version: 66.07
glider: 513
mission: 7
dive: 218
start: 8 7 111 16 16 39
data:
$ID,513
$MISSION,7
$DIVE,218
$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,-426009.44
$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,50
$R_STBD_OVSHOOT,42
$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,217
$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
$GPS1,070811,160101,2004.204,-15647.697,53,1.8,53,9.7
$_CALLS,1
$_XMS_NAKs,38
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.1
$GPS2,070811,161543,2004.150,-15647.771,11,1.7,28,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.229,0.109
$KALMAN_X,-36477.6,1482.7,953.7,44356.1,-13607.3
$KALMAN_Y,-10345.4,408.0,-232.4,18431.4,-1257.6
$MHEAD_RNG_PITCHd_Wd,59.3,36841,-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,-51.28,0.000,2,0.000,0.000,36,1991,3535,0,0,0,0,0,0
$GC,86,-0.77,-156.2,3.0,-4.8,8,108,10.50,0.00,-7.07,0.000,6,0.270,0.000,2338,1988,3938,0,0,0,0,0,0
$GC,368,-0.77,-156.2,113.1,-34.8,39,371,0.00,2.17,0.00,0.000,4,0.000,0.054,2329,3403,3941,0,0,0,0,0,0
$GC,400,-0.77,-156.2,125.3,-34.5,41,408,0.00,2.17,0.00,0.000,6,0.000,0.038,2329,2014,3942,0,0,0,0,0,0
$GC,664,-0.77,-156.2,193.9,-25.2,66,668,0.00,2.15,0.00,0.000,4,0.000,0.049,2318,3403,3943,0,0,0,0,0,0
$GC,684,-0.77,-156.2,198.8,-24.8,67,688,0.00,2.12,0.00,0.000,6,0.000,0.032,2319,1982,3943,0,0,0,0,0,0
$GC,938,-0.77,-156.2,255.1,-20.9,79,942,0.00,2.22,0.00,0.000,4,0.000,0.051,2308,3405,3944,0,0,0,0,0,0
$GC,1005,-0.77,-156.2,269.4,-19.5,82,1010,0.12,2.10,0.00,0.000,6,0.166,0.031,2341,2002,3945,0,0,0,0,0,0
$GC,1269,-0.77,-156.2,313.0,-16.1,93,1273,0.00,2.08,0.00,0.000,4,0.000,0.039,2341,597,3946,0,0,0,0,0,0
$GC,1331,-0.77,-156.2,322.2,-14.5,94,1335,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2012,3946,0,0,0,0,0,0
$GC,1597,-0.77,-156.2,363.1,-15.6,101,1601,0.00,2.12,0.00,0.000,4,0.000,0.048,2322,3402,3946,0,0,0,0,0,0
$GC,1670,-0.77,-156.2,373.2,-13.4,102,1673,0.00,2.08,0.00,0.000,6,0.000,0.032,2323,2000,3944,0,0,0,0,0,0
$GC,1926,-0.77,-156.2,413.6,-16.4,109,1930,0.00,2.17,0.00,0.000,4,0.000,0.051,2311,3406,3944,0,0,0,0,0,0
$GC,1976,-0.77,-156.2,422.2,-16.4,110,1981,0.12,2.12,0.00,0.000,6,0.163,0.032,2343,1986,3943,0,0,0,0,0,0
$GC,2248,-0.77,-156.2,461.1,-14.3,117,2252,0.00,2.08,0.00,0.000,4,0.000,0.043,2342,596,3941,0,0,0,0,0,0
$GC,2271,-0.77,-156.2,464.6,-14.8,117,2275,0.00,2.10,0.00,0.000,6,0.000,0.041,2335,1993,3941,0,0,0,0,0,0
$GC,2532,-0.77,-156.2,505.9,-16.1,124,2536,0.00,2.17,0.00,0.000,4,0.000,0.051,2324,3404,3939,0,0,0,0,0,0
$GC,2576,-0.77,-156.2,513.3,-15.7,125,2580,0.00,2.12,0.00,0.000,6,0.000,0.034,2322,1996,3939,0,0,0,0,0,0
$GC,2861,-0.77,-156.2,559.0,-15.8,132,2864,0.00,2.10,0.00,0.000,4,0.000,0.043,2324,603,3936,0,0,0,0,0,0
$GC,2893,-0.77,-156.2,564.7,-15.7,132,2900,0.12,2.15,0.00,0.000,6,0.179,0.042,2344,2011,3936,0,0,0,0,0,0
$GC,3144,-0.77,-156.2,598.0,-13.1,139,3148,0.00,2.15,0.00,0.000,4,0.000,0.052,2335,3400,3934,0,0,0,0,0,0
$GC,3211,-0.77,-156.2,607.1,-13.2,140,3215,0.00,2.12,0.00,0.000,6,0.000,0.033,2335,1997,3933,0,0,0,0,0,0
