version: 66.07
glider: 513
mission: 7
dive: 319
start: 8 23 111 8 31 49
data:
$ID,513
$MISSION,7
$DIVE,319
$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,-428523.5
$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,46
$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,318
$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
$GPS1,230811,081407,1859.951,-15631.966,35,2.0,35,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.2
$GPS2,230811,083051,1859.695,-15632.297,15,1.5,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.223,0.086
$KALMAN_X,-90238.9,2.2,440.6,127059.8,-4985.6
$KALMAN_Y,-123924.0,1810.3,309.9,10647.0,-12254.2
$MHEAD_RNG_PITCHd_Wd,14.4,139522,-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,-51.85,0.000,2,0.000,0.000,38,1986,3580,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.5,-5.9,8,109,9.68,2.30,-4.80,0.000,4,0.240,0.064,2318,3415,3860,0,0,0,0,0,0
$GC,262,-0.80,-136.7,64.4,-33.3,29,266,0.00,2.17,0.00,0.000,6,0.000,0.036,2318,2005,3863,0,0,0,0,0,0
$GC,524,-0.80,-136.7,146.9,-26.0,53,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2000,3864,0,0,0,0,0,0
$GC,788,-0.80,-136.7,214.7,-23.6,75,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2000,3865,0,0,0,0,0,0
$GC,1034,-0.80,-136.7,268.9,-21.3,87,1038,0.00,2.20,0.00,0.000,4,0.000,0.048,2307,3406,3866,0,0,0,0,0,0
$GC,1106,-0.80,-136.7,282.9,-20.0,90,1111,0.12,2.12,0.00,0.000,6,0.175,0.031,2338,1979,3866,0,0,0,0,0,0
$GC,1379,-0.80,-136.7,328.0,-16.5,99,1383,0.00,2.22,0.00,0.000,4,0.000,0.048,2329,3412,3867,0,0,0,0,0,0
$GC,1414,-0.80,-136.7,334.0,-17.0,99,1419,0.00,2.10,0.00,0.000,6,0.000,0.030,2329,2000,3867,0,0,0,0,0,0
$GC,1663,-0.80,-136.7,376.1,-17.2,106,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1994,3866,0,0,0,0,0,0
$GC,1907,-0.80,-136.7,418.7,-17.1,112,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1994,3867,0,0,0,0,0,0
$GC,2152,-0.80,-136.7,460.3,-17.0,118,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1994,3865,0,0,0,0,0,0
$GC,2395,-0.80,-136.7,496.8,-14.7,124,2399,0.00,2.25,0.00,0.000,4,0.000,0.051,2318,3412,3863,0,0,0,0,0,0
$GC,2422,-0.80,-136.7,500.9,-14.5,124,2426,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2000,3863,0,0,0,0,0,0
$GC,2678,-0.80,-136.7,536.5,-13.9,131,2682,0.00,2.22,0.00,0.000,4,0.000,0.050,2307,3412,3860,0,0,0,0,0,0
$GC,2717,-0.80,-136.7,542.1,-14.5,131,2724,0.12,2.15,0.00,0.000,6,0.169,0.032,2338,1995,3859,0,0,0,0,0,0
$GC,2967,-0.80,-136.7,571.2,-11.5,138,2971,0.00,2.25,0.00,0.000,4,0.000,0.052,2330,3404,3857,0,0,0,0,0,0
$GC,3016,-0.80,-136.7,577.2,-11.9,139,3020,0.00,2.12,0.00,0.000,6,0.000,0.035,2330,2001,3856,0,0,0,0,0,0
$GC,3295,-0.80,-136.7,611.0,-12.4,146,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1999,3854,0,0,0,0,0,0
$GC,3538,-0.80,-136.7,640.2,-12.1,152,3542,0.00,2.22,0.00,0.000,4,0.000,0.052,2319,3402,3851,0,0,0,0,0,0
$GC,3598,-0.80,-136.7,647.9,-12.3,153,3603,0.00,2.15,0.00,0.000,6,0.000,0.035,2319,2000,3851,0,0,0,0,0,0
