version: 66.07
glider: 513
mission: 7
dive: 225
start: 8 8 111 17 55 10
data:
$ID,513
$MISSION,7
$DIVE,225
$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,-426176.28
$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,42
$R_STBD_OVSHOOT,78
$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,224
$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
$GPS1,080811,173820,2008.716,-15640.101,13,1.9,13,9.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-81.8
$GPS2,080811,175414,2008.697,-15640.078,31,1.8,31,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.244,0.069
$KALMAN_X,-48739.4,742.4,598.9,71125.4,-9595.4
$KALMAN_Y,-3181.1,-1765.4,-45.9,21701.5,4018.0
$MHEAD_RNG_PITCHd_Wd,49.6,21045,-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,25,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,87,0.00,0.00,-57.40,0.000,2,0.000,0.000,35,2042,3741,0,0,0,0,0,0
$GC,91,-0.77,-156.2,3.9,-6.2,9,113,9.75,2.22,-3.22,0.000,4,0.246,0.053,2350,600,3941,0,0,0,0,0,0
$GC,153,-0.77,-156.2,35.7,-42.8,18,157,0.00,2.08,0.00,0.000,6,0.000,0.042,2341,1962,3943,0,0,0,0,0,0
$GC,417,-0.77,-156.2,130.7,-36.6,42,421,0.00,2.25,0.00,0.000,4,0.000,0.052,2330,3403,3943,0,0,0,0,0,0
$GC,536,-0.77,-156.2,163.9,-22.6,52,545,0.00,2.15,0.00,0.000,6,0.000,0.034,2330,2002,3944,0,0,0,0,0,0
$GC,807,-0.77,-156.2,225.2,-21.4,73,811,0.00,2.20,0.00,0.000,4,0.000,0.051,2319,3400,3947,0,0,0,0,0,0
$GC,869,-0.77,-156.2,237.7,-18.8,76,873,0.00,2.10,0.00,0.000,6,0.000,0.034,2322,2002,3946,0,0,0,0,0,0
$GC,1135,-0.77,-156.2,288.8,-19.1,89,1138,0.00,2.10,0.00,0.000,4,0.000,0.042,2322,586,3948,0,0,0,0,0,0
$GC,1156,-0.77,-156.2,293.9,-21.2,90,1161,0.10,2.15,0.00,0.000,6,0.148,0.041,2342,1991,3948,0,0,0,0,0,0
$GC,1437,-0.77,-156.2,341.4,-16.5,98,1441,0.00,2.10,0.00,0.000,4,0.000,0.041,2342,594,3948,0,0,0,0,0,0
$GC,1459,-0.77,-156.2,345.2,-16.6,98,1463,0.00,2.12,0.00,0.000,6,0.000,0.040,2334,2009,3948,0,0,0,0,0,0
$GC,1722,-0.77,-156.2,386.2,-15.5,105,1726,0.00,2.17,0.00,0.000,4,0.000,0.051,2324,3414,3948,0,0,0,0,0,0
$GC,1816,-0.77,-156.2,401.8,-15.3,107,1820,0.00,2.10,0.00,0.000,6,0.000,0.031,2323,1998,3948,0,0,0,0,0,0
$GC,2100,-0.77,-156.2,449.1,-17.2,114,2104,0.00,2.20,0.00,0.000,4,0.000,0.052,2312,3410,3946,0,0,0,0,0,0
$GC,2212,-0.77,-156.2,468.1,-15.7,116,2217,0.12,2.12,0.00,0.000,6,0.161,0.034,2345,1992,3945,0,0,0,0,0,0
$GC,2473,-0.77,-156.2,504.4,-13.5,123,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1990,3943,0,0,0,0,0,0
$GC,2717,-0.77,-156.2,534.5,-12.3,129,2721,0.00,2.22,0.00,0.000,4,0.000,0.053,2336,3410,3941,0,0,0,0,0,0
$GC,2756,-0.77,-156.2,539.6,-12.6,129,2762,0.00,2.12,0.00,0.000,6,0.000,0.034,2336,1994,3940,0,0,0,0,0,0
$GC,3006,-0.77,-156.2,573.3,-13.7,136,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1986,3938,0,0,0,0,0,0
$GC,3249,-0.77,-156.2,605.3,-13.1,142,3253,0.00,2.20,0.00,0.000,4,0.000,0.052,2326,3404,3935,0,0,0,0,0,0
$GC,3278,-0.77,-156.2,609.0,-13.5,142,3282,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1989,3935,0,0,0,0,0,0
$GC,3527,-0.77,-156.2,642.5,-13.2,148,3531,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3401,3930,0,0,0,0,0,0
