version: 66.07
glider: 513
mission: 7
dive: 312
start: 8 22 111 5 43 16
data:
$ID,513
$MISSION,7
$DIVE,312
$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,712.8302
$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,-428344.34
$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,42
$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,311
$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
$GPS1,220811,051655,1859.634,-15630.281,71,0.9,71,9.6
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.1
$GPS2,220811,054220,1859.462,-15630.852,36,1.5,36,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.057,0.232
$KALMAN_X,-78654.0,270.4,494.2,117708.4,-2569.5
$KALMAN_Y,-101012.4,1716.8,1017.3,-13306.4,-15522.1
$MHEAD_RNG_PITCHd_Wd,35.1,1793,-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,-51.88,0.000,2,0.000,0.000,37,1998,3570,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.5,-5.6,8,107,9.65,2.28,-4.95,0.000,4,0.239,0.064,2318,3410,3859,0,0,0,0,0,0
$GC,214,-0.80,-136.7,49.1,-31.1,25,218,0.00,2.17,0.00,0.000,6,0.000,0.041,2318,2005,3862,0,0,0,0,0,0
$GC,478,-0.80,-136.7,141.3,-30.8,49,482,0.00,2.20,0.00,0.000,4,0.000,0.051,2307,3402,3863,0,0,0,0,0,0
$GC,510,-0.80,-136.7,152.8,-30.5,51,519,0.08,2.17,0.00,0.000,6,0.170,0.034,2329,1994,3863,0,0,0,0,0,0
$GC,783,-0.80,-136.7,209.9,-19.6,75,786,0.00,2.12,0.00,0.000,4,0.000,0.044,2329,590,3864,0,0,0,0,0,0
$GC,807,-0.80,-136.7,214.7,-19.4,76,811,0.00,2.12,0.00,0.000,6,0.000,0.043,2321,1986,3864,0,0,0,0,0,0
$GC,1073,-0.80,-136.7,267.7,-19.4,89,1077,0.00,2.25,0.00,0.000,4,0.000,0.050,2309,3424,3865,0,0,0,0,0,0
$GC,1195,-0.80,-136.7,293.9,-19.0,94,1202,0.12,2.15,0.00,0.000,6,0.163,0.033,2341,1995,3866,0,0,0,0,0,0
$GC,1447,-0.80,-136.7,335.7,-16.7,102,1451,0.00,2.22,0.00,0.000,4,0.000,0.052,2332,3414,3866,0,0,0,0,0,0
$GC,1520,-0.80,-136.7,346.7,-14.1,103,1524,0.00,2.17,0.00,0.000,6,0.000,0.032,2332,1991,3868,0,0,0,0,0,0
$GC,1775,-0.80,-136.7,383.7,-14.4,110,1779,0.00,2.25,0.00,0.000,4,0.000,0.052,2321,3413,3865,0,0,0,0,0,0
$GC,1809,-0.80,-136.7,388.6,-14.8,110,1814,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,1999,3865,0,0,0,0,0,0
$GC,2058,-0.80,-136.7,428.7,-16.3,117,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1991,3863,0,0,0,0,0,0
$GC,2302,-0.80,-136.7,468.1,-16.1,123,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1991,3862,0,0,0,0,0,0
$GC,2546,-0.80,-136.7,506.5,-15.8,129,2550,0.00,2.25,0.00,0.000,4,0.000,0.051,2310,3412,3859,0,0,0,0,0,0
$GC,2607,-0.80,-136.7,516.4,-15.8,130,2612,0.10,2.12,0.00,0.000,6,0.175,0.033,2334,2000,3857,0,0,0,0,0,0
$GC,2873,-0.80,-136.7,553.1,-13.4,137,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1994,3858,0,0,0,0,0,0
$GC,3117,-0.80,-136.7,585.4,-13.1,143,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1994,3853,0,0,0,0,0,0
$GC,3362,-0.80,-136.7,616.1,-12.3,149,3366,0.00,2.25,0.00,0.000,4,0.000,0.054,2325,3412,3850,0,0,0,0,0,0
$GC,3422,-0.80,-136.7,623.7,-11.4,150,3427,0.00,2.15,0.00,0.000,6,0.000,0.033,2326,1982,3849,0,0,0,0,0,0
$GC,3689,-0.80,-136.7,655.4,-11.9,157,3693,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,597,3846,0,0,0,0,0,0
