version: 66.07
glider: 513
mission: 7
dive: 308
start: 8 21 111 15 4 30
data:
$ID,513
$MISSION,7
$DIVE,308
$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,-428261.75
$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,47
$R_STBD_OVSHOOT,56
$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,307
$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
$GPS1,210811,144507,1858.693,-15630.183,37,0.8,38,9.6
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-78.4
$GPS2,210811,150331,1858.504,-15630.464,14,1.7,19,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.075,0.227
$KALMAN_X,-78758.9,-823.7,-890.2,120992.8,467.7
$KALMAN_Y,-84399.2,545.3,-72.7,-29395.9,-8706.8
$MHEAD_RNG_PITCHd_Wd,24.0,2887,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-56.85,0.000,2,0.000,0.000,38,2013,3736,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.1,-7.2,9,112,9.52,2.25,-2.00,0.000,4,0.235,0.068,2324,3374,3862,0,0,0,0,0,0
$GC,186,-0.80,-136.7,42.4,-30.0,22,190,0.00,2.12,0.00,0.000,6,0.000,0.044,2325,2017,3863,0,0,0,0,0,0
$GC,449,-0.80,-136.7,127.4,-29.0,46,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2013,3865,0,0,0,0,0,0
$GC,705,-0.80,-136.7,198.6,-26.2,70,709,0.00,2.17,0.00,0.000,4,0.000,0.054,2315,3387,3865,0,0,0,0,0,0
$GC,722,-0.80,-136.7,204.0,-26.1,71,726,0.00,2.12,0.00,0.000,6,0.000,0.033,2316,1982,3866,0,0,0,0,0,0
$GC,986,-0.80,-136.7,266.6,-21.1,84,990,0.00,2.22,0.00,0.000,4,0.000,0.053,2305,3391,3868,0,0,0,0,0,0
$GC,1032,-0.80,-136.7,276.0,-19.9,86,1037,0.12,2.10,0.00,0.000,6,0.174,0.033,2336,1996,3867,0,0,0,0,0,0
$GC,1310,-0.80,-136.7,322.3,-16.1,97,1313,0.00,2.10,0.00,0.000,4,0.000,0.044,2336,602,3871,0,0,0,0,0,0
$GC,1371,-0.80,-136.7,332.3,-16.5,98,1375,0.00,2.10,0.00,0.000,6,0.000,0.044,2328,1993,3871,0,0,0,0,0,0
$GC,1645,-0.80,-136.7,379.1,-17.3,105,1649,0.00,2.22,0.00,0.000,4,0.000,0.052,2317,3408,3868,0,0,0,0,0,0
$GC,1762,-0.80,-136.7,399.4,-16.8,107,1766,0.00,2.12,0.00,0.000,6,0.000,0.032,2317,1991,3868,0,0,0,0,0,0
$GC,2017,-0.80,-136.7,443.7,-17.5,114,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1986,3866,0,0,0,0,0,0
$GC,2262,-0.80,-136.7,484.5,-16.6,120,2266,0.00,2.25,0.00,0.000,4,0.000,0.053,2306,3402,3864,0,0,0,0,0,0
$GC,2294,-0.80,-136.7,490.5,-17.0,120,2301,0.12,2.15,0.00,0.000,6,0.167,0.033,2338,1990,3863,0,0,0,0,0,0
$GC,2544,-0.80,-136.7,527.0,-14.2,127,2548,0.00,2.25,0.00,0.000,4,0.000,0.053,2329,3413,3860,0,0,0,0,0,0
$GC,2576,-0.80,-136.7,532.0,-15.3,127,2580,0.00,2.12,0.00,0.000,6,0.000,0.031,2329,1996,3861,0,0,0,0,0,0
$GC,2833,-0.80,-136.7,568.9,-14.6,134,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1990,3857,0,0,0,0,0,0
$GC,3076,-0.80,-136.7,602.6,-13.8,140,3080,0.00,2.25,0.00,0.000,4,0.000,0.055,2318,3402,3854,0,0,0,0,0,0
$GC,3109,-0.80,-136.7,607.6,-15.0,140,3115,0.00,2.12,0.00,0.000,6,0.000,0.035,2318,2002,3854,0,0,0,0,0,0
$GC,3360,-0.80,-136.7,642.7,-14.0,147,3364,0.00,2.28,0.00,0.000,4,0.000,0.056,2308,3408,3852,0,0,0,0,0,0
$GC,3409,-0.80,-136.7,649.8,-13.2,148,3414,0.12,2.15,0.00,0.000,6,0.163,0.035,2340,1988,3853,0,0,0,0,0,0
