version: 66.07
glider: 513
mission: 7
dive: 311
start: 8 22 111 1 56 59
data:
$ID,513
$MISSION,7
$DIVE,311
$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,-428305.78
$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,52
$R_STBD_OVSHOOT,38
$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,310
$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
$GPS1,220811,013806,1859.434,-15630.250,38,1.7,38,9.6
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-77.8
$GPS2,220811,015602,1859.262,-15630.604,12,1.8,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.005,0.239
$KALMAN_X,-77638.5,1226.9,-814.3,117471.4,720.3
$KALMAN_Y,-96716.2,1584.8,559.4,-17386.4,-13834.4
$MHEAD_RNG_PITCHd_Wd,29.0,1727,-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,-136.7,0.0,0.0,0,83,0.00,0.00,-51.78,0.000,2,0.000,0.000,37,1979,3549,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.1,-4.6,8,110,9.65,2.30,-5.47,0.000,4,0.238,0.064,2318,3410,3857,0,0,0,0,0,0
$GC,217,-0.80,-136.7,48.5,-30.8,25,221,0.00,2.17,0.00,0.000,6,0.000,0.036,2317,2010,3860,0,0,0,0,0,0
$GC,480,-0.80,-136.7,130.8,-27.9,49,484,0.00,2.25,0.00,0.000,4,0.000,0.051,2306,3413,3864,0,0,0,0,0,0
$GC,523,-0.80,-136.7,143.0,-26.4,52,531,0.10,2.22,0.00,0.000,6,0.165,0.035,2337,1988,3861,0,0,0,0,0,0
$GC,789,-0.80,-136.7,200.8,-21.4,77,793,0.00,2.22,0.00,0.000,4,0.000,0.048,2326,3418,3865,0,0,0,0,0,0
$GC,816,-0.80,-136.7,208.7,-23.3,78,820,0.00,2.12,0.00,0.000,6,0.000,0.032,2323,2001,3863,0,0,0,0,0,0
$GC,1076,-0.80,-136.7,264.7,-21.3,91,1080,0.00,2.22,0.00,0.000,4,0.000,0.051,2316,3406,3865,0,0,0,0,0,0
$GC,1132,-0.80,-136.7,278.1,-24.0,93,1137,0.00,2.12,0.00,0.000,6,0.000,0.032,2316,2000,3864,0,0,0,0,0,0
$GC,1404,-0.80,-136.7,331.0,-18.0,103,1408,0.00,2.22,0.00,0.000,4,0.000,0.053,2305,3404,3865,0,0,0,0,0,0
$GC,1455,-0.80,-136.7,340.0,-18.8,104,1460,0.12,2.12,0.00,0.000,6,0.168,0.033,2337,2002,3865,0,0,0,0,0,0
$GC,1734,-0.80,-136.7,378.6,-13.7,111,1738,0.00,2.12,0.00,0.000,4,0.000,0.042,2337,592,3865,0,0,0,0,0,0
$GC,1800,-0.80,-136.7,387.8,-13.1,112,1804,0.00,2.12,0.00,0.000,6,0.000,0.042,2329,1999,3865,0,0,0,0,0,0
$GC,2062,-0.80,-136.7,425.7,-15.1,119,2066,0.00,2.20,0.00,0.000,4,0.000,0.050,2317,3408,3864,0,0,0,0,0,0
$GC,2163,-0.80,-136.7,442.3,-16.6,121,2167,0.00,2.15,0.00,0.000,6,0.000,0.034,2317,2000,3863,0,0,0,0,0,0
$GC,2430,-0.80,-136.7,486.3,-16.3,128,2434,0.00,2.28,0.00,0.000,4,0.000,0.055,2306,3412,3861,0,0,0,0,0,0
$GC,2454,-0.80,-136.7,490.0,-16.8,128,2459,0.12,2.15,0.00,0.000,6,0.169,0.034,2338,1991,3861,0,0,0,0,0,0
$GC,2709,-0.80,-136.7,524.7,-12.9,135,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1986,3858,0,0,0,0,0,0
$GC,2952,-0.80,-136.7,555.3,-12.6,141,2956,0.00,2.25,0.00,0.000,4,0.000,0.054,2329,3404,3856,0,0,0,0,0,0
$GC,2985,-0.80,-136.7,559.8,-13.1,141,2991,0.00,2.15,0.00,0.000,6,0.000,0.036,2329,2010,3855,0,0,0,0,0,0
$GC,3236,-0.80,-136.7,594.2,-14.0,148,3241,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3409,3853,0,0,0,0,0,0
$GC,3292,-0.80,-136.7,602.7,-14.3,149,3296,0.00,2.20,0.00,0.000,6,0.000,0.035,2317,1993,3852,0,0,0,0,0,0
$GC,3564,-0.80,-136.7,644.3,-15.4,156,3568,0.00,2.10,0.00,0.000,4,0.000,0.045,2318,606,3846,0,0,0,0,0,0
