version: 66.07
glider: 513
mission: 7
dive: 216
start: 8 7 111 9 11 6
data:
$ID,513
$MISSION,7
$DIVE,216
$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,-425962.09
$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,62
$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,215
$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
$GPS1,070811,082936,2003.373,-15648.819,89,1.4,100,9.7
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.1
$GPS2,070811,091008,2003.487,-15649.493,12,1.7,12,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.249,-0.046
$KALMAN_X,-30549.8,985.2,568.4,36331.4,-12025.2
$KALMAN_Y,-11781.3,679.8,518.9,17586.5,-3296.3
$MHEAD_RNG_PITCHd_Wd,66.4,40023,-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,-156.2,0.0,0.0,0,82,0.00,0.00,-51.45,0.000,2,0.000,0.000,33,2036,3569,0,0,0,0,0,0
$GC,86,-0.77,-156.2,3.5,-5.3,8,109,9.60,2.12,-6.32,0.000,4,0.242,0.063,2330,3392,3939,0,0,0,0,0,0
$GC,227,-0.77,-156.2,56.3,-33.4,25,231,0.00,2.12,0.00,0.000,6,0.000,0.032,2328,1991,3941,0,0,0,0,0,0
$GC,492,-0.77,-156.2,148.4,-27.5,49,496,0.00,2.17,0.00,0.000,4,0.000,0.051,2318,3391,3941,0,0,0,0,0,0
$GC,533,-0.77,-156.2,159.9,-27.2,52,537,0.00,2.10,0.00,0.000,6,0.000,0.033,2319,2001,3942,0,0,0,0,0,0
$GC,791,-0.77,-156.2,223.5,-22.6,71,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1996,3943,0,0,0,0,0,0
$GC,1040,-0.77,-156.2,273.1,-20.2,83,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1996,3944,0,0,0,0,0,0
$GC,1305,-0.77,-156.2,325.3,-18.7,93,1308,0.00,2.15,0.00,0.000,4,0.000,0.051,2314,3392,3944,0,0,0,0,0,0
$GC,1337,-0.77,-156.2,331.6,-18.4,93,1344,0.12,2.08,0.00,0.000,6,0.162,0.031,2343,1993,3944,0,0,0,0,0,0
$GC,1588,-0.77,-156.2,373.3,-16.3,100,1592,0.00,2.15,0.00,0.000,4,0.000,0.050,2333,3393,3943,0,0,0,0,0,0
$GC,1638,-0.77,-156.2,382.0,-15.6,101,1642,0.00,2.08,0.00,0.000,6,0.000,0.031,2333,2009,3944,0,0,0,0,0,0
$GC,1916,-0.77,-156.2,424.6,-14.8,108,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2006,3943,0,0,0,0,0,0
$GC,2161,-0.77,-156.2,460.1,-14.3,114,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2005,3940,0,0,0,0,0,0
$GC,2404,-0.77,-156.2,496.8,-15.2,120,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2008,3940,0,0,0,0,0,0
$GC,2647,-0.77,-156.2,532.7,-14.9,126,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2003,3935,0,0,0,0,0,0
$GC,2891,-0.77,-156.2,571.2,-15.8,132,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2003,3931,0,0,0,0,0,0
$GC,3136,-0.77,-156.2,607.0,-14.6,138,3140,0.00,2.15,0.00,0.000,4,0.000,0.052,2323,3388,3929,0,0,0,0,0,0
$GC,3157,-0.77,-156.2,610.1,-13.5,138,3161,0.00,2.10,0.00,0.000,6,0.000,0.035,2323,1987,3928,0,0,0,0,0,0
$GC,3418,-0.77,-156.2,646.9,-13.9,145,3422,0.00,2.17,0.00,0.000,4,0.000,0.055,2312,3376,3926,0,0,0,0,0,0
$GC,3485,-0.77,-156.2,656.1,-13.3,146,3489,0.12,2.08,0.00,0.000,6,0.160,0.035,2346,2000,3925,0,0,0,0,0,0
