version: 66.07
glider: 513
mission: 7
dive: 322
start: 8 23 111 19 52 38
data:
$ID,513
$MISSION,7
$DIVE,322
$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,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,-428576.25
$T_RSLEEP,3
$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,55
$R_STBD_OVSHOOT,55
$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,321
$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
$GPS1,230811,192454,1900.098,-15632.744,39,1.4,39,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.0
$GPS2,230811,195138,1859.631,-15633.303,12,2.0,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.025,0.238
$KALMAN_X,-98109.0,1356.2,1308.4,130951.0,-10087.1
$KALMAN_Y,-131791.6,556.7,-113.3,20091.5,-9507.1
$MHEAD_RNG_PITCHd_Wd,20.9,139701,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.15,0.000,2,0.000,0.000,35,2027,3555,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.3,-4.8,8,109,9.70,2.20,-5.30,0.000,4,0.240,0.062,2315,3396,3860,0,0,0,0,0,0
$GC,205,-0.80,-136.7,45.5,-30.3,24,209,0.00,2.15,0.00,0.000,6,0.000,0.042,2316,2025,3862,0,0,0,0,0,0
$GC,473,-0.80,-136.7,137.6,-31.2,49,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2017,3863,0,0,0,0,0,0
$GC,727,-0.80,-136.7,206.7,-23.0,72,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2017,3865,0,0,0,0,0,0
$GC,973,-0.80,-136.7,261.2,-20.7,84,977,0.00,2.17,0.00,0.000,4,0.000,0.050,2306,3394,3866,0,0,0,0,0,0
$GC,1017,-0.80,-136.7,270.3,-20.7,86,1022,0.12,2.15,0.00,0.000,6,0.173,0.034,2337,1987,3865,0,0,0,0,0,0
$GC,1287,-0.80,-136.7,316.7,-17.5,97,1291,0.00,2.10,0.00,0.000,4,0.000,0.040,2336,581,3867,0,0,0,0,0,0
$GC,1314,-0.80,-136.7,321.8,-17.4,97,1319,0.00,2.15,0.00,0.000,6,0.000,0.039,2328,1978,3867,0,0,0,0,0,0
$GC,1570,-0.80,-136.7,365.5,-17.6,104,1574,0.00,2.25,0.00,0.000,4,0.000,0.048,2317,3408,3865,0,0,0,0,0,0
$GC,1642,-0.80,-136.7,378.7,-17.0,105,1646,0.00,2.17,0.00,0.000,6,0.000,0.032,2315,1982,3867,0,0,0,0,0,0
$GC,1894,-0.80,-136.7,424.0,-18.3,111,1898,0.00,2.28,0.00,0.000,4,0.000,0.051,2306,3412,3864,0,0,0,0,0,0
$GC,1938,-0.80,-136.7,433.3,-19.1,112,1942,0.12,2.12,0.00,0.000,6,0.167,0.032,2333,1995,3864,0,0,0,0,0,0
$GC,2217,-0.80,-136.7,478.2,-16.2,119,2221,0.00,2.25,0.00,0.000,4,0.000,0.054,2328,3416,3862,0,0,0,0,0,0
$GC,2260,-0.80,-136.7,485.7,-15.9,120,2264,0.00,2.12,0.00,0.000,6,0.000,0.033,2329,2008,3861,0,0,0,0,0,0
$GC,2544,-0.80,-136.7,530.0,-15.6,127,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2001,3857,0,0,0,0,0,0
$GC,2788,-0.80,-136.7,567.1,-15.1,133,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2002,3855,0,0,0,0,0,0
$GC,3033,-0.80,-136.7,601.4,-14.0,139,3037,0.00,2.25,0.00,0.000,4,0.000,0.051,2318,3414,3852,0,0,0,0,0,0
$GC,3072,-0.80,-136.7,607.1,-15.1,140,3076,0.00,2.15,0.00,0.000,6,0.000,0.033,2318,1996,3851,0,0,0,0,0,0
$GC,3355,-0.80,-136.7,646.4,-13.6,147,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1993,3849,0,0,0,0,0,0
$GC,3600,-0.80,-136.7,678.4,-13.1,153,3604,0.00,2.25,0.00,0.000,4,0.000,0.051,2307,3412,3846,0,0,0,0,0,0
