version: 66.07
glider: 513
mission: 7
dive: 305
start: 8 21 111 3 14 53
data:
$ID,513
$MISSION,7
$DIVE,305
$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,-428189.22
$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,43
$R_STBD_OVSHOOT,37
$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,304
$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
$GPS1,210811,030355,1859.561,-15625.030,43,1.2,43,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.5
$GPS2,210811,031356,1859.359,-15625.215,13,1.4,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.200,0.131
$KALMAN_X,-75251.4,-295.8,-420.2,125622.4,3899.9
$KALMAN_Y,-73199.9,413.2,266.0,-39242.0,-6805.9
$MHEAD_RNG_PITCHd_Wd,305.0,8463,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.75,0.000,2,0.000,0.000,42,1990,3767,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.2,-7.3,9,114,9.57,2.33,-1.50,0.000,4,0.239,0.069,2319,3409,3861,0,0,0,0,0,0
$GC,199,-0.80,-136.7,49.2,-32.3,22,203,0.00,2.17,0.00,0.000,6,0.000,0.034,2319,2004,3864,0,0,0,0,0,0
$GC,463,-0.80,-136.7,139.1,-30.5,46,467,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3412,3864,0,0,0,0,0,0
$GC,604,-0.80,-136.7,174.9,-24.5,58,609,0.12,2.15,0.00,0.000,6,0.178,0.031,2338,1991,3867,0,0,0,0,0,0
$GC,861,-0.80,-136.7,232.5,-21.9,75,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1985,3868,0,0,0,0,0,0
$GC,1109,-0.80,-136.7,280.5,-19.3,87,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1985,3870,0,0,0,0,0,0
$GC,1354,-0.80,-136.7,321.8,-16.9,96,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1985,3871,0,0,0,0,0,0
$GC,1597,-0.80,-136.7,362.1,-16.6,102,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1985,3869,0,0,0,0,0,0
$GC,1842,-0.80,-136.7,398.4,-14.8,108,1846,0.00,2.25,0.00,0.000,4,0.000,0.051,2330,3413,3869,0,0,0,0,0,0
$GC,1915,-0.80,-136.7,408.9,-13.5,109,1919,0.00,2.15,0.00,0.000,6,0.000,0.031,2329,1991,3869,0,0,0,0,0,0
$GC,2170,-0.80,-136.7,443.5,-13.6,116,2174,0.00,2.10,0.00,0.000,4,0.000,0.044,2329,606,3867,0,0,0,0,0,0
$GC,2226,-0.80,-136.7,450.9,-12.6,117,2230,0.00,2.15,0.00,0.000,6,0.000,0.043,2319,2011,3867,0,0,0,0,0,0
$GC,2500,-0.80,-136.7,488.5,-14.2,124,2503,0.00,2.17,0.00,0.000,4,0.000,0.050,2308,3401,3864,0,0,0,0,0,0
$GC,2566,-0.80,-136.7,498.7,-14.0,125,2571,0.12,2.12,0.00,0.000,6,0.165,0.032,2340,2004,3863,0,0,0,0,0,0
$GC,2834,-0.80,-136.7,532.7,-12.6,132,2838,0.00,2.20,0.00,0.000,4,0.000,0.052,2331,3399,3861,0,0,0,0,0,0
$GC,2856,-0.80,-136.7,535.8,-13.2,132,2861,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,1997,3860,0,0,0,0,0,0
$GC,3112,-0.80,-136.7,570.3,-13.7,139,3116,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3403,3860,0,0,0,0,0,0
$GC,3139,-0.80,-136.7,574.3,-14.2,139,3143,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,2001,3857,0,0,0,0,0,0
$GC,3390,-0.80,-136.7,611.7,-15.3,145,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1996,3855,0,0,0,0,0,0
$GC,3632,-0.80,-136.7,647.3,-14.3,151,3636,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3402,3853,0,0,0,0,0,0
$GC,3665,-0.80,-136.7,652.1,-14.1,151,3670,0.10,2.15,0.00,0.000,6,0.173,0.033,2334,1997,3852,0,0,0,0,0,0
$GC,3916,-0.80,-136.7,682.8,-12.3,157,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1990,3850,0,0,0,0,0,0