$GC,3723,-0.80,-136.7,659.5,-12.1,157,3729,0.00,2.17,0.00,0.000,6,0.000,0.045,2315,2009,3846,0,0,0,0,0,0
$GC,3974,-0.80,-136.7,690.0,-12.3,164,3978,0.00,2.20,0.00,0.000,4,0.000,0.054,2304,3402,3842,0,0,0,0,0,0
$GC,4064,-0.80,-136.7,702.1,-13.0,166,4069,0.12,2.15,0.00,0.000,6,0.170,0.035,2335,2009,3842,0,0,0,0,0,0
$GC,4343,-0.80,-136.7,735.3,-11.9,173,4347,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,594,3839,0,0,0,0,0,0
$GC,4370,-0.80,-136.7,738.8,-13.1,173,4374,0.00,2.20,0.00,0.000,6,0.000,0.044,2327,1997,3839,0,0,0,0,0,0
$GC,4625,-0.80,-136.7,771.0,-12.7,180,4629,0.00,2.25,0.00,0.000,4,0.000,0.053,2316,3421,3837,0,0,0,0,0,0
$GC,4688,-0.80,-136.7,779.3,-12.9,181,4692,0.00,2.17,0.00,0.000,6,0.000,0.034,2313,1992,3837,0,0,0,0,0,0
$GC,4955,-0.80,-136.7,815.1,-13.4,188,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1985,3834,0,0,0,0,0,0
$GC,5198,-0.80,-136.7,846.9,-13.1,194,5202,0.00,2.28,0.00,0.000,4,0.000,0.055,2305,3412,3832,0,0,0,0,0,0
$GC,5265,-0.80,-136.7,855.8,-12.8,195,5270,0.12,2.15,0.00,0.000,6,0.174,0.033,2341,1987,3831,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,884.6,-11.2,202,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1985,3835,0,0,0,0,0,0
$STATE,5680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5686,-0.28,0.0,902.1,10.8,206,5803,0.55,0.00,110.20,1.089,6,0.148,0.000,2500,1984,3300,0,0,0,0,0,0
$STATE,5805,end apogee,CONTROL_FINISHED_OK
$STATE,5805,begin climb
$GC,5809,0.80,136.7,904.9,0.0,209,5938,1.02,2.35,119.38,1.055,4,0.095,0.038,2854,536,2739,0,0,0,0,0,0
$GC,5954,0.80,136.7,888.1,17.9,212,5958,0.00,2.22,0.00,0.000,6,0.000,0.034,2848,1932,2738,0,0,0,0,0,0
$GC,6211,0.80,136.7,838.8,19.8,219,6215,0.00,2.30,0.00,0.000,4,0.000,0.054,2848,3340,2732,0,0,0,0,0,0
$GC,6249,0.80,136.7,830.4,21.7,219,6256,0.00,2.20,0.00,0.000,6,0.000,0.031,2858,1934,2733,0,0,0,0,0,0
$GC,6499,0.80,136.7,780.0,20.3,226,6503,0.00,2.15,0.00,0.000,4,0.000,0.038,2869,521,2730,0,0,0,0,0,0
$GC,6535,0.80,136.7,772.7,21.4,226,6540,0.00,2.17,0.00,0.000,6,0.000,0.035,2869,1944,2728,0,0,0,0,0,0
$GC,6784,0.80,136.7,719.5,21.1,233,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1949,2728,0,0,0,0,0,0
$GC,7028,0.80,136.7,671.1,19.6,239,7032,0.00,2.22,0.00,0.000,4,0.000,0.052,2869,3340,2727,0,0,0,0,0,0
$GC,7072,0.80,136.7,661.8,20.7,240,7076,0.00,2.17,0.00,0.000,6,0.000,0.031,2879,1923,2727,0,0,0,0,0,0
$GC,7356,0.80,136.7,605.3,19.9,247,7360,0.00,2.10,0.00,0.000,4,0.000,0.038,2890,526,2725,0,0,0,0,0,0
$GC,7389,0.80,136.7,598.4,20.1,247,7397,0.15,2.15,0.00,0.000,6,0.199,0.035,2856,1937,2724,0,0,0,0,0,0
$GC,7641,0.80,136.7,553.5,17.9,254,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1943,2724,0,0,0,0,0,0
$GC,7885,0.80,136.7,510.6,17.4,260,7889,0.00,2.22,0.00,0.000,4,0.000,0.051,2845,3343,2723,0,0,0,0,0,0
$GC,7940,0.80,136.7,500.5,17.6,261,7943,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1921,2728,0,0,0,0,0,0
$GC,8212,0.80,136.7,456.1,16.1,268,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1921,2721,0,0,0,0,0,0
$GC,8456,0.80,136.7,419.5,14.5,274,8460,0.00,2.10,0.00,0.000,4,0.000,0.039,2865,523,2723,0,0,0,0,0,0
$GC,8501,0.80,136.7,412.7,15.2,275,8505,0.00,2.12,0.00,0.000,6,0.000,0.035,2871,1931,2721,0,0,0,0,0,0