$GC,3861,-0.80,-136.7,680.5,-12.6,160,3865,0.00,2.15,0.00,0.000,4,0.000,0.045,2317,592,3847,0,0,0,0,0,0
$GC,3884,-0.80,-136.7,683.5,-13.0,160,3889,0.10,2.15,0.00,0.000,6,0.187,0.043,2334,2012,3847,0,0,1,0,0,0
$GC,4139,-0.80,-136.7,712.2,-11.2,167,4143,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3405,3844,0,0,0,0,0,0
$GC,4208,-0.80,-136.7,719.9,-10.5,168,4212,0.00,2.17,0.00,0.000,6,0.000,0.035,2325,1982,3844,0,0,0,0,0,0
$GC,4463,-0.80,-136.7,750.3,-11.9,175,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1977,3842,0,0,0,0,0,0
$GC,4707,-0.80,-136.7,779.6,-12.1,181,4711,0.00,2.28,0.00,0.000,4,0.000,0.052,2314,3411,3840,0,0,0,0,0,0
$GC,4739,-0.80,-136.7,784.0,-13.6,181,4745,0.00,2.17,0.00,0.000,6,0.000,0.033,2314,2004,3839,0,0,0,0,0,0
$GC,4991,-0.80,-136.7,817.0,-13.3,188,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2001,3836,0,0,0,0,0,0
$GC,5233,-0.80,-136.7,850.0,-13.4,194,5237,0.00,2.25,0.00,0.000,4,0.000,0.051,2304,3404,3834,0,0,0,0,0,0
$GC,5305,-0.80,-136.7,860.1,-14.4,195,5309,0.12,2.17,0.00,0.000,6,0.171,0.035,2334,1990,3835,0,0,0,0,0,0
$GC,5561,-0.80,-136.7,890.4,-11.8,202,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1978,3833,0,0,0,0,0,0
$STATE,5679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5679,begin apogee
$GC,5686,-0.28,0.0,904.6,11.6,205,5802,0.55,0.00,110.57,1.089,6,0.145,0.000,2505,1925,3300,0,0,0,0,0,0
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5807,0.80,136.7,909.1,0.0,208,5931,1.05,0.00,120.53,1.054,6,0.097,0.000,2847,1925,2743,0,0,0,0,0,0
$GC,6175,0.80,136.7,854.1,18.6,217,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1921,2734,0,0,0,0,0,0
$GC,6416,0.80,136.7,809.0,18.5,223,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1924,2730,0,0,0,0,0,0
$GC,6659,0.80,136.7,763.5,18.4,229,6663,0.00,2.30,0.00,0.000,4,0.000,0.052,2843,3335,2729,0,0,0,0,0,0
$GC,6693,0.80,136.7,757.0,19.6,229,6697,0.00,2.17,0.00,0.000,6,0.000,0.032,2852,1924,2730,0,0,0,0,0,0
$GC,6943,0.80,136.7,712.0,17.9,235,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1923,2729,0,0,0,0,0,0
$GC,7186,0.80,136.7,669.6,17.2,241,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1923,2727,0,0,0,0,0,0
$GC,7430,0.80,136.7,626.7,17.8,247,7434,0.00,2.15,0.00,0.000,4,0.000,0.041,2863,523,2726,0,0,0,0,0,0
$GC,7477,0.80,136.7,618.1,19.0,248,7481,0.00,2.15,0.00,0.000,6,0.000,0.041,2864,1924,2724,0,0,0,0,0,0
$GC,7766,0.80,136.7,563.2,18.6,255,7770,0.00,2.28,0.00,0.000,4,0.000,0.052,2863,3345,2725,0,0,0,0,0,0
$GC,7821,0.80,136.7,552.4,18.7,256,7825,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1932,2726,0,0,0,0,0,0
$GC,8095,0.80,136.7,503.2,17.7,263,8099,0.00,2.28,0.00,0.000,4,0.000,0.052,2871,3339,2723,0,0,0,0,0,0
$GC,8128,0.80,136.7,496.9,17.4,263,8134,0.00,2.17,0.00,0.000,6,0.000,0.031,2879,1929,2723,0,0,0,0,0,0
$GC,8378,0.80,136.7,454.9,16.4,270,8382,0.00,2.12,0.00,0.000,4,0.000,0.040,2891,517,2722,0,0,0,0,0,0
$GC,8420,0.80,136.7,448.0,18.4,271,8424,0.15,2.15,0.00,0.000,6,0.199,0.038,2856,1934,2721,0,0,0,0,0,0
