version: 66.07
glider: 513
mission: 7
dive: 211
start: 8 6 111 14 25 29
data:
$ID,513
$MISSION,7
$DIVE,211
$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,-425811.91
$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,42
$R_STBD_OVSHOOT,49
$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,210
$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
$GPS1,060811,134303,2001.037,-15651.615,8,2.2,27,9.7
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.5
$GPS2,060811,142432,2000.898,-15652.002,11,1.3,11,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.216,0.133
$KALMAN_X,-14178.1,1008.2,374.9,15780.2,-9861.7
$KALMAN_Y,-9331.8,756.4,150.6,10653.5,-6436.0
$MHEAD_RNG_PITCHd_Wd,64.3,46298,-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,29,-0.77,-156.2,0.0,0.0,0,146,0.00,0.00,-114.22,0.000,2,0.000,0.000,36,2025,3793,0,0,0,0,0,0
$GC,151,-0.77,-156.2,4.3,-7.3,17,166,9.62,0.00,-2.33,0.000,6,0.244,0.000,2338,2020,3939,0,0,0,0,0,0
$GC,423,-0.77,-156.2,113.8,-37.6,46,427,0.00,2.15,0.00,0.000,4,0.000,0.054,2330,3398,3940,0,0,0,0,0,0
$GC,454,-0.77,-156.2,123.4,-31.9,48,458,0.00,2.12,0.00,0.000,6,0.000,0.033,2329,1994,3941,0,0,0,0,0,0
$GC,717,-0.77,-156.2,194.9,-23.8,72,721,0.00,2.20,0.00,0.000,4,0.000,0.052,2319,3396,3942,0,0,0,0,0,0
$GC,779,-0.77,-156.2,209.5,-21.8,76,783,0.00,2.10,0.00,0.000,6,0.000,0.031,2319,1989,3942,0,0,0,0,0,0
$GC,1045,-0.77,-156.2,265.8,-18.9,89,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1984,3943,0,0,0,0,0,0
$GC,1291,-0.77,-156.2,310.3,-18.7,100,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1984,3942,0,0,0,0,0,0
$GC,1534,-0.77,-156.2,352.3,-16.9,106,1538,0.00,2.08,0.00,0.000,4,0.000,0.047,2315,602,3942,0,0,0,0,0,0
$GC,1557,-0.77,-156.2,356.1,-17.1,106,1562,0.12,2.12,0.00,0.000,6,0.170,0.047,2342,1990,3942,0,0,0,0,0,0
$GC,1813,-0.77,-156.2,391.9,-13.9,113,1817,0.00,2.20,0.00,0.000,4,0.000,0.052,2332,3406,3942,0,0,0,0,0,0
$GC,1931,-0.77,-156.2,409.4,-15.1,115,1934,0.00,2.12,0.00,0.000,6,0.000,0.032,2332,1991,3940,0,0,0,0,0,0
$GC,2181,-0.77,-156.2,449.6,-16.5,121,2185,0.00,2.08,0.00,0.000,4,0.000,0.045,2332,606,3937,0,0,0,0,0,0
$GC,2242,-0.77,-156.2,460.2,-16.0,122,2246,0.00,2.10,0.00,0.000,6,0.000,0.044,2323,2006,3935,0,0,0,0,0,0
$GC,2509,-0.77,-156.2,503.7,-16.0,129,2513,0.00,2.17,0.00,0.000,4,0.000,0.054,2317,3412,3933,0,0,0,0,0,0
$GC,2549,-0.77,-156.2,509.9,-15.5,130,2554,0.12,2.10,0.00,0.000,6,0.159,0.034,2344,2004,3932,0,0,0,0,0,0
$GC,2833,-0.77,-156.2,550.5,-14.1,137,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1998,3929,0,0,0,0,0,0
$GC,3076,-0.77,-156.2,582.4,-12.9,143,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1997,3926,0,0,0,0,0,0
$GC,3321,-0.77,-156.2,613.5,-12.8,149,3325,0.00,2.22,0.00,0.000,4,0.000,0.054,2336,3404,3923,0,0,0,0,0,0
$GC,3377,-0.77,-156.2,620.8,-12.3,150,3381,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,2001,3922,0,0,0,0,0,0
$GC,3650,-0.77,-156.2,656.0,-13.0,157,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1994,3918,0,0,0,0,0,0
