version: 66.07
glider: 513
mission: 7
dive: 182
start: 8 2 111 0 11 51
data:
$ID,513
$MISSION,7
$DIVE,182
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,220
$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,-424754.84
$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,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$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,181
$AR_SAMPLENUM,3
$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
$GPS1,010811,234307,1932.294,-15649.922,37,0.9,37,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.5
$GPS2,020811,001056,1932.711,-15650.826,12,1.4,12,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.140,0.194
$KALMAN_X,-93141.7,550.6,790.3,71574.2,-11779.9
$KALMAN_Y,138698.2,-1754.6,-1250.6,-164411.8,11703.9
$MHEAD_RNG_PITCHd_Wd,26.3,86275,-15.7,-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,-0.80,-136.7,0.0,0.0,0,143,0.00,0.00,-113.88,0.000,2,0.000,0.000,38,1957,3811,0,0,0,0,0,0
$GC,147,-0.80,-136.7,4.2,-7.2,18,162,9.48,0.00,-2.08,0.000,6,0.242,0.000,2330,1955,3939,0,0,0,0,0,0
$GC,418,-0.80,-136.7,104.7,-26.2,47,422,0.00,2.22,0.00,0.000,4,0.000,0.048,2321,3389,3941,0,0,0,0,0,0
$GC,536,-0.80,-136.7,132.7,-23.6,57,540,0.00,2.10,0.00,0.000,6,0.000,0.034,2321,1993,3943,0,0,0,0,0,0
$GC,799,-0.80,-136.7,199.3,-23.4,81,803,0.00,2.20,0.00,0.000,4,0.000,0.050,2310,3398,3942,0,0,0,0,0,0
$GC,844,-0.80,-136.7,209.5,-21.1,83,849,0.10,2.10,0.00,0.000,6,0.185,0.033,2333,1986,3943,0,0,0,0,0,0
$GC,1104,-0.80,-136.7,259.8,-17.1,96,1108,0.00,2.20,0.00,0.000,4,0.000,0.050,2325,3394,3943,0,0,0,0,0,0
$GC,1194,-0.80,-136.7,275.7,-17.0,100,1198,0.00,2.10,0.00,0.000,6,0.000,0.031,2325,1978,3943,0,0,0,0,0,0
$GC,1472,-0.80,-136.7,325.5,-18.2,111,1476,0.00,2.17,0.00,0.000,4,0.000,0.049,2314,3394,3943,0,0,0,0,0,0
$GC,1563,-0.80,-136.7,342.3,-18.2,113,1567,0.00,2.10,0.00,0.000,6,0.000,0.033,2314,1984,3943,0,0,0,0,0,0
$GC,1840,-0.80,-136.7,392.9,-18.3,120,1844,0.00,2.20,0.00,0.000,4,0.000,0.049,2300,3394,3940,0,0,0,0,0,0
$GC,1963,-0.80,-136.7,413.6,-16.3,122,1970,0.12,2.10,0.00,0.000,6,0.168,0.033,2335,1986,3939,0,0,0,0,0,0
$GC,2213,-0.80,-136.7,447.9,-13.5,129,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1981,3936,0,0,0,0,0,0
$GC,2458,-0.80,-136.7,483.3,-14.9,135,2462,0.00,2.08,0.00,0.000,4,0.000,0.042,2335,582,3933,0,0,0,0,0,0
$GC,2485,-0.80,-136.7,488.1,-16.4,135,2489,0.00,2.12,0.00,0.000,6,0.000,0.041,2327,1996,3933,0,0,0,0,0,0
$GC,2735,-0.80,-136.7,530.1,-17.0,141,2739,0.00,2.15,0.00,0.000,4,0.000,0.051,2312,3389,3930,0,0,0,0,0,0
$GC,2830,-0.80,-136.7,545.7,-15.7,143,2834,0.00,2.12,0.00,0.000,6,0.000,0.035,2314,1988,3928,0,0,0,0,0,0
$GC,3102,-0.80,-136.7,590.1,-16.5,150,3106,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3390,3925,0,0,0,0,0,0
$GC,3158,-0.80,-136.7,599.8,-16.6,151,3162,0.12,2.15,0.00,0.000,6,0.170,0.035,2341,1974,3924,0,0,0,0,0,0
$GC,3431,-0.80,-136.7,639.5,-14.6,158,3435,0.00,2.08,0.00,0.000,4,0.000,0.045,2336,584,3922,0,0,0,0,0,0
$GC,3458,-0.80,-136.7,643.7,-14.4,158,3462,0.00,2.12,0.00,0.000,6,0.000,0.044,2328,1993,3921,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,680.1,-14.4,165,3718,0.00,2.17,0.00,0.000,4,0.000,0.055,2317,3392,3918,0,0,0,0,0,0
