version: 66.07
glider: 513
mission: 7
dive: 316
start: 8 22 111 21 13 34
data:
$ID,513
$MISSION,7
$DIVE,316
$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,-428453.91
$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,43
$R_STBD_OVSHOOT,48
$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,315
$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
$GPS1,220811,204854,1858.966,-15631.436,59,1.1,59,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.7
$GPS2,220811,211238,1858.741,-15631.750,34,1.0,34,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.132,0.197
$KALMAN_X,-82495.5,688.1,-307.4,120372.1,-2982.0
$KALMAN_Y,-117220.9,1455.5,640.2,2204.8,-14299.5
$MHEAD_RNG_PITCHd_Wd,21.1,141265,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,82,0.00,0.00,-51.17,0.000,2,0.000,0.000,33,2004,3552,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.1,-4.4,8,109,9.68,2.25,-5.53,0.000,4,0.238,0.064,2321,3397,3860,0,0,0,0,0,0
$GC,256,-0.80,-136.7,63.5,-32.5,29,260,0.00,2.17,0.00,0.000,6,0.000,0.042,2323,2006,3862,0,0,0,0,0,0
$GC,520,-0.80,-136.7,151.4,-28.3,53,524,0.00,2.17,0.00,0.000,4,0.000,0.048,2323,590,3863,0,0,0,0,0,0
$GC,562,-0.80,-136.7,162.9,-27.2,56,566,0.00,2.15,0.00,0.000,6,0.000,0.042,2314,1997,3863,0,0,0,0,0,0
$GC,820,-0.80,-136.7,225.8,-21.7,75,824,0.00,2.20,0.00,0.000,4,0.000,0.052,2302,3401,3864,0,0,0,0,0,0
$GC,892,-0.80,-136.7,240.7,-19.7,78,897,0.10,2.17,0.00,0.000,6,0.150,0.032,2333,1981,3865,0,0,0,0,0,0
$GC,1152,-0.80,-136.7,285.5,-16.6,91,1156,0.00,2.25,0.00,0.000,4,0.000,0.049,2323,3411,3865,0,0,0,0,0,0
$GC,1169,-0.80,-136.7,288.5,-15.8,92,1174,0.00,2.10,0.00,0.000,6,0.000,0.031,2324,2006,3866,0,0,0,0,0,0
$GC,1457,-0.80,-136.7,336.3,-17.0,101,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2001,3868,0,0,0,0,0,0
$GC,1703,-0.80,-136.7,381.7,-18.9,107,1707,0.00,2.17,0.00,0.000,4,0.000,0.050,2314,3403,3866,0,0,0,0,0,0
$GC,1737,-0.80,-136.7,388.8,-20.3,107,1743,0.00,2.12,0.00,0.000,6,0.000,0.033,2314,1996,3866,0,0,0,0,0,0
$GC,1987,-0.80,-136.7,438.9,-20.2,114,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1993,3865,0,0,0,0,0,0
$GC,2231,-0.80,-136.7,487.1,-19.4,120,2235,0.00,2.22,0.00,0.000,4,0.000,0.052,2303,3403,3862,0,0,0,0,0,0
$GC,2277,-0.80,-136.7,496.0,-18.6,121,2282,0.12,2.12,0.00,0.000,6,0.166,0.035,2335,2003,3861,0,0,0,0,0,0
$GC,2566,-0.80,-136.7,542.6,-15.7,128,2570,0.00,2.12,0.00,0.000,4,0.000,0.043,2335,587,3857,0,0,0,0,0,0
$GC,2582,-0.80,-136.7,545.2,-15.5,128,2586,0.00,2.12,0.00,0.000,6,0.000,0.044,2327,1999,3858,0,0,0,0,0,0
$GC,2850,-0.80,-136.7,583.5,-14.1,135,2854,0.00,2.22,0.00,0.000,4,0.000,0.052,2315,3394,3853,0,0,0,0,0,0
$GC,2923,-0.80,-136.7,593.8,-14.1,136,2927,0.00,2.12,0.00,0.000,6,0.000,0.033,2316,1991,3855,0,0,0,0,0,0
$GC,3179,-0.80,-136.7,627.3,-13.1,143,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1987,3852,0,0,0,0,0,0
$GC,3423,-0.80,-136.7,657.5,-12.6,149,3427,0.00,2.25,0.00,0.000,4,0.000,0.055,2305,3399,3848,0,0,0,0,0,0
$GC,3495,-0.80,-136.7,667.0,-12.9,150,3500,0.12,2.12,0.00,0.000,6,0.167,0.036,2336,2007,3848,0,0,0,0,0,0
