version: 66.07
glider: 513
mission: 7
dive: 185
start: 8 2 111 11 40 39
data:
$ID,513
$MISSION,7
$DIVE,185
$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,-424823.47
$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,45
$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,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,184
$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
$GPS1,020811,110606,1939.843,-15652.083,29,1.1,30,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.2
$GPS2,020811,113943,1940.330,-15652.815,11,1.2,16,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.161,0.177
$KALMAN_X,-104534.6,1647.6,1073.7,78095.0,-14542.8
$KALMAN_Y,136502.9,-571.3,-520.3,-150060.0,4413.5
$MHEAD_RNG_PITCHd_Wd,32.6,75461,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,138,0.00,0.00,-107.80,0.000,2,0.000,0.000,34,1964,3571,0,0,0,0,0,0
$GC,143,-0.80,-136.7,3.1,-4.7,17,165,9.48,2.10,-6.60,0.000,4,0.244,0.054,2339,582,3938,0,0,0,0,0,0
$GC,252,-0.80,-136.7,47.8,-36.7,31,259,0.00,2.17,0.00,0.000,6,0.000,0.044,2336,1981,3946,0,0,0,0,0,0
$GC,515,-0.80,-136.7,137.2,-30.1,56,519,0.00,2.22,0.00,0.000,4,0.000,0.049,2319,3415,3940,0,0,0,0,0,0
$GC,633,-0.80,-136.7,168.9,-23.3,66,641,0.00,2.17,0.00,0.000,6,0.000,0.035,2319,1995,3938,0,0,0,0,0,0
$GC,892,-0.80,-136.7,232.1,-24.2,85,896,0.00,2.17,0.00,0.000,4,0.000,0.048,2308,3411,3942,0,0,0,0,0,0
$GC,975,-0.80,-136.7,251.5,-19.4,88,982,0.12,2.15,0.00,0.000,6,0.175,0.033,2339,1988,3941,0,0,0,0,0,0
$GC,1230,-0.80,-136.7,295.2,-15.4,101,1234,0.00,2.17,0.00,0.000,4,0.000,0.049,2331,3401,3941,0,0,0,0,0,0
$GC,1369,-0.80,-136.7,318.0,-16.5,105,1373,0.00,2.12,0.00,0.000,6,0.000,0.032,2332,1985,3940,0,0,0,0,0,0
$GC,1654,-0.80,-136.7,370.0,-18.9,112,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1979,3939,0,0,0,0,0,0
$GC,1896,-0.80,-136.7,410.5,-15.7,118,1900,0.00,2.20,0.00,0.000,4,0.000,0.048,2319,3401,3936,0,0,0,0,0,0
$GC,1924,-0.80,-136.7,415.0,-15.8,118,1928,0.00,2.15,0.00,0.000,6,0.000,0.032,2319,1984,3937,0,0,0,0,0,0
$GC,2180,-0.80,-136.7,454.9,-15.8,125,2184,0.00,2.05,0.00,0.000,4,0.000,0.041,2319,596,3934,0,0,0,0,0,0
$GC,2197,-0.80,-136.7,457.9,-15.6,125,2202,0.12,2.12,0.00,0.000,6,0.176,0.041,2341,2006,3934,0,0,0,0,0,0
$GC,2457,-0.80,-136.7,497.8,-15.5,132,2461,0.00,2.17,0.00,0.000,4,0.000,0.054,2332,3395,3930,0,0,0,0,0,0
$GC,2575,-0.80,-136.7,517.9,-16.7,134,2578,0.00,2.10,0.00,0.000,6,0.000,0.033,2331,1987,3929,0,0,0,0,0,0
$GC,2837,-0.80,-136.7,564.9,-18.1,141,2841,0.00,2.08,0.00,0.000,4,0.000,0.044,2332,598,3926,0,0,0,0,0,0
$GC,2858,-0.80,-136.7,568.9,-17.4,141,2862,0.00,2.10,0.00,0.000,6,0.000,0.044,2321,1997,3925,0,0,0,0,0,0
$GC,3125,-0.80,-136.7,612.2,-15.6,148,3129,0.00,2.17,0.00,0.000,4,0.000,0.053,2310,3397,3923,0,0,0,0,0,0
$GC,3192,-0.80,-136.7,622.6,-14.6,149,3197,0.10,2.10,0.00,0.000,6,0.172,0.033,2332,1992,3921,0,0,0,0,0,0
$GC,3447,-0.80,-136.7,656.7,-13.3,156,3451,0.00,2.20,0.00,0.000,4,0.000,0.054,2326,3393,3918,0,0,0,0,0,0