$GC,3566,-0.77,-156.2,647.9,-14.0,148,3573,0.12,2.10,0.00,0.000,6,0.164,0.034,2348,2001,3932,0,0,0,0,0,0
$GC,3816,-0.77,-156.2,679.1,-12.4,155,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2002,3930,0,0,0,0,0,0
$GC,4061,-0.77,-156.2,710.5,-12.8,161,4065,0.00,2.20,0.00,0.000,4,0.000,0.054,2339,3401,3928,0,0,0,0,0,0
$GC,4088,-0.77,-156.2,714.3,-12.6,161,4092,0.00,2.10,0.00,0.000,6,0.000,0.034,2339,1999,3927,0,0,0,0,0,0
$GC,4344,-0.77,-156.2,747.7,-13.2,168,4348,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3401,3925,0,0,0,0,0,0
$GC,4383,-0.77,-156.2,753.2,-13.7,168,4390,0.00,2.12,0.00,0.000,6,0.000,0.034,2329,1997,3925,0,0,0,0,0,0
$GC,4633,-0.77,-156.2,787.6,-13.8,175,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1990,3923,0,0,0,0,0,0
$GC,4877,-0.77,-156.2,820.4,-13.5,181,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1990,3921,0,0,0,0,0,0
$GC,5120,-0.77,-156.2,851.8,-12.8,187,5124,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3405,3918,0,0,0,0,0,0
$GC,5161,-0.77,-156.2,856.9,-13.0,188,5165,0.00,2.12,0.00,0.000,6,0.000,0.035,2318,2000,3919,0,0,0,0,0,0
$GC,5444,-0.77,-156.2,895.1,-13.6,195,5448,0.10,2.15,0.00,0.000,4,0.196,0.045,2344,590,3916,0,0,0,0,0,0
$GC,5467,-0.77,-156.2,898.2,-14.4,195,5471,0.00,2.17,0.00,0.000,6,0.000,0.044,2336,1993,3917,0,0,0,0,0,0
$STATE,5517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5517,begin apogee
$GC,5525,-0.28,0.0,904.5,11.9,197,5654,0.57,0.00,126.47,1.104,6,0.143,0.000,2508,1924,3302,0,0,0,0,0,0
$STATE,5657,end apogee,CONTROL_FINISHED_OK
$STATE,5657,begin climb
$GC,5659,0.77,156.2,908.6,0.0,200,5802,1.00,2.28,135.18,1.065,4,0.093,0.039,2854,530,2664,0,0,0,0,0,0
$GC,5820,0.77,156.2,889.3,19.1,204,5824,0.00,2.25,0.00,0.000,6,0.000,0.037,2854,1931,2660,0,0,0,0,0,0
$GC,6103,0.77,156.2,828.6,21.5,211,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1933,2653,0,0,0,0,0,0
$GC,6347,0.77,156.2,777.5,20.8,217,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1932,2654,0,0,0,0,0,0
$GC,6591,0.77,156.2,726.0,21.1,223,6595,0.00,2.28,0.00,0.000,4,0.000,0.055,2855,3345,2653,0,0,0,0,0,0
$GC,6631,0.77,156.2,716.6,23.9,224,6635,0.00,2.15,0.00,0.000,6,0.000,0.034,2865,1932,2654,0,0,0,0,0,0
$GC,6914,0.77,156.2,655.4,21.5,231,6918,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,525,2651,0,0,0,0,0,0
$GC,6942,0.77,156.2,649.2,21.6,231,6946,0.00,2.15,0.00,0.000,6,0.000,0.038,2876,1939,2654,0,0,0,0,0,0
$GC,7197,0.77,156.2,596.1,20.4,238,7201,0.00,2.20,0.00,0.000,4,0.000,0.054,2872,3326,2649,0,0,0,0,0,0
$GC,7274,0.77,156.2,578.5,22.8,239,7280,0.15,2.15,0.00,0.000,6,0.210,0.033,2853,1919,2649,0,0,0,0,0,0
$GC,7525,0.77,156.2,533.9,17.6,246,7529,0.00,2.22,0.00,0.000,4,0.000,0.052,2841,3330,2648,0,0,0,0,0,0
$GC,7558,0.77,156.2,527.5,18.7,246,7564,0.00,2.15,0.00,0.000,6,0.000,0.033,2847,1925,2648,0,0,0,0,0,0
$GC,7809,0.77,156.2,484.4,16.8,253,7812,0.00,2.12,0.00,0.000,4,0.000,0.040,2862,516,2647,0,0,0,0,0,0
$GC,7830,0.77,156.2,480.5,17.1,253,7834,0.00,2.12,0.00,0.000,6,0.000,0.036,2860,1928,2646,0,0,0,0,0,0
$GC,8098,0.77,156.2,435.5,17.1,260,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1930,2646,0,0,0,0,0,0