$GC,3660,-0.80,-136.7,686.9,-12.7,154,3665,0.12,2.15,0.00,0.000,6,0.171,0.034,2338,2001,3845,0,0,0,0,0,0
$GC,3927,-0.80,-136.7,715.5,-10.5,161,3931,0.00,2.28,0.00,0.000,4,0.000,0.053,2329,3411,3843,0,0,0,0,0,0
$GC,3967,-0.80,-136.7,719.8,-11.1,162,3971,0.00,2.15,0.00,0.000,6,0.000,0.033,2329,2002,3842,0,0,0,0,0,0
$GC,4251,-0.80,-136.7,751.6,-11.3,169,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3839,0,0,0,0,0,0
$GC,4495,-0.80,-136.7,780.2,-11.8,175,4499,0.00,2.25,0.00,0.000,4,0.000,0.052,2318,3410,3837,0,0,0,0,0,0
$GC,4538,-0.80,-136.7,785.8,-12.6,176,4542,0.00,2.17,0.00,0.000,6,0.000,0.034,2318,1982,3836,0,0,0,0,0,0
$GC,4824,-0.80,-136.7,822.7,-13.2,183,4828,0.00,2.28,0.00,0.000,4,0.000,0.051,2307,3413,3833,0,0,0,0,0,0
$GC,4856,-0.80,-136.7,827.4,-14.0,183,4863,0.12,2.15,0.00,0.000,6,0.174,0.033,2338,2006,3833,0,0,0,0,0,0
$GC,5106,-0.80,-136.7,857.1,-11.8,190,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2000,3831,0,0,0,0,0,0
$GC,5351,-0.80,-136.7,885.5,-11.6,196,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2000,3830,0,0,0,0,0,0
$STATE,5510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5510,begin apogee
$GC,5516,-0.28,0.0,903.9,11.4,200,5634,0.55,0.00,109.90,1.088,6,0.145,0.000,2503,1906,3300,0,0,0,0,0,0
$STATE,5656,end apogee,CONTROL_FINISHED_OK
$STATE,5656,begin climb
$GC,5659,0.80,136.7,908.0,0.0,203,5788,1.02,2.25,118.45,1.056,4,0.094,0.039,2856,529,2743,0,0,0,0,0,0
$GC,5805,0.80,136.7,892.7,17.0,206,5809,0.00,2.22,0.00,0.000,6,0.000,0.035,2847,1931,2738,0,0,0,0,0,0
$GC,6061,0.80,136.7,846.3,18.2,213,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1933,2734,0,0,0,0,0,0
$GC,6304,0.80,136.7,802.8,17.8,219,6308,0.00,2.28,0.00,0.000,4,0.000,0.052,2848,3335,2734,0,0,0,0,0,0
$GC,6348,0.80,136.7,794.3,18.2,220,6352,0.00,2.17,0.00,0.000,6,0.000,0.030,2857,1938,2732,0,0,0,0,0,0
$GC,6632,0.80,136.7,742.8,18.3,227,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1935,2729,0,0,0,0,0,0
$GC,6877,0.80,136.7,698.3,18.5,233,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1935,2728,0,0,0,0,0,0
$GC,7120,0.80,136.7,651.7,19.1,239,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1935,2727,0,0,0,0,0,0
$GC,7363,0.80,136.7,607.8,17.9,245,7367,0.00,2.25,0.00,0.000,4,0.000,0.051,2848,3337,2727,0,0,0,0,0,0
$GC,7390,0.80,136.7,602.9,17.5,245,7394,0.00,2.17,0.00,0.000,6,0.000,0.031,2857,1925,2727,0,0,0,0,0,0
$GC,7647,0.80,136.7,558.6,17.4,252,7651,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,518,2726,0,0,0,0,0,0
$GC,7719,0.80,136.7,546.1,17.0,253,7723,0.00,2.15,0.00,0.000,6,0.000,0.036,2868,1942,2724,0,0,0,0,0,0
$GC,7980,0.80,136.7,501.9,17.0,260,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1944,2727,0,0,0,0,0,0
$GC,8225,0.80,136.7,462.2,16.2,266,8229,0.00,2.22,0.00,0.000,4,0.000,0.052,2868,3332,2724,0,0,0,0,0,0
$GC,8274,0.80,136.7,453.2,18.8,267,8278,0.00,2.15,0.00,0.000,6,0.000,0.032,2879,1921,2724,0,0,0,0,0,0
$GC,8552,0.80,136.7,410.2,14.9,274,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1919,2724,0,0,0,0,0,0
