version: 66.07
glider: 513
mission: 7
dive: 227
start: 8 9 111 0 51 33
data:
$ID,513
$MISSION,7
$DIVE,227
$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,-426294.69
$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,41
$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,226
$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
$GPS1,090811,003857,1656.094,-15730.946,171,2.3,190,9.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.4
$GPS2,090811,005036,2009.894,-15637.507,86,1.3,96,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.250,0.040
$KALMAN_X,-53310.3,987.5,576.6,79947.6,-10415.6
$KALMAN_Y,-4122.3,-1239.2,-1017.9,25300.2,5706.5
$MHEAD_RNG_PITCHd_Wd,359.4,16110,-43.0,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.74,-20.8,0.0,0.0,0,81,0.00,0.00,-47.15,0.000,6,0.000,0.000,36,1995,3385,0,0,0,0,0,0
$GC,85,-1.76,-37.1,2.8,-4.1,8,101,8.32,2.22,-1.23,0.000,4,0.244,0.063,2010,3414,3444,0,0,0,0,0,0
$GC,344,-1.76,-37.1,118.0,-52.6,37,351,0.00,2.17,0.00,0.000,6,0.000,0.035,2019,2001,3451,0,0,0,0,0,0
$GC,610,-1.76,-37.1,195.6,-23.9,62,614,0.00,2.20,0.00,0.000,4,0.000,0.052,2015,3408,3452,0,0,0,0,0,0
$GC,867,-1.76,-37.1,256.1,-20.7,73,873,0.00,2.10,0.00,0.000,6,0.000,0.031,2018,1989,3455,0,0,0,0,0,0
$GC,1141,-1.76,-37.1,307.9,-18.2,86,1145,0.00,2.20,0.00,0.000,4,0.000,0.052,2005,3405,3456,0,0,0,0,0,0
$GC,1399,-1.76,-37.1,358.9,-20.1,91,1406,0.00,2.10,0.00,0.000,6,0.000,0.035,2009,2015,3456,0,0,0,0,0,0
$GC,1649,-1.76,-37.1,404.8,-17.4,98,1653,0.00,2.20,0.00,0.000,4,0.000,0.054,2006,3414,3456,0,0,0,0,0,0
$GC,1879,-1.76,-37.1,447.6,-17.6,103,1883,0.00,2.15,0.00,0.000,6,0.000,0.033,2012,1982,3459,0,0,0,0,0,0
$GC,2152,-1.76,-37.1,490.5,-16.0,110,2156,0.00,2.25,0.00,0.000,4,0.000,0.054,2004,3415,3454,0,0,0,0,0,0
$GC,2164,-1.76,-37.1,492.5,-16.4,110,2168,0.00,2.12,0.00,0.000,6,0.000,0.034,2018,2001,3454,0,0,0,0,0,0
$GC,2431,-1.76,-37.1,536.6,-16.3,117,2435,0.00,2.20,0.00,0.000,4,0.000,0.054,2004,3409,3451,0,0,0,0,0,0
$GC,2689,-1.76,-37.1,581.1,-16.1,122,2693,0.00,2.12,0.00,0.000,6,0.000,0.035,2012,1996,3449,0,0,0,0,0,0
$GC,2946,-1.76,-37.1,617.9,-14.2,129,2950,0.00,2.22,0.00,0.000,4,0.000,0.056,2003,3408,3447,0,0,0,0,0,0
$GC,3181,-1.76,-37.1,655.5,-15.9,134,3185,0.00,2.15,0.00,0.000,6,0.000,0.035,2011,2005,3445,0,0,0,0,0,0
$GC,3455,-1.76,-37.1,693.0,-13.7,141,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2000,3442,0,0,0,0,0,0
$GC,3697,-1.76,-37.1,725.2,-13.5,147,3701,0.00,2.25,0.00,0.000,4,0.000,0.056,2003,3408,3440,0,0,0,0,0,0
$GC,3955,-1.76,-37.1,763.0,-14.7,152,3961,0.00,2.12,0.00,0.000,6,0.000,0.035,2012,2000,3437,0,0,0,0,0,0
$GC,4205,-1.76,-37.1,796.1,-13.1,159,4209,0.00,2.22,0.00,0.000,4,0.000,0.054,2003,3412,3436,0,0,0,0,0,0
$GC,4305,-1.76,-37.1,809.6,-13.3,161,4309,0.00,2.15,0.00,0.000,6,0.000,0.035,2011,1998,3435,0,0,0,0,0,0
