version: 66.07
glider: 513
mission: 7
dive: 212
start: 8 6 111 18 11 12
data:
$ID,513
$MISSION,7
$DIVE,212
$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,-425844.75
$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,40
$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,211
$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
$GPS1,060811,174700,2001.642,-15651.093,37,1.9,37,9.7
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.7
$GPS2,060811,181015,2001.635,-15651.440,10,2.3,29,9.7
$SPEED_LIMITS,0.086,0.253
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.219,0.128
$KALMAN_X,-17563.8,1192.6,619.4,19695.8,-11303.0
$KALMAN_Y,-10805.2,826.2,585.0,12967.3,-7130.5
$MHEAD_RNG_PITCHd_Wd,70.6,44727,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.77,-156.2,0.0,0.0,0,143,0.00,0.00,-112.60,0.000,2,0.000,0.000,32,2021,3739,0,0,0,0,0,0
$GC,147,-0.77,-156.2,3.8,-6.5,17,170,9.57,2.22,-3.30,0.000,4,0.245,0.058,2347,595,3940,0,0,0,0,0,0
$GC,178,-0.77,-156.2,21.0,-43.8,21,186,0.00,2.17,0.00,0.000,6,0.000,0.047,2339,1988,3941,0,0,0,0,0,0
$GC,445,-0.77,-156.2,116.7,-30.2,47,449,0.00,2.22,0.00,0.000,4,0.000,0.056,2328,3401,3942,0,0,0,0,0,0
$GC,529,-0.77,-156.2,142.4,-25.4,54,533,0.00,2.15,0.00,0.000,6,0.000,0.038,2328,2001,3942,0,0,0,0,0,0
$GC,790,-0.77,-156.2,206.3,-23.1,77,794,0.00,2.12,0.00,0.000,4,0.000,0.044,2328,589,3942,0,0,0,0,0,0
$GC,818,-0.77,-156.2,213.4,-23.8,78,822,0.00,2.17,0.00,0.000,6,0.000,0.045,2318,1995,3942,0,0,0,0,0,0
$GC,1076,-0.77,-156.2,272.8,-21.6,91,1080,0.00,2.17,0.00,0.000,4,0.000,0.052,2306,3411,3940,0,0,0,0,0,0
$GC,1162,-0.77,-156.2,290.3,-19.1,95,1167,0.15,2.15,0.00,0.000,6,0.158,0.034,2347,1980,3943,0,0,0,0,0,0
$GC,1423,-0.77,-156.2,332.1,-15.5,103,1427,0.00,2.25,0.00,0.000,4,0.000,0.052,2341,3421,3943,0,0,0,0,0,0
$GC,1465,-0.77,-156.2,337.8,-14.3,104,1469,0.00,2.12,0.00,0.000,6,0.000,0.032,2338,2001,3943,0,0,0,0,0,0
$GC,1748,-0.77,-156.2,380.6,-15.1,111,1752,0.00,2.17,0.00,0.000,4,0.000,0.051,2327,3412,3941,0,0,0,0,0,0
$GC,1814,-0.77,-156.2,391.0,-15.2,112,1818,0.00,2.12,0.00,0.000,6,0.000,0.032,2327,1987,3942,0,0,0,0,0,0
$GC,2076,-0.77,-156.2,433.9,-16.7,119,2080,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3412,3939,0,0,0,0,0,0
$GC,2176,-0.77,-156.2,451.3,-16.2,121,2181,0.10,2.12,0.00,0.000,6,0.168,0.035,2341,2001,3938,0,0,0,0,0,0
$GC,2449,-0.77,-156.2,493.1,-15.3,128,2453,0.00,2.20,0.00,0.000,4,0.000,0.051,2333,3410,3939,0,0,0,0,0,0
$GC,2505,-0.77,-156.2,502.0,-15.9,129,2509,0.00,2.10,0.00,0.000,6,0.000,0.033,2333,1999,3935,0,0,0,0,0,0
$GC,2772,-0.77,-156.2,542.9,-15.1,136,2776,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3418,3929,0,0,0,0,0,0
$GC,2793,-0.77,-156.2,546.1,-13.7,136,2797,0.00,2.15,0.00,0.000,6,0.000,0.032,2322,2002,3932,0,0,0,0,0,0
$GC,3055,-0.77,-156.2,582.3,-14.0,143,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1996,3928,0,0,0,0,0,0
$GC,3297,-0.77,-156.2,615.9,-13.8,149,3301,0.00,2.20,0.00,0.000,4,0.000,0.054,2311,3408,3925,0,0,0,0,0,0
