2642,0,0,0,0,0,0
$GC,9532,0.77,156.2,177.8,9.2,331,9536,0.00,2.10,0.00,0.000,4,0.000,0.042,2857,519,2641,0,0,0,0,0,0
$GC,9661,0.77,156.2,163.8,10.8,342,9665,0.00,2.12,0.00,0.000,6,0.000,0.036,2861,1929,2640,0,0,0,0,0,0
$GC,9927,0.79,168.9,138.7,8.1,366,9941,0.00,2.17,7.60,0.495,4,0.000,0.049,2857,3337,2610,0,0,0,0,0,0
$GC,10108,0.79,168.9,122.6,10.5,382,10112,0.00,2.10,0.00,0.000,6,0.000,0.032,2867,1929,2614,0,0,0,0,0,0
$GC,10374,0.85,218.9,101.5,6.7,406,10422,0.00,2.15,42.00,0.526,4,0.000,0.040,2878,528,2406,0,0,0,0,0,0
$GC,10492,0.85,218.9,89.9,12.3,416,10496,0.00,2.12,0.00,0.000,6,0.000,0.036,2878,1941,2403,0,0,0,0,0,0
$GC,10758,0.85,218.9,57.6,11.7,440,10762,0.00,2.17,0.00,0.000,4,0.000,0.048,2878,3335,2404,0,0,0,0,0,0
$GC,10790,0.85,218.9,52.8,13.0,442,10797,0.00,2.15,0.00,0.000,6,0.000,0.031,2889,1933,2404,0,0,0,0,0,0
$GC,11054,0.85,218.9,22.1,12.8,472,11063,0.00,2.20,0.00,0.000,4,0.000,0.046,2889,3325,2404,0,0,0,0,0,0
$GC,11092,0.85,218.9,15.5,17.6,478,11099,0.00,2.12,0.00,0.000,6,0.000,0.032,2898,1934,2405,0,0,0,0,0,0
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.2,1.023089
$STATE,11204,end surface coast,CONTROL_FINISHED_OK
$STATE,11204,begin surface
$SM_CCo,11225,265.40,0.433,0,0,396,712.83
$SM_GC,1.14,0.00,0.00,265.40,0.000,0.000,0.433,44,2025,396,-7.96,0.71,712.83
$IRIDIUM_FIX,1955.00,-15705.86,290113,040454
$TT8_MAMPS,0.059826
$HUMID,1078747732
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.00
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339297280
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,47034368000
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,29.896
$10V_AH,10.1,27.787
$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,19.400,120.750,309.200,265.400,0.000,137.005,181.096,566.248,26.250,0.000,15.993,1079.330,8136.216,699.314,2547.511,418.985,32.345,1426.966,0.000,1662.027,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,105.846,1099.111,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.747,0.000,856.831,0.000,0.000,0.000,0.000,13760.100,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.687,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,23583,498
$CAP_FILE_SIZE,121186,0
$CFSIZE,260165632,190341120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,278.1,1
$GPS,060811,134303,2001.037,-15651.615,8,2.2,27,9.7