version: 66.07
glider: 513
mission: 7
dive: 323
start: 8 23 111 23 41 9
data:
$ID,513
$MISSION,7
$DIVE,323
$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,-428599.25
$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,57
$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,322
$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
$GPS1,230811,231924,1859.984,-15633.366,35,1.8,35,9.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.6
$GPS2,230811,234013,1859.728,-15633.771,15,1.8,20,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.218,0.098
$KALMAN_X,-97020.9,1136.4,15.9,130559.1,-5142.3
$KALMAN_Y,-137515.7,694.1,1159.4,24589.0,-14098.4
$MHEAD_RNG_PITCHd_Wd,23.4,139558,-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,-57.50,0.000,2,0.000,0.000,37,2020,3752,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.0,-6.5,9,114,9.65,2.28,-1.75,0.000,4,0.239,0.067,2321,3389,3861,0,0,0,0,0,0
$GC,280,-0.80,-136.7,73.7,-30.1,29,287,0.00,2.17,0.00,0.000,6,0.000,0.044,2320,2024,3864,0,0,0,0,0,0
$GC,544,-0.80,-136.7,154.8,-29.1,54,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2017,3865,0,0,0,0,0,0
$GC,803,-0.80,-136.7,214.6,-21.8,76,807,0.00,2.15,0.00,0.000,4,0.000,0.041,2320,579,3867,0,0,0,0,0,0
$GC,844,-0.80,-136.7,223.9,-23.9,78,849,0.12,2.15,0.00,0.000,6,0.179,0.043,2340,1979,3867,0,0,0,0,0,0
$GC,1109,-0.80,-136.7,273.7,-16.1,91,1113,0.00,2.25,0.00,0.000,4,0.000,0.051,2330,3417,3867,0,0,0,0,0,0
$GC,1172,-0.80,-136.7,285.2,-18.8,94,1176,0.00,2.15,0.00,0.000,6,0.000,0.031,2330,1985,3866,0,0,0,0,0,0
$GC,1436,-0.80,-136.7,329.9,-16.5,103,1440,0.00,2.28,0.00,0.000,4,0.000,0.050,2320,3417,3872,0,0,0,0,0,0
$GC,1463,-0.80,-136.7,334.5,-16.0,103,1467,0.00,2.17,0.00,0.000,6,0.000,0.031,2320,1963,3871,0,0,0,0,0,0
$GC,1718,-0.80,-136.7,375.6,-15.8,110,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1958,3869,0,0,0,0,0,0
$GC,1963,-0.80,-136.7,414.8,-16.2,116,1967,0.00,2.30,0.00,0.000,4,0.000,0.050,2309,3416,3866,0,0,0,0,0,0
$GC,2019,-0.80,-136.7,424.5,-15.9,117,2023,0.12,2.15,0.00,0.000,6,0.168,0.033,2340,1992,3866,0,0,0,0,0,0
$GC,2290,-0.80,-136.7,464.0,-14.2,124,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1987,3864,0,0,0,0,0,0
$GC,2535,-0.80,-136.7,497.2,-13.6,130,2539,0.00,2.25,0.00,0.000,4,0.000,0.052,2331,3412,3861,0,0,0,0,0,0
$GC,2596,-0.80,-136.7,506.3,-14.1,131,2600,0.00,2.15,0.00,0.000,6,0.000,0.032,2331,1994,3861,0,0,0,0,0,0
$GC,2863,-0.80,-136.7,546.8,-15.7,138,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1988,3857,0,0,0,0,0,0
$GC,3107,-0.80,-136.7,586.2,-16.2,144,3111,0.00,2.10,0.00,0.000,4,0.000,0.042,2331,595,3856,0,0,0,0,0,0
$GC,3130,-0.80,-136.7,590.1,-17.1,144,3134,0.00,2.17,0.00,0.000,6,0.000,0.042,2321,2010,3855,0,0,0,0,0,0
$GC,3385,-0.80,-136.7,632.1,-16.4,151,3389,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3414,3852,0,0,0,0,0,0
$GC,3451,-0.80,-136.7,643.4,-16.5,152,3456,0.10,2.17,0.00,0.000,6,0.173,0.033,2334,1997,3852,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,680.6,-14.0,159,3717,0.00,2.28,0.00,0.000,4,0.000,0.056,2325,3410,3849,0,0,0,0,0,0
$GC,3752,-0.80,-136.7,686.4,-14.3,159,3758,0.00,2.17,0.00,0.000,6,0.000,0.033,2325,1997,3850,0,0,0,0,0,0
