version: 66.07
glider: 513
mission: 7
dive: 303
start: 8 20 111 20 2 27
data:
$ID,513
$MISSION,7
$DIVE,303
$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,-428160.69
$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,41
$R_STBD_OVSHOOT,33
$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,302
$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
$GPS1,200811,195120,1859.764,-15620.823,13,1.9,13,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.6
$GPS2,200811,200131,1859.634,-15620.920,41,1.9,41,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.220,0.094
$KALMAN_X,-73358.7,-1760.9,-777.7,133038.6,9823.1
$KALMAN_Y,-72152.5,1988.6,807.5,-41907.4,-10215.6
$MHEAD_RNG_PITCHd_Wd,293.1,15915,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,89,0.00,0.00,-57.60,0.000,2,0.000,0.000,43,2001,3756,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.1,-7.3,9,115,9.70,2.33,-1.62,0.000,4,0.241,0.068,2318,3413,3860,0,0,0,0,0,0
$GC,362,-0.80,-136.7,100.1,-30.2,37,366,0.00,2.20,0.00,0.000,6,0.000,0.037,2319,1988,3862,0,0,0,0,0,0
$GC,629,-0.80,-136.7,170.9,-24.9,61,633,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3409,3866,0,0,0,0,0,0
$GC,796,-0.80,-136.7,213.7,-24.4,73,802,0.12,2.15,0.00,0.000,6,0.177,0.033,2338,1988,3867,0,0,0,0,0,0
$GC,1050,-0.80,-136.7,264.7,-18.9,86,1054,0.00,2.10,0.00,0.000,4,0.000,0.042,2338,596,3868,0,0,0,0,0,0
$GC,1078,-0.80,-136.7,270.4,-19.3,87,1082,0.00,2.17,0.00,0.000,6,0.000,0.045,2330,2011,3868,0,0,0,0,0,0
$GC,1336,-0.80,-136.7,316.0,-17.1,98,1340,0.00,2.17,0.00,0.000,4,0.000,0.050,2319,3408,3869,0,0,0,0,0,0
$GC,1381,-0.80,-136.7,323.7,-16.3,99,1385,0.00,2.12,0.00,0.000,6,0.000,0.032,2319,1993,3869,0,0,0,0,0,0
$GC,1658,-0.80,-136.7,372.4,-17.8,106,1662,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3414,3869,0,0,0,0,0,0
$GC,1753,-0.80,-136.7,389.7,-18.9,108,1758,0.12,2.12,0.00,0.000,6,0.163,0.031,2340,1999,3869,0,0,0,0,0,0
$GC,2027,-0.80,-136.7,433.1,-15.6,115,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1993,3868,0,0,0,0,0,0
$GC,2270,-0.80,-136.7,469.1,-14.8,121,2274,0.00,2.25,0.00,0.000,4,0.000,0.054,2331,3408,3866,0,0,0,0,0,0
$GC,2315,-0.80,-136.7,475.8,-14.4,122,2319,0.00,2.12,0.00,0.000,6,0.000,0.033,2331,2002,3866,0,0,0,0,0,0
$GC,2605,-0.80,-136.7,517.1,-14.4,129,2609,0.00,2.25,0.00,0.000,4,0.000,0.051,2321,3414,3864,0,0,0,0,0,0
$GC,2655,-0.80,-136.7,525.1,-15.1,130,2659,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,1994,3862,0,0,0,0,0,0
$GC,2934,-0.80,-136.7,568.9,-16.0,137,2938,0.00,2.22,0.00,0.000,4,0.000,0.053,2309,3405,3859,0,0,0,0,0,0
$GC,2975,-0.80,-136.7,575.5,-16.3,138,2979,0.10,2.12,0.00,0.000,6,0.172,0.035,2340,2002,3859,0,0,0,0,0,0
$GC,3258,-0.80,-136.7,616.4,-14.1,145,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1996,3856,0,0,0,0,0,0
$GC,3501,-0.80,-136.7,649.8,-13.7,151,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1996,3854,0,0,0,0,0,0
$GC,3747,-0.80,-136.7,682.7,-13.4,157,3751,0.00,2.22,0.00,0.000,4,0.000,0.051,2325,3414,3851,0,0,0,0,0,0