$GC,3681,-0.80,-136.7,680.9,-11.2,155,3685,0.00,2.28,0.00,0.000,4,0.000,0.056,2331,3407,3849,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,685.0,-12.6,155,3720,0.00,2.15,0.00,0.000,6,0.000,0.035,2331,2010,3848,0,0,0,0,0,0
$GC,3964,-0.80,-136.7,715.4,-12.1,162,3968,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3399,3846,0,0,0,0,0,0
$GC,3996,-0.80,-136.7,719.8,-12.9,162,4002,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,1990,3842,0,0,0,0,0,0
$GC,4247,-0.80,-136.7,753.3,-13.7,169,4251,0.00,2.28,0.00,0.000,4,0.000,0.056,2315,3400,3842,0,0,0,0,0,0
$GC,4286,-0.80,-136.7,759.1,-14.7,169,4292,0.10,2.15,0.00,0.000,6,0.179,0.035,2334,1996,3841,0,0,0,0,0,0
$GC,4536,-0.80,-136.7,792.8,-13.3,176,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1986,3840,0,0,0,0,0,0
$GC,4780,-0.80,-136.7,826.2,-13.7,182,4784,0.00,2.28,0.00,0.000,4,0.000,0.056,2326,3399,3838,0,0,0,0,0,0
$GC,4808,-0.80,-136.7,830.3,-14.8,182,4812,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1996,3837,0,0,0,0,0,0
$GC,5063,-0.80,-136.7,866.7,-14.2,189,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1991,3836,0,0,0,0,0,0
$STATE,5304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5304,begin apogee
$GC,5311,-0.28,0.0,900.2,13.7,195,5427,0.60,0.00,110.85,1.086,6,0.146,0.000,2503,1933,3301,0,0,0,0,0,0
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5442,0.80,136.7,905.5,0.0,198,5571,1.02,2.28,119.35,1.052,4,0.094,0.035,2857,522,2742,0,0,0,0,0,0
$GC,5605,0.80,136.7,887.3,18.3,202,5609,0.00,2.22,0.00,0.000,6,0.000,0.035,2849,1929,2736,0,0,0,0,0,0
$GC,5890,0.80,136.7,832.0,19.5,209,5894,0.00,2.28,0.00,0.000,4,0.000,0.054,2848,3330,2733,0,0,0,0,0,0
$GC,5950,0.80,136.7,818.9,21.3,210,5954,0.00,2.20,0.00,0.000,6,0.000,0.031,2858,1913,2733,0,0,0,0,0,0
$GC,6217,0.80,136.7,766.4,19.6,217,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1913,2730,0,0,0,0,0,0
$GC,6462,0.80,136.7,718.3,19.8,223,6466,0.00,2.28,0.00,0.000,4,0.000,0.051,2849,3332,2729,0,0,0,0,0,0
$GC,6506,0.80,136.7,709.4,18.4,224,6510,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1927,2728,0,0,0,0,0,0
$GC,6790,0.80,136.7,658.5,17.9,231,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1926,2730,0,0,0,0,0,0
$GC,7035,0.80,136.7,616.7,17.0,237,7039,0.00,2.25,0.00,0.000,4,0.000,0.049,2849,3338,2727,0,0,0,0,0,0
$GC,7062,0.80,136.7,611.7,16.7,237,7066,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1931,2727,0,0,0,0,0,0
$GC,7317,0.80,136.7,568.8,16.9,244,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1928,2726,0,0,0,0,0,0
$GC,7561,0.80,136.7,527.3,17.2,250,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1928,2725,0,0,0,0,0,0
$GC,7805,0.80,136.7,484.5,17.9,256,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1928,2725,0,0,0,0,0,0
$GC,8048,0.80,136.7,442.4,17.5,262,8052,0.00,2.25,0.00,0.000,4,0.000,0.051,2858,3330,2723,0,0,0,0,0,0
$GC,8076,0.80,136.7,437.2,19.0,262,8080,0.00,2.15,0.00,0.000,6,0.000,0.031,2869,1920,2724,0,0,0,0,0,0
$GC,8332,0.80,136.7,391.3,18.3,269,8336,0.00,2.10,0.00,0.000,4,0.000,0.040,2880,522,2723,0,0,0,0,0,0