$GC,4002,-0.80,-136.7,721.0,-13.8,166,4006,0.00,2.28,0.00,0.000,4,0.000,0.054,2314,3415,3847,0,0,0,0,0,0
$GC,4030,-0.80,-136.7,724.8,-14.1,166,4034,0.00,2.17,0.00,0.000,6,0.000,0.034,2314,2002,3846,0,0,0,0,0,0
$GC,4285,-0.80,-136.7,759.0,-13.4,173,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1997,3843,0,0,0,0,0,0
$GC,4528,-0.80,-136.7,789.0,-12.0,179,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1993,3841,0,0,0,0,0,0
$GC,4773,-0.80,-136.7,817.9,-11.9,185,4777,0.00,2.28,0.00,0.000,4,0.000,0.055,2301,3410,3837,0,0,0,0,0,0
$GC,4824,-0.80,-136.7,824.1,-11.9,186,4829,0.12,2.20,0.00,0.000,6,0.171,0.034,2334,1992,3838,0,0,0,0,0,0
$GC,5096,-0.80,-136.7,852.6,-10.2,193,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1987,3836,0,0,0,0,0,0
$GC,5339,-0.80,-136.7,879.0,-11.0,199,5343,0.00,2.33,0.00,0.000,4,0.000,0.057,2325,3413,3834,0,0,0,0,0,0
$GC,5402,-0.80,-136.7,886.2,-10.8,200,5406,0.00,2.17,0.00,0.000,6,0.000,0.032,2325,1994,3833,0,0,0,0,0,0
$STATE,5544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5544,begin apogee
$GC,5550,-0.28,0.0,903.7,12.1,204,5666,0.60,0.00,111.07,1.085,6,0.145,0.000,2502,1935,3300,0,0,0,0,0,0
$STATE,5669,end apogee,CONTROL_FINISHED_OK
$STATE,5669,begin climb
$GC,5671,0.80,136.7,908.6,0.0,207,5796,1.05,0.00,120.15,1.055,6,0.094,0.000,2848,1934,2744,0,0,0,0,0,0
$GC,6031,0.80,136.7,857.9,17.4,216,6035,0.00,2.30,0.00,0.000,4,0.000,0.052,2847,3338,2737,0,0,0,0,0,0
$GC,6059,0.80,136.7,852.4,18.6,216,6063,0.00,2.22,0.00,0.000,6,0.000,0.029,2860,1908,2737,0,0,0,0,0,0
$GC,6314,0.80,136.7,807.6,17.6,223,6318,0.00,2.12,0.00,0.000,4,0.000,0.039,2870,521,2734,0,0,0,0,0,0
$GC,6342,0.80,136.7,802.3,20.0,223,6346,0.00,2.17,0.00,0.000,6,0.000,0.036,2870,1933,2729,0,0,0,0,0,0
$GC,6592,0.80,136.7,755.6,18.7,229,6596,0.00,2.28,0.00,0.000,4,0.000,0.053,2870,3334,2729,0,0,0,0,0,0
$GC,6625,0.80,136.7,748.7,20.3,229,6631,0.00,2.17,0.00,0.000,6,0.000,0.031,2881,1927,2729,0,0,0,0,0,0
$GC,6875,0.80,136.7,699.0,20.2,236,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1926,2727,0,0,0,0,0,0
$GC,7120,0.80,136.7,649.7,19.9,242,7124,0.00,2.28,0.00,0.000,4,0.000,0.051,2881,3338,2727,0,0,0,0,0,0
$GC,7148,0.80,136.7,643.5,21.5,242,7152,0.15,2.20,0.00,0.000,6,0.210,0.031,2857,1932,2727,0,0,0,0,0,0
$GC,7403,0.80,136.7,598.1,17.5,249,7407,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,529,2726,0,0,0,0,0,0
$GC,7421,0.80,136.7,594.8,18.1,249,7425,0.00,2.12,0.00,0.000,6,0.000,0.036,2867,1933,2726,0,0,0,0,0,0
$GC,7681,0.80,136.7,545.2,19.3,256,7685,0.00,2.25,0.00,0.000,4,0.000,0.051,2867,3339,2724,0,0,0,0,0,0
$GC,7732,0.80,136.7,535.9,18.5,257,7736,0.00,2.17,0.00,0.000,6,0.000,0.030,2877,1927,2725,0,0,0,0,0,0
$GC,8011,0.80,136.7,486.2,17.5,264,8015,0.00,2.10,0.00,0.000,4,0.000,0.039,2888,523,2722,0,0,0,0,0,0
$GC,8032,0.80,136.7,482.1,18.2,264,8037,0.12,2.12,0.00,0.000,6,0.202,0.035,2860,1934,2722,0,0,0,0,0,0
$GC,8293,0.80,136.7,442.8,14.8,271,8297,0.00,2.22,0.00,0.000,4,0.000,0.050,2849,3334,2722,0,0,0,0,0,0
$GC,8349,0.80,136.7,434.3,16.1,272,8353,0.00,2.17,0.00,0.000,6,0.000,0.031,2858,1924,2722,0,0,0,0,0,0
$GC,8615,0.80,136.7,395.7,14.5,279,8619,0.00,2.25,0.00,0.000,4,0.000,0.049,2849,3335,2722,0,0,0,0,0,0
