version: 66.07
glider: 513
mission: 7
dive: 309
start: 8 21 111 18 30 5
data:
$ID,513
$MISSION,7
$DIVE,309
$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,-428274.78
$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,48
$R_STBD_OVSHOOT,44
$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,308
$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
$GPS1,210811,181937,1858.905,-15630.335,25,1.6,25,9.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.5
$GPS2,210811,182908,1858.804,-15630.480,10,1.5,10,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.093,0.220
$KALMAN_X,-79077.5,-504.8,710.3,119325.2,-1300.2
$KALMAN_Y,-89266.4,750.4,797.9,-25065.3,-13294.4
$MHEAD_RNG_PITCHd_Wd,26.3,2369,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.35,0.000,2,0.000,0.000,41,1978,3563,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.7,-6.6,8,107,9.57,2.28,-5.03,0.000,4,0.237,0.061,2317,3406,3859,0,0,0,0,0,0
$GC,260,-0.80,-136.7,66.3,-31.3,29,267,0.00,2.20,0.00,0.000,6,0.000,0.038,2317,2018,3863,0,0,0,0,0,0
$GC,523,-0.80,-136.7,149.5,-28.8,54,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2012,3864,0,0,0,0,0,0
$GC,774,-0.80,-136.7,215.0,-23.7,75,778,0.00,2.15,0.00,0.000,4,0.000,0.041,2317,582,3866,0,0,0,0,0,0
$GC,802,-0.80,-136.7,222.3,-25.1,76,807,0.08,2.17,0.00,0.000,6,0.169,0.042,2331,1992,3866,0,0,0,0,0,0
$GC,1062,-0.80,-136.7,276.5,-21.1,89,1066,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3410,3868,0,0,0,0,0,0
$GC,1156,-0.80,-136.7,296.9,-21.8,93,1160,0.00,2.15,0.00,0.000,6,0.000,0.031,2322,1977,3869,0,0,0,0,0,0
$GC,1432,-0.80,-136.7,350.0,-18.8,101,1437,0.00,2.25,0.00,0.000,4,0.000,0.051,2313,3412,3870,0,0,0,0,0,0
$GC,1467,-0.80,-136.7,356.1,-17.3,101,1472,0.00,2.12,0.00,0.000,6,0.000,0.030,2312,1994,3869,0,0,0,0,0,0
$GC,1717,-0.80,-136.7,398.3,-16.6,108,1721,0.00,2.12,0.00,0.000,4,0.000,0.041,2310,591,3868,0,0,0,0,0,0
$GC,1739,-0.80,-136.7,401.9,-15.9,108,1744,0.15,2.17,0.00,0.000,6,0.167,0.043,2341,2015,3867,0,0,0,0,0,0
$GC,1994,-0.80,-136.7,436.8,-13.5,115,1998,0.00,2.17,0.00,0.000,4,0.000,0.051,2331,3396,3868,0,0,0,0,0,0
$GC,2011,-0.80,-136.7,439.3,-13.9,115,2015,0.00,2.10,0.00,0.000,6,0.000,0.032,2331,2004,3868,0,0,0,0,0,0
$GC,2271,-0.80,-136.7,478.3,-15.4,122,2275,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3407,3866,0,0,0,0,0,0
$GC,2316,-0.80,-136.7,485.6,-15.6,123,2321,0.00,2.15,0.00,0.000,6,0.000,0.034,2320,1986,3868,0,0,0,0,0,0
$GC,2607,-0.80,-136.7,531.1,-15.9,130,2611,0.00,2.25,0.00,0.000,4,0.000,0.051,2306,3412,3863,0,0,0,0,0,0
$GC,2633,-0.80,-136.7,535.7,-15.8,130,2638,0.05,2.17,0.00,0.000,6,0.128,0.032,2339,2007,3863,0,0,0,0,0,0
$GC,2888,-0.80,-136.7,568.7,-12.7,137,2892,0.00,2.22,0.00,0.000,4,0.000,0.053,2326,3412,3860,0,0,0,0,0,0
$GC,2917,-0.80,-136.7,572.5,-13.2,137,2921,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,1986,3860,0,0,0,0,0,0
$GC,3167,-0.80,-136.7,604.5,-12.6,143,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1980,3857,0,0,0,0,0,0
$GC,3410,-0.80,-136.7,634.4,-12.1,149,3414,0.00,2.25,0.00,0.000,4,0.000,0.052,2319,3400,3856,0,0,0,0,0,0
$GC,3450,-0.80,-136.7,639.1,-12.5,150,3454,0.00,2.12,0.00,0.000,6,0.000,0.034,2320,2006,3854,0,0,0,0,0,0
