version: 66.07
glider: 513
mission: 7
dive: 320
start: 8 23 111 12 11 42
data:
$ID,513
$MISSION,7
$DIVE,320
$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,-428539.62
$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,50
$R_STBD_OVSHOOT,29
$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,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
$GPS1,230811,115737,1900.014,-15632.254,71,1.3,71,9.6
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,6
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.3
$GPS2,230811,121043,1859.806,-15632.518,8,1.3,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.022,0.238
$KALMAN_X,-95887.2,1066.1,-13.7,131748.3,-9336.2
$KALMAN_Y,-124832.6,1211.6,1276.8,11386.2,-11568.6
$MHEAD_RNG_PITCHd_Wd,17.1,139329,-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,-136.7,0.0,0.0,0,83,0.00,0.00,-52.97,0.000,2,0.000,0.000,37,2000,3576,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.1,-3.7,8,109,9.70,2.28,-4.88,0.000,4,0.239,0.061,2319,3424,3859,0,0,0,0,0,0
$GC,250,-0.80,-136.7,60.9,-31.3,27,254,0.00,2.20,0.00,0.000,6,0.000,0.038,2320,2004,3863,0,0,0,0,0,0
$GC,514,-0.80,-136.7,149.4,-29.5,51,518,0.00,2.22,0.00,0.000,4,0.000,0.048,2309,3423,3863,0,0,0,0,0,0
$GC,546,-0.80,-136.7,156.6,-21.6,53,551,0.12,2.17,0.00,0.000,6,0.182,0.034,2338,1984,3864,0,0,0,0,0,0
$GC,807,-0.80,-136.7,215.0,-21.3,74,810,0.00,2.08,0.00,0.000,4,0.000,0.042,2338,605,3865,0,0,0,0,0,0
$GC,824,-0.80,-136.7,218.8,-19.6,75,828,0.00,2.12,0.00,0.000,6,0.000,0.041,2330,2010,3865,0,0,0,0,0,0
$GC,1090,-0.80,-136.7,271.0,-18.0,88,1094,0.00,2.20,0.00,0.000,4,0.000,0.049,2319,3412,3867,0,0,0,0,0,0
$GC,1107,-0.80,-136.7,274.1,-17.3,89,1111,0.00,2.12,0.00,0.000,6,0.000,0.032,2319,1999,3867,0,0,0,0,0,0
$GC,1391,-0.80,-136.7,323.7,-17.4,100,1395,0.00,2.22,0.00,0.000,4,0.000,0.051,2308,3413,3868,0,0,0,0,0,0
$GC,1453,-0.80,-136.7,334.1,-16.2,101,1458,0.12,2.15,0.00,0.000,6,0.166,0.032,2336,1989,3868,0,0,0,0,0,0
$GC,1719,-0.80,-136.7,373.2,-15.0,108,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1986,3867,0,0,0,0,0,0
$GC,1963,-0.80,-136.7,409.9,-15.2,114,1967,0.00,2.22,0.00,0.000,4,0.000,0.049,2331,3407,3867,0,0,0,0,0,0
$GC,2003,-0.80,-136.7,415.9,-14.9,115,2008,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,1999,3866,0,0,0,0,0,0
$GC,2287,-0.80,-136.7,452.5,-12.8,122,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1992,3865,0,0,0,0,0,0
$GC,2531,-0.80,-136.7,481.0,-11.5,128,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1992,3862,0,0,0,0,0,0
$GC,2774,-0.80,-136.7,510.3,-12.0,134,2778,0.00,2.22,0.00,0.000,4,0.000,0.051,2321,3404,3860,0,0,0,0,0,0
$GC,2871,-0.80,-136.7,522.4,-12.5,136,2875,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,1989,3859,0,0,0,0,0,0
$GC,3143,-0.80,-136.7,558.9,-13.6,143,3147,0.00,2.28,0.00,0.000,4,0.000,0.053,2309,3409,3856,0,0,0,0,0,0
$GC,3228,-0.80,-136.7,570.7,-13.9,145,3233,0.10,2.17,0.00,0.000,6,0.171,0.035,2334,1983,3855,0,0,0,0,0,0
$GC,3517,-0.80,-136.7,606.3,-12.2,152,3521,0.00,2.28,0.00,0.000,4,0.000,0.054,2325,3399,3852,0,0,0,0,0,0
$GC,3572,-0.80,-136.7,613.3,-12.3,153,3576,0.00,2.12,0.00,0.000,6,0.000,0.036,2326,2004,3851,0,0,0,0,0,0
