version: 66.07
glider: 513
mission: 7
dive: 222
start: 8 8 111 7 5 11
data:
$ID,513
$MISSION,7
$DIVE,222
$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,-426112.56
$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,40
$R_STBD_OVSHOOT,47
$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,221
$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
$GPS1,080811,064454,2006.808,-15643.323,25,1.4,43,9.7
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.7
$GPS2,080811,070414,2006.848,-15643.438,14,1.3,14,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.212,-0.139
$KALMAN_X,-42228.2,931.0,701.6,58462.8,-9111.4
$KALMAN_Y,-9821.8,1084.8,906.9,21059.2,-94.7
$MHEAD_RNG_PITCHd_Wd,55.1,27805,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.77,-156.2,0.0,0.0,0,142,0.00,0.00,-112.38,0.000,2,0.000,0.000,38,2023,3733,0,0,0,0,0,0
$GC,146,-0.77,-156.2,3.8,-5.8,17,168,9.80,2.22,-3.33,0.000,4,0.251,0.063,2326,3402,3935,0,0,0,0,0,0
$GC,193,-0.77,-156.2,28.7,-54.4,24,202,0.00,2.20,0.00,0.000,6,0.000,0.042,2329,2009,3939,0,0,0,0,0,0
$GC,458,-0.77,-156.2,130.6,-35.6,49,462,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3403,3940,0,0,0,0,0,0
$GC,543,-0.77,-156.2,156.0,-25.0,56,547,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,1975,3940,0,0,0,0,0,0
$GC,813,-0.77,-156.2,220.2,-22.4,77,817,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3411,3941,0,0,0,0,0,0
$GC,853,-0.77,-156.2,229.7,-23.7,79,858,0.12,2.10,0.00,0.000,6,0.169,0.032,2341,2004,3941,0,0,0,0,0,0
$GC,1118,-0.77,-156.2,279.0,-18.9,92,1122,0.00,2.10,0.00,0.000,4,0.000,0.040,2341,585,3941,0,0,0,0,0,0
$GC,1184,-0.77,-156.2,291.2,-16.6,95,1188,0.00,2.12,0.00,0.000,6,0.000,0.040,2332,1997,3941,0,0,0,0,0,0
$GC,1447,-0.77,-156.2,335.7,-17.1,103,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1997,3941,0,0,0,0,0,0
$GC,1690,-0.77,-156.2,375.6,-16.7,109,1694,0.00,2.17,0.00,0.000,4,0.000,0.050,2322,3407,3939,0,0,0,0,0,0
$GC,1746,-0.77,-156.2,384.7,-15.6,110,1750,0.00,2.15,0.00,0.000,6,0.000,0.032,2321,1982,3940,0,0,0,0,0,0
$GC,2019,-0.77,-156.2,428.2,-16.1,117,2023,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3409,3938,0,0,0,0,0,0
$GC,2065,-0.77,-156.2,435.7,-16.3,118,2069,0.12,2.12,0.00,0.000,6,0.163,0.035,2343,2002,3937,0,0,0,0,0,0
$GC,2354,-0.77,-156.2,475.4,-13.6,125,2358,0.00,2.17,0.00,0.000,4,0.000,0.051,2334,3399,3935,0,0,0,0,0,0
$GC,2382,-0.77,-156.2,479.5,-14.3,125,2386,0.00,2.12,0.00,0.000,6,0.000,0.035,2334,1997,3935,0,0,0,0,0,0
$GC,2637,-0.77,-156.2,516.6,-14.4,132,2641,0.00,2.22,0.00,0.000,4,0.000,0.053,2328,3408,3932,0,0,0,0,0,0
$GC,2676,-0.77,-156.2,522.1,-14.0,133,2681,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,1996,3931,0,0,0,0,0,0
$GC,2961,-0.77,-156.2,563.6,-14.5,140,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1990,3928,0,0,0,0,0,0
$GC,3203,-0.77,-156.2,598.0,-14.2,146,3207,0.00,2.22,0.00,0.000,4,0.000,0.055,2313,3402,3925,0,0,0,0,0,0
$GC,3236,-0.77,-156.2,603.0,-14.6,146,3241,0.12,2.15,0.00,0.000,6,0.163,0.037,2345,1996,3924,0,0,0,0,0,0