$GC,4579,-1.76,-37.1,845.3,-13.1,168,4583,0.00,2.22,0.00,0.000,4,0.000,0.055,2003,3403,3433,0,0,0,0,0,0
$GC,4758,-1.76,-37.1,869.4,-11.7,172,4762,0.00,2.12,0.00,0.000,6,0.000,0.035,2011,1998,3431,0,0,0,0,0,0
$STATE,5033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5033,begin apogee
$GC,5041,-0.28,0.0,904.1,12.7,179,5077,1.92,0.00,28.02,1.073,6,0.223,0.000,2493,1925,3300,0,0,0,0,0,0
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5101,1.76,37.1,906.6,0.0,180,5143,1.92,2.28,33.15,1.060,4,0.097,0.044,3157,3331,3148,0,0,0,0,0,0
$GC,5177,1.76,37.1,898.7,16.1,181,5182,0.00,2.17,0.00,0.000,6,0.000,0.025,3166,1910,3147,0,0,0,0,0,0
$GC,5427,1.76,37.1,854.5,18.0,187,5431,0.00,2.25,0.00,0.000,4,0.000,0.045,3157,3333,3143,0,0,0,0,0,0
$GC,5544,1.76,37.1,834.0,16.6,189,5548,0.00,2.12,0.00,0.000,6,0.000,0.028,3166,1920,3143,0,0,0,0,0,0
$GC,5801,1.76,37.1,791.5,16.6,196,5805,0.00,2.22,0.00,0.000,4,0.000,0.046,3157,3340,3140,0,0,0,0,0,0
$GC,6058,1.76,37.1,749.1,15.7,201,6064,0.00,2.10,0.00,0.000,6,0.000,0.026,3166,1914,3139,0,0,0,0,0,0
$GC,6310,1.76,37.1,713.2,14.1,208,6314,0.00,2.22,0.00,0.000,4,0.000,0.045,3157,3340,3139,0,0,0,0,0,0
$GC,6567,1.76,37.1,676.8,13.4,213,6573,0.00,2.08,0.00,0.000,6,0.000,0.026,3166,1928,3137,0,0,0,0,0,0
$GC,6819,1.76,37.1,645.4,12.5,220,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1924,3136,0,0,0,0,0,0
$GC,7061,1.76,37.1,617.6,11.1,226,7065,0.00,2.20,0.00,0.000,4,0.000,0.043,3157,3345,3135,0,0,0,0,0,0
$GC,7319,1.76,37.1,590.9,10.3,231,7326,0.00,2.08,0.00,0.000,6,0.000,0.025,3166,1937,3134,0,0,0,0,0,0
$GC,7569,1.76,37.1,564.7,10.3,238,7573,0.00,2.17,0.00,0.000,4,0.000,0.041,3157,3347,3132,0,0,0,0,0,0
$GC,7827,1.76,37.1,540.9,9.7,243,7834,0.00,2.10,0.00,0.000,6,0.000,0.025,3165,1912,3132,0,0,0,0,0,0
$GC,8077,1.76,37.1,519.1,8.7,250,8081,0.00,2.20,0.00,0.000,4,0.000,0.043,3157,3337,3133,0,0,0,0,0,0
$GC,8328,1.77,39.1,497.5,8.0,255,8332,0.00,2.08,0.00,0.000,6,0.000,0.025,3166,1925,3132,0,0,0,0,0,0
$GC,8584,1.77,42.7,477.9,7.6,262,8587,0.00,2.05,0.00,0.000,4,0.000,0.031,3177,539,3132,0,0,0,0,0,0
$GC,8842,1.78,49.4,459.5,6.7,267,8855,0.00,2.08,8.05,0.721,6,0.000,0.030,3174,1946,3100,0,0,0,0,0,0
$GC,9097,1.78,52.2,439.8,7.8,274,9106,0.00,2.12,4.10,0.545,4,0.000,0.031,3177,540,3086,0,0,0,0,0,0
$GC,9360,1.79,58.0,419.4,7.0,279,9371,0.00,2.05,6.45,0.659,6,0.000,0.031,3169,1923,3061,0,0,0,0,0,0
$GC,9650,1.79,58.0,393.9,9.1,287,9653,0.00,2.05,0.00,0.000,4,0.000,0.032,3177,547,3062,0,0,0,0,0,0
$GC,9908,1.80,69.6,374.6,5.4,292,9924,0.00,2.08,10.80,0.709,6,0.000,0.031,3168,1939,3020,0,0,0,0,0,0
$GC,10204,1.80,69.6,348.0,9.4,300,10207,0.00,2.08,0.00,0.000,4,0.000,0.032,3177,546,3016,0,0,0,0,0,0
$GC,10462,1.81,72.0,326.4,7.9,305,10467,0.00,2.08,0.00,0.000,6,0.000,0.032,3169,1924,3016,0,0,0,0,0,0
$GC,10714,1.81,74.4,306.7,7.9,312,10724,0.00,2.20,5.40,0.559,4,0.000,0.041,3158,3344,2997,0,0,0,0,0,0
