version: 66.07
glider: 513
mission: 7
dive: 224
start: 8 8 111 14 25 25
data:
$ID,513
$MISSION,7
$DIVE,224
$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,-426142.28
$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,69
$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,223
$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
$GPS1,080811,140409,2008.281,-15641.324,30,1.4,30,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.3
$GPS2,080811,142426,2008.337,-15641.369,9,1.7,9,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.246,0.060
$KALMAN_X,-46398.5,759.9,515.6,66605.5,-8887.5
$KALMAN_Y,-3024.9,477.9,-1218.1,19794.0,5286.4
$MHEAD_RNG_PITCHd_Wd,59.9,23291,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,138,0.00,0.00,-108.32,0.000,2,0.000,0.000,37,2037,3586,0,0,0,0,0,0
$GC,142,-0.77,-156.2,3.1,-4.9,16,164,9.77,2.22,-6.40,0.000,4,0.250,0.057,2344,603,3936,0,0,0,0,0,0
$GC,192,-0.77,-156.2,23.5,-44.6,23,200,0.00,2.15,0.00,0.000,6,0.000,0.051,2336,1957,3938,0,0,0,0,0,0
$GC,463,-0.77,-156.2,128.6,-35.8,49,467,0.00,2.28,0.00,0.000,4,0.000,0.054,2324,3416,3938,0,0,0,0,0,0
$GC,628,-0.77,-156.2,172.4,-22.4,63,632,0.00,2.12,0.00,0.000,6,0.000,0.033,2324,2009,3940,0,0,0,0,0,0
$GC,886,-0.77,-156.2,233.0,-20.6,80,889,0.00,2.22,0.00,0.000,4,0.000,0.053,2313,3423,3941,0,0,0,0,0,0
$GC,935,-0.77,-156.2,243.6,-20.2,82,940,0.12,2.15,0.00,0.000,6,0.167,0.034,2345,1996,3942,0,0,0,0,0,0
$GC,1190,-0.77,-156.2,288.4,-16.4,94,1194,0.00,2.10,0.00,0.000,4,0.000,0.043,2345,584,3942,0,0,0,0,0,0
$GC,1212,-0.77,-156.2,292.1,-16.2,95,1216,0.00,2.15,0.00,0.000,6,0.000,0.042,2336,2013,3943,0,0,0,0,0,0
$GC,1474,-0.77,-156.2,336.7,-17.1,103,1478,0.00,2.12,0.00,0.000,4,0.000,0.042,2336,594,3942,0,0,0,0,0,0
$GC,1508,-0.77,-156.2,342.5,-17.4,103,1514,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2004,3942,0,0,0,0,0,0
$GC,1757,-0.77,-156.2,383.5,-16.3,110,1761,0.00,2.15,0.00,0.000,4,0.000,0.051,2315,3404,3941,0,0,0,0,0,0
$GC,1835,-0.77,-156.2,396.8,-16.4,111,1843,0.12,2.12,0.00,0.000,6,0.161,0.032,2347,1991,3940,0,0,0,0,0,0
$GC,2086,-0.77,-156.2,432.2,-14.2,118,2090,0.00,2.22,0.00,0.000,4,0.000,0.052,2335,3408,3936,0,0,0,0,0,0
$GC,2147,-0.77,-156.2,440.8,-13.2,119,2151,0.00,2.12,0.00,0.000,6,0.000,0.033,2338,1997,3937,0,0,0,0,0,0
$GC,2420,-0.77,-156.2,480.6,-15.3,126,2424,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3416,3932,0,0,0,0,0,0
$GC,2476,-0.77,-156.2,489.6,-15.0,127,2480,0.00,2.15,0.00,0.000,6,0.000,0.031,2324,1984,3933,0,0,0,0,0,0
$GC,2742,-0.77,-156.2,533.0,-16.6,134,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1978,3931,0,0,0,0,0,0
$GC,2986,-0.77,-156.2,571.2,-15.4,140,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1978,3929,0,0,0,0,0,0
$GC,3231,-0.77,-156.2,605.4,-13.9,146,3235,0.00,2.22,0.00,0.000,4,0.000,0.052,2317,3403,3925,0,0,0,0,0,0
$GC,3276,-0.77,-156.2,612.0,-13.6,147,3280,0.00,2.12,0.00,0.000,6,0.000,0.035,2317,2002,3925,0,0,0,0,0,0