$GC,3605,-0.80,-136.7,650.8,-15.9,157,3609,0.12,2.15,0.00,0.000,6,0.180,0.044,2338,1998,3849,0,0,0,0,0,0
$GC,3888,-0.80,-136.7,689.7,-13.6,164,3892,0.00,2.25,0.00,0.000,4,0.000,0.054,2333,3403,3845,0,0,0,0,0,0
$GC,3965,-0.80,-136.7,700.4,-13.1,165,3971,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,2003,3844,0,0,0,0,0,0
$GC,4217,-0.80,-136.7,734.3,-13.6,172,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1996,3843,0,0,0,0,0,0
$GC,4459,-0.80,-136.7,765.5,-12.6,178,4463,0.00,2.25,0.00,0.000,4,0.000,0.055,2318,3402,3839,0,0,0,0,0,0
$GC,4491,-0.80,-136.7,769.9,-12.5,178,4498,0.00,2.15,0.00,0.000,6,0.000,0.036,2318,1993,3839,0,0,0,0,0,0
$GC,4743,-0.80,-136.7,801.5,-12.8,185,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1988,3837,0,0,0,0,0,0
$GC,4986,-0.80,-136.7,832.4,-12.6,191,4990,0.00,2.30,0.00,0.000,4,0.000,0.058,2307,3414,3835,0,0,0,0,0,0
$GC,5018,-0.80,-136.7,836.8,-12.6,191,5023,0.12,2.17,0.00,0.000,6,0.174,0.034,2338,2008,3835,0,0,0,0,0,0
$GC,5268,-0.80,-136.7,864.6,-11.0,197,5272,0.00,2.28,0.00,0.000,4,0.000,0.055,2329,3407,3833,0,0,0,0,0,0
$GC,5297,-0.80,-136.7,867.8,-11.6,197,5301,0.00,2.17,0.00,0.000,6,0.000,0.034,2329,1991,3834,0,0,0,0,0,0
$GC,5552,-0.80,-136.7,897.3,-11.6,204,5556,0.00,2.28,0.00,0.000,4,0.000,0.054,2318,3407,3830,0,0,0,0,0,0
$STATE,5576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5576,begin apogee
$GC,5585,-0.28,0.0,900.6,11.7,204,5699,0.60,0.00,110.50,1.088,6,0.150,0.000,2499,1927,3301,0,0,0,0,0,0
$STATE,5701,end apogee,CONTROL_FINISHED_OK
$STATE,5701,begin climb
$GC,5705,0.80,136.7,904.3,0.0,207,5836,1.05,2.35,119.97,1.054,4,0.096,0.038,2861,519,2740,0,0,0,0,0,0
$GC,5848,0.80,136.7,889.4,17.3,210,5853,0.00,2.25,0.00,0.000,6,0.000,0.034,2850,1928,2737,0,0,0,0,0,0
$GC,6109,0.80,136.7,837.8,20.1,217,6113,0.00,2.30,0.00,0.000,4,0.000,0.051,2840,3337,2732,0,0,0,0,0,0
$GC,6165,0.80,136.7,826.2,20.5,218,6169,0.00,2.20,0.00,0.000,6,0.000,0.031,2848,1920,2733,0,0,0,0,0,0
$GC,6444,0.80,136.7,770.9,19.9,225,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1917,2729,0,0,0,0,0,0
$GC,6687,0.80,136.7,722.6,19.7,231,6691,0.00,2.12,0.00,0.000,4,0.000,0.041,2859,523,2728,0,0,0,0,0,0
$GC,6708,0.80,136.7,718.2,19.9,231,6712,0.00,2.15,0.00,0.000,6,0.000,0.035,2859,1936,2726,0,0,0,0,0,0
$GC,6969,0.80,136.7,665.3,20.6,238,6973,0.00,2.25,0.00,0.000,4,0.000,0.054,2849,3335,2726,0,0,0,0,0,0
$GC,7048,0.80,136.7,648.5,21.2,239,7052,0.00,2.15,0.00,0.000,6,0.000,0.032,2858,1933,2723,0,0,0,0,0,0
$GC,7298,0.80,136.7,600.1,19.3,245,7302,0.00,2.15,0.00,0.000,4,0.000,0.039,2869,519,2725,0,0,0,0,0,0
$GC,7353,0.80,136.7,589.0,20.8,246,7357,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1934,2724,0,0,0,0,0,0
$GC,7626,0.80,136.7,538.0,18.6,253,7630,0.00,2.25,0.00,0.000,4,0.000,0.052,2870,3333,2723,0,0,0,0,0,0
$GC,7687,0.80,136.7,525.8,18.9,254,7691,0.00,2.17,0.00,0.000,6,0.000,0.032,2879,1920,2724,0,0,0,0,0,0
$GC,7960,0.80,136.7,476.5,17.8,261,7964,0.00,2.28,0.00,0.000,4,0.000,0.051,2880,3345,2723,0,0,0,0,0,0
$GC,7993,0.80,136.7,470.5,18.4,261,7999,0.15,2.15,0.00,0.000,6,0.206,0.031,2855,1923,2723,0,0,0,0,0,0
$GC,8243,0.80,136.7,431.9,15.0,268,8247,0.00,2.25,0.00,0.000,4,0.000,0.048,2845,3341,2723,0,0,0,0,0,0