$GC,8371,0.80,136.7,384.5,16.7,269,8376,0.00,2.12,0.00,0.000,6,0.000,0.035,2880,1936,2720,0,0,0,0,0,0
$GC,8621,0.80,136.7,339.3,17.8,276,8625,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3334,2721,0,0,0,0,0,0
$GC,8705,0.80,136.7,323.8,18.0,278,8710,0.15,2.15,0.00,0.000,6,0.198,0.031,2854,1931,2721,0,0,0,0,0,0
$GC,8976,0.80,136.7,285.2,13.1,287,8980,0.00,2.25,0.00,0.000,4,0.000,0.051,2845,3335,2720,0,0,0,0,0,0
$GC,9111,0.80,136.7,267.2,13.1,293,9115,0.00,2.15,0.00,0.000,6,0.000,0.030,2853,1917,2720,0,0,0,0,0,0
$GC,9371,0.80,136.7,236.1,12.3,306,9375,0.00,2.25,0.00,0.000,4,0.000,0.048,2845,3336,2720,0,0,0,0,0,0
$GC,9538,0.80,136.7,216.1,11.1,313,9544,0.00,2.12,0.00,0.000,6,0.000,0.029,2853,1930,2719,0,0,0,0,0,0
$GC,9798,0.80,136.7,190.9,9.2,330,9802,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,515,2719,0,0,0,0,0,0
$GC,9950,0.80,136.7,174.2,10.8,343,9954,0.00,2.12,0.00,0.000,6,0.000,0.032,2865,1937,2717,0,0,0,0,0,0
$GC,10221,0.86,187.0,148.6,6.4,368,10264,0.00,0.00,37.97,0.569,6,0.000,0.000,2865,1937,2538,0,0,0,0,0,0
$GC,10520,0.86,187.0,119.6,8.8,396,10524,0.00,2.15,0.00,0.000,4,0.000,0.038,2875,530,2536,0,0,0,0,0,0
$GC,10564,0.86,187.0,114.8,10.5,399,10572,0.00,2.15,0.00,0.000,6,0.000,0.034,2875,1931,2534,0,0,0,0,0,0
$GC,10831,0.93,245.2,93.2,6.1,424,10886,0.00,2.25,47.65,0.512,4,0.000,0.047,2875,3340,2300,0,0,0,0,0,0
$GC,10913,0.93,245.2,86.8,10.0,431,10917,0.00,2.20,0.00,0.000,6,0.000,0.031,2886,1926,2299,0,0,0,0,0,0
$GC,11177,0.93,245.2,55.0,12.9,455,11181,0.00,2.12,0.00,0.000,4,0.000,0.039,2897,513,2297,0,0,0,0,0,0
$GC,11219,0.93,245.2,49.4,12.8,458,11223,0.00,2.12,0.00,0.000,6,0.000,0.030,2897,1942,2296,0,0,0,0,0,0
$GC,11482,0.93,245.2,13.1,13.5,493,11490,0.00,2.20,0.00,0.000,4,0.000,0.046,2894,3314,2297,0,0,0,0,0,0
$STATE,11550,end climb,SURFACE_DEPTH_REACHED
$STATE,11550,begin surface coast
$FINISH,0.3,1.022897
$STATE,11572,end surface coast,CONTROL_FINISHED_OK
$STATE,11573,begin surface
$SM_CCo,11595,26.55,0.423,0,0,2076,300.24
$SM_GC,1.12,0.00,0.00,26.55,0.000,0.000,0.423,58,1978,2076,-7.94,-0.59,300.24
$IRIDIUM_FIX,1853.26,-15628.63,130213,090918
$TT8_MAMPS,0.262314
$HUMID,1078894829
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,88
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259212288
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,32638337024
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,43.427
$10V_AH,9.9,39.560
$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,19.325,117.925,315.825,26.550,0.000,88.492,112.004,524.683,22.000,0.000,21.321,1083.934,8412.447,399.841,2385.374,449.997,33.352,1130.063,0.000,1668.318,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,105.079,1086.072,423.384,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.978,0.000,846.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,26995,509
$CAP_FILE_SIZE,117378,0
$CFSIZE,260165632,183230464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,219.9,1
$GPS,210811,181937,1858.905,-15630.335,25,1.6,25,9.6