version: 66.07
glider: 513
mission: 7
dive: 321
start: 8 23 111 15 59 30
data:
$ID,513
$MISSION,7
$DIVE,321
$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,-428561.72
$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,39
$R_STBD_OVSHOOT,54
$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,320
$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
$GPS1,230811,154501,1900.105,-15632.626,89,1.0,90,9.6
$_CALLS,1
$_XMS_NAKs,36
$_XMS_TOUTs,6
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.2
$GPS2,230811,155832,1859.892,-15632.882,19,0.9,19,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.023,0.238
$KALMAN_X,-97557.7,1684.7,742.4,131369.6,-9729.6
$KALMAN_Y,-127765.0,684.2,599.8,15702.5,-11165.1
$MHEAD_RNG_PITCHd_Wd,22.7,139190,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-58.12,0.000,2,0.000,0.000,37,2028,3787,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.3,-7.1,9,115,9.77,2.25,-1.10,0.000,4,0.242,0.064,2323,3390,3861,0,0,0,0,0,0
$GC,200,-0.80,-136.7,48.4,-30.4,22,204,0.00,2.17,0.00,0.000,6,0.000,0.041,2319,1994,3864,0,0,0,0,0,0
$GC,463,-0.80,-136.7,140.7,-32.1,46,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1987,3865,0,0,0,0,0,0
$GC,719,-0.80,-136.7,201.6,-20.2,70,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1987,3865,0,0,0,0,0,0
$GC,963,-0.80,-136.7,253.9,-20.0,82,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1987,3868,0,0,0,0,0,0
$GC,1210,-0.80,-136.7,302.5,-18.1,94,1214,0.00,2.12,0.00,0.000,4,0.000,0.043,2319,590,3869,0,0,0,0,0,0
$GC,1233,-0.80,-136.7,306.6,-17.7,94,1238,0.12,2.12,0.00,0.000,6,0.173,0.041,2339,1986,3868,0,0,0,0,0,0
$GC,1489,-0.80,-136.7,345.0,-14.5,101,1493,0.00,2.25,0.00,0.000,4,0.000,0.054,2330,3403,3869,0,0,0,0,0,0
$GC,1567,-0.80,-136.7,356.6,-14.1,102,1571,0.00,2.15,0.00,0.000,6,0.000,0.032,2330,1990,3875,0,0,0,0,0,0
$GC,1824,-0.80,-136.7,396.4,-15.7,109,1828,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3406,3868,0,0,0,0,0,0
$GC,1924,-0.80,-136.7,412.7,-15.4,111,1928,0.00,2.10,0.00,0.000,6,0.000,0.033,2321,2002,3867,0,0,0,0,0,0
$GC,2196,-0.80,-136.7,455.0,-15.4,118,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1996,3865,0,0,0,0,0,0
$GC,2441,-0.80,-136.7,489.5,-14.0,124,2445,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3412,3862,0,0,0,0,0,0
$GC,2481,-0.80,-136.7,495.3,-13.9,125,2485,0.10,2.15,0.00,0.000,6,0.174,0.034,2336,1990,3862,0,0,0,0,0,0
$GC,2764,-0.80,-136.7,528.7,-11.6,132,2768,0.00,2.25,0.00,0.000,4,0.000,0.054,2328,3406,3859,0,0,0,0,0,0
$GC,2809,-0.80,-136.7,534.2,-11.8,133,2813,0.00,2.12,0.00,0.000,6,0.000,0.033,2325,2001,3859,0,0,0,0,0,0
$GC,3086,-0.80,-136.7,569.5,-13.0,140,3090,0.00,2.22,0.00,0.000,4,0.000,0.052,2314,3405,3857,0,0,0,0,0,0
$GC,3108,-0.80,-136.7,572.5,-12.9,140,3112,0.00,2.12,0.00,0.000,6,0.000,0.035,2315,2003,3856,0,0,0,0,0,0
$GC,3370,-0.80,-136.7,608.0,-13.9,147,3374,0.00,2.25,0.00,0.000,4,0.000,0.053,2304,3406,3853,0,0,0,0,0,0
$GC,3421,-0.80,-136.7,615.5,-14.2,148,3426,0.12,2.15,0.00,0.000,6,0.171,0.034,2335,1986,3853,0,0,0,0,0,0
$GC,3698,-0.80,-136.7,650.0,-12.1,155,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1980,3850,0,0,0,0,0,0
$GC,3943,-0.80,-136.7,679.6,-12.1,161,3947,0.00,2.28,0.00,0.000,4,0.000,0.056,2327,3406,3851,0,0,0,0,0,0
