version: 66.07
glider: 513
mission: 7
dive: 226
start: 8 8 111 21 24 0
data:
$ID,513
$MISSION,7
$DIVE,226
$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,-426195.41
$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,37
$R_STBD_OVSHOOT,44
$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,225
$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
$GPS1,080811,210826,2009.447,-15638.687,109,3.1,128,9.7
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.1
$GPS2,080811,212303,2009.412,-15638.707,13,1.8,14,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.248,0.052
$KALMAN_X,-50798.0,869.8,545.8,75493.0,-9707.4
$KALMAN_Y,-2871.5,-2579.9,-121.4,23597.5,5070.9
$MHEAD_RNG_PITCHd_Wd,48.2,18329,-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,-156.2,0.0,0.0,0,87,0.00,0.00,-57.53,0.000,2,0.000,0.000,36,2006,3745,0,0,0,0,0,0
$GC,91,-0.77,-156.2,3.8,-6.0,9,112,9.73,0.00,-3.25,0.000,6,0.245,0.000,2337,2003,3940,0,0,0,0,0,0
$GC,370,-0.77,-156.2,121.1,-41.0,39,374,0.00,2.17,0.00,0.000,4,0.000,0.054,2328,3396,3942,0,0,0,0,0,0
$GC,423,-0.77,-156.2,137.8,-32.3,43,427,0.00,2.12,0.00,0.000,6,0.000,0.034,2328,1985,3943,0,0,0,0,0,0
$GC,686,-0.77,-156.2,202.3,-24.6,67,690,0.00,2.10,0.00,0.000,4,0.000,0.044,2328,594,3943,0,0,0,0,0,0
$GC,741,-0.77,-156.2,215.6,-20.4,69,747,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,1989,3943,0,0,0,0,0,0
$GC,996,-0.77,-156.2,268.6,-20.9,82,1001,0.12,2.22,0.00,0.000,4,0.180,0.053,2339,3415,3946,0,0,0,0,0,0
$GC,1045,-0.77,-156.2,277.9,-16.6,84,1050,0.00,2.10,0.00,0.000,6,0.000,0.031,2335,2002,3946,0,0,0,0,0,0
$GC,1304,-0.77,-156.2,323.5,-17.4,94,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1994,3947,0,0,0,0,0,0
$GC,1547,-0.77,-156.2,365.2,-16.7,100,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1994,3948,0,0,0,0,0,0
$GC,1790,-0.77,-156.2,400.4,-14.2,106,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3947,0,0,0,0,0,0
$GC,2034,-0.77,-156.2,433.8,-13.7,112,2038,0.00,2.20,0.00,0.000,4,0.000,0.051,2328,3414,3945,0,0,0,0,0,0
$GC,2112,-0.77,-156.2,444.8,-14.1,113,2118,0.00,2.15,0.00,0.000,6,0.000,0.034,2330,1989,3945,0,0,0,0,0,0
$GC,2362,-0.77,-156.2,481.9,-15.3,120,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1983,3942,0,0,0,0,0,0
$GC,2605,-0.77,-156.2,517.8,-14.8,126,2609,0.00,2.10,0.00,0.000,4,0.000,0.044,2328,595,3940,0,0,0,0,0,0
$GC,2628,-0.77,-156.2,521.1,-14.6,126,2632,0.00,2.17,0.00,0.000,6,0.000,0.043,2318,2013,3940,0,0,0,0,0,0
$GC,2885,-0.77,-156.2,559.0,-15.0,133,2889,0.10,2.20,0.00,0.000,4,0.184,0.051,2333,3409,3937,0,0,0,0,0,0
$GC,3001,-0.77,-156.2,575.1,-12.9,135,3006,0.00,2.15,0.00,0.000,6,0.000,0.035,2333,2007,3934,0,0,0,0,0,0
$GC,3257,-0.77,-156.2,608.9,-13.5,142,3261,0.00,2.20,0.00,0.000,4,0.000,0.052,2322,3402,3934,0,0,0,0,0,0
$GC,3290,-0.77,-156.2,613.7,-14.4,142,3296,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,1988,3934,0,0,0,0,0,0
