version: 66.07
glider: 513
mission: 7
dive: 324
start: 8 24 111 3 16 35
data:
$ID,513
$MISSION,7
$DIVE,324
$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,-428614.22
$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,45
$R_STBD_OVSHOOT,56
$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,323
$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
$GPS1,240811,030207,1900.228,-15633.734,28,1.3,28,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.3
$GPS2,240811,031538,1900.099,-15634.044,12,1.3,12,9.6
$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,-101220.7,248.9,111.0,135117.2,-7857.6
$KALMAN_Y,-138435.1,1604.2,1074.7,25330.5,-12500.6
$MHEAD_RNG_PITCHd_Wd,22.7,138894,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-51.30,0.000,2,0.000,0.000,41,2019,3535,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.0,-4.3,8,107,9.77,2.25,-5.72,0.000,4,0.242,0.068,2322,3386,3860,0,0,0,0,0,0
$GC,190,-0.80,-136.7,42.4,-30.3,23,194,0.00,2.12,0.00,0.000,6,0.000,0.032,2328,1998,3863,0,0,0,0,0,0
$GC,453,-0.80,-136.7,129.5,-33.8,47,457,0.00,2.22,0.00,0.000,4,0.000,0.050,2315,3388,3861,0,0,0,0,0,0
$GC,506,-0.80,-136.7,143.6,-24.9,51,511,0.00,2.10,0.00,0.000,6,0.000,0.031,2315,2004,3864,0,0,0,0,0,0
$GC,777,-0.80,-136.7,211.5,-22.2,74,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1997,3866,0,0,0,0,0,0
$GC,1024,-0.80,-136.7,260.7,-18.0,86,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1997,3867,0,0,0,0,0,0
$GC,1273,-0.80,-136.7,299.3,-15.2,98,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1997,3869,0,0,0,0,0,0
$GC,1536,-0.80,-136.7,340.9,-15.6,105,1540,0.00,2.20,0.00,0.000,4,0.000,0.051,2305,3395,3869,0,0,0,0,0,0
$GC,1585,-0.80,-136.7,349.1,-17.3,106,1590,0.12,2.12,0.00,0.000,6,0.173,0.031,2336,1988,3869,0,0,0,0,0,0
$GC,1864,-0.80,-136.7,391.5,-15.6,113,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1983,3869,0,0,0,0,0,0
$GC,2107,-0.80,-136.7,431.4,-16.8,119,2111,0.00,2.22,0.00,0.000,4,0.000,0.050,2327,3385,3867,0,0,0,0,0,0
$GC,2146,-0.80,-136.7,438.0,-17.2,120,2151,0.00,2.10,0.00,0.000,6,0.000,0.030,2327,1987,3866,0,0,0,0,0,0
$GC,2431,-0.80,-136.7,485.6,-16.5,127,2435,0.00,2.20,0.00,0.000,4,0.000,0.050,2316,3384,3864,0,0,0,0,0,0
$GC,2522,-0.80,-136.7,500.8,-15.4,129,2526,0.00,2.10,0.00,0.000,6,0.000,0.031,2316,1995,3863,0,0,0,0,0,0
$GC,2801,-0.80,-136.7,545.2,-16.0,136,2805,0.00,2.20,0.00,0.000,4,0.000,0.051,2306,3385,3860,0,0,0,0,0,0
$GC,2823,-0.80,-136.7,548.9,-15.3,136,2828,0.12,2.10,0.00,0.000,6,0.167,0.032,2337,1997,3860,0,0,0,0,0,0
$GC,3078,-0.80,-136.7,582.0,-12.9,143,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1995,3857,0,0,0,0,0,0
$GC,3322,-0.80,-136.7,609.5,-11.3,149,3326,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3390,3855,0,0,0,0,0,0
$GC,3371,-0.80,-136.7,615.4,-10.9,150,3375,0.00,2.10,0.00,0.000,6,0.000,0.033,2328,2008,3854,0,0,0,0,0,0
$GC,3650,-0.80,-136.7,645.1,-10.6,157,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2008,3851,0,0,0,0,0,0