$GC,8778,0.80,136.7,372.5,14.4,282,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1934,2719,0,0,0,0,0,0
$GC,9022,0.80,136.7,337.4,14.2,288,9026,0.00,2.22,0.00,0.000,4,0.000,0.051,2865,3337,2721,0,0,0,0,0,0
$GC,9068,0.80,136.7,330.9,14.0,289,9072,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1922,2721,0,0,0,0,0,0
$GC,9325,0.80,136.7,294.3,13.7,296,9330,0.00,2.25,0.00,0.000,4,0.000,0.048,2881,3340,2720,0,0,0,0,0,0
$GC,9392,0.80,136.7,284.9,14.0,299,9397,0.12,2.12,0.00,0.000,6,0.206,0.030,2858,1929,2721,0,0,0,0,0,0
$GC,9653,0.80,136.7,258.4,9.9,312,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1921,2720,0,0,0,0,0,0
$GC,9899,0.80,136.7,232.0,11.2,324,9903,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,522,2721,0,0,0,0,0,0
$GC,9943,0.80,136.7,227.1,10.7,326,9947,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1935,2719,0,0,0,0,0,0
$GC,10204,0.80,136.7,194.5,12.3,340,10208,0.00,2.15,0.00,0.000,4,0.000,0.038,2878,521,2718,0,0,0,0,0,0
$GC,10245,0.80,136.7,188.8,13.5,343,10249,0.00,2.12,0.00,0.000,6,0.000,0.033,2878,1930,2719,0,0,0,0,0,0
$GC,10511,0.80,136.7,158.8,9.0,367,10515,0.00,2.15,0.00,0.000,4,0.000,0.038,2888,517,2720,0,0,0,0,0,0
$GC,10696,0.86,192.6,145.0,6.2,383,10743,0.00,2.15,42.38,0.564,6,0.000,0.033,2889,1927,2516,0,0,0,0,0,0
$GC,11001,0.86,192.6,116.0,9.7,411,11005,0.00,2.25,0.00,0.000,4,0.000,0.048,2888,3340,2512,0,0,0,0,0,0
$GC,11209,0.86,192.6,96.8,8.6,429,11213,0.00,2.17,0.00,0.000,6,0.000,0.028,2900,1912,2512,0,0,0,0,0,0
$GC,11474,0.86,192.6,71.3,10.7,453,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1917,2513,0,0,0,0,0,0
$GC,11739,0.86,192.6,42.8,10.8,478,11743,0.00,2.20,0.00,0.000,4,0.000,0.044,2899,3339,2515,0,0,0,0,0,0
$GC,11824,0.86,192.6,33.0,11.7,485,11828,0.12,2.10,0.00,0.000,6,0.196,0.029,2881,1925,2517,0,0,0,0,0,0
$GC,12088,0.86,192.6,8.1,9.4,531,12097,0.00,2.22,0.00,0.000,4,0.000,0.045,2881,3327,2517,0,0,0,0,0,0
$STATE,12136,end climb,SURFACE_DEPTH_REACHED
$STATE,12136,begin surface coast
$FINISH,0.4,1.022853
$STATE,12165,end surface coast,CONTROL_FINISHED_OK
$STATE,12165,begin surface
$SM_CCo,12200,299.40,0.426,0,0,394,712.83
$SM_GC,1.10,0.00,0.00,299.40,0.000,0.000,0.426,42,1980,394,-7.94,-0.54,712.83
$IRIDIUM_FIX,1853.26,-15628.63,130213,232317
$TT8_MAMPS,0.060593
$HUMID,1078718055
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,26.70
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6335954944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,31977603072
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,43.962
$10V_AH,10.0,40.331
$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,19.475,122.075,271.950,299.400,0.000,139.139,189.246,675.257,24.750,0.000,37.928,1170.457,8927.552,647.041,2811.909,469.422,33.354,1404.025,0.000,1803.593,0.000,0.543,0.000
$DEVICE_MAMPS,238.537,63.661,1089.140,425.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,371.338,0.000,922.773,0.000,0.000,0.000,0.000,100476.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.737,0.000,0.000
$MEM,353648
$DATA_FILE_SIZE,26898,544
$CAP_FILE_SIZE,129696,0
$CFSIZE,260165632,182923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,218.5,1
$GPS,220811,091307,1859.453,-15630.522,35,0.9,36,9.6