$GC,3745,-0.80,-136.7,695.5,-11.4,156,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2001,3845,0,0,0,0,0,0
$GC,3990,-0.80,-136.7,723.8,-11.7,162,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2001,3843,0,0,0,0,0,0
$GC,4232,-0.80,-136.7,753.8,-12.3,168,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2000,3840,0,0,0,0,0,0
$GC,4476,-0.80,-136.7,783.6,-12.1,174,4480,0.00,2.22,0.00,0.000,4,0.000,0.055,2328,3393,3838,0,0,0,0,0,0
$GC,4536,-0.80,-136.7,791.2,-12.2,175,4540,0.00,2.15,0.00,0.000,6,0.000,0.035,2328,1985,3840,0,0,0,0,0,0
$GC,4804,-0.80,-136.7,823.9,-12.4,182,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3835,0,0,0,0,0,0
$GC,5047,-0.80,-136.7,854.7,-12.7,188,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1982,3832,0,0,0,0,0,0
$GC,5291,-0.80,-136.7,883.3,-11.6,194,5295,0.00,2.28,0.00,0.000,4,0.000,0.057,2318,3403,3830,0,0,0,0,0,0
$GC,5340,-0.80,-136.7,889.6,-12.1,195,5344,0.00,2.15,0.00,0.000,6,0.000,0.035,2316,2006,3830,0,0,0,0,0,0
$STATE,5453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5453,begin apogee
$GC,5461,-0.28,0.0,903.4,12.1,198,5576,0.62,0.00,110.05,1.086,6,0.151,0.000,2500,1903,3300,0,0,0,0,0,0
$STATE,5578,end apogee,CONTROL_FINISHED_OK
$STATE,5578,begin climb
$GC,5581,0.80,136.7,907.1,0.0,201,5705,1.02,0.00,120.53,1.053,6,0.095,0.000,2840,1903,2742,0,0,0,0,0,0
$GC,5949,0.80,136.7,849.3,19.3,210,5953,0.00,2.33,0.00,0.000,4,0.000,0.054,2842,3327,2733,0,0,0,0,0,0
$GC,5977,0.80,136.7,843.2,20.5,210,5981,0.00,2.17,0.00,0.000,6,0.000,0.032,2853,1932,2732,0,0,0,0,0,0
$GC,6227,0.80,136.7,795.6,19.1,216,6231,0.00,2.15,0.00,0.000,4,0.000,0.041,2865,523,2727,0,0,0,0,0,0
$GC,6244,0.80,136.7,792.5,18.9,216,6248,0.00,2.15,0.00,0.000,6,0.000,0.038,2864,1921,2725,0,0,0,0,0,0
$GC,6505,0.80,136.7,743.1,18.8,223,6509,0.00,2.30,0.00,0.000,4,0.000,0.054,2864,3342,2727,0,0,0,0,0,0
$GC,6566,0.80,136.7,730.7,20.5,224,6569,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1930,2727,0,0,0,0,0,0
$GC,6839,0.80,136.7,680.7,18.2,231,6843,0.00,2.12,0.00,0.000,4,0.000,0.041,2886,521,2726,0,0,0,0,0,0
$GC,6874,0.80,136.7,674.1,19.1,231,6880,0.12,2.15,0.00,0.000,6,0.201,0.039,2859,1930,2725,0,0,0,0,0,0
$GC,7123,0.80,136.7,634.2,15.8,238,7127,0.00,2.25,0.00,0.000,4,0.000,0.052,2847,3342,2723,0,0,0,0,0,0
$GC,7192,0.80,136.7,622.9,16.0,239,7196,0.00,2.17,0.00,0.000,6,0.000,0.031,2861,1933,2725,0,0,0,0,0,0
$GC,7447,0.80,136.7,581.3,16.3,246,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1930,2724,0,0,0,0,0,0
$GC,7690,0.80,136.7,542.6,15.8,252,7694,0.00,2.25,0.00,0.000,4,0.000,0.052,2856,3341,2721,0,0,0,0,0,0
$GC,7706,0.80,136.7,539.7,16.2,252,7710,0.00,2.15,0.00,0.000,6,0.000,0.031,2867,1925,2722,0,0,0,0,0,0
$GC,7975,0.80,136.7,497.1,16.0,259,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1922,2726,0,0,0,0,0,0
$GC,8217,0.80,136.7,458.3,15.9,265,8221,0.00,2.28,0.00,0.000,4,0.000,0.050,2868,3347,2722,0,0,0,0,0,0
$GC,8232,0.80,136.7,455.5,15.8,265,8236,0.00,2.17,0.00,0.000,6,0.000,0.031,2878,1917,2722,0,0,0,0,0,0