$GC,3893,-0.80,-136.7,670.0,-10.4,163,3897,0.00,2.15,0.00,0.000,4,0.000,0.042,2332,596,3849,0,0,0,0,0,0
$GC,3908,-0.80,-136.7,672.0,-10.7,163,3912,0.00,2.15,0.00,0.000,6,0.000,0.044,2318,1987,3849,0,0,0,0,0,0
$GC,4176,-0.80,-136.7,702.9,-12.1,170,4180,0.00,2.25,0.00,0.000,4,0.000,0.053,2307,3405,3847,0,0,0,0,0,0
$GC,4265,-0.80,-136.7,714.6,-12.5,172,4270,0.12,2.15,0.00,0.000,6,0.171,0.035,2338,2003,3845,0,0,0,0,0,0
$GC,4543,-0.80,-136.7,747.0,-11.8,179,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1993,3844,0,0,0,0,0,0
$GC,4788,-0.80,-136.7,776.6,-12.1,185,4792,0.00,2.28,0.00,0.000,4,0.000,0.054,2329,3407,3842,0,0,0,0,0,0
$GC,4854,-0.80,-136.7,785.0,-12.8,186,4858,0.00,2.20,0.00,0.000,6,0.000,0.034,2328,1986,3840,0,0,0,0,0,0
$GC,5121,-0.80,-136.7,818.5,-12.7,193,5125,0.00,2.30,0.00,0.000,4,0.000,0.054,2318,3414,3837,0,0,0,0,0,0
$GC,5154,-0.80,-136.7,822.9,-13.4,193,5160,0.00,2.20,0.00,0.000,6,0.000,0.035,2317,1997,3838,0,0,0,0,0,0
$GC,5405,-0.80,-136.7,856.2,-13.2,200,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1993,3837,0,0,0,0,0,0
$GC,5648,-0.80,-136.7,888.0,-12.9,206,5652,0.00,2.28,0.00,0.000,4,0.000,0.054,2307,3411,3835,0,0,0,0,0,0
$STATE,5740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5740,begin apogee
$GC,5750,-0.28,0.0,900.5,12.6,208,5866,0.65,0.00,111.82,1.088,6,0.151,0.000,2500,1929,3300,0,0,0,0,0,0
$STATE,5869,end apogee,CONTROL_FINISHED_OK
$STATE,5869,begin climb
$GC,5872,0.80,136.7,905.2,0.0,211,5998,1.08,0.00,121.75,1.047,6,0.094,0.000,2853,1929,2744,0,0,0,0,0,0
$GC,6232,0.80,136.7,850.3,18.7,220,6236,0.00,2.33,0.00,0.000,4,0.000,0.053,2849,3336,2735,0,0,0,0,0,0
$GC,6309,0.80,136.7,834.4,19.4,221,6315,0.00,2.22,0.00,0.000,6,0.000,0.031,2864,1916,2735,0,0,0,0,0,0
$GC,6560,0.80,136.7,785.2,19.7,228,6564,0.00,2.15,0.00,0.000,4,0.000,0.042,2875,530,2731,0,0,0,0,0,0
$GC,6581,0.80,136.7,780.6,19.6,228,6585,0.00,2.15,0.00,0.000,6,0.000,0.038,2874,1928,2730,0,0,0,0,0,0
$GC,6844,0.80,136.7,727.6,20.2,235,6848,0.00,2.28,0.00,0.000,4,0.000,0.051,2875,3352,2730,0,0,0,0,0,0
$GC,6877,0.80,136.7,719.8,23.2,235,6884,0.12,2.20,0.00,0.000,6,0.209,0.031,2858,1934,2730,0,0,0,0,0,0
$GC,7127,0.80,136.7,669.3,20.0,242,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1929,2728,0,0,0,0,0,0
$GC,7372,0.80,136.7,620.9,20.0,248,7376,0.00,2.15,0.00,0.000,4,0.000,0.041,2867,517,2729,0,0,0,0,0,0
$GC,7411,0.80,136.7,613.3,19.4,249,7415,0.00,2.17,0.00,0.000,6,0.000,0.038,2858,1946,2725,0,0,0,0,0,0
$GC,7694,0.80,136.7,560.9,18.3,256,7698,0.00,2.25,0.00,0.000,4,0.000,0.052,2848,3336,2726,0,0,0,0,0,0
$GC,7762,0.80,136.7,548.2,18.5,257,7766,0.00,2.20,0.00,0.000,6,0.000,0.033,2857,1918,2726,0,0,0,0,0,0
$GC,8017,0.80,136.7,504.2,17.3,264,8021,0.00,2.28,0.00,0.000,4,0.000,0.053,2848,3336,2725,0,0,0,0,0,0
$GC,8041,0.80,136.7,500.2,17.6,264,8045,0.00,2.15,0.00,0.000,6,0.000,0.032,2857,1936,2725,0,0,0,0,0,0
$GC,8297,0.80,136.7,458.9,15.9,271,8301,0.00,2.22,0.00,0.000,4,0.000,0.050,2849,3330,2725,0,0,0,0,0,0
$GC,8329,0.80,136.7,453.5,15.7,271,8336,0.00,2.17,0.00,0.000,6,0.000,0.032,2858,1920,2725,0,0,0,0,0,0
