version: 66.07
glider: 513
mission: 7
dive: 223
start: 8 8 111 10 45 42
data:
$ID,513
$MISSION,7
$DIVE,223
$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,-426130.31
$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,46
$R_STBD_OVSHOOT,55
$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,222
$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
$GPS1,080811,101806,2007.591,-15642.350,68,1.0,79,9.7
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.1
$GPS2,080811,104443,2007.753,-15642.544,10,1.1,15,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.238,0.087
$KALMAN_X,-44026.7,833.4,409.5,62218.2,-8418.4
$KALMAN_Y,-4862.9,1658.9,493.7,17620.7,2323.7
$MHEAD_RNG_PITCHd_Wd,61.5,25596,-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,23,begin dive
$GC,26,-0.77,-156.2,0.0,0.0,0,80,0.00,0.00,-51.03,0.000,2,0.000,0.000,35,2028,3520,0,0,0,0,0,0
$GC,84,-0.77,-156.2,3.0,-4.3,8,113,9.70,2.22,-7.38,0.000,4,0.245,0.051,2346,594,3939,0,0,0,0,0,0
$GC,121,-0.77,-156.2,19.7,-40.2,13,129,0.00,2.17,0.00,0.000,6,0.000,0.043,2337,1983,3939,0,0,0,0,0,0
$GC,397,-0.77,-156.2,121.5,-35.3,40,401,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3408,3940,0,0,0,0,0,0
$GC,514,-0.77,-156.2,153.3,-23.1,50,518,0.00,2.12,0.00,0.000,6,0.000,0.031,2326,2003,3941,0,0,0,0,0,0
$GC,787,-0.77,-156.2,216.4,-23.7,72,791,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3407,3943,0,0,0,0,0,0
$GC,853,-0.77,-156.2,231.3,-20.4,75,858,0.12,2.12,0.00,0.000,6,0.167,0.033,2347,2002,3942,0,0,0,0,0,0
$GC,1112,-0.77,-156.2,279.3,-17.4,88,1116,0.00,2.10,0.00,0.000,4,0.000,0.041,2348,585,3944,0,0,0,0,0,0
$GC,1158,-0.77,-156.2,287.2,-16.7,90,1162,0.00,2.15,0.00,0.000,6,0.000,0.041,2339,1999,3944,0,0,0,0,0,0
$GC,1414,-0.77,-156.2,332.9,-18.4,99,1418,0.00,2.17,0.00,0.000,4,0.000,0.050,2328,3418,3945,0,0,0,0,0,0
$GC,1442,-0.77,-156.2,337.7,-17.3,99,1446,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2001,3944,0,0,0,0,0,0
$GC,1698,-0.77,-156.2,380.1,-16.7,106,1702,0.00,2.17,0.00,0.000,4,0.000,0.052,2317,3406,3944,0,0,0,0,0,0
$GC,1738,-0.77,-156.2,386.7,-15.7,107,1743,0.10,2.12,0.00,0.000,6,0.166,0.033,2342,1995,3944,0,0,0,0,0,0
$GC,2021,-0.77,-156.2,427.1,-14.5,114,2025,0.00,2.20,0.00,0.000,4,0.000,0.051,2333,3417,3942,0,0,0,0,0,0
$GC,2043,-0.77,-156.2,430.5,-15.1,114,2047,0.00,2.12,0.00,0.000,6,0.000,0.032,2333,2001,3942,0,0,0,0,0,0
$GC,2298,-0.77,-156.2,469.6,-15.2,121,2302,0.00,2.20,0.00,0.000,4,0.000,0.051,2323,3409,3939,0,0,0,0,0,0
$GC,2437,-0.77,-156.2,491.3,-15.5,124,2441,0.00,2.12,0.00,0.000,6,0.000,0.033,2323,2001,3939,0,0,0,0,0,0
$GC,2722,-0.77,-156.2,535.3,-15.6,131,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1994,3934,0,0,0,0,0,0
$GC,2964,-0.77,-156.2,572.9,-15.3,137,2968,0.00,2.20,0.00,0.000,4,0.000,0.051,2312,3415,3936,0,0,0,0,0,0
$GC,3004,-0.77,-156.2,579.0,-15.7,138,3009,0.12,2.12,0.00,0.000,6,0.162,0.031,2344,1999,3932,0,0,0,0,0,0
$GC,3288,-0.77,-156.2,616.4,-12.8,145,3292,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,591,3930,0,0,0,0,0,0
$GC,3320,-0.77,-156.2,621.0,-13.8,145,3326,0.00,2.15,0.00,0.000,6,0.000,0.041,2336,2001,3928,0,0,0,0,0,0