$GC,8703,0.80,136.7,403.9,15.4,278,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1938,2721,0,0,0,0,0,0
$GC,8946,0.80,136.7,365.2,15.9,284,8950,0.00,2.22,0.00,0.000,4,0.000,0.052,2845,3336,2721,0,0,0,0,0,0
$GC,9020,0.80,136.7,354.1,14.8,285,9024,0.00,2.15,0.00,0.000,6,0.000,0.032,2853,1924,2722,0,0,0,0,0,0
$GC,9270,0.80,136.7,320.9,13.1,291,9274,0.00,2.28,0.00,0.000,4,0.000,0.051,2854,3343,2720,0,0,0,0,0,0
$GC,9292,0.80,136.7,317.7,13.3,291,9296,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1926,2721,0,0,0,0,0,0
$GC,9555,0.80,136.7,282.5,13.8,301,9559,0.00,2.28,0.00,0.000,4,0.000,0.050,2865,3340,2720,0,0,0,0,0,0
$GC,9566,0.80,136.7,280.9,14.3,301,9572,0.00,2.15,0.00,0.000,6,0.000,0.031,2872,1923,2720,0,0,0,0,0,0
$GC,9820,0.80,136.7,245.3,13.5,314,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1921,2720,0,0,0,0,0,0
$GC,10067,0.80,136.7,217.2,11.4,326,10071,0.00,2.10,0.00,0.000,4,0.000,0.039,2887,522,2720,0,0,0,0,0,0
$GC,10086,0.80,136.7,215.2,11.5,327,10091,0.12,2.12,0.00,0.000,6,0.193,0.035,2858,1936,2718,0,0,0,0,0,0
$GC,10348,0.80,141.8,188.3,8.4,345,10352,0.00,2.12,0.00,0.000,4,0.000,0.041,2867,528,2719,0,0,0,0,0,0
$GC,10380,0.80,141.8,185.1,9.2,347,10388,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,1926,2716,0,0,0,0,0,0
$GC,10646,0.80,141.8,162.1,8.9,372,10650,0.00,2.22,0.00,0.000,4,0.000,0.048,2868,3336,2719,0,0,0,0,0,0
$GC,10693,0.80,143.9,157.7,8.5,376,10697,0.00,2.12,0.00,0.000,6,0.000,0.028,2878,1923,2720,0,0,0,0,0,0
$GC,10959,0.82,159.3,135.8,7.9,400,10984,0.00,2.15,15.90,0.520,4,0.000,0.040,2889,528,2650,0,0,0,0,0,0
$GC,11232,1.00,300.8,124.9,2.6,424,11359,0.00,2.15,113.38,0.538,6,0.000,0.034,2889,1935,2073,0,0,0,0,0,0
$GC,11615,1.00,300.8,76.1,14.7,459,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1935,2068,0,0,0,0,0,0
$GC,11877,1.00,300.8,38.2,14.3,484,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1935,2068,0,0,0,0,0,0
$STATE,12123,end climb,SURFACE_DEPTH_REACHED
$STATE,12123,begin surface coast
$FINISH,0.3,1.022792
$STATE,12141,end surface coast,CONTROL_FINISHED_OK
$STATE,12141,begin surface
$SM_CCo,12221,0.00,0.000,0,0,2062,302.94
$SM_GC,1.25,7.57,0.00,0.00,0.048,0.000,0.000,58,1998,2062,-7.89,-0.23,302.94
$IRIDIUM_FIX,1850.98,-15633.72,150213,020219
$TT8_MAMPS,0.146497
$HUMID,1078887087
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.20
$XPDR_PINGS,88
$AR_DIVENUM,319
$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
$24V_AH,23.8,44.827
$10V_AH,9.8,40.968
$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,19.600,100.600,360.375,0.000,0.000,54.006,76.306,577.052,22.000,0.000,19.327,1098.678,8960.076,408.225,2292.340,468.999,33.359,1114.845,0.000,1649.361,0.000,0.541,0.000
$DEVICE_MAMPS,240.071,138.827,1089.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.300,0.000,873.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,27009,527
$CAP_FILE_SIZE,113925,0
$CFSIZE,260165632,182439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,212.1,1
$GPS,230811,115737,1900.014,-15632.254,71,1.3,71,9.6