$GC,4159,-0.80,-136.7,710.8,-11.3,163,4163,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3394,3848,0,0,0,0,0,0
$GC,4180,-0.80,-136.7,713.4,-11.5,163,4184,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,1990,3847,0,0,0,0,0,0
$GC,4441,-0.80,-136.7,742.6,-11.1,170,4445,0.00,2.25,0.00,0.000,4,0.000,0.052,2315,3396,3843,0,0,0,0,0,0
$GC,4521,-0.80,-136.7,751.7,-11.1,171,4525,0.00,2.15,0.00,0.000,6,0.000,0.035,2314,2001,3844,0,0,0,0,0,0
$GC,4770,-0.80,-136.7,781.0,-12.0,177,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1996,3842,0,0,0,0,0,0
$GC,5014,-0.80,-136.7,811.5,-12.5,183,5018,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3408,3840,0,0,0,0,0,0
$GC,5081,-0.80,-136.7,820.4,-13.4,184,5086,0.12,2.17,0.00,0.000,6,0.171,0.033,2335,1994,3840,0,0,0,0,0,0
$GC,5336,-0.80,-136.7,847.9,-10.4,191,5340,0.00,2.17,0.00,0.000,4,0.000,0.048,2335,598,3838,0,0,0,0,0,0
$GC,5364,-0.80,-136.7,851.1,-11.1,191,5368,0.00,2.17,0.00,0.000,6,0.000,0.046,2327,1992,3838,0,0,0,0,0,0
$GC,5615,-0.80,-136.7,878.4,-10.9,197,5619,0.00,2.25,0.00,0.000,4,0.000,0.052,2316,3408,3836,0,0,0,0,0,0
$GC,5654,-0.80,-136.7,883.0,-11.8,198,5658,0.00,2.17,0.00,0.000,6,0.000,0.034,2315,2000,3835,0,0,0,0,0,0
$STATE,5812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5812,begin apogee
$GC,5819,-0.28,0.0,901.4,11.5,202,5935,0.62,0.00,111.88,1.091,6,0.151,0.000,2499,1924,3300,0,0,0,0,0,0
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5937,begin climb
$GC,5941,0.80,136.7,904.1,0.0,205,6067,1.05,0.00,120.70,1.057,6,0.096,0.000,2848,1923,2741,0,0,0,0,0,0
$GC,6308,0.80,136.7,842.4,20.1,214,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1923,2732,0,0,0,0,0,0
$GC,6551,0.80,136.7,793.6,20.0,220,6555,0.00,2.30,0.00,0.000,4,0.000,0.051,2843,3336,2729,0,0,0,0,0,0
$GC,6573,0.80,136.7,788.9,20.2,220,6578,0.00,2.20,0.00,0.000,6,0.000,0.033,2852,1926,2730,0,0,0,0,0,0
$GC,6829,0.80,136.7,739.5,19.0,227,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1923,2728,0,0,0,0,0,0
$GC,7073,0.80,136.7,694.7,18.6,233,7077,0.00,2.28,0.00,0.000,4,0.000,0.051,2844,3340,2725,0,0,0,0,0,0
$GC,7169,0.80,136.7,676.6,17.9,235,7173,0.00,2.17,0.00,0.000,6,0.000,0.032,2853,1929,2727,0,0,0,0,0,0
$GC,7441,0.80,136.7,627.9,18.0,242,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1925,2726,0,0,0,0,0,0
$GC,7685,0.80,136.7,585.2,17.5,248,7689,0.00,2.17,0.00,0.000,4,0.000,0.041,2863,519,2725,0,0,0,0,0,0
$GC,7712,0.80,136.7,579.9,18.6,248,7716,0.00,2.17,0.00,0.000,6,0.000,0.036,2864,1941,2723,0,0,0,0,0,0
$GC,7969,0.80,136.7,534.1,18.0,255,7973,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3329,2723,0,0,0,0,0,0
$GC,8025,0.80,136.7,523.3,18.6,256,8029,0.00,2.15,0.00,0.000,6,0.000,0.032,2874,1936,2724,0,0,0,0,0,0
$GC,8297,0.80,136.7,474.7,17.7,263,8301,0.00,2.22,0.00,0.000,4,0.000,0.050,2870,3340,2723,0,0,0,0,0,0
$GC,8331,0.80,136.7,468.7,18.0,263,8337,0.00,2.17,0.00,0.000,6,0.000,0.030,2879,1919,2723,0,0,0,0,0,0
$GC,8580,0.80,136.7,422.8,18.5,270,8584,0.00,2.25,0.00,0.000,4,0.000,0.048,2879,3338,2722,0,0,0,0,0,0
$GC,8613,0.80,136.7,416.6,18.2,270,8620,0.12,2.17,0.00,0.000,6,0.212,0.030,2860,1914,2722,0,0,0,0,0,0