$GC,4028,-0.80,-136.7,689.8,-11.4,163,4033,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,2006,3847,0,0,0,0,0,0
$GC,4312,-0.80,-136.7,723.3,-11.7,170,4316,0.00,2.28,0.00,0.000,4,0.000,0.055,2316,3410,3844,0,0,0,0,0,0
$GC,4345,-0.80,-136.7,727.4,-12.3,170,4351,0.00,2.15,0.00,0.000,6,0.000,0.034,2316,2002,3843,0,0,0,0,0,0
$GC,4596,-0.80,-136.7,758.4,-12.5,177,4600,0.00,2.25,0.00,0.000,4,0.000,0.054,2305,3404,3841,0,0,0,0,0,0
$GC,4617,-0.80,-136.7,761.2,-12.4,177,4622,0.12,2.15,0.00,0.000,6,0.173,0.034,2336,1983,3841,0,0,0,0,0,0
$GC,4878,-0.80,-136.7,790.3,-11.0,184,4882,0.00,2.30,0.00,0.000,4,0.000,0.054,2328,3408,3843,0,0,0,0,0,0
$GC,4902,-0.80,-136.7,792.7,-11.2,184,4906,0.00,2.15,0.00,0.000,6,0.000,0.033,2327,1997,3838,0,0,0,0,0,0
$GC,5157,-0.80,-136.7,822.8,-11.7,191,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1990,3837,0,0,0,0,0,0
$GC,5401,-0.80,-136.7,851.8,-11.9,197,5405,0.00,2.28,0.00,0.000,4,0.000,0.052,2317,3407,3835,0,0,0,0,0,0
$GC,5434,-0.80,-136.7,856.0,-13.1,197,5440,0.00,2.17,0.00,0.000,6,0.000,0.033,2317,2001,3835,0,0,0,0,0,0
$GC,5684,-0.80,-136.7,887.5,-12.5,204,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1994,3833,0,0,0,0,0,0
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5804,begin apogee
$GC,5810,-0.28,0.0,903.8,13.2,207,5926,0.62,0.00,111.18,1.084,6,0.153,0.000,2499,1926,3299,0,0,0,0,0,0
$STATE,5928,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5932,0.80,136.7,908.6,0.0,210,6062,1.05,2.28,119.80,1.054,4,0.095,0.035,2856,524,2741,0,0,0,0,0,0
$GC,6067,0.80,136.7,895.9,15.1,213,6072,0.00,2.25,0.00,0.000,6,0.000,0.034,2856,1926,2737,0,0,0,0,0,0
$GC,6335,0.80,136.7,845.5,19.3,220,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1926,2736,0,0,0,0,0,0
$GC,6578,0.80,136.7,799.3,19.0,226,6582,0.00,2.28,0.00,0.000,4,0.000,0.053,2856,3336,2730,0,0,0,0,0,0
$GC,6605,0.80,136.7,793.3,21.3,226,6609,0.00,2.22,0.00,0.000,6,0.000,0.031,2866,1926,2730,0,0,0,0,0,0
$GC,6861,0.80,136.7,740.4,21.1,233,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1922,2728,0,0,0,0,0,0
$GC,7106,0.80,136.7,689.7,20.9,239,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1923,2728,0,0,0,0,0,0
$GC,7349,0.80,136.7,639.1,20.8,245,7352,0.00,2.15,0.00,0.000,4,0.000,0.040,2878,518,2726,0,0,0,0,0,0
$GC,7365,0.80,136.7,635.3,21.8,245,7369,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1938,2725,0,0,0,0,0,0
$GC,7631,0.80,136.7,579.8,20.4,252,7635,0.00,2.25,0.00,0.000,4,0.000,0.053,2878,3332,2725,0,0,0,0,0,0
$GC,7694,0.80,136.7,566.8,22.0,253,7699,0.15,2.17,0.00,0.000,6,0.208,0.032,2854,1921,2724,0,0,0,0,0,0
$GC,7960,0.80,136.7,518.4,17.5,260,7964,0.00,2.15,0.00,0.000,4,0.000,0.041,2864,519,2727,0,0,0,0,0,0
$GC,7992,0.80,136.7,512.5,17.4,260,7999,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1929,2722,0,0,0,0,0,0
$GC,8243,0.80,136.7,471.3,16.3,267,8247,0.00,2.25,0.00,0.000,4,0.000,0.052,2864,3340,2722,0,0,0,0,0,0
$GC,8259,0.80,136.7,468.1,16.4,267,8263,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1931,2723,0,0,0,0,0,0
$GC,8526,0.80,136.7,423.0,17.0,274,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1928,2722,0,0,0,0,0,0
$GC,8771,0.80,136.7,379.7,18.2,280,8775,0.00,2.12,0.00,0.000,4,0.000,0.039,2885,524,2722,0,0,0,0,0,0