$GC,8796,0.80,136.7,374.2,14.6,280,8800,0.00,2.28,0.00,0.000,4,0.000,0.050,2878,3340,2723,0,0,0,0,0,0
$GC,8869,0.80,136.7,363.7,14.2,281,8874,0.12,2.17,0.00,0.000,6,0.209,0.030,2859,1930,2723,0,0,0,0,0,0
$GC,9124,0.80,136.7,329.0,13.2,288,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1926,2725,0,0,0,0,0,0
$GC,9369,0.80,136.7,291.8,15.6,295,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1926,2722,0,0,0,0,0,0
$GC,9617,0.80,136.7,258.5,13.3,307,9621,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,517,2721,0,0,0,0,0,0
$GC,9718,0.80,136.7,247.0,12.0,311,9723,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,1939,2720,0,0,0,0,0,0
$GC,9973,0.80,136.7,221.8,9.4,324,9977,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3336,2720,0,0,0,0,0,0
$GC,10075,0.80,136.7,210.3,12.1,328,10079,0.00,2.15,0.00,0.000,6,0.000,0.029,2879,1914,2720,0,0,0,0,0,0
$GC,10335,0.80,136.7,182.2,9.2,347,10339,0.00,2.10,0.00,0.000,4,0.000,0.037,2888,524,2720,0,0,0,0,0,0
$GC,10405,0.80,136.7,175.6,9.6,353,10409,0.12,2.12,0.00,0.000,6,0.189,0.032,2859,1942,2717,0,0,0,0,0,0
$GC,10673,0.82,158.7,153.3,7.6,378,10698,0.00,2.20,15.57,0.538,4,0.000,0.038,2865,520,2652,0,0,0,0,0,0
$GC,10736,0.84,173.8,148.7,7.9,383,10760,0.00,2.12,13.73,0.526,6,0.000,0.032,2869,1934,2590,0,0,0,0,0,0
$GC,11017,0.88,202.5,127.8,7.4,409,11053,0.00,2.30,25.23,0.528,4,0.000,0.048,2869,3336,2473,0,0,0,0,0,0
$GC,11298,0.88,202.5,100.7,10.9,434,11306,0.00,2.20,0.00,0.000,6,0.000,0.030,2879,1927,2472,0,0,0,0,0,0
$GC,11564,0.88,202.5,75.5,10.4,459,11568,0.00,2.22,0.00,0.000,4,0.000,0.046,2879,3337,2472,0,0,0,0,0,0
$GC,11717,0.88,202.5,57.4,11.5,472,11722,0.00,2.15,0.00,0.000,6,0.000,0.028,2890,1921,2472,0,0,0,0,0,0
$GC,11989,0.88,202.5,29.4,11.1,497,11997,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3329,2474,0,0,0,0,0,0
$GC,12136,0.88,202.5,11.7,12.3,523,12144,0.00,2.15,0.00,0.000,6,0.000,0.028,2901,1920,2475,0,0,0,0,0,0
$STATE,12207,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,0.4,1.017688
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12258,48.25,0.425,0,0,2076,300.24
$SM_GC,1.96,0.00,0.00,48.25,0.000,0.000,0.425,44,2018,2076,-7.97,0.51,300.24
$IRIDIUM_FIX,1850.98,-15631.63,150213,131354
$TT8_MAMPS,0.263848
$HUMID,1078857410
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.80
$XPDR_PINGS,89
$AR_DIVENUM,322
$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,23.8,45.221
$10V_AH,9.8,41.241
$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,19.475,105.325,282.875,48.250,0.000,141.477,175.838,803.270,22.250,0.000,13.918,1149.214,9023.064,393.239,2836.062,524.800,33.356,1137.142,0.000,1783.230,0.000,0.541,0.000
$DEVICE_MAMPS,240.071,101.244,1087.606,424.918,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.549,0.000,919.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354092
$DATA_FILE_SIZE,26916,541
$CAP_FILE_SIZE,126953,0
$CFSIZE,260165632,182210560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,220.2,1
$GPS,230811,231924,1859.984,-15633.366,35,1.8,35,9.6