version: 66.07
glider: 513
mission: 7
dive: 215
start: 8 7 111 5 13 16
data:
$ID,513
$MISSION,7
$DIVE,215
$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,-425946.62
$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,45
$R_STBD_OVSHOOT,56
$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,214
$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
$GPS1,070811,044907,2002.831,-15649.345,173,1.3,173,9.7
$_CALLS,3
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.8
$GPS2,070811,051218,2002.761,-15649.712,38,2.2,57,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.250,0.039
$KALMAN_X,-26449.9,983.0,598.3,31820.7,-12052.5
$KALMAN_Y,-12874.2,601.8,569.8,17366.4,-5316.2
$MHEAD_RNG_PITCHd_Wd,63.2,41071,-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,-156.2,0.0,0.0,0,89,0.00,0.00,-59.35,0.000,2,0.000,0.000,34,2021,3795,0,0,0,0,0,0
$GC,94,-0.77,-156.2,4.1,-7.2,9,115,9.52,2.20,-2.28,0.000,4,0.240,0.066,2329,3382,3939,0,0,0,0,0,0
$GC,126,-0.77,-156.2,22.0,-46.9,13,133,0.00,2.15,0.00,0.000,6,0.000,0.035,2337,2006,3941,0,0,0,0,0,0
$GC,397,-0.77,-156.2,122.6,-32.7,39,401,0.00,2.17,0.00,0.000,4,0.000,0.049,2328,3392,3944,0,0,0,0,0,0
$GC,440,-0.77,-156.2,136.4,-28.5,42,447,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,1998,3942,0,0,0,0,0,0
$GC,712,-0.77,-156.2,206.9,-24.3,67,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1995,3943,0,0,0,0,0,0
$GC,958,-0.77,-156.2,255.3,-18.3,79,962,0.00,2.08,0.00,0.000,4,0.000,0.040,2328,602,3945,0,0,0,0,0,0
$GC,1000,-0.77,-156.2,264.0,-21.4,81,1004,0.00,2.08,0.00,0.000,6,0.000,0.043,2319,1979,3944,0,0,0,0,0,0
$GC,1263,-0.77,-156.2,317.0,-19.7,92,1267,0.00,2.17,0.00,0.000,4,0.000,0.048,2307,3410,3945,0,0,0,0,0,0
$GC,1335,-0.77,-156.2,331.4,-19.8,93,1339,0.15,2.12,0.00,0.000,6,0.156,0.033,2346,1988,3945,0,0,0,0,0,0
$GC,1586,-0.77,-156.2,372.5,-16.0,99,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1982,3943,0,0,0,0,0,0
$GC,1829,-0.77,-156.2,410.5,-15.7,105,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1982,3945,0,0,0,0,0,0
$GC,2072,-0.77,-156.2,446.0,-14.5,111,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1982,3943,0,0,0,0,0,0
$GC,2316,-0.77,-156.2,480.8,-14.3,117,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1983,3941,0,0,0,0,0,0
$GC,2560,-0.77,-156.2,513.4,-13.1,123,2565,0.00,2.22,0.00,0.000,4,0.000,0.053,2340,3405,3938,0,0,0,0,0,0
$GC,2656,-0.77,-156.2,525.8,-11.8,125,2660,0.00,2.10,0.00,0.000,6,0.000,0.035,2340,2002,3937,0,0,0,0,0,0
$GC,2928,-0.77,-156.2,559.6,-12.4,132,2932,0.00,2.10,0.00,0.000,4,0.000,0.044,2340,602,3934,0,0,0,0,0,0
$GC,2945,-0.77,-156.2,561.7,-12.0,132,2949,0.00,2.15,0.00,0.000,6,0.000,0.045,2330,2005,3934,0,0,0,0,0,0
$GC,3205,-0.77,-156.2,594.2,-12.5,139,3209,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3416,3929,0,0,0,0,0,0
$GC,3290,-0.77,-156.2,604.7,-12.6,141,3294,0.00,2.12,0.00,0.000,6,0.000,0.035,2319,1998,3929,0,0,0,0,0,0
$GC,3575,-0.77,-156.2,643.4,-14.1,148,3579,0.00,2.20,0.00,0.000,4,0.000,0.054,2308,3403,3927,0,0,0,0,0,0
$GC,3615,-0.77,-156.2,649.4,-15.5,149,3619,0.15,2.12,0.00,0.000,6,0.159,0.035,2348,2002,3926,0,0,0,0,0,0
