version: 66.07
glider: 513
mission: 7
dive: 313
start: 8 22 111 9 27 12
data:
$ID,513
$MISSION,7
$DIVE,313
$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,-428365.91
$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,41
$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,312
$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
$GPS1,220811,091307,1859.453,-15630.522,35,0.9,36,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.2
$GPS2,220811,092613,1859.381,-15630.814,11,1.1,16,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G5
$TGT_LATLONG,1900.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.030,0.237
$KALMAN_X,-78119.8,-915.9,151.2,118754.4,-689.2
$KALMAN_Y,-104656.7,1503.5,906.3,-9497.3,-15502.3
$MHEAD_RNG_PITCHd_Wd,31.4,1831,-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,-136.7,0.0,0.0,0,136,0.00,0.00,-105.70,0.000,2,0.000,0.000,37,1983,3550,0,0,0,0,0,0
$GC,140,-0.80,-136.7,3.4,-5.5,16,162,9.57,2.25,-5.40,0.000,4,0.239,0.062,2321,3409,3857,0,0,0,0,0,0
$GC,271,-0.80,-136.7,50.9,-32.0,33,279,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,2014,3857,0,0,0,0,0,0
$GC,536,-0.80,-136.7,139.7,-29.6,58,540,0.00,2.17,0.00,0.000,4,0.000,0.049,2310,3406,3859,0,0,0,0,0,0
$GC,601,-0.80,-136.7,159.7,-26.1,63,610,0.08,2.17,0.00,0.000,6,0.163,0.031,2332,1982,3859,0,0,0,0,0,0
$GC,874,-0.80,-136.7,213.7,-19.6,86,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1977,3861,0,0,0,0,0,0
$GC,1120,-0.80,-136.7,262.0,-19.3,98,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1977,3861,0,0,0,0,0,0
$GC,1365,-0.80,-136.7,307.7,-17.7,109,1369,0.00,2.05,0.00,0.000,4,0.000,0.038,2332,595,3861,0,0,0,0,0,0
$GC,1438,-0.80,-136.7,321.0,-17.1,110,1442,0.00,2.12,0.00,0.000,6,0.000,0.041,2324,1998,3860,0,0,0,0,0,0
$GC,1694,-0.80,-136.7,367.6,-18.5,117,1698,0.00,2.17,0.00,0.000,4,0.000,0.048,2312,3404,3859,0,0,0,0,0,0
$GC,1789,-0.80,-136.7,383.5,-14.8,119,1793,0.00,2.12,0.00,0.000,6,0.000,0.031,2312,1996,3860,0,0,0,0,0,0
$GC,2069,-0.80,-136.7,424.3,-14.4,126,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1989,3860,0,0,0,0,0,0
$GC,2313,-0.80,-136.7,457.4,-13.6,132,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1989,3857,0,0,0,0,0,0
$GC,2555,-0.80,-136.7,494.0,-15.5,138,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1989,3855,0,0,0,0,0,0
$GC,2799,-0.80,-136.7,535.2,-17.0,144,2803,0.00,2.25,0.00,0.000,4,0.000,0.053,2301,3402,3851,0,0,0,0,0,0
$GC,2865,-0.80,-136.7,547.2,-17.6,145,2870,0.08,2.15,0.00,0.000,6,0.131,0.035,2339,2015,3850,0,0,0,0,0,0
$GC,3127,-0.80,-136.7,586.9,-15.1,152,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2009,3850,0,0,0,0,0,0
$GC,3369,-0.80,-136.7,623.2,-14.8,158,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2008,3844,0,0,0,0,0,0
$GC,3613,-0.80,-136.7,656.9,-13.6,164,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2009,3841,0,0,0,0,0,0
$GC,3857,-0.80,-136.7,688.0,-12.5,170,3861,0.00,2.22,0.00,0.000,4,0.000,0.057,2331,3401,3838,0,0,0,0,0,0
$GC,3919,-0.80,-136.7,695.6,-11.6,171,3923,0.00,2.17,0.00,0.000,6,0.000,0.035,2331,1992,3837,0,0,0,0,0,0