$GC,3564,-0.77,-156.2,652.8,-14.1,154,3566,0.10,0.00,0.00,0.000,6,0.190,0.000,2341,1996,3926,0,0,0,0,0,0
$GC,3809,-0.77,-156.2,682.4,-12.0,160,3813,0.00,2.22,0.00,0.000,4,0.000,0.054,2332,3408,3917,0,0,0,0,0,0
$GC,3927,-0.77,-156.2,696.2,-11.4,162,3931,0.00,2.12,0.00,0.000,6,0.000,0.035,2331,2003,3915,0,0,0,0,0,0
$GC,4182,-0.77,-156.2,726.6,-12.0,169,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1997,3915,0,0,0,0,0,0
$GC,4425,-0.77,-156.2,754.7,-11.6,175,4429,0.00,2.22,0.00,0.000,4,0.000,0.053,2321,3419,3912,0,0,0,0,0,0
$GC,4472,-0.77,-156.2,760.3,-12.4,176,4476,0.00,2.12,0.00,0.000,6,0.000,0.035,2321,2000,3912,0,0,0,0,0,0
$GC,4761,-0.77,-156.2,799.1,-13.4,183,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1994,3910,0,0,0,0,0,0
$GC,5005,-0.77,-156.2,831.0,-12.9,189,5009,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3407,3908,0,0,0,0,0,0
$GC,5045,-0.77,-156.2,836.2,-13.1,190,5050,0.12,2.12,0.00,0.000,6,0.166,0.035,2342,2000,3907,0,0,0,0,0,0
$GC,5328,-0.77,-156.2,868.8,-11.4,197,5332,0.00,2.15,0.00,0.000,4,0.000,0.044,2342,588,3905,0,0,0,0,0,0
$GC,5372,-0.77,-156.2,874.4,-11.5,198,5376,0.00,2.17,0.00,0.000,6,0.000,0.041,2334,2010,3904,0,0,0,0,0,0
$STATE,5613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5613,begin apogee
$GC,5621,-0.28,0.0,904.0,11.9,204,5748,0.55,0.00,123.82,1.104,6,0.145,0.000,2499,1911,3300,0,0,0,0,0,0
$STATE,5751,end apogee,CONTROL_FINISHED_OK
$STATE,5751,begin climb
$GC,5753,0.77,156.2,908.6,0.0,207,5896,1.02,2.22,134.55,1.065,4,0.098,0.039,2849,534,2663,0,0,0,0,0,0
$GC,5946,0.77,156.2,882.9,20.9,211,5950,0.00,2.22,0.00,0.000,6,0.000,0.036,2849,1923,2657,0,0,0,0,0,0
$GC,6202,0.77,156.2,829.4,21.1,218,6206,0.00,2.15,0.00,0.000,4,0.000,0.039,2860,528,2651,0,0,0,0,0,0
$GC,6230,0.77,156.2,823.2,22.3,218,6234,0.00,2.17,0.00,0.000,6,0.000,0.037,2860,1937,2652,0,0,0,0,0,0
$GC,6480,0.77,156.2,770.0,20.9,224,6484,0.00,2.22,0.00,0.000,4,0.000,0.054,2860,3338,2651,0,0,0,0,0,0
$GC,6507,0.77,156.2,763.7,22.3,224,6511,0.00,2.17,0.00,0.000,6,0.000,0.033,2871,1929,2648,0,0,0,0,0,0
$GC,6763,0.77,156.2,709.1,21.7,231,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1925,2650,0,0,0,0,0,0
$GC,7005,0.77,156.2,657.4,20.6,237,7010,0.00,2.22,0.00,0.000,4,0.000,0.051,2862,3340,2652,0,0,0,0,0,0
$GC,7033,0.77,156.2,651.3,22.0,237,7037,0.00,2.17,0.00,0.000,6,0.000,0.033,2871,1930,2649,0,0,0,0,0,0
$GC,7288,0.77,156.2,596.1,21.5,244,7292,0.00,2.10,0.00,0.000,4,0.000,0.039,2879,526,2647,0,0,0,0,0,0
$GC,7311,0.77,156.2,591.0,21.9,244,7316,0.15,2.12,0.00,0.000,6,0.200,0.035,2847,1939,2645,0,0,0,0,0,0
$GC,7566,0.77,156.2,542.2,19.1,251,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1943,2645,0,0,0,0,0,0
$GC,7810,0.77,156.2,497.0,18.0,257,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1943,2644,0,0,0,0,0,0
$GC,8053,0.77,156.2,456.1,16.5,263,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1943,2644,0,0,0,0,0,0