$GC,3796,-0.80,-136.7,689.6,-13.5,158,3800,0.00,2.12,0.00,0.000,6,0.000,0.033,2325,2002,3851,0,0,0,0,0,0
$GC,4075,-0.80,-136.7,726.7,-13.3,165,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2001,3849,0,0,0,0,0,0
$GC,4319,-0.80,-136.7,757.4,-12.6,171,4323,0.00,2.25,0.00,0.000,4,0.000,0.051,2314,3410,3846,0,0,0,0,0,0
$GC,4351,-0.80,-136.7,761.9,-13.4,171,4357,0.00,2.12,0.00,0.000,6,0.000,0.033,2314,2007,3846,0,0,0,0,0,0
$GC,4601,-0.80,-136.7,795.8,-13.6,178,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1995,3844,0,0,0,0,0,0
$GC,4845,-0.80,-136.7,827.9,-13.1,184,4849,0.00,2.25,0.00,0.000,4,0.000,0.052,2303,3408,3842,0,0,0,0,0,0
$GC,4873,-0.80,-136.7,831.5,-13.3,184,4878,0.12,2.15,0.00,0.000,6,0.173,0.033,2335,1991,3842,0,0,0,0,0,0
$GC,5128,-0.80,-136.7,859.2,-10.7,191,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1991,3840,0,0,0,0,0,0
$GC,5372,-0.80,-136.7,884.7,-10.4,197,5376,0.00,2.28,0.00,0.000,4,0.000,0.054,2326,3404,3837,0,0,0,0,0,0
$GC,5399,-0.80,-136.7,887.5,-10.8,197,5403,0.00,2.17,0.00,0.000,6,0.000,0.034,2326,1998,3838,0,0,0,0,0,0
$STATE,5536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5536,begin apogee
$GC,5544,-0.28,0.0,902.2,10.8,201,5659,0.60,0.00,112.20,1.092,6,0.146,0.000,2503,1926,3300,0,0,0,0,0,0
$STATE,5662,end apogee,CONTROL_FINISHED_OK
$STATE,5662,begin climb
$GC,5664,0.80,136.7,904.8,0.0,204,5792,1.02,0.00,120.00,1.059,6,0.095,0.000,2844,1926,2742,0,0,0,0,0,0
$GC,6031,0.80,136.7,842.5,20.1,213,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1925,2733,0,0,0,0,0,0
$GC,6274,0.80,136.7,793.9,19.7,219,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1926,2731,0,0,0,0,0,0
$GC,6518,0.80,136.7,747.9,18.9,225,6522,0.00,2.28,0.00,0.000,4,0.000,0.051,2839,3342,2729,0,0,0,0,0,0
$GC,6546,0.80,136.7,742.5,19.9,225,6550,0.00,2.17,0.00,0.000,6,0.000,0.030,2847,1922,2731,0,0,0,0,0,0
$GC,6796,0.80,136.7,695.6,18.5,231,6800,0.00,2.12,0.00,0.000,4,0.000,0.040,2858,524,2728,0,0,0,0,0,0
$GC,6817,0.80,136.7,691.8,17.5,231,6821,0.00,2.12,0.00,0.000,6,0.000,0.035,2858,1929,2726,0,0,0,0,0,0
$GC,7084,0.80,136.7,643.2,18.1,238,7088,0.00,2.25,0.00,0.000,4,0.000,0.054,2858,3345,2726,0,0,0,0,0,0
$GC,7151,0.80,136.7,629.8,19.7,239,7155,0.00,2.20,0.00,0.000,6,0.000,0.032,2865,1932,2726,0,0,0,0,0,0
$GC,7412,0.80,136.7,580.0,19.2,246,7416,0.00,2.15,0.00,0.000,4,0.000,0.038,2886,522,2725,0,0,0,0,0,0
$GC,7435,0.80,136.7,575.7,18.3,246,7439,0.00,2.12,0.00,0.000,6,0.000,0.035,2879,1932,2723,0,0,0,0,0,0
$GC,7690,0.80,136.7,526.1,19.7,253,7694,0.00,2.22,0.00,0.000,4,0.000,0.052,2880,3331,2723,0,0,0,0,0,0
$GC,7723,0.80,136.7,518.8,21.6,253,7728,0.15,2.15,0.00,0.000,6,0.206,0.031,2856,1924,2723,0,0,0,0,0,0
$GC,7973,0.80,136.7,473.1,18.3,259,7977,0.00,2.22,0.00,0.000,4,0.000,0.050,2846,3333,2723,0,0,0,0,0,0
$GC,8007,0.80,136.7,467.1,18.5,259,8013,0.00,2.15,0.00,0.000,6,0.000,0.031,2855,1928,2723,0,0,0,0,0,0
$GC,8257,0.80,136.7,427.0,15.7,266,8261,0.00,2.25,0.00,0.000,4,0.000,0.048,2850,3341,2722,0,0,0,0,0,0