$GC,3898,-0.77,-156.2,684.9,-12.4,156,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3924,0,0,0,0,0,0
$GC,4142,-0.77,-156.2,715.7,-12.6,162,4146,0.00,2.12,0.00,0.000,4,0.000,0.044,2349,588,3921,0,0,0,0,0,0
$GC,4170,-0.77,-156.2,719.5,-13.1,162,4173,0.00,2.15,0.00,0.000,6,0.000,0.044,2340,2008,3922,0,0,0,0,0,0
$GC,4431,-0.77,-156.2,752.2,-12.6,169,4435,0.00,2.17,0.00,0.000,4,0.000,0.053,2329,3407,3918,0,0,0,0,0,0
$GC,4475,-0.77,-156.2,758.1,-12.6,170,4479,0.00,2.15,0.00,0.000,6,0.000,0.036,2329,2000,3918,0,0,0,0,0,0
$GC,4761,-0.77,-156.2,794.3,-12.6,177,4765,0.00,2.22,0.00,0.000,4,0.000,0.054,2319,3403,3915,0,0,0,0,0,0
$GC,4782,-0.77,-156.2,797.4,-12.7,177,4786,0.10,2.15,0.00,0.000,6,0.172,0.035,2345,1994,3915,0,0,0,0,0,0
$GC,5042,-0.77,-156.2,828.5,-12.0,184,5046,0.00,2.25,0.00,0.000,4,0.000,0.056,2334,3408,3914,0,0,0,0,0,0
$GC,5071,-0.77,-156.2,831.9,-12.5,184,5075,0.00,2.17,0.00,0.000,6,0.000,0.039,2334,2002,3913,0,0,0,0,0,0
$GC,5326,-0.77,-156.2,862.8,-12.1,191,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1996,3911,0,0,0,0,0,0
$GC,5570,-0.77,-156.2,892.2,-11.9,197,5574,0.00,2.17,0.00,0.000,4,0.000,0.048,2333,584,3909,0,0,0,0,0,0
$GC,5592,-0.77,-156.2,895.1,-13.3,197,5596,0.00,2.17,0.00,0.000,6,0.000,0.047,2324,1991,3910,0,0,0,0,0,0
$STATE,5641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5641,begin apogee
$GC,5648,-0.28,0.0,901.4,12.2,199,5776,0.60,0.00,125.07,1.102,6,0.146,0.000,2504,1905,3302,0,0,0,0,0,0
$STATE,5779,end apogee,CONTROL_FINISHED_OK
$STATE,5779,begin climb
$GC,5781,0.77,156.2,904.8,0.0,202,5924,1.00,2.25,134.88,1.065,4,0.097,0.041,2848,528,2662,0,0,0,0,0,0
$GC,5942,0.77,156.2,884.1,20.0,206,5946,0.00,2.28,0.00,0.000,6,0.000,0.038,2848,1928,2658,0,0,0,0,0,0
$GC,6226,0.77,156.2,822.1,22.1,213,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1930,2654,0,0,0,0,0,0
$GC,6468,0.77,156.2,769.9,21.6,219,6472,0.00,2.25,0.00,0.000,4,0.000,0.054,2847,3341,2652,0,0,0,0,0,0
$GC,6518,0.77,156.2,758.8,22.0,220,6522,0.00,2.15,0.00,0.000,6,0.000,0.035,2860,1933,2652,0,0,0,0,0,0
$GC,6796,0.77,156.2,699.0,21.7,227,6800,0.00,2.15,0.00,0.000,4,0.000,0.043,2870,523,2651,0,0,0,0,0,0
$GC,6829,0.77,156.2,691.6,22.7,227,6835,0.00,2.15,0.00,0.000,6,0.000,0.038,2870,1940,2648,0,0,0,0,0,0
$GC,7079,0.77,156.2,637.2,21.6,234,7083,0.00,2.15,0.00,0.000,4,0.000,0.042,2880,525,2648,0,0,0,0,0,0
$GC,7094,0.77,156.2,633.6,21.4,234,7099,0.12,2.15,0.00,0.000,6,0.204,0.038,2852,1932,2647,0,0,0,0,0,0
$GC,7362,0.77,156.2,581.4,19.4,241,7366,0.00,2.20,0.00,0.000,4,0.000,0.051,2852,3337,2647,0,0,0,0,0,0
$GC,7417,0.77,156.2,570.0,20.2,242,7421,0.00,2.17,0.00,0.000,6,0.000,0.034,2862,1926,2648,0,0,0,0,0,0
$GC,7689,0.77,156.2,517.3,19.2,249,7693,0.00,2.12,0.00,0.000,4,0.000,0.041,2873,512,2649,0,0,0,0,0,0
$GC,7740,0.77,156.2,507.2,20.3,250,7744,0.00,2.17,0.00,0.000,6,0.000,0.038,2873,1936,2645,0,0,0,0,0,0
$GC,8012,0.77,156.2,457.1,17.8,257,8016,0.00,2.20,0.00,0.000,4,0.000,0.051,2869,3340,2645,0,0,0,0,0,0
$GC,8044,0.77,156.2,450.5,19.5,257,8051,0.12,2.15,0.00,0.000,6,0.205,0.033,2849,1926,2646,0,0,0,0,0,0