$GC,8270,0.80,136.7,427.4,16.7,268,8274,0.00,2.12,0.00,0.000,6,0.000,0.030,2854,1933,2722,0,0,0,0,0,0
$GC,8527,0.80,136.7,387.8,15.7,275,8531,0.00,2.25,0.00,0.000,4,0.000,0.048,2846,3338,2722,0,0,0,0,0,0
$GC,8578,0.80,136.7,379.8,16.7,276,8582,0.00,2.17,0.00,0.000,6,0.000,0.031,2854,1922,2722,0,0,0,0,0,0
$GC,8855,0.80,136.7,339.7,13.9,283,8859,0.00,2.10,0.00,0.000,4,0.000,0.039,2866,524,2722,0,0,0,0,0,0
$GC,8877,0.80,136.7,336.9,12.5,283,8881,0.00,2.12,0.00,0.000,6,0.000,0.034,2866,1940,2719,0,0,0,0,0,0
$GC,9139,0.80,136.7,305.1,12.1,290,9143,0.00,2.22,0.00,0.000,4,0.000,0.050,2866,3339,2720,0,0,0,0,0,0
$GC,9240,0.80,136.7,291.8,13.2,293,9246,0.00,2.17,0.00,0.000,6,0.000,0.029,2876,1915,2720,0,0,0,0,0,0
$GC,9495,0.80,136.7,258.3,13.4,306,9499,0.00,2.25,0.00,0.000,4,0.000,0.047,2876,3335,2720,0,0,0,0,0,0
$GC,9567,0.80,136.7,246.5,16.2,309,9572,0.12,2.12,0.00,0.000,6,0.202,0.028,2858,1922,2720,0,0,0,0,0,0
$GC,9821,0.80,136.7,215.2,11.4,321,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1918,2719,0,0,0,0,0,0
$GC,10074,0.83,163.3,195.4,7.4,335,10098,0.00,2.10,18.98,0.596,4,0.000,0.037,2868,525,2635,0,0,0,0,0,0
$GC,10180,0.83,163.3,184.4,12.5,344,10183,0.00,2.12,0.00,0.000,6,0.000,0.033,2868,1936,2632,0,0,0,0,0,0
$GC,10447,0.83,163.3,146.9,13.7,368,10451,0.00,2.20,0.00,0.000,4,0.000,0.048,2868,3334,2633,0,0,0,0,0,0
$GC,10587,0.83,163.3,129.2,9.6,380,10592,0.00,2.12,0.00,0.000,6,0.000,0.029,2877,1926,2632,0,0,0,0,0,0
$GC,10859,0.89,217.4,107.3,6.3,405,10910,0.00,2.28,45.47,0.527,4,0.000,0.048,2878,3334,2412,0,0,0,0,0,0
$GC,11087,0.89,217.4,86.8,10.9,425,11094,0.00,2.17,0.00,0.000,6,0.000,0.030,2888,1941,2411,0,0,0,0,0,0
$GC,11352,0.89,217.4,56.2,11.4,450,11356,0.00,2.12,0.00,0.000,4,0.000,0.038,2899,525,2410,0,0,0,0,0,0
$GC,11393,0.89,217.4,51.0,12.7,453,11397,0.00,2.10,0.00,0.000,6,0.000,0.030,2900,1935,2406,0,0,0,0,0,0
$GC,11657,0.89,217.4,17.6,12.3,486,11665,0.00,2.22,0.00,0.000,4,0.000,0.046,2899,3329,2410,0,0,0,0,0,0
$STATE,11781,end climb,SURFACE_DEPTH_REACHED
$STATE,11782,begin surface coast
$FINISH,0.2,1.005834
$STATE,11808,end surface coast,CONTROL_FINISHED_OK
$STATE,11808,begin surface
$SM_CCo,11830,35.03,0.426,0,0,2075,300.24
$SM_GC,1.88,0.00,0.00,35.03,0.000,0.000,0.426,59,2001,2075,-7.95,0.00,300.24
$IRIDIUM_FIX,1850.98,-15631.63,130213,202029
$TT8_MAMPS,0.273819
$HUMID,1078898700
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.30
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259113984
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,32172605440
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,43.792
$10V_AH,9.9,39.821
$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,19.750,144.675,294.925,35.025,0.000,80.563,102.681,530.310,21.750,0.000,14.366,1141.704,8490.741,400.310,2490.202,425.853,33.360,1180.655,0.000,1766.992,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,63.661,1088.373,425.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,349.923,0.000,853.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26936,513
$CAP_FILE_SIZE,125911,0
$CFSIZE,260165632,183009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,219.1,1
$GPS,220811,051655,1859.634,-15630.281,71,0.9,71,9.6