$GC,3391,-0.77,-156.2,629.4,-13.8,151,3396,0.10,2.15,0.00,0.000,6,0.174,0.036,2341,1997,3929,0,0,0,0,0,0
$GC,3670,-0.77,-156.2,663.6,-12.3,158,3674,0.00,2.20,0.00,0.000,4,0.000,0.054,2332,3410,3922,0,0,0,0,0,0
$GC,3725,-0.77,-156.2,670.6,-11.8,159,3729,0.00,2.17,0.00,0.000,6,0.000,0.035,2333,1998,3921,0,0,0,0,0,0
$GC,3996,-0.77,-156.2,704.8,-12.6,166,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3917,0,0,0,0,0,0
$GC,4242,-0.77,-156.2,735.0,-12.4,172,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3915,0,0,0,0,0,0
$GC,4484,-0.77,-156.2,765.2,-12.5,178,4488,0.00,2.22,0.00,0.000,4,0.000,0.051,2322,3410,3913,0,0,0,0,0,0
$GC,4527,-0.77,-156.2,770.9,-13.0,179,4531,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,1998,3910,0,0,0,0,0,0
$GC,4811,-0.77,-156.2,809.1,-13.7,186,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1992,3909,0,0,0,0,0,0
$GC,5056,-0.77,-156.2,843.1,-14.1,192,5060,0.00,2.20,0.00,0.000,4,0.000,0.051,2308,3410,3907,0,0,0,0,0,0
$GC,5106,-0.77,-156.2,850.8,-14.8,193,5111,0.12,2.15,0.00,0.000,6,0.164,0.035,2343,2000,3906,0,0,0,0,0,0
$GC,5385,-0.77,-156.2,886.4,-12.7,200,5389,0.00,2.22,0.00,0.000,4,0.000,0.051,2335,3408,3908,0,0,0,0,0,0
$GC,5409,-0.77,-156.2,889.5,-13.7,200,5413,0.00,2.15,0.00,0.000,6,0.000,0.033,2334,1997,3904,0,0,0,0,0,0
$STATE,5499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5499,begin apogee
$GC,5505,-0.28,0.0,902.1,13.4,203,5632,0.55,0.00,123.97,1.104,6,0.146,0.000,2500,1924,3300,0,0,0,0,0,0
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5637,0.77,156.2,907.9,0.0,206,5785,1.02,2.45,135.10,1.065,4,0.098,0.048,2841,3343,2662,0,0,0,0,0,0
$GC,5796,0.77,156.2,890.3,18.8,209,5802,0.00,2.25,0.00,0.000,6,0.000,0.028,2852,1930,2660,0,0,0,0,0,0
$GC,6047,0.77,156.2,839.1,20.6,216,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1927,2654,0,0,0,0,0,0
$GC,6291,0.77,156.2,786.3,21.7,222,6295,0.00,2.15,0.00,0.000,4,0.000,0.040,2863,527,2652,0,0,0,0,0,0
$GC,6312,0.77,156.2,781.0,23.2,222,6316,0.00,2.15,0.00,0.000,6,0.000,0.035,2863,1933,2650,0,0,0,0,0,0
$GC,6573,0.77,156.2,721.7,22.8,229,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1937,2650,0,0,0,0,0,0
$GC,6817,0.77,156.2,669.3,21.3,235,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1942,2648,0,0,0,0,0,0
$GC,7062,0.77,156.2,617.1,21.5,241,7066,0.00,2.20,0.00,0.000,4,0.000,0.053,2863,3340,2646,0,0,0,0,0,0
$GC,7113,0.77,156.2,605.9,21.7,242,7117,0.00,2.12,0.00,0.000,6,0.000,0.033,2875,1929,2648,0,0,0,0,0,0
$GC,7390,0.77,156.2,549.9,19.8,249,7394,0.00,2.12,0.00,0.000,4,0.000,0.040,2885,511,2646,0,0,0,0,0,0
$GC,7418,0.77,156.2,544.3,20.3,249,7423,0.15,2.12,0.00,0.000,6,0.200,0.035,2850,1933,2644,0,0,0,0,0,0
$GC,7673,0.77,156.2,499.0,17.6,256,7677,0.00,2.20,0.00,0.000,4,0.000,0.052,2850,3335,2644,0,0,0,0,0,0
$GC,7723,0.77,156.2,489.9,17.5,257,7727,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,1918,2644,0,0,0,0,0,0
$GC,8003,0.77,156.2,443.6,16.6,264,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1917,2644,0,0,0,0,0,0