$GC,3571,-0.77,-156.2,652.8,-12.5,152,3575,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3412,3925,0,0,0,0,0,0
$GC,3661,-0.77,-156.2,664.0,-12.4,154,3665,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,2001,3924,0,0,0,0,0,0
$GC,3938,-0.77,-156.2,699.0,-12.8,161,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1995,3922,0,0,0,0,0,0
$GC,4182,-0.77,-156.2,730.5,-13.0,167,4186,0.00,2.22,0.00,0.000,4,0.000,0.053,2314,3410,3923,0,0,0,0,0,0
$GC,4220,-0.77,-156.2,735.7,-13.9,167,4227,0.12,2.15,0.00,0.000,6,0.168,0.034,2345,2000,3919,0,0,0,0,0,0
$GC,4471,-0.77,-156.2,764.5,-11.5,174,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1993,3921,0,0,0,0,0,0
$GC,4714,-0.77,-156.2,793.3,-11.8,180,4718,0.00,2.22,0.00,0.000,4,0.000,0.054,2337,3413,3915,0,0,0,0,0,0
$GC,4769,-0.77,-156.2,800.1,-12.3,181,4773,0.00,2.17,0.00,0.000,6,0.000,0.035,2337,1987,3914,0,0,0,0,0,0
$GC,5043,-0.77,-156.2,832.0,-11.8,188,5047,0.00,2.25,0.00,0.000,4,0.000,0.054,2326,3413,3912,0,0,0,0,0,0
$GC,5070,-0.77,-156.2,835.7,-12.6,188,5074,0.00,2.15,0.00,0.000,6,0.000,0.034,2326,2002,3912,0,0,0,0,0,0
$GC,5325,-0.77,-156.2,868.1,-12.7,195,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1995,3910,0,0,0,0,0,0
$GC,5570,-0.77,-156.2,898.7,-12.5,201,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1995,3910,0,0,0,0,0,0
$STATE,5607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5607,begin apogee
$GC,5614,-0.28,0.0,903.8,12.6,202,5742,0.60,0.00,124.95,1.108,6,0.148,0.000,2505,1922,3300,0,0,0,0,0,0
$STATE,5744,end apogee,CONTROL_FINISHED_OK
$STATE,5744,begin climb
$GC,5747,0.77,156.2,907.7,0.0,205,5889,1.02,0.00,134.88,1.071,6,0.094,0.000,2843,1922,2666,0,0,0,0,0,0
$GC,6134,0.77,156.2,840.3,20.9,215,6138,0.00,2.17,0.00,0.000,4,0.000,0.041,2853,531,2658,0,0,0,0,0,0
$GC,6161,0.77,156.2,834.1,21.0,215,6165,0.00,2.20,0.00,0.000,6,0.000,0.036,2854,1926,2655,0,0,0,0,0,0
$GC,6417,0.77,156.2,779.7,21.4,222,6421,0.00,2.25,0.00,0.000,4,0.000,0.054,2854,3336,2655,0,0,0,0,0,0
$GC,6456,0.77,156.2,770.9,23.2,223,6460,0.00,2.15,0.00,0.000,6,0.000,0.032,2864,1926,2655,0,0,0,0,0,0
$GC,6740,0.77,156.2,709.4,21.6,230,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1923,2653,0,0,0,0,0,0
$GC,6983,0.77,156.2,657.1,21.2,236,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1923,2652,0,0,0,0,0,0
$GC,7226,0.77,156.2,607.1,20.6,242,7230,0.00,2.10,0.00,0.000,4,0.000,0.040,2875,526,2652,0,0,0,0,0,0
$GC,7289,0.77,156.2,594.9,18.8,243,7293,0.00,2.15,0.00,0.000,6,0.000,0.037,2875,1938,2649,0,0,0,0,0,0
$GC,7549,0.77,156.2,543.7,19.4,250,7553,0.00,2.20,0.00,0.000,4,0.000,0.052,2875,3340,2649,0,0,0,0,0,0
$GC,7565,0.77,156.2,540.3,18.7,250,7570,0.08,2.17,0.00,0.000,6,0.183,0.034,2852,1931,2649,0,0,0,0,0,0
$GC,7832,0.77,156.2,496.8,15.8,257,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1928,2649,0,0,0,0,0,0
$GC,8075,0.77,156.2,457.9,16.1,263,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1928,2648,0,0,0,0,0,0
$GC,8319,0.77,156.2,415.9,17.7,269,8323,0.00,2.12,0.00,0.000,4,0.000,0.040,2861,516,2647,0,0,0,0,0,0
$GC,8336,0.77,156.2,413.1,17.2,269,8340,0.00,2.15,0.00,0.000,6,0.000,0.035,2853,1928,2646,0,0,0,0,0,0