$GC,8505,0.80,136.7,408.8,17.5,272,8509,0.00,2.25,0.00,0.000,4,0.000,0.050,2877,3343,2721,0,0,0,0,0,0
$GC,8522,0.80,136.7,405.6,18.9,272,8526,0.15,2.15,0.00,0.000,6,0.199,0.030,2853,1921,2721,0,0,0,0,0,0
$GC,8788,0.80,136.7,365.8,14.1,279,8792,0.00,2.28,0.00,0.000,4,0.000,0.049,2853,3345,2720,0,0,0,0,0,0
$GC,8882,0.80,136.7,350.7,15.4,281,8886,0.00,2.17,0.00,0.000,6,0.000,0.031,2862,1925,2720,0,0,0,0,0,0
$GC,9162,0.80,136.7,312.9,13.0,288,9165,0.00,2.12,0.00,0.000,4,0.000,0.039,2873,518,2720,0,0,0,0,0,0
$GC,9223,0.80,136.7,303.3,15.8,289,9227,0.00,2.17,0.00,0.000,6,0.000,0.035,2873,1935,2717,0,0,0,0,0,0
$GC,9494,0.80,136.7,266.9,12.1,301,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1937,2716,0,0,0,0,0,0
$GC,9740,0.80,136.7,236.2,12.4,313,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1937,2718,0,0,0,0,0,0
$GC,9987,0.80,136.7,204.7,13.5,325,9991,0.00,2.22,0.00,0.000,4,0.000,0.049,2870,3336,2718,0,0,0,0,0,0
$GC,10194,0.80,143.4,184.8,8.3,341,10198,0.00,2.12,0.00,0.000,6,0.000,0.030,2878,1917,2718,0,0,0,0,0,0
$GC,10459,0.80,143.4,163.4,8.9,365,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1915,2718,0,0,0,0,0,0
$GC,10723,0.93,245.6,143.8,4.2,390,10818,0.00,2.17,84.22,0.556,4,0.000,0.038,2889,541,2298,0,0,0,0,0,0
$GC,10912,0.93,245.6,129.0,11.4,406,10916,0.00,2.12,0.00,0.000,6,0.000,0.031,2890,1932,2292,0,0,0,0,0,0
$GC,11177,0.93,245.6,95.0,13.7,430,11181,0.00,2.22,0.00,0.000,4,0.000,0.046,2889,3340,2292,0,0,0,0,0,0
$GC,11322,0.93,245.6,74.8,14.0,442,11330,0.00,2.17,0.00,0.000,6,0.000,0.030,2900,1942,2292,0,0,0,0,0,0
$GC,11589,0.93,245.6,42.5,12.8,467,11593,0.00,2.17,0.00,0.000,4,0.000,0.044,2900,3335,2292,0,0,0,0,0,0
$GC,11653,0.93,245.6,33.8,12.4,472,11657,0.00,2.12,0.00,0.000,6,0.000,0.029,2911,1926,2293,0,0,0,0,0,0
$STATE,11879,end climb,SURFACE_DEPTH_REACHED
$STATE,11879,begin surface coast
$FINISH,0.5,1.022790
$STATE,11902,end surface coast,CONTROL_FINISHED_OK
$STATE,11902,begin surface
$SM_CCo,11924,26.60,0.420,0,0,2074,300.73
$SM_GC,1.17,0.00,0.00,26.60,0.000,0.000,0.420,59,2000,2074,-7.95,0.03,300.73
$IRIDIUM_FIX,1850.98,-15636.72,140213,151514
$TT8_MAMPS,0.25311
$HUMID,1078923216
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.40
$XPDR_PINGS,85
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258950144
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,31447515136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,44.426
$10V_AH,9.8,40.701
$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,19.550,109.400,314.800,26.600,0.000,139.093,220.092,558.529,21.250,0.000,36.901,1108.340,8849.220,404.505,2543.097,473.576,33.355,1115.579,0.000,1659.663,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,96.642,1086.072,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,351.729,0.000,846.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354068
$DATA_FILE_SIZE,26909,515
$CAP_FILE_SIZE,116322,0
$CFSIZE,260165632,182648832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,221.1,1
$GPS,230811,003501,1859.373,-15631.601,77,1.1,77,9.6