$GC,8298,0.77,156.2,415.5,16.6,269,8302,0.00,2.20,0.00,0.000,4,0.000,0.053,2847,3333,2643,0,0,0,0,0,0
$GC,8375,0.77,156.2,401.3,17.5,270,8381,0.00,2.15,0.00,0.000,6,0.000,0.034,2856,1924,2644,0,0,0,0,0,0
$GC,8625,0.77,156.2,358.4,17.8,277,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1920,2643,0,0,0,0,0,0
$GC,8870,0.77,156.2,320.5,15.4,283,8874,0.00,2.10,0.00,0.000,4,0.000,0.041,2867,518,2643,0,0,0,0,0,0
$GC,8965,0.77,156.2,305.5,15.4,285,8969,0.00,2.15,0.00,0.000,6,0.000,0.036,2867,1933,2640,0,0,0,0,0,0
$GC,9220,0.77,156.2,266.6,15.7,296,9224,0.00,2.20,0.00,0.000,4,0.000,0.051,2865,3334,2642,0,0,0,0,0,0
$GC,9306,0.77,156.2,253.6,16.5,300,9311,0.12,2.12,0.00,0.000,6,0.199,0.032,2845,1914,2642,0,0,0,0,0,0
$GC,9572,0.77,156.2,220.9,11.8,313,9575,0.00,2.08,0.00,0.000,4,0.000,0.041,2859,530,2641,0,0,0,0,0,0
$GC,9680,0.77,156.2,208.2,10.5,318,9684,0.00,2.10,0.00,0.000,6,0.000,0.035,2855,1938,2639,0,0,0,0,0,0
$GC,9941,0.77,156.2,180.0,10.8,338,9945,0.00,2.17,0.00,0.000,4,0.000,0.051,2859,3339,2640,0,0,0,0,0,0
$GC,10006,0.77,156.2,172.0,12.9,343,10014,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1927,2640,0,0,0,0,0,0
$GC,10273,0.77,156.2,143.9,9.3,368,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1924,2640,0,0,0,0,0,0
$GC,10537,0.89,250.2,125.6,5.1,393,10620,0.00,2.22,71.28,0.557,4,0.000,0.038,2880,522,2279,0,0,0,0,0,0
$GC,10669,0.89,250.2,116.6,9.7,404,10673,0.00,2.12,0.00,0.000,6,0.000,0.033,2880,1929,2276,0,0,0,0,0,0
$GC,10935,0.89,250.2,84.3,13.6,428,10939,0.00,2.22,0.00,0.000,4,0.000,0.048,2882,3337,2274,0,0,0,0,0,0
$GC,11019,0.89,250.2,70.8,15.5,435,11023,0.00,2.15,0.00,0.000,6,0.000,0.031,2891,1928,2275,0,0,0,0,0,0
$GC,11284,0.89,250.2,27.7,17.8,460,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1924,2275,0,0,0,0,0,0
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11434,begin surface coast
$FINISH,0.2,1.011439
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11478,22.85,0.433,0,0,2077,300.24
$SM_GC,0.84,0.00,0.00,22.85,0.000,0.000,0.433,47,2039,2077,-7.97,1.19,300.24
$IRIDIUM_FIX,2001.88,-15650.50,310113,080851
$TT8_MAMPS,0.25311
$HUMID,1078952893
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261964800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,44927975424
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,32.259
$10V_AH,10.1,29.770
$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,19.625,108.575,329.650,22.850,0.000,86.379,114.357,634.021,26.250,0.000,11.349,1054.025,8353.881,427.600,2490.174,405.384,33.341,1179.156,0.000,1632.815,0.000,0.541,0.000
$DEVICE_MAMPS,250.042,92.040,1103.713,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.879,0.000,797.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,23540,492
$CAP_FILE_SIZE,115786,0
$CFSIZE,260165632,189411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,250.8,1
$GPS,080811,173820,2008.716,-15640.101,13,1.9,13,9.7