$GC,8598,0.77,156.2,367.1,17.8,276,8602,0.00,2.20,0.00,0.000,4,0.000,0.051,2842,3334,2646,0,0,0,0,0,0
$GC,8709,0.77,156.2,347.3,18.1,278,8713,0.00,2.17,0.00,0.000,6,0.000,0.032,2851,1923,2647,0,0,0,0,0,0
$GC,8970,0.77,156.2,305.7,15.3,285,8974,0.00,2.10,0.00,0.000,4,0.000,0.040,2863,521,2646,0,0,0,0,0,0
$GC,8999,0.77,156.2,301.6,14.3,285,9003,0.00,2.12,0.00,0.000,6,0.000,0.034,2860,1939,2646,0,0,0,0,0,0
$GC,9252,0.77,156.2,266.7,13.3,296,9256,0.00,2.17,0.00,0.000,4,0.000,0.051,2860,3334,2645,0,0,0,0,0,0
$GC,9313,0.77,156.2,258.0,13.4,299,9318,0.00,2.15,0.00,0.000,6,0.000,0.030,2870,1917,2645,0,0,0,0,0,0
$GC,9580,0.77,156.2,225.6,13.3,312,9584,0.00,2.10,0.00,0.000,4,0.000,0.039,2880,513,2645,0,0,0,0,0,0
$GC,9754,0.77,156.2,200.8,13.4,320,9759,0.15,2.12,0.00,0.000,6,0.191,0.033,2844,1940,2644,0,0,0,0,0,0
$GC,10018,0.77,156.2,171.8,11.3,344,10022,0.00,2.17,0.00,0.000,4,0.000,0.050,2844,3335,2643,0,0,0,0,0,0
$GC,10113,0.77,156.2,159.7,13.4,352,10117,0.00,2.10,0.00,0.000,6,0.000,0.031,2853,1927,2644,0,0,0,0,0,0
$GC,10380,0.86,226.9,137.0,5.9,376,10440,0.00,2.15,54.45,0.573,4,0.000,0.038,2864,521,2373,0,0,0,0,0,0
$GC,10465,0.86,226.9,130.4,9.5,383,10469,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1928,2370,0,0,0,0,0,0
$GC,10731,0.86,226.9,103.5,8.8,407,10735,0.00,2.20,0.00,0.000,4,0.000,0.048,2864,3337,2368,0,0,0,0,0,0
$GC,10826,0.86,226.9,92.8,12.8,415,10830,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1924,2369,0,0,0,0,0,0
$GC,11092,0.86,226.9,60.3,13.9,439,11096,0.00,2.20,0.00,0.000,4,0.000,0.048,2876,3342,2369,0,0,0,0,0,0
$GC,11111,0.86,226.9,57.4,14.0,440,11115,0.00,2.10,0.00,0.000,6,0.000,0.029,2886,1928,2367,0,0,0,0,0,0
$GC,11378,0.86,226.9,23.3,14.6,468,11385,0.00,2.22,0.00,0.000,4,0.000,0.044,2886,3341,2369,0,0,0,0,0,0
$GC,11394,0.86,226.9,20.7,14.8,470,11401,0.00,2.15,0.00,0.000,6,0.000,0.029,2897,1921,2370,0,0,0,0,0,0
$STATE,11510,end climb,SURFACE_DEPTH_REACHED
$STATE,11510,begin surface coast
$FINISH,0.3,1.012499
$STATE,11534,end surface coast,CONTROL_FINISHED_OK
$STATE,11535,begin surface
$SM_CCo,11555,266.20,0.438,0,0,391,712.83
$SM_GC,0.90,0.00,0.00,266.20,0.000,0.000,0.438,45,2034,391,-7.96,0.96,712.83
$IRIDIUM_FIX,1959.59,-15641.16,310113,040456
$TT8_MAMPS,0.060593
$HUMID,1078782571
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.90
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6338871296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,45033652224
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,32.115
$10V_AH,10.1,29.686
$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,19.450,121.300,314.275,266.200,0.000,148.507,190.843,765.908,26.250,0.000,17.120,1091.030,8518.446,674.568,2680.336,462.605,33.347,1369.448,0.000,1613.594,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,107.380,1108.315,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.744,0.000,804.122,0.000,0.000,0.000,0.000,27845.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.057,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,23594,496
$CAP_FILE_SIZE,126194,0
$CFSIZE,260165632,189464576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,285.8,1
$GPS,080811,140409,2008.281,-15641.324,30,1.4,30,9.7