$GC,3541,-0.77,-156.2,648.7,-13.9,149,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1982,3931,0,0,0,0,0,0
$GC,3784,-0.77,-156.2,681.4,-13.4,155,3788,0.00,2.22,0.00,0.000,4,0.000,0.054,2311,3404,3928,0,0,0,0,0,0
$GC,3834,-0.77,-156.2,688.4,-13.3,156,3839,0.12,2.15,0.00,0.000,6,0.164,0.035,2344,1998,3930,0,0,0,0,0,0
$GC,4106,-0.77,-156.2,718.9,-11.1,163,4110,0.00,2.10,0.00,0.000,4,0.000,0.044,2344,597,3929,0,0,0,0,0,0
$GC,4127,-0.77,-156.2,721.4,-11.1,163,4131,0.00,2.17,0.00,0.000,6,0.000,0.044,2335,1992,3926,0,0,0,0,0,0
$GC,4389,-0.77,-156.2,750.7,-11.2,170,4393,0.00,2.22,0.00,0.000,4,0.000,0.053,2324,3411,3924,0,0,0,0,0,0
$GC,4506,-0.77,-156.2,764.3,-10.9,172,4511,0.00,2.17,0.00,0.000,6,0.000,0.037,2324,2005,3921,0,0,0,0,0,0
$GC,4762,-0.77,-156.2,795.9,-12.5,179,4766,0.00,2.15,0.00,0.000,4,0.000,0.045,2324,590,3920,0,0,0,0,0,0
$GC,4795,-0.77,-156.2,800.3,-13.0,179,4802,0.12,2.20,0.00,0.000,6,0.178,0.044,2344,2015,3920,0,0,0,0,0,0
$GC,5045,-0.77,-156.2,829.4,-11.7,186,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2019,3918,0,0,0,0,0,0
$GC,5290,-0.77,-156.2,857.7,-11.6,192,5294,0.00,2.17,0.00,0.000,4,0.000,0.054,2335,3400,3916,0,0,0,0,0,0
$GC,5352,-0.77,-156.2,864.9,-11.6,193,5356,0.00,2.12,0.00,0.000,6,0.000,0.035,2335,2000,3915,0,0,0,0,0,0
$GC,5613,-0.77,-156.2,895.6,-11.8,200,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1994,3915,0,0,0,0,0,0
$STATE,5651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5651,begin apogee
$GC,5658,-0.28,0.0,900.2,11.8,201,5787,0.55,0.00,126.43,1.102,6,0.146,0.000,2499,1906,3302,0,0,0,0,0,0
$STATE,5790,end apogee,CONTROL_FINISHED_OK
$STATE,5790,begin climb
$GC,5794,0.77,156.2,904.3,0.0,204,5934,1.05,0.00,136.48,1.065,6,0.097,0.000,2842,1904,2665,0,0,0,0,0,0
$GC,6177,0.77,156.2,839.9,20.6,214,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1904,2656,0,0,0,0,0,0
$GC,6421,0.77,156.2,790.7,20.1,220,6425,0.00,2.10,0.00,0.000,4,0.000,0.040,2853,531,2654,0,0,0,0,0,0
$GC,6476,0.77,156.2,779.2,20.8,221,6479,0.00,2.15,0.00,0.000,6,0.000,0.037,2853,1939,2651,0,0,0,0,0,0
$GC,6749,0.77,156.2,724.0,20.6,228,6753,0.00,2.22,0.00,0.000,4,0.000,0.054,2853,3336,2652,0,0,0,0,0,0
$GC,6799,0.77,156.2,712.8,22.3,229,6803,0.00,2.12,0.00,0.000,6,0.000,0.034,2865,1932,2652,0,0,0,0,0,0
$GC,7077,0.77,156.2,653.7,21.5,236,7081,0.00,2.12,0.00,0.000,4,0.000,0.040,2875,512,2653,0,0,0,0,0,0
$GC,7118,0.77,156.2,645.2,22.2,237,7122,0.00,2.15,0.00,0.000,6,0.000,0.036,2874,1932,2648,0,0,0,0,0,0
$GC,7401,0.77,156.2,586.3,20.5,244,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1935,2648,0,0,0,0,0,0
$GC,7645,0.77,156.2,534.8,20.8,250,7649,0.00,2.20,0.00,0.000,4,0.000,0.053,2875,3334,2648,0,0,0,0,0,0
$GC,7741,0.77,156.2,513.5,22.1,252,7746,0.15,2.15,0.00,0.000,6,0.198,0.033,2850,1929,2648,0,0,0,0,0,0
$GC,8012,0.77,156.2,462.3,18.3,259,8016,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,527,2647,0,0,0,0,0,0
$GC,8057,0.77,156.2,453.9,18.5,260,8061,0.00,2.15,0.00,0.000,6,0.000,0.037,2859,1937,2645,0,0,0,0,0,0