$GC,3480,-0.80,-136.7,661.6,-14.5,156,3486,0.00,2.12,0.00,0.000,6,0.000,0.036,2325,1999,3917,0,0,0,0,0,0
$GC,3731,-0.80,-136.7,697.4,-14.4,163,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1992,3915,0,0,0,0,0,0
$GC,3974,-0.80,-136.7,731.4,-13.9,169,3978,0.00,2.20,0.00,0.000,4,0.000,0.056,2315,3392,3912,0,0,0,0,0,0
$GC,4029,-0.80,-136.7,739.2,-13.9,170,4033,0.00,2.12,0.00,0.000,6,0.000,0.037,2314,1988,3912,0,0,0,0,0,0
$GC,4302,-0.80,-136.7,777.9,-14.2,177,4306,0.00,2.22,0.00,0.000,4,0.000,0.054,2304,3390,3909,0,0,0,0,0,0
$GC,4330,-0.80,-136.7,782.1,-14.8,177,4335,0.12,2.12,0.00,0.000,6,0.173,0.037,2340,1991,3908,0,0,0,0,0,0
$GC,4580,-0.80,-136.7,816.6,-13.8,183,4584,0.00,2.22,0.00,0.000,4,0.000,0.056,2327,3387,3907,0,0,0,0,0,0
$GC,4664,-0.80,-136.7,829.0,-14.5,185,4668,0.00,2.12,0.00,0.000,6,0.000,0.038,2326,1990,3906,0,0,0,0,0,0
$GC,4947,-0.80,-136.7,871.0,-14.8,192,4951,0.00,2.20,0.00,0.000,4,0.000,0.055,2312,3388,3903,0,0,0,0,0,0
$GC,5019,-0.80,-136.7,881.7,-15.2,193,5022,0.00,2.12,0.00,0.000,6,0.000,0.037,2317,1990,3902,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5157,-0.28,0.0,901.0,14.6,197,5266,0.62,0.00,105.85,1.111,6,0.155,0.000,2501,1984,3381,0,0,0,0,0,0
$STATE,5289,end apogee,CONTROL_FINISHED_OK
$STATE,5289,begin climb
$GC,5291,0.80,136.7,905.1,0.0,199,5417,1.02,0.00,118.70,1.077,6,0.092,0.000,2850,1984,2821,0,0,0,0,0,0
$GC,5661,0.80,136.7,849.8,19.1,209,5665,0.00,2.25,0.00,0.000,4,0.000,0.057,2844,3358,2814,0,0,0,0,0,0
$GC,5711,0.80,136.7,839.9,19.4,210,5716,0.00,2.17,0.00,0.000,6,0.000,0.034,2853,1942,2814,0,0,0,0,0,0
$GC,5983,0.80,136.7,789.9,18.0,217,5988,0.00,2.28,0.00,0.000,4,0.000,0.056,2844,3363,2811,0,0,0,0,0,0
$GC,6011,0.80,136.7,784.7,17.8,217,6015,0.00,2.15,0.00,0.000,6,0.000,0.034,2853,1951,2811,0,0,0,0,0,0
$GC,6262,0.80,136.7,740.4,17.6,223,6266,0.00,2.28,0.00,0.000,4,0.000,0.056,2845,3371,2810,0,0,0,0,0,0
$GC,6294,0.80,136.7,733.9,19.5,223,6300,0.00,2.17,0.00,0.000,6,0.000,0.035,2854,1951,2810,0,0,0,0,0,0
$GC,6544,0.80,136.7,687.7,18.6,230,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1952,2812,0,0,0,0,0,0
$GC,6788,0.80,136.7,643.4,18.2,236,6792,0.00,2.08,0.00,0.000,4,0.000,0.042,2865,558,2808,0,0,0,0,0,0
$GC,6850,0.80,136.7,631.3,19.5,237,6854,0.00,2.10,0.00,0.000,6,0.000,0.038,2865,1954,2806,0,0,0,0,0,0
$GC,7110,0.80,136.7,584.4,17.6,244,7114,0.00,2.22,0.00,0.000,4,0.000,0.053,2860,3369,2806,0,0,0,0,0,0
$GC,7182,0.80,136.7,571.8,17.2,245,7187,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,1964,2806,0,0,0,0,0,0
$GC,7440,0.80,136.7,530.6,16.4,252,7443,0.00,2.10,0.00,0.000,4,0.000,0.040,2886,546,2805,0,0,0,0,0,0
$GC,7467,0.80,136.7,525.7,16.5,252,7471,0.12,2.12,0.00,0.000,6,0.209,0.038,2859,1965,2803,0,0,0,0,0,0
$GC,7722,0.80,136.7,481.8,17.8,259,7726,0.00,2.20,0.00,0.000,4,0.000,0.054,2858,3362,2803,0,0,0,0,0,0
$GC,7873,0.80,136.7,453.0,18.3,262,7877,0.00,2.12,0.00,0.000,6,0.000,0.033,2867,1954,2804,0,0,0,0,0,0
$GC,8140,0.80,136.7,410.4,15.4,269,8144,0.00,2.08,0.00,0.000,4,0.000,0.041,2878,556,2803,0,0,0,0,0,0