$GC,8654,0.80,136.7,390.1,14.6,280,8658,0.00,2.17,0.00,0.000,6,0.000,0.031,2860,1924,2723,0,0,0,0,0,0
$GC,8939,0.80,136.7,351.3,13.3,287,8943,0.00,2.12,0.00,0.000,4,0.000,0.038,2870,517,2722,0,0,0,0,0,0
$GC,8955,0.80,136.7,348.8,14.0,287,8959,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1936,2723,0,0,0,0,0,0
$GC,9215,0.80,136.7,312.5,14.1,294,9220,0.00,2.22,0.00,0.000,4,0.000,0.051,2870,3332,2720,0,0,0,0,0,0
$GC,9271,0.80,136.7,303.6,16.3,295,9275,0.00,2.17,0.00,0.000,6,0.000,0.030,2880,1923,2720,0,0,0,0,0,0
$GC,9527,0.80,136.7,268.2,13.1,307,9531,0.00,2.08,0.00,0.000,4,0.000,0.038,2891,533,2721,0,0,0,0,0,0
$GC,9649,0.80,136.7,252.2,11.2,312,9656,0.15,2.10,0.00,0.000,6,0.197,0.035,2858,1939,2718,0,0,0,0,0,0
$GC,9905,0.80,136.7,227.7,9.8,325,9909,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,535,2721,0,0,0,0,0,0
$GC,9932,0.80,136.7,224.6,10.6,326,9936,0.00,2.10,0.00,0.000,6,0.000,0.034,2865,1940,2718,0,0,0,0,0,0
$GC,10190,0.80,136.7,195.6,12.9,340,10194,0.00,2.20,0.00,0.000,4,0.000,0.049,2865,3329,2718,0,0,0,0,0,0
$GC,10232,0.80,136.7,189.8,14.5,343,10236,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1938,2723,0,0,0,0,0,0
$GC,10497,0.80,136.7,163.0,8.8,367,10501,0.00,2.20,0.00,0.000,4,0.000,0.045,2875,3331,2718,0,0,0,0,0,0
$GC,10539,0.85,179.9,160.1,6.7,370,10577,0.00,2.12,32.60,0.570,6,0.000,0.029,2886,1924,2566,0,0,0,0,0,0
$GC,10830,0.90,220.0,131.3,6.9,397,10869,0.00,2.25,33.65,0.542,4,0.000,0.046,2886,3330,2403,0,0,0,0,0,0
$GC,11084,0.90,220.0,103.5,11.2,419,11088,0.00,2.15,0.00,0.000,6,0.000,0.029,2898,1936,2402,0,0,0,0,0,0
$GC,11349,0.90,220.0,72.9,10.9,443,11353,0.00,2.20,0.00,0.000,4,0.000,0.044,2898,3330,2400,0,0,0,0,0,0
$GC,11456,0.90,220.0,57.9,14.2,452,11460,0.00,2.15,0.00,0.000,6,0.000,0.029,2910,1924,2398,0,0,0,0,0,0
$GC,11720,0.90,220.0,22.9,11.8,481,11728,0.00,2.25,0.00,0.000,4,0.000,0.044,2909,3327,2401,0,0,0,0,0,0
$GC,11866,0.90,220.0,4.5,12.0,507,11874,0.10,2.15,0.00,0.000,6,0.172,0.028,2888,1935,2402,0,0,0,0,0,0
$STATE,11880,end climb,SURFACE_DEPTH_REACHED
$STATE,11881,begin surface coast
$FINISH,0.4,1.022724
$STATE,11909,end surface coast,CONTROL_FINISHED_OK
$STATE,11909,begin surface
$SM_CCo,11930,40.62,0.428,0,0,2074,300.73
$SM_GC,1.93,0.00,0.00,40.62,0.000,0.000,0.428,50,2016,2074,-7.96,0.45,300.73
$IRIDIUM_FIX,1850.98,-15633.72,150213,171750
$TT8_MAMPS,0.250809
$HUMID,1078910313
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.30
$XPDR_PINGS,89
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258720768
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,30361878528
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,45.359
$10V_AH,10.0,41.328
$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,19.775,131.475,297.475,40.625,0.000,80.484,106.453,690.177,22.250,0.000,22.386,1126.648,8697.748,432.949,2470.601,498.248,33.355,1155.792,0.000,1657.372,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,140.361,1085.305,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.858,0.000,823.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,27021,514
$CAP_FILE_SIZE,125404,0
$CFSIZE,260165632,182136832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,224.3,1
$GPS,240811,030207,1900.228,-15633.734,28,1.3,28,9.6