version: 66.07
glider: 513
mission: 7
dive: 184
start: 8 2 111 7 41 32
data:
$ID,513
$MISSION,7
$DIVE,184
$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,732.45386
$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,-424804.94
$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,50
$R_STBD_OVSHOOT,39
$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,183
$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
$GPS1,020811,071554,1937.380,-15651.570,156,1.4,156,9.6
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,3
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.6
$GPS2,020811,074037,1937.852,-15652.261,25,1.3,30,9.6
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.154,0.183
$KALMAN_X,-101187.7,1910.0,625.4,75910.6,-14235.8
$KALMAN_Y,136755.2,-1243.6,-315.8,-154422.8,5710.2
$MHEAD_RNG_PITCHd_Wd,30.5,78926,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,68,0.00,0.00,-39.12,0.000,2,0.000,0.000,37,1951,3644,0,0,0,0,0,0
$GC,73,-0.80,-136.7,3.2,-4.6,6,94,9.50,2.30,-5.05,0.000,4,0.243,0.062,2318,3407,3937,0,0,0,0,0,0
$GC,317,-0.80,-136.7,87.6,-29.1,33,322,0.00,2.15,0.00,0.000,6,0.000,0.038,2320,1997,3941,0,0,0,0,0,0
$GC,581,-0.80,-136.7,164.8,-24.2,57,585,0.00,2.17,0.00,0.000,4,0.000,0.050,2309,3395,3943,0,0,0,0,0,0
$GC,731,-0.80,-136.7,197.8,-22.1,70,736,0.12,2.12,0.00,0.000,6,0.181,0.031,2339,1982,3943,0,0,0,0,0,0
$GC,991,-0.80,-136.7,251.5,-20.9,83,995,0.00,2.20,0.00,0.000,4,0.000,0.047,2330,3406,3944,0,0,0,0,0,0
$GC,1046,-0.80,-136.7,261.6,-17.0,85,1051,0.00,2.12,0.00,0.000,6,0.000,0.031,2336,1985,3944,0,0,0,0,0,0
$GC,1320,-0.80,-136.7,309.1,-17.5,98,1324,0.00,2.17,0.00,0.000,4,0.000,0.047,2319,3395,3944,0,0,0,0,0,0
$GC,1393,-0.80,-136.7,321.3,-15.7,99,1397,0.00,2.10,0.00,0.000,6,0.000,0.031,2323,1984,3944,0,0,0,0,0,0
$GC,1648,-0.80,-136.7,367.2,-19.2,106,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1982,3945,0,0,0,0,0,0
$GC,1892,-0.80,-136.7,410.3,-17.4,112,1896,0.00,2.17,0.00,0.000,4,0.000,0.050,2309,3395,3944,0,0,0,0,0,0
$GC,1936,-0.80,-136.7,418.1,-16.9,113,1941,0.12,2.08,0.00,0.000,6,0.165,0.032,2341,1996,3944,0,0,0,0,0,0
$GC,2214,-0.80,-136.7,458.6,-14.4,120,2218,0.00,2.20,0.00,0.000,4,0.000,0.051,2332,3400,3941,0,0,0,0,0,0
$GC,2246,-0.80,-136.7,463.6,-15.0,120,2252,0.00,2.10,0.00,0.000,6,0.000,0.032,2332,1982,3941,0,0,0,0,0,0
$GC,2497,-0.80,-136.7,501.3,-15.2,127,2501,0.00,2.20,0.00,0.000,4,0.000,0.049,2321,3400,3936,0,0,0,0,0,0
$GC,2548,-0.80,-136.7,509.3,-15.5,128,2552,0.00,2.10,0.00,0.000,6,0.000,0.032,2321,1984,3938,0,0,0,0,0,0
$GC,2826,-0.80,-136.7,555.0,-16.2,135,2830,0.00,2.20,0.00,0.000,4,0.000,0.050,2310,3390,3935,0,0,0,0,0,0
$GC,2882,-0.80,-136.7,563.9,-15.7,136,2887,0.10,2.10,0.00,0.000,6,0.179,0.034,2335,1989,3934,0,0,0,0,0,0
$GC,3148,-0.80,-136.7,601.3,-13.8,143,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1984,3931,0,0,0,0,0,0
$GC,3392,-0.80,-136.7,634.3,-13.6,149,3395,0.00,2.10,0.00,0.000,4,0.000,0.048,2335,592,3930,0,0,0,0,0,0
$GC,3420,-0.80,-136.7,638.6,-15.0,149,3424,0.00,2.15,0.00,0.000,6,0.000,0.047,2326,1996,3929,0,0,0,0,0,0
$GC,3669,-0.80,-136.7,675.8,-15.0,155,3673,0.00,2.17,0.00,0.000,4,0.000,0.051,2315,3398,3926,0,0,0,0,0,0