$GC,8225,0.80,136.7,396.8,15.8,271,8229,0.00,2.12,0.00,0.000,6,0.000,0.037,2878,1960,2800,0,0,0,0,0,0
$GC,8508,0.80,136.7,355.9,14.0,278,8512,0.00,2.22,0.00,0.000,4,0.000,0.053,2878,3372,2802,0,0,0,0,0,0
$GC,8574,0.80,136.7,345.8,16.8,279,8579,0.08,2.17,0.00,0.000,6,0.195,0.032,2855,1956,2801,0,0,0,0,0,0
$GC,8836,0.80,136.7,308.8,14.1,286,8839,0.00,2.10,0.00,0.000,4,0.000,0.040,2864,551,2801,0,0,0,0,0,0
$GC,8913,0.80,136.7,297.3,13.6,287,8919,0.00,2.15,0.00,0.000,6,0.000,0.038,2865,1975,2800,0,0,0,0,0,0
$GC,9167,0.80,136.7,268.8,9.3,300,9171,0.00,2.15,0.00,0.000,4,0.000,0.051,2865,3355,2801,0,0,0,0,0,0
$GC,9379,0.80,136.7,247.2,10.0,309,9385,0.00,2.12,0.00,0.000,6,0.000,0.031,2875,1952,2800,0,0,0,0,0,0
$GC,9632,0.80,136.7,221.7,10.6,322,9636,0.00,2.08,0.00,0.000,4,0.000,0.040,2886,555,2799,0,0,0,0,0,0
$GC,9656,0.80,136.7,219.2,11.2,323,9661,0.10,2.10,0.00,0.000,6,0.206,0.036,2860,1971,2796,0,0,0,0,0,0
$GC,9915,0.80,136.7,194.4,9.3,338,9919,0.00,2.17,0.00,0.000,4,0.000,0.051,2850,3360,2799,0,0,0,0,0,0
$GC,10075,0.84,170.8,182.1,7.1,352,10104,0.00,2.10,23.73,0.616,6,0.000,0.031,2858,1952,2688,0,0,0,0,0,0
$GC,10361,0.84,170.8,154.4,10.9,378,10365,0.00,2.08,0.00,0.000,4,0.000,0.040,2870,560,2683,0,0,0,0,0,0
$GC,10381,0.84,170.8,152.5,10.3,379,10385,0.00,2.08,0.00,0.000,6,0.000,0.034,2874,1958,2681,0,0,0,0,0,0
$GC,10646,0.84,170.8,122.1,10.3,403,10650,0.00,2.08,0.00,0.000,4,0.000,0.040,2880,564,2681,0,0,0,0,0,0
$GC,10838,0.90,222.9,105.7,6.4,420,10885,0.00,2.10,42.58,0.549,6,0.000,0.035,2880,1960,2473,0,0,0,0,0,0
$GC,11140,0.90,222.9,80.2,8.6,448,11144,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3359,2468,0,0,0,0,0,0
$GC,11281,0.90,222.9,63.9,13.5,460,11285,0.00,2.10,0.00,0.000,6,0.000,0.033,2890,1967,2468,0,0,0,0,0,0
$GC,11551,0.90,222.9,31.2,11.4,485,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1964,2468,0,0,0,0,0,0
$STATE,11783,end climb,SURFACE_DEPTH_REACHED
$STATE,11783,begin surface coast
$FINISH,0.3,1.023055
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11884,0.00,0.000,0,0,2468,223.71
$SM_GC,1.94,7.35,0.00,0.00,0.040,0.000,0.000,48,1963,2468,-7.89,-0.74,223.71
$IRIDIUM_FIX,1934.38,-15651.99,250113,050533
$TT8_MAMPS,0.155701
$HUMID,1078887087
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,26.00
$XPDR_PINGS,66
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6301679616
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,49932533760
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,25.423
$10V_AH,10.2,24.143
$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,19.250,128.875,290.850,0.000,0.000,145.117,220.636,1164.763,16.500,0.000,17.913,1093.558,8520.653,406.107,3332.383,555.567,33.391,1221.242,0.000,1902.539,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,56.758,1110.616,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.399,0.000,916.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,26918,532
$CAP_FILE_SIZE,139841,0
$CFSIZE,260165632,192192512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,150215,1941.652,-15652.878,135,6.6,154,9.7