$GC,3894,-0.77,-156.2,685.9,-12.1,163,3898,0.00,2.20,0.00,0.000,4,0.000,0.054,2325,3405,3919,0,0,0,0,0,0
$GC,3954,-0.77,-156.2,693.5,-11.8,164,3959,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,2007,3914,0,0,0,0,0,0
$GC,4221,-0.77,-156.2,725.3,-11.9,171,4225,0.00,2.20,0.00,0.000,4,0.000,0.055,2314,3409,3913,0,0,0,0,0,0
$GC,4248,-0.77,-156.2,729.0,-12.2,171,4253,0.12,2.15,0.00,0.000,6,0.165,0.035,2347,1999,3914,0,0,0,0,0,0
$GC,4505,-0.77,-156.2,757.5,-11.5,178,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1993,3910,0,0,0,0,0,0
$GC,4747,-0.77,-156.2,786.2,-11.8,184,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1993,3908,0,0,0,0,0,0
$GC,4991,-0.77,-156.2,815.0,-11.7,190,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1993,3906,0,0,0,0,0,0
$GC,5235,-0.77,-156.2,842.9,-11.3,196,5239,0.00,2.25,0.00,0.000,4,0.000,0.055,2334,3413,3904,0,0,0,0,0,0
$GC,5312,-0.77,-156.2,851.6,-10.9,197,5318,0.00,2.17,0.00,0.000,6,0.000,0.037,2335,1991,3903,0,0,0,0,0,0
$GC,5562,-0.77,-156.2,878.9,-10.9,204,5566,0.00,2.25,0.00,0.000,4,0.000,0.056,2327,3401,3901,0,0,0,0,0,0
$GC,5594,-0.77,-156.2,882.5,-11.1,204,5601,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,1999,3900,0,0,0,0,0,0
$STATE,5761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5761,begin apogee
$GC,5769,-0.28,0.0,900.8,11.0,209,5895,0.57,0.00,122.75,1.103,6,0.147,0.000,2500,1900,3301,0,0,0,0,0,0
$STATE,5897,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5900,0.77,156.2,903.5,0.0,212,6043,1.02,0.00,135.62,1.063,6,0.098,0.000,2842,1900,2665,0,0,0,0,0,0
$GC,6288,0.77,156.2,833.9,20.9,222,6292,0.00,2.33,0.00,0.000,4,0.000,0.054,2840,3333,2656,0,0,0,0,0,0
$GC,6337,0.77,156.2,823.2,20.2,223,6341,0.00,2.15,0.00,0.000,6,0.000,0.032,2851,1933,2654,0,0,0,0,0,0
$GC,6615,0.77,156.2,767.1,20.2,230,6619,0.00,2.15,0.00,0.000,4,0.000,0.044,2862,528,2654,0,0,0,0,0,0
$GC,6660,0.77,156.2,758.3,20.1,231,6664,0.00,2.15,0.00,0.000,6,0.000,0.040,2862,1926,2652,0,0,0,0,0,0
$GC,6937,0.77,156.2,704.4,19.1,238,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1927,2652,0,0,0,0,0,0
$GC,7181,0.77,156.2,658.7,18.7,244,7185,0.00,2.25,0.00,0.000,4,0.000,0.055,2863,3344,2654,0,0,0,0,0,0
$GC,7208,0.77,156.2,653.3,19.5,244,7212,0.00,2.17,0.00,0.000,6,0.000,0.035,2873,1926,2651,0,0,0,0,0,0
$GC,7470,0.77,156.2,601.5,19.9,251,7474,0.00,2.22,0.00,0.000,4,0.000,0.054,2873,3341,2650,0,0,0,0,0,0
$GC,7503,0.77,156.2,593.9,21.4,251,7509,0.15,2.15,0.00,0.000,6,0.202,0.034,2849,1917,2650,0,0,0,0,0,0
$GC,7753,0.77,156.2,546.0,19.1,258,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1913,2649,0,0,0,0,0,0
$GC,7998,0.77,156.2,499.2,19.2,264,8002,0.00,2.12,0.00,0.000,4,0.000,0.042,2858,515,2648,0,0,0,0,0,0
$GC,8047,0.77,156.2,489.6,18.1,265,8051,0.00,2.17,0.00,0.000,6,0.000,0.038,2858,1945,2645,0,0,0,0,0,0
$GC,8325,0.77,156.2,438.9,18.0,272,8329,0.00,2.15,0.00,0.000,4,0.000,0.042,2869,517,2645,0,0,0,0,0,0
$GC,8347,0.77,156.2,434.8,18.4,272,8351,0.00,2.15,0.00,0.000,6,0.000,0.040,2869,1934,2642,0,0,0,0,0,0
$GC,8608,0.77,156.2,389.7,17.2,279,8612,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3330,2644,0,0,0,0,0,0