$GC,3734,-0.80,-136.7,672.3,-11.4,157,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2000,3851,0,0,0,0,0,0
$GC,3976,-0.80,-136.7,700.3,-11.5,163,3980,0.00,2.25,0.00,0.000,4,0.000,0.053,2309,3400,3849,0,0,0,0,0,0
$GC,3998,-0.80,-136.7,703.1,-12.4,163,4003,0.12,2.12,0.00,0.000,6,0.168,0.034,2337,2002,3848,0,0,0,0,0,0
$GC,4254,-0.80,-136.7,729.9,-10.7,170,4258,0.00,2.25,0.00,0.000,4,0.000,0.055,2331,3397,3847,0,0,0,0,0,0
$GC,4306,-0.80,-136.7,735.5,-10.8,171,4309,0.00,2.12,0.00,0.000,6,0.000,0.033,2331,1999,3846,0,0,0,0,0,0
$GC,4583,-0.80,-136.7,765.7,-11.0,178,4587,0.00,2.25,0.00,0.000,4,0.000,0.053,2320,3408,3844,0,0,0,0,0,0
$GC,4606,-0.80,-136.7,768.4,-11.5,178,4610,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,2000,3844,0,0,0,0,0,0
$GC,4862,-0.80,-136.7,800.0,-12.5,185,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1994,3842,0,0,0,0,0,0
$GC,5105,-0.80,-136.7,831.3,-13.0,191,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1993,3839,0,0,0,0,0,0
$GC,5349,-0.80,-136.7,862.6,-12.9,197,5353,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3407,3839,0,0,0,0,0,0
$GC,5377,-0.80,-136.7,866.2,-13.2,197,5382,0.10,2.17,0.00,0.000,6,0.177,0.034,2334,1984,3838,0,0,0,0,0,0
$GC,5632,-0.80,-136.7,896.9,-11.8,204,5636,0.00,2.28,0.00,0.000,4,0.000,0.055,2329,3400,3837,0,0,0,0,0,0
$STATE,5657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5658,begin apogee
$GC,5666,-0.28,0.0,900.4,12.5,204,5782,0.57,0.00,112.07,1.089,6,0.145,0.000,2500,1928,3300,0,0,0,0,0,0
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5808,0.80,136.7,904.5,0.0,207,5934,1.02,0.00,120.40,1.058,6,0.095,0.000,2843,1928,2741,0,0,0,0,0,0
$GC,6180,0.80,136.7,846.8,19.6,217,6184,0.00,2.30,0.00,0.000,4,0.000,0.052,2839,3336,2733,0,0,0,0,0,0
$GC,6208,0.80,136.7,840.8,20.4,217,6212,0.00,2.22,0.00,0.000,6,0.000,0.033,2848,1911,2732,0,0,0,0,0,0
$GC,6463,0.80,136.7,789.8,19.8,224,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1908,2730,0,0,0,0,0,0
$GC,6707,0.80,136.7,741.8,19.4,230,6710,0.00,2.12,0.00,0.000,4,0.000,0.040,2859,521,2728,0,0,0,0,0,0
$GC,6728,0.80,136.7,737.3,20.2,230,6732,0.00,2.15,0.00,0.000,6,0.000,0.035,2859,1932,2727,0,0,0,0,0,0
$GC,6996,0.80,136.7,685.3,18.9,237,7000,0.00,2.25,0.00,0.000,4,0.000,0.053,2859,3337,2726,0,0,0,0,0,0
$GC,7057,0.80,136.7,673.5,19.2,238,7061,0.00,2.15,0.00,0.000,6,0.000,0.032,2869,1932,2727,0,0,0,0,0,0
$GC,7323,0.80,136.7,624.9,18.3,245,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1931,2726,0,0,0,0,0,0
$GC,7568,0.80,136.7,581.5,18.1,251,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1931,2725,0,0,0,0,0,0
$GC,7811,0.80,136.7,539.6,17.4,257,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1931,2722,0,0,0,0,0,0
$GC,8055,0.80,136.7,494.7,18.7,263,8059,0.00,2.28,0.00,0.000,4,0.000,0.052,2868,3348,2724,0,0,0,0,0,0
$GC,8095,0.80,136.7,487.0,20.0,264,8099,0.00,2.17,0.00,0.000,6,0.000,0.032,2877,1922,2724,0,0,0,0,0,0
$GC,8379,0.80,136.7,433.4,19.3,271,8383,0.00,2.12,0.00,0.000,4,0.000,0.040,2889,517,2723,0,0,0,0,0,0
$GC,8419,0.80,136.7,425.6,19.1,272,8424,0.15,2.12,0.00,0.000,6,0.193,0.035,2854,1937,2721,0,0,0,0,0,0
$GC,8702,0.80,136.7,377.9,16.6,279,8706,0.00,2.22,0.00,0.000,4,0.000,0.051,2843,3339,2721,0,0,0,0,0,0