$GC,8341,0.77,156.2,394.2,17.1,266,8345,0.00,2.22,0.00,0.000,4,0.000,0.054,2861,3334,2645,0,0,0,0,0,0
$GC,8441,0.77,156.2,375.9,17.3,268,8445,0.00,2.12,0.00,0.000,6,0.000,0.033,2873,1926,2646,0,0,0,0,0,0
$GC,8715,0.77,156.2,328.3,17.4,275,8719,0.00,2.22,0.00,0.000,4,0.000,0.051,2864,3336,2645,0,0,0,0,0,0
$GC,8731,0.77,156.2,325.1,17.3,275,8734,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1924,2645,0,0,0,0,0,0
$GC,8999,0.77,156.2,283.3,13.8,284,9003,0.00,2.10,0.00,0.000,4,0.000,0.039,2884,515,2645,0,0,0,0,0,0
$GC,9055,0.77,156.2,274.8,16.1,286,9061,0.15,2.15,0.00,0.000,6,0.192,0.035,2848,1938,2643,0,0,0,0,0,0
$GC,9309,0.77,156.2,241.2,13.2,299,9313,0.00,2.17,0.00,0.000,4,0.000,0.040,2857,511,2643,0,0,0,0,0,0
$GC,9358,0.77,156.2,233.9,14.7,301,9362,0.00,2.15,0.00,0.000,6,0.000,0.034,2857,1934,2641,0,0,0,0,0,0
$GC,9619,0.77,156.2,199.3,11.8,314,9623,0.00,2.17,0.00,0.000,4,0.000,0.051,2857,3331,2642,0,0,0,0,0,0
$GC,9674,0.77,156.2,192.1,12.5,318,9682,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,1926,2643,0,0,0,0,0,0
$GC,9940,0.77,156.2,160.0,13.0,343,9944,0.00,2.08,0.00,0.000,4,0.000,0.038,2875,527,2643,0,0,0,0,0,0
$GC,10016,0.77,156.2,149.7,12.6,349,10020,0.12,2.10,0.00,0.000,6,0.191,0.033,2849,1942,2642,0,0,0,0,0,0
$GC,10279,0.79,169.8,126.2,8.1,373,10293,0.00,2.20,8.82,0.502,4,0.000,0.038,2858,519,2609,0,0,0,0,0,0
$GC,10473,0.89,251.3,114.4,5.5,390,10544,0.00,2.10,66.10,0.544,6,0.000,0.033,2859,1932,2275,0,0,0,0,0,0
$GC,10798,0.89,251.3,80.5,12.3,420,10802,0.00,2.20,0.00,0.000,4,0.000,0.048,2858,3340,2271,0,0,0,0,0,0
$GC,10828,0.89,251.3,76.3,14.3,422,10832,0.00,2.17,0.00,0.000,6,0.000,0.033,2869,1927,2270,0,0,0,0,0,0
$GC,11094,0.89,251.3,40.8,14.2,446,11098,0.00,2.12,0.00,0.000,4,0.000,0.045,2880,513,2270,0,0,0,0,0,0
$GC,11124,0.89,251.3,36.0,14.4,448,11128,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1941,2271,0,0,0,0,0,0
$STATE,11335,end climb,SURFACE_DEPTH_REACHED
$STATE,11336,begin surface coast
$FINISH,0.2,1.023076
$STATE,11354,end surface coast,CONTROL_FINISHED_OK
$STATE,11355,begin surface
$SM_CCo,11385,22.35,0.428,0,0,2074,300.24
$SM_GC,0.83,0.00,0.00,22.35,0.000,0.000,0.428,56,2009,2074,-7.94,0.11,300.24
$IRIDIUM_FIX,2001.88,-15642.36,310113,121222
$TT8_MAMPS,0.287625
$HUMID,1078920635
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261932032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,44775833600
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,32.394
$10V_AH,10.1,29.852
$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,19.700,125.475,336.575,22.350,0.000,60.774,70.658,521.375,25.750,0.000,33.373,1067.167,8204.250,408.376,2286.491,403.289,33.349,1140.733,0.000,1613.205,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,143.429,1103.713,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,331.586,0.000,790.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,23660,486
$CAP_FILE_SIZE,118771,0
$CFSIZE,260165632,189341696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,265.5,1
$GPS,080811,210826,2009.447,-15638.687,109,3.1,128,9.7