$GC,3730,-0.80,-136.7,685.4,-15.2,156,3735,0.00,2.15,0.00,0.000,6,0.000,0.033,2315,1994,3925,0,0,0,0,0,0
$GC,3998,-0.80,-136.7,729.2,-16.5,163,4002,0.00,2.20,0.00,0.000,4,0.000,0.054,2304,3397,3923,0,0,0,0,0,0
$GC,4059,-0.80,-136.7,740.0,-17.0,164,4064,0.10,2.15,0.00,0.000,6,0.150,0.033,2335,1999,3922,0,0,0,0,0,0
$GC,4325,-0.80,-136.7,780.3,-15.0,171,4329,0.00,2.20,0.00,0.000,4,0.000,0.054,2324,3401,3919,0,0,0,0,0,0
$GC,4366,-0.80,-136.7,786.0,-15.3,172,4370,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1985,3919,0,0,0,0,0,0
$GC,4649,-0.80,-136.7,826.2,-13.8,179,4653,0.00,2.22,0.00,0.000,4,0.000,0.051,2315,3394,3917,0,0,0,0,0,0
$GC,4733,-0.80,-136.7,837.9,-13.1,181,4737,0.00,2.15,0.00,0.000,6,0.000,0.033,2315,1986,3915,0,0,0,0,0,0
$GC,5017,-0.80,-136.7,880.4,-15.2,188,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1979,3913,0,0,0,0,0,0
$STATE,5176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5176,begin apogee
$GC,5181,-0.28,0.0,905.0,15.2,192,5293,0.62,0.00,108.30,1.119,6,0.153,0.000,2502,1978,3382,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5298,0.80,136.7,909.7,0.0,194,5426,1.02,2.38,118.28,1.078,4,0.094,0.050,2845,3369,2822,0,0,0,0,0,0
$GC,5443,0.80,136.7,898.2,16.3,197,5447,0.00,2.25,0.00,0.000,6,0.000,0.029,2851,1945,2821,0,0,0,0,0,0
$GC,5704,0.80,136.7,851.3,18.0,204,5708,0.00,2.15,0.00,0.000,4,0.000,0.041,2867,545,2815,0,0,0,0,0,0
$GC,5765,0.80,136.7,839.9,18.7,205,5769,0.00,2.17,0.00,0.000,6,0.000,0.040,2867,1959,2811,0,0,0,0,0,0
$GC,6032,0.80,136.7,789.0,19.1,212,6036,0.00,2.25,0.00,0.000,4,0.000,0.054,2867,3368,2810,0,0,0,0,0,0
$GC,6109,0.80,136.7,773.7,19.6,213,6115,0.00,2.17,0.00,0.000,6,0.000,0.031,2878,1950,2811,0,0,0,0,0,0
$GC,6360,0.80,136.7,726.1,19.2,220,6364,0.00,2.25,0.00,0.000,4,0.000,0.054,2877,3367,2810,0,0,0,0,0,0
$GC,6381,0.80,136.7,721.7,18.9,220,6386,0.12,2.15,0.00,0.000,6,0.219,0.033,2858,1952,2810,0,0,0,0,0,0
$GC,6642,0.80,136.7,675.5,17.4,227,6646,0.00,2.28,0.00,0.000,4,0.000,0.052,2850,3376,2809,0,0,0,0,0,0
$GC,6659,0.80,136.7,672.5,17.5,227,6663,0.00,2.15,0.00,0.000,6,0.000,0.033,2859,1960,2809,0,0,0,0,0,0
$GC,6926,0.80,136.7,627.1,17.2,234,6930,0.00,2.10,0.00,0.000,4,0.000,0.041,2870,556,2808,0,0,0,0,0,0
$GC,7004,0.80,136.7,613.4,17.3,235,7009,0.00,2.10,0.00,0.000,6,0.000,0.037,2870,1966,2806,0,0,0,0,0,0
$GC,7253,0.80,136.7,570.7,16.9,242,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1965,2806,0,0,0,0,0,0
$GC,7498,0.80,136.7,530.6,16.3,248,7502,0.00,2.20,0.00,0.000,4,0.000,0.054,2870,3360,2805,0,0,0,0,0,0
$GC,7520,0.80,136.7,526.3,18.6,248,7524,0.00,2.12,0.00,0.000,6,0.000,0.033,2880,1949,2806,0,0,0,0,0,0
$GC,7787,0.80,136.7,479.8,17.7,255,7791,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3363,2805,0,0,0,0,0,0
$GC,7843,0.80,136.7,469.5,18.4,256,7848,0.15,2.12,0.00,0.000,6,0.212,0.032,2856,1944,2805,0,0,0,0,0,0
$GC,8109,0.80,136.7,428.2,14.8,263,8113,0.00,2.25,0.00,0.000,4,0.000,0.054,2845,3370,2804,0,0,0,0,0,0
$GC,8149,0.80,136.7,422.3,14.9,264,8153,0.00,2.12,0.00,0.000,6,0.000,0.032,2854,1962,2802,0,0,0,0,0,0
$GC,8433,0.80,136.7,380.9,14.4,271,8437,0.00,2.10,0.00,0.000,4,0.000,0.041,2865,550,2801,0,0,0,0,0,0