$GC,3486,-0.77,-156.2,633.6,-12.2,152,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1990,3922,0,0,0,0,0,0
$GC,3731,-0.77,-156.2,664.7,-12.8,158,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1990,3916,0,0,0,0,0,0
$GC,3974,-0.77,-156.2,695.5,-12.6,164,3978,0.00,2.22,0.00,0.000,4,0.000,0.058,2342,3395,3916,0,0,0,0,0,0
$GC,4025,-0.77,-156.2,702.1,-13.0,165,4029,0.00,2.15,0.00,0.000,6,0.000,0.036,2336,1989,3915,0,0,0,0,0,0
$GC,4303,-0.77,-156.2,738.8,-13.1,172,4307,0.00,2.22,0.00,0.000,4,0.000,0.056,2332,3394,3913,0,0,0,0,0,0
$GC,4344,-0.77,-156.2,744.4,-13.3,173,4348,0.00,2.10,0.00,0.000,6,0.000,0.035,2327,2003,3913,0,0,0,0,0,0
$GC,4627,-0.77,-156.2,783.7,-13.7,180,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1997,3907,0,0,0,0,0,0
$GC,4872,-0.77,-156.2,816.5,-13.4,186,4876,0.00,2.20,0.00,0.000,4,0.000,0.055,2321,3394,3907,0,0,0,0,0,0
$GC,4949,-0.77,-156.2,827.7,-14.7,187,4956,0.12,2.15,0.00,0.000,6,0.168,0.035,2346,1986,3905,0,0,0,0,0,0
$GC,5199,-0.77,-156.2,857.5,-11.9,194,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1981,3906,0,0,0,0,0,0
$GC,5443,-0.77,-156.2,886.0,-11.5,200,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1980,3903,0,0,0,0,0,0
$STATE,5603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5603,begin apogee
$GC,5610,-0.28,0.0,903.7,10.9,204,5737,0.50,0.00,123.78,1.105,6,0.144,0.000,2500,1980,3300,0,0,0,0,0,0
$STATE,5740,end apogee,CONTROL_FINISHED_OK
$STATE,5740,begin climb
$GC,5742,0.77,156.2,907.5,0.0,207,5885,1.02,2.38,134.55,1.067,4,0.100,0.041,2850,532,2662,0,0,0,0,0,0
$GC,5918,0.77,156.2,883.7,21.1,211,5922,0.00,2.22,0.00,0.000,6,0.000,0.038,2850,1923,2656,0,0,0,0,0,0
$GC,6191,0.77,156.2,826.0,21.2,218,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1923,2653,0,0,0,0,0,0
$GC,6436,0.77,156.2,774.4,21.2,224,6440,0.00,2.28,0.00,0.000,4,0.000,0.054,2850,3338,2655,0,0,0,0,0,0
$GC,6487,0.77,156.2,763.1,22.1,225,6491,0.00,2.17,0.00,0.000,6,0.000,0.034,2861,1932,2655,0,0,0,0,0,0
$GC,6764,0.77,156.2,701.6,21.9,232,6768,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,519,2649,0,0,0,0,0,0
$GC,6791,0.77,156.2,695.3,22.9,232,6795,0.00,2.20,0.00,0.000,6,0.000,0.036,2872,1941,2647,0,0,0,0,0,0
$GC,7048,0.77,156.2,636.9,22.8,239,7052,0.00,2.22,0.00,0.000,4,0.000,0.053,2872,3339,2647,0,0,0,0,0,0
$GC,7091,0.77,156.2,626.1,24.4,240,7096,0.15,2.15,0.00,0.000,6,0.203,0.035,2848,1925,2647,0,0,0,0,0,0
$GC,7370,0.77,156.2,570.8,19.3,247,7374,0.00,2.10,0.00,0.000,4,0.000,0.041,2858,526,2646,0,0,0,0,0,0
$GC,7385,0.77,156.2,567.3,19.5,247,7389,0.00,2.12,0.00,0.000,6,0.000,0.037,2858,1931,2644,0,0,0,0,0,0
$GC,7654,0.77,156.2,513.9,20.0,254,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1936,2644,0,0,0,0,0,0
$GC,7896,0.77,156.2,467.6,18.5,260,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1935,2644,0,0,0,0,0,0
$GC,8141,0.77,156.2,422.5,19.0,266,8145,0.00,2.22,0.00,0.000,4,0.000,0.053,2858,3332,2644,0,0,0,0,0,0