$GC,8803,0.80,136.7,373.8,17.1,280,8808,0.12,2.12,0.00,0.000,6,0.199,0.035,2855,1935,2718,0,0,0,0,0,0
$GC,9058,0.80,136.7,334.9,14.8,287,9062,0.00,2.22,0.00,0.000,4,0.000,0.051,2845,3337,2721,0,0,0,0,0,0
$GC,9114,0.80,136.7,326.5,14.3,288,9118,0.00,2.12,0.00,0.000,6,0.000,0.030,2854,1930,2720,0,0,0,0,0,0
$GC,9367,0.80,136.7,293.3,12.7,295,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1927,2720,0,0,0,0,0,0
$GC,9614,0.80,136.7,265.2,10.4,307,9618,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,516,2719,0,0,0,0,0,0
$GC,9738,0.80,136.7,251.3,10.2,312,9745,0.00,2.12,0.00,0.000,6,0.000,0.033,2865,1933,2718,0,0,0,0,0,0
$GC,9992,0.80,136.7,227.1,10.2,325,9996,0.00,2.20,0.00,0.000,4,0.000,0.049,2865,3328,2718,0,0,0,0,0,0
$GC,10081,0.80,136.7,217.0,10.4,329,10085,0.00,2.15,0.00,0.000,6,0.000,0.030,2876,1915,2719,0,0,0,0,0,0
$GC,10341,0.80,136.7,189.6,10.9,345,10345,0.00,2.25,0.00,0.000,4,0.000,0.048,2876,3330,2719,0,0,0,0,0,0
$GC,10594,0.80,136.7,163.2,9.6,367,10603,0.10,2.15,0.00,0.000,6,0.179,0.029,2857,1936,2720,0,0,0,0,0,0
$GC,10858,0.85,183.3,144.0,6.6,392,10898,0.00,2.22,35.12,0.555,4,0.000,0.046,2857,3330,2550,0,0,0,0,0,0
$GC,11057,0.85,183.3,127.4,10.4,409,11061,0.00,2.17,0.00,0.000,6,0.000,0.031,2867,1923,2551,0,0,0,0,0,0
$GC,11324,0.94,252.6,104.8,5.6,433,11385,0.00,2.15,56.72,0.520,4,0.000,0.038,2877,527,2268,0,0,0,0,0,0
$GC,11475,0.94,252.6,91.0,11.2,446,11479,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1932,2263,0,0,0,0,0,0
$GC,11742,0.94,252.6,60.1,12.2,470,11746,0.00,2.20,0.00,0.000,4,0.000,0.047,2877,3331,2260,0,0,0,0,0,0
$GC,11827,0.94,252.6,48.1,13.7,477,11832,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,1926,2263,0,0,0,0,0,0
$GC,12092,0.94,252.6,12.6,13.5,513,12099,0.00,2.25,0.00,0.000,4,0.000,0.044,2884,3321,2263,0,0,0,0,0,0
$GC,12129,0.94,252.6,7.4,14.7,519,12136,0.00,2.15,0.00,0.000,6,0.000,0.029,2902,1928,2264,0,0,0,0,0,0
$STATE,12158,end climb,SURFACE_DEPTH_REACHED
$STATE,12158,begin surface coast
$FINISH,0.4,1.022908
$STATE,12181,end surface coast,CONTROL_FINISHED_OK
$STATE,12181,begin surface
$SM_CCo,12203,22.17,0.416,0,0,2076,300.49
$SM_GC,0.87,0.00,0.00,22.17,0.000,0.000,0.416,52,2030,2076,-7.95,0.85,300.49
$IRIDIUM_FIX,1853.26,-15633.72,150213,060646
$TT8_MAMPS,0.271518
$HUMID,1078894829
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.30
$XPDR_PINGS,89
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258786304
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,30681104384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,45.073
$10V_AH,9.9,41.145
$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,19.875,122.700,322.825,22.175,0.000,31.180,37.664,509.662,22.250,0.000,21.472,1146.548,8754.627,394.363,2322.808,425.977,33.349,1167.700,0.000,1748.414,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,108.147,1083.771,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,360.483,0.000,856.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354032
$DATA_FILE_SIZE,26875,528
$CAP_FILE_SIZE,120502,0
$CFSIZE,260165632,182288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,217.2,1
$GPS,230811,192454,1900.098,-15632.744,39,1.4,39,9.6