$GC,3845,-0.80,-136.7,649.2,-13.3,160,3849,0.00,2.15,0.00,0.000,4,0.000,0.044,2326,592,3848,0,0,0,0,0,0
$GC,3878,-0.80,-136.7,654.1,-13.5,160,3884,0.00,2.17,0.00,0.000,6,0.000,0.044,2314,1994,3848,0,0,0,0,0,0
$GC,4128,-0.80,-136.7,690.7,-14.8,167,4132,0.00,2.25,0.00,0.000,4,0.000,0.054,2303,3417,3846,0,0,0,0,0,0
$GC,4196,-0.80,-136.7,700.5,-14.5,168,4201,0.12,2.15,0.00,0.000,6,0.170,0.033,2335,2004,3845,0,0,0,0,0,0
$GC,4451,-0.80,-136.7,731.5,-12.1,175,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2000,3843,0,0,0,0,0,0
$GC,4695,-0.80,-136.7,761.3,-12.2,181,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1999,3842,0,0,0,0,0,0
$GC,4939,-0.80,-136.7,790.6,-12.0,187,4943,0.00,2.25,0.00,0.000,4,0.000,0.054,2326,3409,3839,0,0,0,0,0,0
$GC,4984,-0.80,-136.7,796.1,-12.1,188,4988,0.00,2.17,0.00,0.000,6,0.000,0.034,2326,1985,3838,0,0,0,0,0,0
$GC,5261,-0.80,-136.7,831.3,-12.7,195,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1980,3836,0,0,0,0,0,0
$GC,5505,-0.80,-136.7,863.3,-13.1,201,5509,0.00,2.30,0.00,0.000,4,0.000,0.056,2315,3418,3834,0,0,0,0,0,0
$GC,5556,-0.80,-136.7,870.0,-13.3,202,5560,0.00,2.17,0.00,0.000,6,0.000,0.035,2315,2005,3834,0,0,0,0,0,0
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5792,-0.28,0.0,901.5,13.7,208,5907,0.62,0.00,110.65,1.088,6,0.150,0.000,2498,1905,3301,0,0,0,0,0,0
$STATE,5910,end apogee,CONTROL_FINISHED_OK
$STATE,5910,begin climb
$GC,5912,0.80,136.7,907.7,0.0,211,6038,1.08,0.00,121.43,1.053,6,0.097,0.000,2849,1904,2741,0,0,0,0,0,0
$GC,6273,0.80,136.7,857.9,17.3,220,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1905,2732,0,0,0,0,0,0
$GC,6515,0.80,136.7,816.0,17.2,226,6519,0.00,2.33,0.00,0.000,4,0.000,0.054,2849,3339,2727,0,0,0,0,0,0
$GC,6536,0.80,136.7,812.2,17.4,226,6540,0.00,2.15,0.00,0.000,6,0.000,0.031,2860,1941,2729,0,0,0,0,0,0
$GC,6798,0.80,136.7,765.9,17.5,233,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1938,2727,0,0,0,0,0,0
$GC,7041,0.80,136.7,723.2,17.6,239,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1938,2726,0,0,0,0,0,0
$GC,7284,0.80,136.7,678.3,18.5,245,7288,0.00,2.15,0.00,0.000,4,0.000,0.043,2871,526,2726,0,0,0,0,0,0
$GC,7317,0.80,136.7,672.1,18.4,245,7323,0.00,2.15,0.00,0.000,6,0.000,0.038,2867,1926,2724,0,0,0,0,0,0
$GC,7569,0.80,136.7,625.0,19.2,252,7573,0.00,2.28,0.00,0.000,4,0.000,0.054,2871,3342,2724,0,0,0,0,0,0
$GC,7641,0.80,136.7,610.3,20.5,253,7645,0.00,2.20,0.00,0.000,6,0.000,0.033,2881,1922,2726,0,0,0,0,0,0
$GC,7891,0.80,136.7,562.9,19.1,259,7895,0.00,2.12,0.00,0.000,4,0.000,0.041,2893,518,2723,0,0,0,0,0,0
$GC,7913,0.80,136.7,558.7,18.7,259,7918,0.15,2.17,0.00,0.000,6,0.199,0.038,2859,1943,2721,0,0,0,0,0,0
$GC,8168,0.80,136.7,517.4,15.6,266,8172,0.00,2.25,0.00,0.000,4,0.000,0.053,2854,3341,2721,0,0,0,0,0,0
$GC,8246,0.80,136.7,504.8,15.9,267,8250,0.00,2.15,0.00,0.000,6,0.000,0.032,2856,1928,2721,0,0,0,0,0,0
$GC,8503,0.80,136.7,469.3,13.6,274,8507,0.00,2.28,0.00,0.000,4,0.000,0.052,2856,3344,2721,0,0,0,0,0,0
$GC,8569,0.80,136.7,458.9,15.4,275,8573,0.00,2.15,0.00,0.000,6,0.000,0.031,2867,1924,2721,0,0,0,0,0,0
$GC,8830,0.80,136.7,420.3,14.6,282,8834,0.00,2.12,0.00,0.000,4,0.000,0.042,2878,522,2720,0,0,0,0,0,0
$GC,8847,0.80,136.7,417.7,14.3,282,8852,0.00,2.15,0.00,0.000,6,0.000,0.038,2878,1927,2719,0,0,0,0,0,0