$GC,8759,0.80,136.7,368.9,15.8,280,8763,0.00,2.15,0.00,0.000,6,0.000,0.031,2852,1924,2722,0,0,0,0,0,0
$GC,9025,0.80,136.7,331.2,13.8,287,9029,0.00,2.25,0.00,0.000,4,0.000,0.051,2852,3334,2721,0,0,0,0,0,0
$GC,9103,0.80,136.7,320.4,13.7,288,9109,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1916,2721,0,0,0,0,0,0
$GC,9354,0.80,136.7,287.5,12.7,297,9358,0.00,2.10,0.00,0.000,4,0.000,0.038,2870,527,2721,0,0,0,0,0,0
$GC,9406,0.80,136.7,281.0,13.2,299,9410,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1933,2719,0,0,0,0,0,0
$GC,9666,0.80,136.7,248.8,12.6,312,9670,0.00,2.25,0.00,0.000,4,0.000,0.051,2870,3340,2719,0,0,0,0,0,0
$GC,9885,0.80,136.7,220.3,11.9,322,9890,0.12,2.15,0.00,0.000,6,0.200,0.029,2856,1916,2720,0,0,0,0,0,0
$GC,10150,0.80,136.7,193.1,9.4,337,10153,0.00,2.08,0.00,0.000,4,0.000,0.038,2866,530,2719,0,0,0,0,0,0
$GC,10213,0.80,136.7,186.3,9.4,342,10217,0.00,2.12,0.00,0.000,6,0.000,0.033,2865,1944,2718,0,0,0,0,0,0
$GC,10478,0.80,136.7,162.4,8.9,366,10482,0.00,2.17,0.00,0.000,4,0.000,0.050,2865,3326,2719,0,0,0,0,0,0
$GC,10511,0.85,181.2,159.4,6.7,368,10554,0.00,2.15,33.50,0.575,6,0.000,0.029,2875,1918,2563,0,0,0,0,0,0
$GC,10809,0.85,181.2,131.3,9.5,396,10813,0.00,2.25,0.00,0.000,4,0.000,0.048,2875,3336,2558,0,0,0,0,0,0
$GC,11061,0.85,181.9,106.0,8.5,418,11068,0.00,2.15,0.00,0.000,6,0.000,0.029,2886,1938,2558,0,0,0,0,0,0
$GC,11326,0.85,181.9,83.6,9.7,443,11330,0.00,2.10,0.00,0.000,4,0.000,0.038,2897,524,2561,0,0,0,0,0,0
$GC,11357,0.86,185.7,80.7,8.4,445,11370,0.00,2.08,5.50,0.393,6,0.000,0.031,2893,1930,2541,0,0,0,0,0,0
$GC,11625,0.86,185.7,57.0,9.0,470,11629,0.00,2.17,0.00,0.000,4,0.000,0.045,2897,3328,2542,0,0,0,0,0,0
$GC,11699,0.86,185.7,49.5,9.6,476,11704,0.15,2.10,0.00,0.000,6,0.186,0.028,2871,1923,2544,0,0,0,0,0,0
$GC,11964,0.86,185.7,26.5,8.6,503,11973,0.00,2.22,0.00,0.000,4,0.000,0.045,2871,3320,2547,0,0,0,0,0,0
$GC,12019,0.86,185.7,21.1,9.6,512,12027,0.00,2.12,0.00,0.000,6,0.000,0.028,2880,1929,2544,0,0,0,0,0,0
$STATE,12219,end climb,SURFACE_DEPTH_REACHED
$STATE,12219,begin surface coast
$FINISH,0.4,1.021964
$STATE,12258,end surface coast,CONTROL_FINISHED_OK
$STATE,12258,begin surface
$SM_CCo,12278,59.83,0.428,0,0,2076,300.24
$SM_GC,1.54,0.00,0.00,59.83,0.000,0.000,0.428,45,2034,2076,-7.97,1.05,300.24
$IRIDIUM_FIX,1850.98,-15628.63,130213,090955
$TT8_MAMPS,0.143429
$HUMID,1078804506
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.10
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6297616384
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,32476135424
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,43.535
$10V_AH,9.9,39.649
$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,19.650,130.925,271.475,59.825,0.000,24.300,40.709,295.457,24.750,0.000,12.401,1198.417,8682.900,425.261,2225.405,387.889,33.353,1178.381,0.000,1833.717,0.000,0.541,0.000
$DEVICE_MAMPS,237.003,96.642,1089.140,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,379.553,0.000,975.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353708
$DATA_FILE_SIZE,26931,556
$CAP_FILE_SIZE,118539,0
$CFSIZE,260165632,183160832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,217.6,1
$GPS,210811,215736,1859.161,-15630.204,53,0.8,53,9.6