$GC,3467,-0.77,-156.2,641.0,-13.3,147,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1991,3931,0,0,0,0,0,0
$GC,3710,-0.77,-156.2,672.6,-12.8,153,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1992,3927,0,0,0,0,0,0
$GC,3954,-0.77,-156.2,702.2,-11.9,159,3958,0.00,2.22,0.00,0.000,4,0.000,0.055,2325,3399,3926,0,0,0,0,0,0
$GC,3994,-0.77,-156.2,707.1,-12.6,159,4000,0.00,2.10,0.00,0.000,6,0.000,0.035,2325,1999,3926,0,0,0,0,0,0
$GC,4244,-0.77,-156.2,738.6,-12.7,166,4248,0.00,2.20,0.00,0.000,4,0.000,0.053,2314,3406,3924,0,0,0,0,0,0
$GC,4287,-0.77,-156.2,744.4,-13.9,167,4292,0.12,2.15,0.00,0.000,6,0.170,0.035,2341,1999,3923,0,0,0,0,0,0
$GC,4566,-0.77,-156.2,776.3,-11.5,174,4570,0.00,2.20,0.00,0.000,4,0.000,0.053,2337,3404,3920,0,0,0,0,0,0
$GC,4621,-0.77,-156.2,783.4,-12.2,175,4625,0.00,2.15,0.00,0.000,6,0.000,0.034,2337,2000,3919,0,0,0,0,0,0
$GC,4893,-0.77,-156.2,818.1,-12.8,182,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1994,3918,0,0,0,0,0,0
$GC,5137,-0.77,-156.2,849.7,-12.9,188,5141,0.00,2.15,0.00,0.000,4,0.000,0.044,2337,585,3916,0,0,0,0,0,0
$GC,5187,-0.77,-156.2,856.7,-13.7,189,5191,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,1997,3916,0,0,0,0,0,0
$GC,5465,-0.77,-156.2,892.5,-13.0,196,5469,0.00,2.20,0.00,0.000,4,0.000,0.054,2316,3402,3913,0,0,0,0,0,0
$GC,5499,-0.77,-156.2,896.9,-12.9,196,5505,0.12,2.15,0.00,0.000,6,0.173,0.034,2346,1997,3912,0,0,0,0,0,0
$STATE,5543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5544,begin apogee
$GC,5550,-0.28,0.0,902.4,12.0,198,5679,0.52,0.00,125.95,1.104,6,0.146,0.000,2506,1924,3300,0,0,0,0,0,0
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5682,begin climb
$GC,5684,0.77,156.2,906.4,0.0,201,5824,1.00,0.00,135.65,1.065,6,0.097,0.000,2839,1924,2663,0,0,0,0,0,0
$GC,6052,0.77,156.2,845.4,20.6,210,6056,0.00,2.15,0.00,0.000,4,0.000,0.039,2850,526,2655,0,0,0,0,0,0
$GC,6095,0.77,156.2,835.6,20.2,211,6099,0.00,2.17,0.00,0.000,6,0.000,0.035,2842,1929,2653,0,0,0,0,0,0
$GC,6380,0.77,156.2,778.2,20.0,218,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,2652,0,0,0,0,0,0
$GC,6622,0.77,156.2,731.1,19.1,224,6626,0.00,2.22,0.00,0.000,4,0.000,0.054,2842,3339,2651,0,0,0,0,0,0
$GC,6678,0.77,156.2,719.7,20.0,225,6682,0.00,2.17,0.00,0.000,6,0.000,0.032,2851,1917,2649,0,0,0,0,0,0
$GC,6950,0.77,156.2,665.1,20.3,232,6954,0.00,2.25,0.00,0.000,4,0.000,0.051,2843,3346,2650,0,0,0,0,0,0
$GC,6972,0.77,156.2,660.4,20.7,232,6976,0.00,2.17,0.00,0.000,6,0.000,0.032,2852,1926,2650,0,0,0,0,0,0
$GC,7234,0.77,156.2,606.9,20.6,239,7238,0.00,2.12,0.00,0.000,4,0.000,0.040,2863,521,2647,0,0,0,0,0,0
$GC,7250,0.77,156.2,603.2,20.6,239,7254,0.00,2.17,0.00,0.000,6,0.000,0.035,2863,1938,2649,0,0,0,0,0,0
$GC,7517,0.77,156.2,548.6,20.2,246,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1941,2645,0,0,0,0,0,0
$GC,7760,0.77,156.2,501.2,19.4,252,7764,0.00,2.15,0.00,0.000,4,0.000,0.041,2874,509,2646,0,0,0,0,0,0
$GC,7804,0.77,156.2,492.6,19.4,253,7808,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1941,2644,0,0,0,0,0,0