$GC,3747,-0.77,-156.2,686.4,-11.5,153,3751,0.00,2.12,0.00,0.000,4,0.000,0.045,2345,602,3922,0,0,0,0,0,0
$GC,3796,-0.77,-156.2,692.6,-11.8,154,3800,0.00,2.08,0.00,0.000,6,0.000,0.044,2337,1971,3922,0,0,0,0,0,0
$GC,4074,-0.77,-156.2,725.4,-11.8,161,4079,0.00,2.25,0.00,0.000,4,0.000,0.056,2326,3403,3918,0,0,0,0,0,0
$GC,4120,-0.77,-156.2,731.1,-12.9,162,4124,0.00,2.12,0.00,0.000,6,0.000,0.035,2326,2001,3918,0,0,0,0,0,0
$GC,4398,-0.77,-156.2,767.7,-13.3,169,4402,0.00,2.20,0.00,0.000,4,0.000,0.054,2315,3407,3915,0,0,0,0,0,0
$GC,4484,-0.77,-156.2,779.5,-13.5,171,4489,0.12,2.12,0.00,0.000,6,0.164,0.035,2347,2003,3914,0,0,0,0,0,0
$GC,4767,-0.77,-156.2,816.2,-13.0,178,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1998,3911,0,0,0,0,0,0
$GC,5011,-0.77,-156.2,845.3,-11.9,184,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1998,3911,0,0,0,0,0,0
$GC,5254,-0.77,-156.2,874.2,-11.9,190,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1998,3908,0,0,0,0,0,0
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5504,-0.28,0.0,902.6,11.6,196,5631,0.50,0.00,124.22,1.104,6,0.142,0.000,2501,1925,3300,0,0,0,0,0,0
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5636,0.77,156.2,906.6,0.0,199,5778,1.02,2.28,133.62,1.068,4,0.098,0.041,2852,530,2664,0,0,0,0,0,0
$GC,5811,0.77,156.2,883.9,20.4,203,5815,0.00,2.22,0.00,0.000,6,0.000,0.035,2852,1923,2658,0,0,0,0,0,0
$GC,6078,0.77,156.2,827.9,21.3,210,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1930,2655,0,0,0,0,0,0
$GC,6323,0.77,156.2,774.9,22.0,216,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1931,2653,0,0,0,0,0,0
$GC,6565,0.77,156.2,722.4,21.3,222,6569,0.00,2.25,0.00,0.000,4,0.000,0.054,2852,3346,2652,0,0,0,0,0,0
$GC,6660,0.77,156.2,701.0,23.0,224,6664,0.00,2.15,0.00,0.000,6,0.000,0.034,2863,1930,2651,0,0,0,0,0,0
$GC,6934,0.77,156.2,643.1,21.0,231,6938,0.00,2.12,0.00,0.000,4,0.000,0.041,2874,530,2650,0,0,0,0,0,0
$GC,7006,0.77,156.2,627.5,21.0,232,7010,0.00,2.15,0.00,0.000,6,0.000,0.038,2874,1938,2647,0,0,0,0,0,0
$GC,7267,0.77,156.2,574.5,20.4,239,7271,0.00,2.20,0.00,0.000,4,0.000,0.053,2874,3343,2647,0,0,0,0,0,0
$GC,7335,0.77,156.2,560.0,21.8,240,7340,0.15,2.12,0.00,0.000,6,0.202,0.034,2846,1931,2647,0,0,0,0,0,0
$GC,7591,0.77,156.2,513.7,17.8,247,7594,0.00,2.12,0.00,0.000,4,0.000,0.044,2859,530,2648,0,0,0,0,0,0
$GC,7630,0.77,156.2,506.6,17.1,248,7634,0.00,2.12,0.00,0.000,6,0.000,0.037,2859,1931,2645,0,0,0,0,0,0
$GC,7914,0.77,156.2,455.7,18.1,255,7918,0.00,2.20,0.00,0.000,4,0.000,0.053,2858,3336,2645,0,0,0,0,0,0
$GC,7941,0.77,156.2,450.0,19.7,255,7945,0.00,2.10,0.00,0.000,6,0.000,0.035,2869,1931,2645,0,0,0,0,0,0
$GC,8197,0.77,156.2,405.1,17.7,262,8201,0.00,2.22,0.00,0.000,4,0.000,0.053,2861,3333,2645,0,0,0,0,0,0
$GC,8224,0.77,156.2,400.2,18.4,262,8228,0.00,2.12,0.00,0.000,6,0.000,0.034,2870,1929,2645,0,0,0,0,0,0
