version: 66.07
glider: 513
mission: 7
dive: 221
start: 8 8 111 3 25 2
data:
$ID,513
$MISSION,7
$DIVE,221
$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,-426095.12
$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,44
$R_STBD_OVSHOOT,37
$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,220
$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
$GPS1,080811,025407,2006.137,-15644.289,72,1.6,72,9.7
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.8
$GPS2,080811,032406,2006.183,-15644.422,14,2.0,30,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.187,-0.171
$KALMAN_X,-41367.6,1236.2,848.6,55432.4,-10562.0
$KALMAN_Y,-12790.2,-123.2,-302.0,25239.9,-719.9
$MHEAD_RNG_PITCHd_Wd,55.1,29910,-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,-156.2,0.0,0.0,0,83,0.00,0.00,-53.08,0.000,2,0.000,0.000,34,2056,3609,0,0,0,0,0,0
$GC,88,-0.77,-156.2,3.5,-5.1,8,110,9.98,2.15,-5.82,0.000,4,0.256,0.061,2333,3413,3938,0,0,0,0,0,0
$GC,119,-0.77,-156.2,17.8,-36.2,12,126,0.00,2.17,0.00,0.000,6,0.000,0.033,2335,2009,3939,0,0,0,0,0,0
$GC,385,-0.77,-156.2,119.7,-38.9,39,389,0.00,2.20,0.00,0.000,4,0.000,0.049,2327,3412,3939,0,0,0,0,0,0
$GC,482,-0.77,-156.2,148.1,-25.1,47,486,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,1988,3940,0,0,0,0,0,0
$GC,742,-0.77,-156.2,212.3,-24.0,69,746,0.00,2.20,0.00,0.000,4,0.000,0.050,2315,3410,3942,0,0,0,0,0,0
$GC,770,-0.77,-156.2,219.2,-24.4,70,775,0.12,2.10,0.00,0.000,6,0.168,0.031,2346,1995,3942,0,0,0,0,0,0
$GC,1024,-0.77,-156.2,267.3,-18.2,82,1028,0.00,2.08,0.00,0.000,4,0.000,0.042,2347,598,3940,0,0,0,0,0,0
$GC,1141,-0.77,-156.2,287.2,-15.4,87,1145,0.00,2.10,0.00,0.000,6,0.000,0.041,2338,2009,3943,0,0,0,0,0,0
$GC,1399,-0.77,-156.2,328.9,-16.7,96,1403,0.00,2.20,0.00,0.000,4,0.000,0.052,2327,3410,3943,0,0,0,0,0,0
$GC,1484,-0.77,-156.2,342.4,-15.0,98,1488,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,1994,3943,0,0,0,0,0,0
$GC,1767,-0.77,-156.2,385.8,-15.0,105,1771,0.00,2.08,0.00,0.000,4,0.000,0.044,2332,602,3942,0,0,0,0,0,0
$GC,1784,-0.77,-156.2,388.5,-14.8,105,1789,0.10,2.12,0.00,0.000,6,0.181,0.041,2341,1997,3945,0,0,0,0,0,0
$GC,2045,-0.77,-156.2,427.4,-15.2,112,2049,0.00,2.20,0.00,0.000,4,0.000,0.051,2332,3414,3940,0,0,0,0,0,0
$GC,2105,-0.77,-156.2,436.9,-14.7,113,2110,0.00,2.12,0.00,0.000,6,0.000,0.031,2332,1986,3940,0,0,0,0,0,0
$GC,2374,-0.77,-156.2,478.9,-16.0,120,2378,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3413,3937,0,0,0,0,0,0
$GC,2412,-0.77,-156.2,485.5,-16.0,120,2418,0.00,2.12,0.00,0.000,6,0.000,0.032,2318,2007,3937,0,0,0,0,0,0
$GC,2662,-0.77,-156.2,525.9,-16.1,127,2666,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3415,3935,0,0,0,0,0,0
$GC,2684,-0.77,-156.2,529.6,-17.1,127,2689,0.12,2.15,0.00,0.000,6,0.165,0.031,2343,1989,3934,0,0,0,0,0,0
$GC,2939,-0.77,-156.2,565.9,-13.8,134,2943,0.00,2.10,0.00,0.000,4,0.000,0.045,2343,603,3931,0,0,0,0,0,0
$GC,2960,-0.77,-156.2,569.1,-14.4,134,2964,0.00,2.15,0.00,0.000,6,0.000,0.044,2335,1998,3931,0,0,0,0,0,0
$GC,3222,-0.77,-156.2,606.2,-14.3,141,3226,0.00,2.20,0.00,0.000,4,0.000,0.053,2324,3407,3928,0,0,0,0,0,0