$GC,8087,0.77,156.2,438.1,19.7,260,8091,0.00,2.20,0.00,0.000,4,0.000,0.049,2873,3342,2648,0,0,0,0,0,0
$GC,8116,0.77,156.2,432.2,20.8,260,8121,0.15,2.15,0.00,0.000,6,0.200,0.031,2849,1921,2645,0,0,0,0,0,0
$GC,8366,0.77,156.2,387.5,17.5,266,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1917,2644,0,0,0,0,0,0
$GC,8610,0.77,156.2,346.8,16.2,272,8613,0.00,2.10,0.00,0.000,4,0.000,0.040,2858,530,2649,0,0,0,0,0,0
$GC,8666,0.77,156.2,338.2,16.2,273,8670,0.00,2.12,0.00,0.000,6,0.000,0.035,2850,1935,2641,0,0,0,0,0,0
$GC,8932,0.77,156.2,297.2,15.3,280,8936,0.00,2.17,0.00,0.000,4,0.000,0.051,2839,3333,2642,0,0,0,0,0,0
$GC,9016,0.77,156.2,284.3,15.2,284,9020,0.00,2.12,0.00,0.000,6,0.000,0.031,2848,1927,2642,0,0,0,0,0,0
$GC,9281,0.77,156.2,247.4,13.7,297,9285,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,529,2642,0,0,0,0,0,0
$GC,9321,0.77,156.2,242.0,12.7,299,9326,0.00,2.12,0.00,0.000,6,0.000,0.033,2859,1941,2640,0,0,0,0,0,0
$GC,9586,0.77,156.2,206.5,14.0,312,9590,0.00,2.17,0.00,0.000,4,0.000,0.048,2859,3339,2641,0,0,0,0,0,0
$GC,9751,0.77,156.2,184.5,13.0,324,9755,0.00,2.12,0.00,0.000,6,0.000,0.031,2870,1924,2641,0,0,0,0,0,0
$GC,10017,0.77,156.2,153.0,10.2,348,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1922,2641,0,0,0,0,0,0
$GC,10280,0.78,161.2,126.5,8.4,373,10284,0.00,2.10,0.00,0.000,4,0.000,0.038,2880,517,2641,0,0,0,0,0,0
$GC,10532,0.88,243.8,108.1,5.5,395,10609,0.00,2.12,66.50,0.542,6,0.000,0.032,2881,1927,2305,0,0,0,0,0,0
$GC,10866,0.88,243.8,68.8,14.4,426,10869,0.00,2.20,0.00,0.000,4,0.000,0.047,2881,3335,2301,0,0,0,0,0,0
$GC,10941,0.88,243.8,57.1,15.4,432,10945,0.00,2.10,0.00,0.000,6,0.000,0.031,2891,1934,2302,0,0,0,0,0,0
$GC,11203,0.88,243.8,14.8,16.0,465,11211,0.00,2.15,0.00,0.000,4,0.000,0.040,2902,531,2301,0,0,0,0,0,0
$GC,11241,0.88,243.8,8.2,17.4,471,11249,0.00,2.10,0.00,0.000,6,0.000,0.028,2902,1925,2303,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,0.2,1.020851
$STATE,11289,end surface coast,CONTROL_FINISHED_OK
$STATE,11289,begin surface
$SM_CCo,11309,23.85,0.433,0,0,2076,300.24
$SM_GC,1.32,0.00,0.00,23.85,0.000,0.000,0.433,57,2027,2076,-7.94,0.76,300.24
$IRIDIUM_FIX,1955.00,-15648.39,300113,060657
$TT8_MAMPS,0.250809
$HUMID,1078941281
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262161408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45851443200
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,31.268
$10V_AH,10.1,28.885
$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,20.400,120.425,328.100,23.850,0.000,28.386,32.651,598.184,24.500,0.000,30.388,1062.170,8078.167,428.399,2229.553,427.115,33.344,1142.270,0.000,1607.356,0.000,0.541,0.000
$DEVICE_MAMPS,269.984,105.079,1103.713,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,327.040,0.000,761.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,23576,479
$CAP_FILE_SIZE,115893,0
$CFSIZE,260165632,189833216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,282.8,1
$GPS,070811,192704,2004.782,-15646.526,11,2.3,30,9.7