$GC,8180,0.77,156.2,414.3,20.6,267,8184,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1929,2644,0,0,0,0,0,0
$GC,8463,0.77,156.2,362.2,18.0,274,8467,0.00,2.25,0.00,0.000,4,0.000,0.053,2868,3341,2643,0,0,0,0,0,0
$GC,8548,0.77,156.2,347.4,17.9,276,8552,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1922,2643,0,0,0,0,0,0
$GC,8832,0.77,156.2,299.4,17.3,283,8836,0.00,2.12,0.00,0.000,4,0.000,0.041,2888,520,2645,0,0,0,0,0,0
$GC,8853,0.77,156.2,295.5,17.3,284,8858,0.15,2.12,0.00,0.000,6,0.193,0.035,2853,1935,2640,0,0,0,0,0,0
$GC,9114,0.77,156.2,258.6,12.9,297,9118,0.00,2.17,0.00,0.000,4,0.000,0.050,2852,3333,2641,0,0,0,0,0,0
$GC,9147,0.77,156.2,253.8,13.5,298,9152,0.00,2.15,0.00,0.000,6,0.000,0.032,2861,1913,2641,0,0,0,0,0,0
$GC,9400,0.77,156.2,218.0,13.6,311,9404,0.00,2.10,0.00,0.000,4,0.000,0.041,2877,522,2641,0,0,0,0,0,0
$GC,9571,0.77,156.2,194.2,13.4,320,9579,0.00,2.15,0.00,0.000,6,0.000,0.035,2873,1928,2639,0,0,0,0,0,0
$GC,9834,0.77,156.2,158.8,13.4,345,9838,0.00,2.20,0.00,0.000,4,0.000,0.051,2872,3342,2639,0,0,0,0,0,0
$GC,9888,0.77,156.2,151.7,14.0,349,9892,0.12,2.12,0.00,0.000,6,0.192,0.030,2852,1929,2640,0,0,0,0,0,0
$GC,10151,0.78,165.1,127.0,8.2,373,10164,0.00,2.25,4.70,0.422,4,0.000,0.048,2852,3338,2627,0,0,0,0,0,0
$GC,10191,0.79,172.2,124.1,8.3,376,10205,0.00,2.10,7.85,0.492,6,0.000,0.030,2861,1927,2596,0,0,0,0,0,0
$GC,10459,0.85,218.5,107.6,6.9,401,10504,0.00,2.22,37.92,0.537,4,0.000,0.045,2860,3343,2410,0,0,0,0,0,0
$GC,10629,0.85,218.5,91.2,12.0,416,10633,0.00,2.15,0.00,0.000,6,0.000,0.029,2869,1929,2409,0,0,0,0,0,0
$GC,10894,0.85,218.5,62.4,11.9,440,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1925,2407,0,0,0,0,0,0
$GC,11159,0.85,218.5,28.9,13.0,465,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1925,2407,0,0,0,0,0,0
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11350,begin surface coast
$FINISH,0.6,1.023113
$STATE,11380,end surface coast,CONTROL_FINISHED_OK
$STATE,11381,begin surface
$SM_CCo,11401,34.78,0.433,0,0,2075,300.49
$SM_GC,1.67,0.00,0.00,34.78,0.000,0.000,0.433,50,2024,2075,-7.97,0.71,300.49
$IRIDIUM_FIX,2001.88,-15643.26,310113,010130
$TT8_MAMPS,0.252343
$HUMID,1078910313
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.90
$XPDR_PINGS,112
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6262030336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45228589056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,31.930
$10V_AH,10.1,29.478
$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,19.650,108.775,308.800,34.775,0.000,83.702,143.556,588.927,28.000,0.000,16.824,1079.512,8231.944,424.914,2458.110,410.938,33.346,1171.972,0.000,1663.084,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,99.710,1105.247,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.464,0.000,863.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353768
$DATA_FILE_SIZE,26948,506
$CAP_FILE_SIZE,117250,0
$CFSIZE,260165632,189546496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,283.8,1
$GPS,080811,101806,2007.591,-15642.350,68,1.0,79,9.7