$GC,8295,0.77,156.2,408.8,16.7,264,8299,0.00,2.12,0.00,0.000,4,0.000,0.041,2857,518,2644,0,0,0,0,0,0
$GC,8317,0.77,156.2,405.0,16.2,264,8321,0.00,2.15,0.00,0.000,6,0.000,0.037,2858,1932,2643,0,0,0,0,0,0
$GC,8584,0.77,156.2,362.1,16.3,271,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1936,2643,0,0,0,0,0,0
$GC,8828,0.77,156.2,326.0,15.2,277,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1936,2642,0,0,0,0,0,0
$GC,9074,0.77,156.2,289.8,14.1,284,9078,0.00,2.17,0.00,0.000,4,0.000,0.051,2850,3333,2642,0,0,0,0,0,0
$GC,9130,0.77,156.2,281.4,14.4,286,9135,0.00,2.12,0.00,0.000,6,0.000,0.032,2858,1928,2642,0,0,0,0,0,0
$GC,9383,0.77,156.2,246.3,13.8,299,9387,0.00,2.12,0.00,0.000,4,0.000,0.040,2869,516,2644,0,0,0,0,0,0
$GC,9519,0.77,156.2,226.8,13.5,305,9523,0.00,2.15,0.00,0.000,6,0.000,0.035,2869,1935,2640,0,0,0,0,0,0
$GC,9781,0.77,156.2,194.1,13.1,320,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1936,2641,0,0,0,0,0,0
$GC,10036,0.77,156.2,165.5,11.5,344,10040,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3329,2639,0,0,0,0,0,0
$GC,10164,0.77,156.2,149.2,13.5,355,10169,0.12,2.10,0.00,0.000,6,0.190,0.032,2850,1921,2642,0,0,0,0,0,0
$GC,10428,0.83,205.0,127.1,6.8,379,10475,0.00,2.20,36.70,0.559,4,0.000,0.041,2859,518,2462,0,0,0,0,0,0
$GC,10523,0.83,205.0,119.0,9.6,387,10527,0.00,2.12,0.00,0.000,6,0.000,0.038,2859,1926,2460,0,0,0,0,0,0
$GC,10789,0.85,222.8,95.0,7.9,411,10814,0.00,2.25,15.23,0.498,4,0.000,0.051,2859,3325,2392,0,0,0,0,0,0
$GC,10917,0.85,222.8,81.7,11.4,422,10921,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1924,2389,0,0,0,0,0,0
$GC,11188,0.85,222.8,49.4,13.9,447,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1921,2391,0,0,0,0,0,0
$GC,11452,0.85,222.8,14.6,11.9,482,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1917,2392,0,0,0,0,0,0
$STATE,11543,end climb,SURFACE_DEPTH_REACHED
$STATE,11543,begin surface coast
$FINISH,0.5,1.023115
$STATE,11566,end surface coast,CONTROL_FINISHED_OK
$STATE,11566,begin surface
$SM_CCo,11588,32.97,0.433,0,0,2076,300.49
$SM_GC,1.63,0.00,0.00,32.97,0.000,0.000,0.433,51,2035,2076,-7.96,1.02,300.49
$IRIDIUM_FIX,1957.29,-15650.50,290113,232310
$TT8_MAMPS,0.243906
$HUMID,1078890958
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,26.10
$XPDR_PINGS,109
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262259712
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,46307672064
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,30.767
$10V_AH,10.1,28.431
$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,19.325,112.675,311.875,32.975,0.000,83.823,115.703,793.055,27.250,0.000,63.062,1084.725,8433.012,405.633,2631.743,466.474,33.344,1131.219,0.000,1654.093,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,98.176,1102.179,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.388,0.000,833.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,23568,503
$CAP_FILE_SIZE,122685,0
$CFSIZE,260165632,190042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,278.9,1
$GPS,070811,082936,2003.373,-15648.819,89,1.4,100,9.7