$GC,8681,0.77,156.2,375.6,19.8,280,8686,0.12,2.10,0.00,0.000,6,0.201,0.032,2851,1928,2645,0,0,0,0,0,0
$GC,8932,0.77,156.2,334.1,16.6,286,8936,0.00,2.10,0.00,0.000,4,0.000,0.039,2860,514,2644,0,0,0,0,0,0
$GC,8998,0.77,156.2,323.0,16.6,287,9002,0.00,2.15,0.00,0.000,6,0.000,0.035,2860,1923,2643,0,0,0,0,0,0
$GC,9261,0.77,156.2,282.5,14.9,296,9265,0.00,2.17,0.00,0.000,4,0.000,0.049,2861,3331,2642,0,0,0,0,0,0
$GC,9283,0.77,156.2,279.3,14.4,297,9287,0.00,2.10,0.00,0.000,6,0.000,0.032,2871,1928,2641,0,0,0,0,0,0
$GC,9542,0.77,156.2,242.7,13.4,310,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1925,2643,0,0,0,0,0,0
$GC,9790,0.77,156.2,211.2,13.0,322,9794,0.00,2.22,0.00,0.000,4,0.000,0.051,2870,3334,2643,0,0,0,0,0,0
$GC,9806,0.77,156.2,208.7,14.1,323,9811,0.12,2.10,0.00,0.000,6,0.189,0.031,2850,1924,2643,0,0,0,0,0,0
$GC,10070,0.77,156.2,180.0,9.9,344,10074,0.00,2.08,0.00,0.000,4,0.000,0.039,2855,528,2643,0,0,0,0,0,0
$GC,10213,0.77,156.2,164.2,12.6,356,10217,0.00,2.08,0.00,0.000,6,0.000,0.033,2859,1931,2641,0,0,0,0,0,0
$GC,10477,0.77,156.2,135.4,8.9,380,10481,0.00,2.15,0.00,0.000,4,0.000,0.048,2859,3332,2642,0,0,0,0,0,0
$GC,10543,0.79,172.0,130.1,8.0,385,10563,0.00,2.12,10.77,0.522,6,0.000,0.030,2869,1926,2599,0,0,0,0,0,0
$GC,10818,0.85,221.4,105.7,6.7,411,10866,0.00,2.25,40.88,0.538,4,0.000,0.045,2871,3332,2397,0,0,0,0,0,0
$GC,11003,0.85,221.4,88.5,10.6,427,11007,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,1940,2396,0,0,0,0,0,0
$GC,11268,0.85,221.4,57.1,12.3,451,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1936,2394,0,0,0,0,0,0
$GC,11534,0.85,221.4,23.5,14.2,480,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1936,2394,0,0,0,0,0,0
$STATE,11690,end climb,SURFACE_DEPTH_REACHED
$STATE,11692,begin surface coast
$FINISH,0.3,1.023258
$STATE,11716,end surface coast,CONTROL_FINISHED_OK
$STATE,11716,begin surface
$SM_CCo,11737,261.38,0.437,0,0,393,712.83
$SM_GC,1.07,0.00,0.00,261.38,0.000,0.000,0.437,44,2022,393,-7.94,0.59,712.83
$IRIDIUM_FIX,1952.70,-15654.41,290113,080824
$TT8_MAMPS,0.059826
$HUMID,1078779990
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.80
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339264512
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,46880456704
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,30.132
$10V_AH,10.1,27.953
$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,19.475,103.700,310.025,261.375,0.000,143.801,192.625,1646.589,22.500,0.000,13.142,1086.139,8672.807,689.458,3304.213,739.565,33.348,1387.538,0.000,1629.849,0.000,0.543,0.000
$DEVICE_MAMPS,243.906,105.846,1102.946,437.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.618,0.000,856.846,0.000,0.000,0.000,0.000,15501.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.849,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,26880,513
$CAP_FILE_SIZE,133872,0
$CFSIZE,260165632,190300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,293.3,1
$GPS,060811,174700,2001.642,-15651.093,37,1.9,37,9.7