$GC,10768,1.81,74.4,301.8,9.4,313,10772,0.00,2.10,0.00,0.000,6,0.000,0.025,3167,1928,2997,0,0,0,0,0,0
$GC,11025,1.82,79.5,283.6,7.2,325,11036,0.00,2.08,6.12,0.568,4,0.000,0.030,3177,528,2976,0,0,0,0,0,0
$GC,11289,1.82,85.8,260.6,6.9,337,11301,0.00,2.10,6.65,0.566,6,0.000,0.031,3169,1943,2952,0,0,0,0,0,0
$GC,11556,1.82,85.8,239.7,9.0,350,11559,0.00,2.12,0.00,0.000,4,0.000,0.043,3158,3324,2950,0,0,0,0,0,0
$GC,11645,1.83,86.5,232.2,8.4,354,11649,0.00,2.05,0.00,0.000,6,0.000,0.025,3167,1932,2950,0,0,0,0,0,0
$GC,11906,1.84,95.1,213.5,6.2,367,11920,0.00,2.10,9.27,0.568,4,0.000,0.031,3177,534,2912,0,0,0,0,0,0
$GC,12049,1.84,95.1,203.1,8.7,373,12053,0.00,2.08,0.00,0.000,6,0.000,0.030,3169,1932,2910,0,0,0,0,0,0
$GC,12321,1.85,105.8,186.4,5.6,396,12337,0.00,2.12,10.48,0.549,4,0.000,0.035,3177,539,2868,0,0,0,0,0,0
$GC,12587,1.85,105.8,158.8,9.8,420,12591,0.00,2.08,0.00,0.000,6,0.000,0.033,3169,1930,2866,0,0,0,0,0,0
$GC,12853,1.88,132.7,151.8,1.2,444,12880,0.00,2.10,22.62,0.551,4,0.000,0.033,3177,533,2758,0,0,0,0,0,0
$GC,13130,1.88,132.7,123.5,8.8,468,13137,0.00,2.10,0.00,0.000,6,0.000,0.028,3169,1938,2755,0,0,0,0,0,0
$GC,13396,1.92,159.4,123.7,1.2,493,13424,0.12,2.10,22.73,0.516,4,0.127,0.030,3221,533,2650,0,0,0,0,0,0
$GC,13677,1.92,159.4,92.6,13.6,517,13684,0.00,2.10,0.00,0.000,6,0.000,0.030,3212,1929,2651,0,0,0,0,0,0
$GC,13940,1.92,159.4,51.6,16.3,542,13944,0.00,2.12,0.00,0.000,4,0.000,0.041,3202,3328,2648,0,0,0,0,0,0
$GC,14198,1.92,159.4,10.7,16.5,575,14207,0.00,2.08,0.00,0.000,6,0.000,0.022,3211,1916,2651,0,0,0,0,0,0
$STATE,14251,end climb,SURFACE_DEPTH_REACHED
$STATE,14251,begin surface coast
$FINISH,0.4,1.022944
$STATE,14268,end surface coast,CONTROL_FINISHED_OK
$STATE,14268,begin surface
$SM_CCo,14290,71.40,0.436,0,0,2075,300.24
$SM_GC,1.03,0.00,0.00,71.40,0.000,0.000,0.436,54,2021,2075,-7.94,0.59,300.24
$IRIDIUM_FIX,2001.88,-15638.14,310113,151511
$TT8_MAMPS,0.252343
$HUMID,1078789023
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,61
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6300303360
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,44480331776
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,32.600
$10V_AH,10.0,30.045
$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,20.550,124.175,173.850,71.400,0.000,28.150,33.692,343.897,15.250,0.000,98.642,1454.380,9599.279,328.974,3270.920,417.626,33.346,1465.062,0.000,2723.416,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,105.846,1073.033,436.423,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,401.239,0.000,903.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353744
$DATA_FILE_SIZE,30279,587
$CAP_FILE_SIZE,145099,0
$CFSIZE,260165632,189173760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,216.7,1
$GPS,090811,045230,2009.789,-15637.610,36,1.9,37,9.7