$GC,4185,-0.80,-136.7,727.0,-11.6,178,4189,0.00,2.12,0.00,0.000,4,0.000,0.044,2331,593,3835,0,0,0,0,0,0
$GC,4207,-0.80,-136.7,729.9,-12.8,178,4211,0.00,2.15,0.00,0.000,6,0.000,0.047,2321,1993,3835,0,0,0,0,0,0
$GC,4469,-0.80,-136.7,762.2,-12.4,185,4473,0.00,2.22,0.00,0.000,4,0.000,0.053,2310,3405,3831,0,0,0,0,0,0
$GC,4541,-0.80,-136.7,771.7,-13.4,186,4546,0.10,2.15,0.00,0.000,6,0.175,0.035,2335,1995,3830,0,0,0,0,0,0
$GC,4796,-0.80,-136.7,800.2,-11.1,193,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1987,3829,0,0,0,0,0,0
$GC,5041,-0.80,-136.7,827.7,-11.2,199,5045,0.00,2.30,0.00,0.000,4,0.000,0.056,2326,3412,3825,0,0,0,0,0,0
$GC,5081,-0.80,-136.7,832.1,-11.3,200,5086,0.00,2.17,0.00,0.000,6,0.000,0.034,2325,1995,3826,0,0,0,0,0,0
$GC,5365,-0.80,-136.7,864.1,-11.3,207,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1990,3824,0,0,0,0,0,0
$GC,5609,-0.80,-136.7,892.3,-11.6,213,5613,0.00,2.28,0.00,0.000,4,0.000,0.055,2315,3405,3822,0,0,0,0,0,0
$GC,5654,-0.80,-136.7,897.7,-11.9,214,5658,0.00,2.17,0.00,0.000,6,0.000,0.035,2315,1991,3821,0,0,0,0,0,0
$STATE,5672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5673,begin apogee
$GC,5679,-0.28,0.0,900.3,11.4,214,5790,0.60,0.00,108.22,1.085,6,0.149,0.000,2495,1930,3302,0,0,0,0,0,0
$STATE,5793,end apogee,CONTROL_FINISHED_OK
$STATE,5793,begin climb
$GC,5797,0.80,136.7,903.4,0.0,217,5922,1.08,0.00,121.12,1.052,6,0.097,0.000,2846,1930,2743,0,0,0,0,0,0
$GC,6134,0.80,136.7,851.8,19.0,226,6138,0.00,2.33,0.00,0.000,4,0.000,0.053,2844,3344,2736,0,0,0,0,0,0
$GC,6155,0.80,136.7,847.6,19.2,226,6159,0.00,2.20,0.00,0.000,6,0.000,0.029,2853,1922,2735,0,0,0,0,0,0
$GC,6416,0.80,136.7,798.8,18.9,233,6420,0.00,2.12,0.00,0.000,4,0.000,0.039,2865,522,2733,0,0,0,0,0,0
$GC,6450,0.80,136.7,792.4,18.9,233,6455,0.00,2.15,0.00,0.000,6,0.000,0.035,2865,1931,2728,0,0,0,0,0,0
$GC,6700,0.80,136.7,745.2,18.9,240,6704,0.00,2.25,0.00,0.000,4,0.000,0.054,2865,3333,2728,0,0,0,0,0,0
$GC,6760,0.80,136.7,733.3,18.8,241,6764,0.00,2.20,0.00,0.000,6,0.000,0.032,2875,1929,2729,0,0,0,0,0,0
$GC,7029,0.80,136.7,683.6,18.7,248,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1926,2725,0,0,0,0,0,0
$GC,7271,0.80,136.7,638.0,18.9,254,7275,0.00,2.12,0.00,0.000,4,0.000,0.039,2886,513,2725,0,0,0,0,0,0
$GC,7287,0.80,136.7,634.8,19.0,254,7291,0.12,2.15,0.00,0.000,6,0.202,0.035,2855,1933,2724,0,0,0,0,0,0
$GC,7554,0.80,136.7,589.3,16.8,261,7558,0.00,2.22,0.00,0.000,4,0.000,0.052,2845,3333,2724,0,0,0,0,0,0
$GC,7581,0.80,136.7,584.0,18.1,261,7585,0.00,2.15,0.00,0.000,6,0.000,0.033,2854,1922,2724,0,0,0,0,0,0
$GC,7837,0.80,136.7,538.9,17.7,268,7841,0.00,2.12,0.00,0.000,4,0.000,0.040,2865,519,2723,0,0,0,0,0,0
$GC,7858,0.80,136.7,535.0,17.4,268,7862,0.00,2.15,0.00,0.000,6,0.000,0.037,2865,1941,2721,0,0,0,0,0,0
$GC,8126,0.80,136.7,489.9,17.0,275,8130,0.00,2.20,0.00,0.000,4,0.000,0.052,2865,3332,2722,0,0,0,0,0,0
$GC,8175,0.80,136.7,480.8,17.9,276,8179,0.00,2.12,0.00,0.000,6,0.000,0.032,2875,1924,2721,0,0,0,0,0,0
$GC,8453,0.80,136.7,431.6,17.9,283,8457,0.00,2.10,0.00,0.000,4,0.000,0.038,2887,528,2721,0,0,0,0,0,0