$GC,8245,0.77,156.2,404.5,15.9,270,8249,0.00,2.12,0.00,0.000,4,0.000,0.041,2869,514,2643,0,0,0,0,0,0
$GC,8266,0.77,156.2,400.8,17.1,270,8270,0.00,2.12,0.00,0.000,6,0.000,0.035,2870,1936,2641,0,0,0,0,0,0
$GC,8528,0.77,156.2,355.9,17.1,277,8532,0.00,2.20,0.00,0.000,4,0.000,0.051,2870,3330,2642,0,0,0,0,0,0
$GC,8545,0.77,156.2,352.7,18.3,277,8550,0.12,2.12,0.00,0.000,6,0.202,0.031,2852,1917,2642,0,0,0,0,0,0
$GC,8811,0.77,156.2,307.6,17.0,284,8815,0.00,2.25,0.00,0.000,4,0.000,0.049,2847,3336,2646,0,0,0,0,0,0
$GC,8833,0.77,156.2,303.9,16.8,284,8837,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1918,2642,0,0,0,0,0,0
$GC,9099,0.77,156.2,261.3,15.8,296,9103,0.00,2.08,0.00,0.000,4,0.000,0.041,2872,527,2641,0,0,0,0,0,0
$GC,9193,0.77,156.2,245.9,14.5,300,9197,0.00,2.12,0.00,0.000,6,0.000,0.034,2872,1944,2639,0,0,0,0,0,0
$GC,9452,0.77,156.2,208.9,12.0,313,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1945,2640,0,0,0,0,0,0
$GC,9708,0.77,156.2,176.1,13.1,333,9712,0.00,2.15,0.00,0.000,4,0.000,0.050,2872,3327,2640,0,0,0,0,0,0
$GC,9927,0.77,156.2,146.5,11.8,352,9932,0.12,2.10,0.00,0.000,6,0.192,0.030,2852,1922,2638,0,0,0,0,0,0
$GC,10191,0.83,202.3,121.4,6.9,376,10230,0.00,2.10,34.28,0.559,4,0.000,0.038,2862,536,2474,0,0,0,0,0,0
$GC,10267,0.83,202.3,114.6,11.2,382,10271,0.00,2.10,0.00,0.000,6,0.000,0.034,2862,1927,2472,0,0,0,0,0,0
$GC,10533,0.83,202.3,88.4,8.7,406,10537,0.00,2.20,0.00,0.000,4,0.000,0.048,2860,3336,2472,0,0,0,0,0,0
$GC,10726,0.83,202.3,68.5,10.3,423,10730,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1928,2472,0,0,0,0,0,0
$GC,10992,0.83,202.3,40.8,10.9,447,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1923,2473,0,0,0,0,0,0
$GC,11259,0.83,202.3,7.7,14.7,488,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1923,2471,0,0,0,0,0,0
$STATE,11288,end climb,SURFACE_DEPTH_REACHED
$STATE,11288,begin surface coast
$FINISH,0.6,1.023114
$STATE,11306,end surface coast,CONTROL_FINISHED_OK
$STATE,11306,begin surface
$SM_CCo,11325,42.67,0.439,0,0,2076,300.98
$SM_GC,1.62,0.00,0.00,42.67,0.000,0.000,0.439,59,2032,2076,-7.93,0.99,300.98
$IRIDIUM_FIX,1955.00,-15653.51,290113,121241
$TT8_MAMPS,0.253877
$HUMID,1078929668
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.90
$XPDR_PINGS,109
$AR_DIVENUM,212
$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
$24V_AH,24.1,30.285
$10V_AH,10.0,28.042
$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,19.475,112.875,293.350,42.675,0.000,83.045,145.499,809.372,27.250,0.000,32.234,1076.675,8144.944,431.668,2560.217,566.677,33.343,1166.830,0.000,1676.616,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,105.079,1103.713,438.724,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.118,0.000,840.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23577,496
$CAP_FILE_SIZE,120110,0
$CFSIZE,260165632,190259200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,298.4,1
$GPS,060811,212237,2002.166,-15650.548,50,1.1,50,9.7