$GC,3775,-0.80,-136.7,688.8,-13.1,166,3779,0.00,2.12,0.00,0.000,6,0.000,0.037,2316,1989,3916,0,0,0,0,0,0
$GC,4048,-0.80,-136.7,727.0,-14.1,173,4052,0.00,2.22,0.00,0.000,4,0.000,0.055,2305,3393,3917,0,0,0,0,0,0
$GC,4075,-0.80,-136.7,731.3,-15.7,173,4080,0.10,2.17,0.00,0.000,6,0.150,0.036,2337,1988,3914,0,0,0,0,0,0
$GC,4330,-0.80,-136.7,764.5,-13.1,180,4334,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3391,3912,0,0,0,0,0,0
$GC,4370,-0.80,-136.7,770.0,-13.5,181,4374,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,1987,3911,0,0,0,0,0,0
$GC,4654,-0.80,-136.7,808.2,-13.5,188,4658,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,3393,3908,0,0,0,0,0,0
$GC,4703,-0.80,-136.7,815.3,-14.8,189,4707,0.00,2.12,0.00,0.000,6,0.000,0.035,2316,1988,3908,0,0,0,0,0,0
$GC,4982,-0.80,-136.7,855.8,-14.9,196,4986,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3393,3906,0,0,0,0,0,0
$GC,5049,-0.80,-136.7,866.7,-15.6,197,5054,0.12,2.12,0.00,0.000,6,0.177,0.035,2336,1988,3905,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5309,-0.28,0.0,904.0,14.7,204,5419,0.55,0.00,106.95,1.114,6,0.147,0.000,2504,1981,3382,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5424,0.80,136.7,909.1,0.0,206,5552,1.00,2.30,118.40,1.078,4,0.091,0.038,2855,552,2822,0,0,0,0,0,0
$GC,5581,0.80,136.7,898.2,15.9,209,5586,0.00,2.22,0.00,0.000,6,0.000,0.039,2848,1957,2817,0,0,0,0,0,0
$GC,5830,0.80,136.7,858.8,15.9,216,5834,0.00,2.30,0.00,0.000,4,0.000,0.054,2836,3368,2813,0,0,0,0,0,0
$GC,5897,0.80,136.7,847.7,16.3,217,5901,0.00,2.20,0.00,0.000,6,0.000,0.032,2846,1950,2813,0,0,0,0,0,0
$GC,6159,0.80,136.7,804.2,16.9,224,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1947,2811,0,0,0,0,0,0
$GC,6402,0.80,136.7,760.6,18.0,230,6406,0.00,2.28,0.00,0.000,4,0.000,0.053,2837,3368,2810,0,0,0,0,0,0
$GC,6474,0.80,136.7,746.7,18.6,231,6478,0.00,2.15,0.00,0.000,6,0.000,0.032,2846,1951,2814,0,0,0,0,0,0
$GC,6725,0.80,136.7,703.5,17.1,237,6729,0.00,2.10,0.00,0.000,4,0.000,0.041,2857,548,2805,0,0,0,0,0,0
$GC,6758,0.80,136.7,697.3,18.3,237,6763,0.00,2.12,0.00,0.000,6,0.000,0.036,2848,1974,2806,0,0,0,0,0,0
$GC,7008,0.80,136.7,653.6,17.2,244,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1974,2806,0,0,0,0,0,0
$GC,7251,0.80,136.7,610.5,17.3,250,7255,0.00,2.12,0.00,0.000,4,0.000,0.038,2857,556,2805,0,0,0,0,0,0
$GC,7268,0.80,136.7,607.7,16.9,250,7272,0.00,2.12,0.00,0.000,6,0.000,0.035,2848,1964,2805,0,0,0,0,0,0
$GC,7529,0.80,136.7,565.9,16.0,257,7533,0.00,2.20,0.00,0.000,4,0.000,0.052,2838,3373,2805,0,0,0,0,0,0
$GC,7551,0.80,136.7,562.1,16.9,257,7555,0.00,2.17,0.00,0.000,6,0.000,0.033,2846,1961,2805,0,0,0,0,0,0
$GC,7813,0.80,136.7,522.1,15.3,264,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1957,2804,0,0,0,0,0,0
$GC,8055,0.80,136.7,483.6,16.2,270,8059,0.00,2.22,0.00,0.000,4,0.000,0.051,2838,3373,2804,0,0,0,0,0,0
$GC,8107,0.80,136.7,475.2,16.8,271,8111,0.00,2.15,0.00,0.000,6,0.000,0.030,2847,1954,2806,0,0,0,0,0,0
$GC,8384,0.80,136.7,432.4,14.9,278,8388,0.00,2.08,0.00,0.000,4,0.000,0.040,2858,559,2803,0,0,0,0,0,0