$GC,8864,0.80,136.7,374.9,16.2,277,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1911,2722,0,0,0,0,0,0
$GC,9107,0.80,136.7,338.3,15.0,283,9111,0.00,2.25,0.00,0.000,4,0.000,0.051,2850,3329,2721,0,0,0,0,0,0
$GC,9152,0.80,136.7,331.5,14.7,284,9156,0.00,2.12,0.00,0.000,6,0.000,0.031,2859,1931,2721,0,0,0,0,0,0
$GC,9423,0.80,136.7,297.9,12.0,291,9427,0.00,2.25,0.00,0.000,4,0.000,0.049,2859,3333,2721,0,0,0,0,0,0
$GC,9441,0.80,136.7,295.6,10.4,292,9445,0.00,2.15,0.00,0.000,6,0.000,0.031,2869,1926,2719,0,0,0,0,0,0
$GC,9705,0.80,136.7,262.4,12.3,305,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1922,2720,0,0,0,0,0,0
$GC,9954,0.80,136.7,233.5,11.0,317,9958,0.00,2.22,0.00,0.000,4,0.000,0.050,2869,3333,2720,0,0,0,0,0,0
$GC,10018,0.80,136.7,226.3,11.7,320,10022,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1922,2720,0,0,0,0,0,0
$GC,10283,0.80,136.7,200.5,10.1,333,10287,0.00,2.15,0.00,0.000,4,0.000,0.041,2887,513,2720,0,0,0,0,0,0
$GC,10358,0.80,136.7,192.7,11.4,339,10363,0.12,2.15,0.00,0.000,6,0.192,0.036,2860,1928,2717,0,0,0,0,0,0
$GC,10621,0.80,136.7,167.1,9.7,363,10625,0.00,2.22,0.00,0.000,4,0.000,0.050,2849,3341,2718,0,0,0,0,0,0
$GC,10842,0.88,202.1,147.2,5.8,382,10899,0.00,2.17,50.03,0.567,6,0.000,0.030,2863,1919,2478,0,0,0,0,0,0
$GC,11164,0.88,202.1,118.1,11.5,412,11168,0.00,2.12,0.00,0.000,4,0.000,0.041,2869,526,2473,0,0,0,0,0,0
$GC,11283,0.88,202.1,103.7,11.6,422,11290,0.00,2.17,0.00,0.000,6,0.000,0.035,2868,1935,2472,0,0,0,0,0,0
$GC,11549,0.88,202.1,75.0,10.9,447,11553,0.00,2.20,0.00,0.000,4,0.000,0.050,2869,3335,2473,0,0,0,0,0,0
$GC,11591,0.88,202.1,70.0,11.7,450,11595,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1932,2473,0,0,0,0,0,0
$GC,11857,0.88,202.1,44.7,9.6,474,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1930,2474,0,0,0,0,0,0
$GC,12122,0.88,202.1,18.0,9.8,509,12129,0.00,2.28,0.00,0.000,4,0.000,0.048,2879,3337,2474,0,0,0,0,0,0
$GC,12148,0.88,202.1,15.3,10.4,513,12156,0.00,2.17,0.00,0.000,6,0.000,0.030,2891,1920,2477,0,0,0,0,0,0
$STATE,12264,end climb,SURFACE_DEPTH_REACHED
$STATE,12264,begin surface coast
$FINISH,0.3,1.012607
$STATE,12295,end surface coast,CONTROL_FINISHED_OK
$STATE,12295,begin surface
$SM_CCo,12315,50.85,0.430,0,0,2075,300.24
$SM_GC,2.09,0.00,0.00,50.85,0.000,0.000,0.430,50,2031,2075,-7.97,0.88,300.24
$IRIDIUM_FIX,1850.98,-15626.54,120213,171737
$TT8_MAMPS,0.148031
$HUMID,1078862571
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6297747456
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,33093091328
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,43.112
$10V_AH,10.0,39.281
$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,19.550,118.500,282.600,50.850,0.000,24.337,40.723,311.945,24.000,0.000,14.937,1159.959,8881.426,420.303,2125.675,397.621,33.354,1148.814,0.000,1733.189,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,105.846,1091.441,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.199,0.000,899.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353732
$DATA_FILE_SIZE,26988,539
$CAP_FILE_SIZE,115224,0
$CFSIZE,260165632,183468032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,210.1,1
$GPS,210811,064237,1859.697,-15626.873,27,1.5,27,9.6