$GC,8284,0.80,136.7,422.6,16.9,266,8288,0.00,2.15,0.00,0.000,6,0.000,0.030,2855,1924,2722,0,0,0,0,0,0
$GC,8541,0.80,136.7,382.3,15.5,273,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1924,2724,0,0,0,0,0,0
$GC,8783,0.80,136.7,346.6,14.0,279,8787,0.00,2.22,0.00,0.000,4,0.000,0.049,2845,3335,2721,0,0,0,0,0,0
$GC,8868,0.80,136.7,335.6,13.1,281,8871,0.00,2.12,0.00,0.000,6,0.000,0.031,2856,1930,2721,0,0,0,0,0,0
$GC,9158,0.80,136.7,296.6,14.1,288,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1927,2721,0,0,0,0,0,0
$GC,9404,0.80,136.7,260.0,13.6,300,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1924,2720,0,0,0,0,0,0
$GC,9651,0.80,136.7,229.4,10.9,312,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1927,2720,0,0,0,0,0,0
$GC,9900,0.80,136.7,207.1,9.2,324,9904,0.00,2.22,0.00,0.000,4,0.000,0.048,2855,3341,2722,0,0,0,0,0,0
$GC,9966,0.80,136.7,199.9,10.5,327,9970,0.00,2.15,0.00,0.000,6,0.000,0.030,2866,1927,2720,0,0,0,0,0,0
$GC,10232,0.80,136.7,173.3,9.6,351,10236,0.00,2.25,0.00,0.000,4,0.000,0.048,2866,3339,2717,0,0,0,0,0,0
$GC,10318,0.85,181.7,165.6,6.7,358,10357,0.00,2.12,34.08,0.582,6,0.000,0.029,2876,1912,2558,0,0,0,0,0,0
$GC,10623,0.85,181.7,139.3,9.0,386,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1912,2555,0,0,0,0,0,0
$GC,10887,0.86,192.5,113.4,8.1,411,10903,0.00,2.28,9.57,0.479,4,0.000,0.045,2877,3329,2517,0,0,0,0,0,0
$GC,11120,0.87,195.0,93.4,8.5,432,11130,0.00,2.15,4.28,0.358,6,0.000,0.029,2888,1932,2503,0,0,0,0,0,0
$GC,11383,0.87,195.0,70.9,9.5,457,11387,0.00,2.22,0.00,0.000,4,0.000,0.044,2888,3348,2505,0,0,0,0,0,0
$GC,11427,0.87,195.0,65.8,12.3,460,11436,0.00,2.17,0.00,0.000,6,0.000,0.028,2899,1927,2504,0,0,0,0,0,0
$GC,11694,0.87,195.0,37.3,10.9,485,11698,0.00,2.20,0.00,0.000,4,0.000,0.044,2899,3337,2507,0,0,0,0,0,0
$GC,11774,0.87,195.0,28.0,11.8,493,11782,0.10,2.15,0.00,0.000,6,0.167,0.028,2880,1926,2509,0,0,0,0,0,0
$STATE,12034,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FINISH,0.4,1.022528
$STATE,12067,end surface coast,CONTROL_FINISHED_OK
$STATE,12067,begin surface
$SM_CCo,12089,55.80,0.427,0,0,2074,300.24
$SM_GC,1.94,0.00,0.00,55.80,0.000,0.000,0.427,54,2029,2074,-7.95,0.85,300.24
$IRIDIUM_FIX,1855.54,-15620.54,120213,101040
$TT8_MAMPS,0.146497
$HUMID,1078809668
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,27.00
$XPDR_PINGS,96
$AR_DIVENUM,303
$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,23.8,42.893
$10V_AH,9.9,39.106
$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,19.525,109.575,280.125,55.800,0.000,31.041,34.257,297.079,24.000,0.000,43.514,1166.966,8581.559,394.536,2211.850,408.832,33.358,1147.742,0.000,1823.990,0.000,0.541,0.000
$DEVICE_MAMPS,240.838,105.846,1092.208,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.403,0.000,955.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,26897,547
$CAP_FILE_SIZE,113497,0
$CFSIZE,260165632,183619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,216.9,1
$GPS,200811,232626,1859.801,-15622.810,33,1.8,33,9.6