$GC,3307,-0.77,-156.2,618.6,-14.2,143,3311,0.00,2.15,0.00,0.000,6,0.000,0.035,2324,1999,3928,0,0,0,0,0,0
$GC,3590,-0.77,-156.2,658.5,-13.8,150,3594,0.00,2.12,0.00,0.000,4,0.000,0.048,2323,593,3924,0,0,0,0,0,0
$GC,3618,-0.77,-156.2,662.3,-13.1,150,3623,0.12,2.15,0.00,0.000,6,0.176,0.044,2344,1998,3924,0,0,0,0,0,0
$GC,3868,-0.77,-156.2,690.5,-10.8,156,3872,0.00,2.22,0.00,0.000,4,0.000,0.054,2335,3415,3921,0,0,0,0,0,0
$GC,3928,-0.77,-156.2,697.1,-10.8,157,3932,0.00,2.17,0.00,0.000,6,0.000,0.035,2335,1987,3920,0,0,0,0,0,0
$GC,4203,-0.77,-156.2,730.9,-12.9,164,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1981,3918,0,0,0,0,0,0
$GC,4445,-0.77,-156.2,762.2,-12.8,170,4449,0.00,2.25,0.00,0.000,4,0.000,0.055,2324,3406,3915,0,0,0,0,0,0
$GC,4484,-0.77,-156.2,767.3,-12.9,171,4488,0.00,2.15,0.00,0.000,6,0.000,0.035,2324,2008,3915,0,0,0,0,0,0
$GC,4769,-0.77,-156.2,805.2,-13.3,178,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2002,3912,0,0,0,0,0,0
$GC,5012,-0.77,-156.2,837.1,-13.1,184,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2002,3911,0,0,0,0,0,0
$GC,5255,-0.77,-156.2,868.4,-12.7,190,5259,0.00,2.22,0.00,0.000,4,0.000,0.055,2314,3413,3910,0,0,0,0,0,0
$GC,5299,-0.77,-156.2,874.2,-12.9,191,5304,0.12,2.15,0.00,0.000,6,0.171,0.035,2345,1993,3909,0,0,0,0,0,0
$STATE,5574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5574,begin apogee
$GC,5582,-0.28,0.0,904.3,10.8,198,5709,0.50,0.00,124.28,1.104,6,0.143,0.000,2502,1919,3299,0,0,0,0,0,0
$STATE,5711,end apogee,CONTROL_FINISHED_OK
$STATE,5711,begin climb
$GC,5714,0.77,156.2,908.7,0.0,201,5857,1.02,0.00,134.73,1.068,6,0.098,0.000,2840,1919,2663,0,0,0,0,0,0
$GC,6080,0.77,156.2,850.4,19.8,210,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1919,2658,0,0,0,0,0,0
$GC,6324,0.77,156.2,800.9,20.4,216,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1919,2653,0,0,0,0,0,0
$GC,6567,0.77,156.2,751.9,20.0,222,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1919,2652,0,0,0,0,0,0
$GC,6812,0.77,156.2,704.8,19.1,228,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1919,2651,0,0,0,0,0,0
$GC,7054,0.77,156.2,658.3,18.9,234,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1918,2649,0,0,0,0,0,0
$GC,7299,0.77,156.2,612.9,18.5,240,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1919,2648,0,0,0,0,0,0
$GC,7542,0.77,156.2,568.9,17.9,246,7546,0.00,2.28,0.00,0.000,4,0.000,0.058,2840,3340,2647,0,0,0,0,0,0
$GC,7570,0.77,156.2,563.6,19.2,246,7574,0.00,2.17,0.00,0.000,6,0.000,0.035,2850,1925,2647,0,0,0,0,0,0
$GC,7825,0.77,156.2,515.9,18.7,253,7828,0.00,2.15,0.00,0.000,4,0.000,0.044,2861,515,2646,0,0,0,0,0,0
$GC,7880,0.77,156.2,505.4,18.5,254,7884,0.00,2.15,0.00,0.000,6,0.000,0.038,2861,1932,2644,0,0,0,0,0,0
$GC,8153,0.77,156.2,456.0,18.1,261,8157,0.00,2.22,0.00,0.000,4,0.000,0.055,2858,3336,2644,0,0,0,0,0,0
$GC,8226,0.77,156.2,441.1,20.7,262,8230,0.00,2.15,0.00,0.000,6,0.000,0.035,2872,1924,2645,0,0,0,0,0,0
$GC,8481,0.77,156.2,393.0,18.8,269,8485,0.00,2.28,0.00,0.000,4,0.000,0.055,2870,3345,2643,0,0,0,0,0,0
$GC,8510,0.77,156.2,387.3,20.7,269,8515,0.15,2.15,0.00,0.000,6,0.196,0.035,2843,1931,2644,0,0,0,0,0,0