$GC,8471,0.80,136.7,428.4,18.1,283,8475,0.12,2.15,0.00,0.000,6,0.202,0.036,2857,1931,2719,0,0,0,0,0,0
$GC,8731,0.80,136.7,385.8,15.9,290,8735,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3334,2720,0,0,0,0,0,0
$GC,8786,0.80,136.7,376.2,18.6,291,8790,0.00,2.12,0.00,0.000,6,0.000,0.032,2868,1930,2721,0,0,0,0,0,0
$GC,9060,0.80,136.7,329.0,16.9,298,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1926,2719,0,0,0,0,0,0
$GC,9303,0.80,136.7,291.3,14.9,305,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1927,2719,0,0,0,0,0,0
$GC,9550,0.80,136.7,261.7,10.0,317,9554,0.00,2.10,0.00,0.000,4,0.000,0.038,2879,527,2719,0,0,0,0,0,0
$GC,9699,0.80,136.7,248.3,9.0,323,9705,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1943,2716,0,0,0,0,0,0
$GC,9953,0.80,136.7,219.9,13.7,336,9956,0.00,2.12,0.00,0.000,4,0.000,0.037,2888,524,2716,0,0,0,0,0,0
$GC,10064,0.80,136.7,205.3,13.5,341,10069,0.10,2.15,0.00,0.000,6,0.173,0.033,2851,1929,2716,0,0,0,0,0,0
$GC,10330,0.84,175.7,181.6,6.9,363,10366,0.00,2.25,28.73,0.591,4,0.000,0.048,2850,3325,2584,0,0,0,0,0,0
$GC,10522,0.84,175.7,162.3,11.1,380,10526,0.00,2.15,0.00,0.000,6,0.000,0.030,2855,1919,2581,0,0,0,0,0,0
$GC,10789,0.84,175.7,132.7,10.9,404,10793,0.00,2.12,0.00,0.000,4,0.000,0.038,2871,515,2581,0,0,0,0,0,0
$GC,10800,0.84,175.7,130.9,11.2,404,10808,0.00,2.17,0.00,0.000,6,0.000,0.033,2870,1932,2580,0,0,0,0,0,0
$GC,11065,0.93,245.9,110.6,5.6,429,11128,0.00,2.30,56.90,0.524,4,0.000,0.049,2870,3338,2298,0,0,0,0,0,0
$GC,11369,0.93,245.9,77.1,12.2,456,11373,0.00,2.17,0.00,0.000,6,0.000,0.030,2881,1927,2296,0,0,0,0,0,0
$GC,11637,0.93,245.9,44.0,13.2,480,11641,0.00,2.22,0.00,0.000,4,0.000,0.047,2881,3342,2294,0,0,0,0,0,0
$GC,11679,0.93,245.9,37.4,11.2,483,11688,0.00,2.17,0.00,0.000,6,0.000,0.029,2892,1921,2298,0,0,0,0,0,0
$GC,11943,0.93,245.9,6.0,13.2,526,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1917,2294,0,0,0,0,0,0
$STATE,11962,end climb,SURFACE_DEPTH_REACHED
$STATE,11962,begin surface coast
$FINISH,0.3,0.998743
$STATE,11985,end surface coast,CONTROL_FINISHED_OK
$STATE,11985,begin surface
$SM_CCo,12005,24.23,0.415,0,0,2076,300.24
$SM_GC,0.98,0.00,0.00,24.23,0.000,0.000,0.415,54,2031,2076,-7.95,0.88,300.24
$IRIDIUM_FIX,1850.98,-15628.63,130213,232314
$TT8_MAMPS,0.267683
$HUMID,1078896119
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.50
$XPDR_PINGS,84
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259048448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,31872843776
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,44.083
$10V_AH,10.0,40.418
$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,19.425,109.000,314.975,24.225,0.000,30.737,35.667,485.987,21.000,0.000,20.933,1128.297,8559.601,438.980,2293.317,404.558,33.347,1191.523,0.000,1734.517,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,138.827,1084.538,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.788,0.000,896.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26981,533
$CAP_FILE_SIZE,114544,0
$CFSIZE,260165632,182878208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,225.5,1
$GPS,220811,124926,1859.527,-15630.703,44,1.6,45,9.6