$GC,8401,0.80,136.7,429.9,14.6,278,8405,0.00,2.10,0.00,0.000,6,0.000,0.035,2850,1962,2801,0,0,0,0,0,0
$GC,8662,0.80,136.7,395.0,13.7,285,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1961,2802,0,0,0,0,0,0
$GC,8906,0.80,136.7,359.7,15.0,291,8910,0.00,2.20,0.00,0.000,4,0.000,0.051,2839,3359,2801,0,0,0,0,0,0
$GC,9089,0.80,136.7,331.1,14.4,295,9093,0.00,2.10,0.00,0.000,6,0.000,0.031,2848,1955,2801,0,0,0,0,0,0
$GC,9367,0.80,136.7,301.3,10.3,302,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1951,2801,0,0,0,0,0,0
$GC,9615,0.80,136.7,270.8,13.5,313,9619,0.00,2.10,0.00,0.000,4,0.000,0.040,2859,554,2801,0,0,0,0,0,0
$GC,9636,0.80,136.7,267.9,12.7,314,9640,0.00,2.10,0.00,0.000,6,0.000,0.035,2850,1960,2799,0,0,0,0,0,0
$GC,9901,0.80,136.7,239.0,10.3,327,9905,0.00,2.20,0.00,0.000,4,0.000,0.050,2840,3362,2798,0,0,0,0,0,0
$GC,10147,0.80,136.7,214.4,11.3,338,10151,0.00,2.15,0.00,0.000,6,0.000,0.031,2848,1947,2800,0,0,0,0,0,0
$GC,10407,0.80,136.7,185.4,10.8,356,10411,0.00,2.20,0.00,0.000,4,0.000,0.048,2839,3369,2799,0,0,0,0,0,0
$GC,10438,0.80,136.7,182.5,10.2,358,10442,0.00,2.10,0.00,0.000,6,0.000,0.030,2848,1956,2800,0,0,0,0,0,0
$GC,10703,0.84,169.0,161.0,7.2,382,10730,0.00,0.00,22.88,0.604,6,0.000,0.000,2845,1952,2690,0,0,0,0,0,0
$GC,10990,0.84,169.0,133.4,10.0,409,10994,0.00,2.20,0.00,0.000,4,0.000,0.048,2840,3366,2692,0,0,0,0,0,0
$GC,11228,0.84,169.0,109.8,8.7,430,11232,0.00,2.10,0.00,0.000,6,0.000,0.029,2849,1953,2689,0,0,0,0,0,0
$GC,11494,0.84,176.3,89.3,8.3,454,11507,0.00,2.20,6.78,0.459,4,0.000,0.046,2840,3364,2663,0,0,0,0,0,0
$GC,11756,0.88,204.1,71.3,7.4,477,11787,0.00,2.12,24.50,0.512,6,0.000,0.029,2849,1960,2545,0,0,0,0,0,0
$GC,12043,0.95,264.0,52.0,6.0,504,12101,0.15,2.28,47.78,0.495,4,0.085,0.045,2910,3363,2302,0,0,0,0,0,0
$GC,12222,0.95,264.0,26.0,17.8,522,12230,0.00,2.15,0.00,0.000,6,0.000,0.029,2923,1972,2300,0,0,0,0,0,0
$STATE,12349,end climb,SURFACE_DEPTH_REACHED
$STATE,12353,begin surface coast
$FINISH,0.0,1.022987
$STATE,12365,end surface coast,CONTROL_FINISHED_OK
$STATE,12365,begin surface
$SM_CCo,12454,0.00,0.000,0,0,2292,267.13
$SM_GC,1.67,7.62,0.00,0.00,0.048,0.000,0.000,58,1968,2292,-7.88,-0.62,267.13
$IRIDIUM_FIX,1925.22,-15650.79,240113,181838
$TT8_MAMPS,0.147264
$HUMID,1078892248
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.40
$XPDR_PINGS,55
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6301777920
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50279088128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,24.964
$10V_AH,10.2,23.718
$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,19.375,125.350,327.275,0.000,0.000,140.625,215.181,841.782,13.750,0.000,14.889,1120.247,9030.827,392.597,3038.004,544.758,33.359,1259.901,0.000,1951.684,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,55.224,1114.451,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.771,0.000,935.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,26989,548
$CAP_FILE_SIZE,138055,0
$CFSIZE,260165632,192421888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,034201,1934.786,-15650.877,100,1.1,100,9.6