$GC,8341,0.77,156.2,403.1,17.7,267,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1939,2645,0,0,0,0,0,0
$GC,8584,0.77,156.2,360.9,17.0,273,8588,0.00,2.20,0.00,0.000,4,0.000,0.053,2859,3331,2645,0,0,0,0,0,0
$GC,8617,0.77,156.2,354.9,17.8,273,8623,0.00,2.12,0.00,0.000,6,0.000,0.032,2870,1919,2645,0,0,0,0,0,0
$GC,8868,0.77,156.2,312.6,17.1,280,8872,0.00,2.10,0.00,0.000,4,0.000,0.040,2881,522,2645,0,0,0,0,0,0
$GC,8907,0.77,156.2,305.3,18.3,280,8914,0.12,2.15,0.00,0.000,6,0.198,0.035,2851,1940,2644,0,0,0,0,0,0
$GC,9160,0.77,156.2,267.1,14.3,292,9164,0.00,2.17,0.00,0.000,4,0.000,0.051,2851,3334,2643,0,0,0,0,0,0
$GC,9210,0.77,156.2,259.7,14.1,294,9214,0.00,2.12,0.00,0.000,6,0.000,0.031,2860,1916,2644,0,0,0,0,0,0
$GC,9469,0.77,156.2,227.0,11.7,307,9473,0.00,2.25,0.00,0.000,4,0.000,0.051,2860,3335,2644,0,0,0,0,0,0
$GC,9549,0.77,156.2,216.3,12.8,310,9554,0.00,2.12,0.00,0.000,6,0.000,0.031,2871,1931,2644,0,0,0,0,0,0
$GC,9809,0.77,156.2,182.9,14.0,329,9813,0.00,2.12,0.00,0.000,4,0.000,0.038,2882,519,2644,0,0,0,0,0,0
$GC,9829,0.77,156.2,180.1,13.6,330,9833,0.12,2.10,0.00,0.000,6,0.195,0.033,2853,1935,2642,0,0,0,0,0,0
$GC,10092,0.77,156.2,147.9,11.8,354,10096,0.00,2.10,0.00,0.000,4,0.000,0.039,2863,530,2642,0,0,0,0,0,0
$GC,10225,0.79,168.8,133.6,8.1,365,10243,0.00,2.12,8.25,0.509,6,0.000,0.033,2862,1926,2611,0,0,0,0,0,0
$GC,10499,0.79,171.0,111.3,8.5,391,10512,0.00,2.15,3.83,0.366,4,0.000,0.038,2873,530,2601,0,0,0,0,0,0
$GC,10617,0.92,277.4,104.8,4.6,401,10709,0.00,2.12,85.05,0.539,6,0.000,0.032,2873,1932,2169,0,0,0,0,0,0
$GC,10975,0.92,277.4,62.4,14.7,434,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1935,2161,0,0,0,0,0,0
$GC,11232,0.92,277.4,24.8,14.7,461,11239,0.00,2.20,0.00,0.000,4,0.000,0.047,2873,3321,2163,0,0,0,0,0,0
$STATE,11377,end climb,SURFACE_DEPTH_REACHED
$STATE,11378,begin surface coast
$FINISH,0.4,1.022900
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11437,9.30,0.397,0,0,2075,300.24
$SM_GC,2.21,0.00,0.00,9.30,0.000,0.000,0.397,51,1991,2075,-7.96,-0.25,300.24
$IRIDIUM_FIX,2001.88,-15640.25,310113,151519
$TT8_MAMPS,0.260013
$HUMID,1078969668
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6265044992
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,44628606976
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,32.527
$10V_AH,10.1,29.935
$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,19.650,107.675,360.025,9.300,0.000,56.933,69.437,474.195,24.750,0.000,18.503,1055.556,8261.265,444.169,2176.894,395.484,33.343,1132.942,0.000,1574.021,0.000,0.542,0.000
$DEVICE_MAMPS,245.440,91.273,1102.179,396.539,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,334.735,0.000,794.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,23566,491
$CAP_FILE_SIZE,112134,0
$CFSIZE,260165632,189276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,31.868,194.8,1
$GPS,090811,003857,1656.094,-15730.946,171,2.3,190,9.3