$GC,9114,0.80,136.7,378.3,14.2,289,9118,0.00,2.25,0.00,0.000,4,0.000,0.052,2878,3339,2719,0,0,0,0,0,0
$GC,9158,0.80,136.7,371.2,16.5,290,9162,0.15,2.15,0.00,0.000,6,0.202,0.031,2854,1929,2719,0,0,0,0,0,0
$GC,9436,0.80,136.7,334.4,13.1,297,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1925,2719,0,0,0,0,0,0
$GC,9679,0.80,136.7,301.6,13.7,303,9683,0.00,2.28,0.00,0.000,4,0.000,0.053,2854,3338,2718,0,0,0,0,0,0
$GC,9711,0.80,136.7,296.6,15.2,303,9718,0.00,2.15,0.00,0.000,6,0.000,0.032,2863,1928,2716,0,0,0,0,0,0
$GC,9965,0.80,136.7,263.4,13.2,316,9969,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,516,2721,0,0,0,0,0,0
$GC,10022,0.80,136.7,257.0,10.5,318,10027,0.00,2.17,0.00,0.000,6,0.000,0.035,2875,1941,2717,0,0,0,0,0,0
$GC,10275,0.80,136.7,231.2,9.7,331,10279,0.00,2.17,0.00,0.000,4,0.000,0.040,2885,512,2716,0,0,0,0,0,0
$GC,10286,0.80,136.7,230.0,10.3,331,10291,0.12,2.15,0.00,0.000,6,0.191,0.035,2857,1939,2713,0,0,0,0,0,0
$GC,10541,0.80,136.7,206.4,10.1,343,10545,0.00,2.22,0.00,0.000,4,0.000,0.050,2845,3328,2717,0,0,0,0,0,0
$GC,10794,0.80,143.5,183.4,8.3,363,10798,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1924,2718,0,0,0,0,0,0
$GC,11059,0.82,153.5,161.0,8.1,387,11076,0.00,2.28,11.30,0.525,4,0.000,0.051,2855,3327,2671,0,0,0,0,0,0
$GC,11086,0.82,157.5,158.6,8.4,389,11100,0.00,2.12,4.97,0.426,6,0.000,0.031,2866,1920,2656,0,0,0,0,0,0
$GC,11356,0.88,208.2,135.4,6.4,414,11404,0.00,2.15,42.30,0.543,4,0.000,0.038,2874,522,2452,0,0,0,0,0,0
$GC,11597,0.92,236.8,118.1,7.4,435,11626,0.00,2.15,24.38,0.511,6,0.000,0.035,2877,1935,2335,0,0,0,0,0,0
$GC,11891,0.92,236.8,87.8,11.4,462,11895,0.00,2.25,0.00,0.000,4,0.000,0.049,2876,3334,2328,0,0,0,0,0,0
$GC,11986,0.92,236.8,75.9,12.6,470,11990,0.00,2.15,0.00,0.000,6,0.000,0.031,2887,1930,2331,0,0,0,0,0,0
$GC,12252,0.92,236.8,43.2,12.3,494,12256,0.00,2.20,0.00,0.000,4,0.000,0.047,2883,3334,2331,0,0,0,0,0,0
$GC,12305,0.92,236.8,35.2,12.8,498,12313,0.00,2.17,0.00,0.000,6,0.000,0.031,2898,1930,2330,0,0,0,0,0,0
$STATE,12565,end climb,SURFACE_DEPTH_REACHED
$STATE,12565,begin surface coast
$FINISH,0.3,1.009693
$STATE,12589,end surface coast,CONTROL_FINISHED_OK
$STATE,12589,begin surface
$SM_CCo,12620,28.75,0.416,0,0,2075,300.24
$SM_GC,1.29,0.00,0.00,28.75,0.000,0.000,0.416,52,2021,2075,-7.95,0.74,300.24
$IRIDIUM_FIX,1850.98,-15633.72,150213,020215
$TT8_MAMPS,0.26078
$HUMID,1078876764
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258819072
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,30831214592
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,44.949
$10V_AH,10.0,41.057
$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,19.800,127.125,315.025,28.750,0.000,30.393,33.700,496.642,21.750,0.000,15.490,1189.637,9062.675,429.755,2341.913,422.519,33.386,1183.449,0.000,1780.955,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,98.943,1088.373,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.637,0.000,896.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354076
$DATA_FILE_SIZE,26895,547
$CAP_FILE_SIZE,122356,0
$CFSIZE,260165632,182362112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,218.3,1
$GPS,230811,154501,1900.105,-15632.626,89,1.0,90,9.6