$GC,8579,0.80,136.7,415.0,15.6,278,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1918,2724,0,0,0,0,0,0
$GC,8824,0.80,136.7,377.0,15.8,284,8828,0.00,2.25,0.00,0.000,4,0.000,0.050,2849,3331,2726,0,0,0,0,0,0
$GC,8869,0.80,136.7,369.8,16.1,285,8873,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1925,2725,0,0,0,0,0,0
$GC,9147,0.80,136.7,331.3,13.2,292,9151,0.00,2.15,0.00,0.000,4,0.000,0.042,2869,523,2723,0,0,0,0,0,0
$GC,9174,0.80,136.7,327.2,15.0,292,9178,0.00,2.12,0.00,0.000,6,0.000,0.037,2869,1932,2722,0,0,0,0,0,0
$GC,9434,0.80,136.7,292.9,13.4,300,9438,0.00,2.25,0.00,0.000,4,0.000,0.051,2869,3344,2720,0,0,0,0,0,0
$GC,9541,0.80,136.7,276.8,13.5,305,9545,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1931,2723,0,0,0,0,0,0
$GC,9805,0.80,136.7,243.6,11.8,318,9809,0.00,2.12,0.00,0.000,4,0.000,0.040,2891,521,2720,0,0,0,0,0,0
$GC,9971,0.80,136.7,226.1,10.8,325,9976,0.15,2.12,0.00,0.000,6,0.189,0.035,2856,1938,2720,0,0,0,0,0,0
$GC,10229,0.80,136.7,198.8,11.2,338,10234,0.00,2.25,0.00,0.000,4,0.000,0.049,2844,3340,2720,0,0,0,0,0,0
$GC,10316,0.80,136.7,189.5,10.9,345,10320,0.00,2.17,0.00,0.000,6,0.000,0.030,2853,1919,2721,0,0,0,0,0,0
$GC,10582,0.82,152.8,167.1,7.9,369,10598,0.00,2.28,11.02,0.538,4,0.000,0.051,2854,3334,2678,0,0,0,0,0,0
$GC,10741,0.82,152.8,150.7,12.4,383,10745,0.00,2.15,0.00,0.000,6,0.000,0.030,2869,1922,2677,0,0,0,0,0,0
$GC,11007,0.84,169.4,127.7,7.9,407,11032,0.00,2.17,15.55,0.520,4,0.000,0.041,2875,518,2607,0,0,0,0,0,0
$GC,11278,1.01,307.0,113.5,2.7,431,11399,0.10,2.15,110.75,0.528,6,0.067,0.034,2928,1923,2049,0,0,0,0,0,0
$GC,11663,1.01,307.0,52.3,19.6,466,11667,0.00,2.15,0.00,0.000,4,0.000,0.040,2938,520,2043,0,0,0,0,0,0
$GC,11716,1.01,307.0,42.3,17.2,470,11720,0.00,2.15,0.00,0.000,6,0.000,0.034,2938,1927,2042,0,0,0,0,0,0
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.2,1.010389
$STATE,11925,end surface coast,CONTROL_FINISHED_OK
$STATE,11925,begin surface
$SM_CCo,12006,0.00,0.000,0,0,2040,309.07
$SM_GC,1.17,7.78,0.00,0.00,0.050,0.000,0.000,51,2019,2040,-7.89,0.54,309.07
$IRIDIUM_FIX,1853.26,-15633.72,150213,212115
$TT8_MAMPS,0.146497
$HUMID,1078954184
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.60
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6297124864
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,30207606784
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,45.483
$10V_AH,9.8,41.410
$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,20.025,118.375,370.900,0.000,0.000,54.968,72.623,398.251,23.250,0.000,14.350,1101.101,8714.851,417.377,2182.495,406.612,33.350,1165.861,0.000,1668.377,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,102.778,1087.606,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,343.487,0.000,781.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26909,503
$CAP_FILE_SIZE,116093,0
$CFSIZE,260165632,182075392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,217.2,1
$GPS,240811,063807,1900.503,-15633.764,30,1.1,30,9.6