$GC,8465,0.80,136.7,375.6,15.5,271,8471,0.00,2.10,0.00,0.000,6,0.000,0.037,2865,1957,2800,0,0,0,0,0,0
$GC,8715,0.80,136.7,340.1,14.0,278,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1957,2802,0,0,0,0,0,0
$GC,8959,0.80,136.7,309.6,12.8,284,8963,0.00,2.22,0.00,0.000,4,0.000,0.053,2866,3376,2803,0,0,0,0,0,0
$GC,9004,0.80,136.7,303.6,13.7,285,9008,0.00,2.12,0.00,0.000,6,0.000,0.030,2876,1960,2802,0,0,0,0,0,0
$GC,9264,0.80,136.7,272.4,12.2,297,9268,0.00,2.12,0.00,0.000,4,0.000,0.041,2887,540,2802,0,0,0,0,0,0
$GC,9303,0.80,136.7,267.5,12.9,298,9309,0.12,2.15,0.00,0.000,6,0.207,0.038,2859,1959,2800,0,0,0,0,0,0
$GC,9558,0.80,136.7,242.8,10.0,311,9562,0.00,2.20,0.00,0.000,4,0.000,0.051,2848,3367,2800,0,0,0,0,0,0
$GC,9816,0.80,136.7,213.3,10.4,322,9820,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1957,2801,0,0,0,0,0,0
$GC,10079,0.84,171.1,194.9,7.1,338,10113,0.00,2.30,24.20,0.637,4,0.000,0.052,2858,3367,2684,0,0,0,0,0,0
$GC,10312,0.84,171.1,164.0,14.4,359,10320,0.00,2.17,0.00,0.000,6,0.000,0.031,2868,1962,2683,0,0,0,0,0,0
$GC,10577,0.84,171.1,135.3,8.9,384,10581,0.00,2.22,0.00,0.000,4,0.000,0.050,2868,3371,2682,0,0,0,0,0,0
$GC,10651,0.84,171.1,128.5,9.3,390,10655,0.00,2.12,0.00,0.000,6,0.000,0.031,2879,1959,2682,0,0,0,0,0,0
$GC,10916,0.84,171.1,102.8,9.6,414,10920,0.00,2.08,0.00,0.000,4,0.000,0.040,2890,556,2682,0,0,0,0,0,0
$GC,11000,0.84,171.1,95.0,9.6,421,11004,0.00,2.10,0.00,0.000,6,0.000,0.035,2888,1973,2679,0,0,0,0,0,0
$GC,11265,0.92,240.6,80.5,5.6,445,11326,0.00,2.22,56.08,0.530,4,0.000,0.051,2890,3356,2400,0,0,0,0,0,0
$GC,11384,0.92,240.6,69.1,13.3,455,11391,0.00,2.17,0.00,0.000,6,0.000,0.032,2901,1961,2396,0,0,0,0,0,0
$GC,11648,0.92,240.6,34.7,13.4,480,11652,0.00,2.17,0.00,0.000,4,0.000,0.046,2900,3360,2396,0,0,0,0,0,0
$GC,11752,0.92,240.6,19.1,15.4,495,11759,0.00,2.15,0.00,0.000,6,0.000,0.031,2911,1967,2394,0,0,0,0,0,0
$STATE,11860,end climb,SURFACE_DEPTH_REACHED
$STATE,11860,begin surface coast
$FINISH,0.1,1.023037
$STATE,11884,end surface coast,CONTROL_FINISHED_OK
$STATE,11884,begin surface
$SM_CCo,11904,284.85,0.447,0,0,396,732.45
$SM_GC,0.95,0.00,0.00,284.85,0.000,0.000,0.447,46,1964,396,-7.95,-0.74,732.45
$IRIDIUM_FIX,1932.09,-15652.89,250113,010121
$TT8_MAMPS,0.059826
$HUMID,1078732248
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,25.50
$XPDR_PINGS,77
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6340149248
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,50010750976
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,25.254
$10V_AH,10.2,24.042
$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,19.725,134.475,306.850,284.850,0.000,146.489,199.399,616.794,19.250,0.000,33.873,1086.777,8681.854,655.363,2830.879,421.027,33.362,1447.984,0.000,1828.410,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,62.127,1119.053,447.161,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.726,0.000,850.276,0.000,0.000,0.000,0.000,43162.898,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,11.756,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,26973,519
$CAP_FILE_SIZE,129464,0
$CFSIZE,260165632,192241664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,110606,1939.843,-15652.083,29,1.1,30,9.6