$GC,8480,0.77,156.2,357.1,16.9,269,8484,0.00,2.12,0.00,0.000,4,0.000,0.042,2881,516,2644,0,0,0,0,0,0
$GC,8558,0.77,156.2,343.3,16.3,270,8563,0.15,2.15,0.00,0.000,6,0.199,0.040,2846,1939,2642,0,0,0,0,0,0
$GC,8808,0.77,156.2,304.1,15.6,276,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1941,2643,0,0,0,0,0,0
$GC,9057,0.77,156.2,271.0,12.4,287,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1941,2642,0,0,0,0,0,0
$GC,9303,0.77,156.2,241.1,12.2,299,9307,0.00,2.17,0.00,0.000,4,0.000,0.053,2845,3334,2642,0,0,0,0,0,0
$GC,9358,0.77,156.2,233.5,13.5,301,9364,0.00,2.15,0.00,0.000,6,0.000,0.034,2854,1926,2642,0,0,0,0,0,0
$GC,9613,0.77,156.2,204.4,11.4,314,9617,0.00,2.12,0.00,0.000,4,0.000,0.042,2866,511,2643,0,0,0,0,0,0
$GC,9787,0.77,156.2,183.1,10.3,328,9791,0.00,2.15,0.00,0.000,6,0.000,0.038,2866,1938,2640,0,0,0,0,0,0
$GC,10058,0.77,156.2,153.7,11.1,353,10062,0.00,2.17,0.00,0.000,4,0.000,0.051,2866,3338,2642,0,0,0,0,0,0
$GC,10312,0.79,172.3,124.1,8.0,375,10332,0.00,2.15,10.62,0.515,6,0.000,0.033,2877,1920,2598,0,0,0,0,0,0
$GC,10587,0.83,199.0,104.6,7.6,401,10615,0.00,2.25,23.30,0.526,4,0.000,0.051,2877,3340,2488,0,0,0,0,0,0
$GC,10830,0.83,199.0,79.9,11.2,422,10839,0.00,2.12,0.00,0.000,6,0.000,0.032,2890,1948,2488,0,0,0,0,0,0
$GC,11097,0.83,199.0,49.6,12.6,447,11101,0.00,2.15,0.00,0.000,4,0.000,0.049,2887,3339,2488,0,0,0,0,0,0
$GC,11118,0.83,199.0,46.2,12.2,448,11126,0.10,2.15,0.00,0.000,6,0.215,0.032,2867,1930,2488,0,0,0,0,0,0
$GC,11383,0.84,215.1,19.1,8.0,482,11405,0.00,0.00,15.02,0.435,6,0.000,0.000,2867,1925,2423,0,0,0,0,0,0
$STATE,11510,end climb,SURFACE_DEPTH_REACHED
$STATE,11510,begin surface coast
$FINISH,0.3,1.023165
$STATE,11536,end surface coast,CONTROL_FINISHED_OK
$STATE,11537,begin surface
$SM_CCo,11556,274.10,0.433,0,0,394,712.83
$SM_GC,0.93,0.00,0.00,274.10,0.000,0.000,0.433,43,2002,394,-7.94,0.08,712.83
$IRIDIUM_FIX,1957.29,-15648.39,300113,030329
$TT8_MAMPS,0.060593
$HUMID,1078746442
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.20
$XPDR_PINGS,89
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6339100672
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,46110900224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,31.001
$10V_AH,10.1,28.716
$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,19.350,94.825,306.800,274.100,0.000,155.089,173.452,1612.983,22.250,0.000,14.853,1088.658,8512.710,622.628,3438.207,607.006,33.350,1337.500,0.000,1689.628,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,111.982,1104.480,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,347.541,0.000,853.538,0.000,0.000,0.000,0.000,43135.398,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.213,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,26913,509
$CAP_FILE_SIZE,137196,0
$CFSIZE,260165632,189952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,275.0,1
$GPS,070811,123007,2003.859,-15648.626,56,1.0,56,9.7