$GC,8760,0.77,156.2,348.8,14.8,275,8764,0.00,2.22,0.00,0.000,4,0.000,0.052,2843,3336,2643,0,0,0,0,0,0
$GC,8798,0.77,156.2,343.0,15.4,275,8805,0.00,2.17,0.00,0.000,6,0.000,0.034,2852,1916,2644,0,0,0,0,0,0
$GC,9048,0.77,156.2,307.4,14.4,282,9052,0.00,2.10,0.00,0.000,4,0.000,0.041,2863,522,2643,0,0,0,0,0,0
$GC,9070,0.77,156.2,304.0,15.8,282,9074,0.00,2.12,0.00,0.000,6,0.000,0.039,2864,1934,2641,0,0,0,0,0,0
$GC,9329,0.77,156.2,264.9,14.3,294,9333,0.00,2.20,0.00,0.000,4,0.000,0.053,2863,3337,2641,0,0,0,0,0,0
$GC,9412,0.77,156.2,253.7,13.5,297,9418,0.00,2.15,0.00,0.000,6,0.000,0.032,2874,1932,2641,0,0,0,0,0,0
$GC,9667,0.77,156.2,221.5,12.9,310,9671,0.00,2.12,0.00,0.000,4,0.000,0.041,2885,519,2640,0,0,0,0,0,0
$GC,9705,0.77,156.2,216.2,13.7,311,9712,0.15,2.15,0.00,0.000,6,0.189,0.038,2849,1935,2638,0,0,0,0,0,0
$GC,9967,0.77,156.2,184.0,12.0,330,9971,0.00,2.20,0.00,0.000,4,0.000,0.052,2849,3336,2640,0,0,0,0,0,0
$GC,10087,0.77,156.2,166.7,12.8,340,10094,0.00,2.17,0.00,0.000,6,0.000,0.033,2858,1922,2642,0,0,0,0,0,0
$GC,10353,0.77,156.2,141.0,9.9,365,10357,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3342,2641,0,0,0,0,0,0
$GC,10605,0.87,234.1,123.8,5.7,387,10672,0.00,2.15,59.03,0.555,6,0.000,0.031,2868,1930,2346,0,0,0,0,0,0
$GC,10927,0.87,234.1,95.2,11.6,417,10931,0.00,2.22,0.00,0.000,4,0.000,0.047,2868,3332,2343,0,0,0,0,0,0
$GC,10970,0.87,234.1,89.7,12.0,420,10977,0.00,2.17,0.00,0.000,6,0.000,0.038,2879,1939,2345,0,0,0,0,0,0
$GC,11236,0.87,234.1,56.4,11.8,445,11240,0.00,2.17,0.00,0.000,4,0.000,0.046,2879,3336,2342,0,0,0,0,0,0
$GC,11310,0.87,234.1,46.3,16.6,451,11314,0.00,2.12,0.00,0.000,6,0.000,0.032,2889,1926,2343,0,0,0,0,0,0
$GC,11573,0.87,234.1,3.4,14.6,490,11581,0.00,2.12,0.00,0.000,4,0.000,0.039,2901,527,2343,0,0,0,0,0,0
$STATE,11587,end climb,SURFACE_DEPTH_REACHED
$STATE,11587,begin surface coast
$FINISH,0.3,1.011520
$STATE,11604,end surface coast,CONTROL_FINISHED_OK
$STATE,11605,begin surface
$SM_CCo,11627,266.27,0.438,0,0,395,713.08
$SM_GC,1.04,0.00,0.00,266.27,0.000,0.000,0.438,43,2022,395,-7.96,0.62,713.08
$IRIDIUM_FIX,1959.59,-15645.37,300113,212107
$TT8_MAMPS,0.060593
$HUMID,1078754184
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,26.00
$XPDR_PINGS,109
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6338936832
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45341474816
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,31.790
$10V_AH,10.1,29.392
$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,19.775,121.525,318.025,266.275,0.000,122.096,186.947,965.877,27.250,0.000,32.453,1081.739,8594.389,647.550,2860.786,511.429,33.347,1377.664,0.000,1648.552,0.000,0.541,0.000
$DEVICE_MAMPS,256.178,110.448,1103.713,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,337.891,0.000,804.170,0.000,0.000,0.000,0.000,14671.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.684,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,23595,495
$CAP_FILE_SIZE,129847,0
$CFSIZE,260165632,189595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,266.6,1
$GPS,080811,064454,2006.808,-15643.323,25,1.4,43,9.7