version: 66.07
glider: 513
mission: 7
dive: 325
start: 8 24 111 6 58 59
data:
$ID,513
$MISSION,7
$DIVE,325
$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,-428641.47
$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,41
$R_STBD_OVSHOOT,43
$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,324
$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
$GPS1,240811,063807,1900.503,-15633.764,30,1.1,30,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-79.6
$GPS2,240811,065801,1900.170,-15634.176,12,2.0,23,9.6
$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,-101752.8,-32.7,942.9,134836.1,-6911.7
$KALMAN_Y,-142165.9,2043.6,360.6,29494.3,-13053.0
$MHEAD_RNG_PITCHd_Wd,15.6,138774,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.50,0.000,2,0.000,0.000,40,2021,3725,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.0,-6.4,9,113,9.75,2.28,-2.15,0.000,4,0.242,0.065,2319,3407,3862,0,0,0,0,0,0
$GC,265,-0.80,-136.7,67.0,-28.2,28,269,0.00,2.17,0.00,0.000,6,0.000,0.038,2319,2000,3864,0,0,0,0,0,0
$GC,531,-0.80,-136.7,151.3,-28.1,52,535,0.00,2.25,0.00,0.000,4,0.000,0.052,2308,3405,3865,0,0,0,0,0,0
$GC,572,-0.80,-136.7,161.9,-22.4,55,577,0.10,2.15,0.00,0.000,6,0.188,0.034,2333,1994,3869,0,0,0,0,0,0
$GC,832,-0.80,-136.7,218.5,-19.8,75,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1989,3866,0,0,0,0,0,0
$GC,1078,-0.80,-136.7,266.8,-18.3,87,1082,0.00,2.25,0.00,0.000,4,0.000,0.051,2324,3405,3868,0,0,0,0,0,0
$GC,1127,-0.80,-136.7,274.8,-15.1,89,1131,0.00,2.12,0.00,0.000,6,0.000,0.032,2324,1997,3868,0,0,0,0,0,0
$GC,1406,-0.80,-136.7,320.7,-16.7,100,1410,0.00,2.25,0.00,0.000,4,0.000,0.054,2314,3410,3869,0,0,0,0,0,0
$GC,1501,-0.80,-136.7,336.3,-15.6,102,1505,0.00,2.15,0.00,0.000,6,0.000,0.035,2313,1991,3869,0,0,0,0,0,0
$GC,1774,-0.80,-136.7,382.5,-17.0,109,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1988,3869,0,0,0,0,0,0
$GC,2019,-0.80,-136.7,423.7,-17.2,115,2023,0.00,2.25,0.00,0.000,4,0.000,0.058,2303,3395,3867,0,0,0,0,0,0
$GC,2034,-0.80,-136.7,427.0,-17.5,115,2039,0.15,2.12,0.00,0.000,6,0.161,0.036,2342,2008,3867,0,0,0,0,0,0
$GC,2301,-0.80,-136.7,464.2,-13.7,122,2305,0.00,2.22,0.00,0.000,4,0.000,0.053,2329,3404,3864,0,0,0,0,0,0
$GC,2344,-0.80,-136.7,470.2,-13.4,123,2348,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,1988,3863,0,0,0,0,0,0
$GC,2629,-0.80,-136.7,505.7,-12.1,130,2633,0.00,2.25,0.00,0.000,4,0.000,0.052,2322,3407,3862,0,0,0,0,0,0
$GC,2669,-0.80,-136.7,510.6,-12.2,131,2673,0.00,2.17,0.00,0.000,6,0.000,0.034,2323,1991,3861,0,0,0,0,0,0
$GC,2953,-0.80,-136.7,547.3,-13.1,138,2957,0.00,2.28,0.00,0.000,4,0.000,0.054,2312,3406,3858,0,0,0,0,0,0
$GC,2974,-0.80,-136.7,550.6,-13.8,138,2978,0.00,2.17,0.00,0.000,6,0.000,0.035,2311,1995,3858,0,0,0,0,0,0
$GC,3236,-0.80,-136.7,588.4,-14.8,145,3240,0.00,2.25,0.00,0.000,4,0.000,0.055,2301,3398,3854,0,0,0,0,0,0
$GC,3313,-0.80,-136.7,600.3,-14.1,146,3318,0.15,2.15,0.00,0.000,6,0.165,0.038,2340,1998,3854,0,0,0,0,0,0
$GC,3564,-0.80,-136.7,634.0,-13.3,152,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1995,3852,0,0,0,0,0,0
$GC,3807,-0.80,-136.7,666.4,-13.4,158,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1995,3847,0,0,0,0,0,0
$GC,4051,-0.80,-136.7,697.0,-12.4,164,4055,0.00,2.25,0.00,0.000,4,0.000,0.058,2330,3393,3847,0,0,0,0,0,0
$GC,4107,-0.80,-136.7,703.8,-11.9,165,4111,0.00,2.12,0.00,0.000,6,0.000,0.035,2330,2010,3846,0,0,0,0,0,0
$GC,4373,-0.80,-136.7,735.7,-12.0,172,4377,0.00,2.25,0.00,0.000,4,0.000,0.053,2320,3394,3844,0,0,0,0,0,0
$GC,4417,-0.80,-136.7,741.4,-13.1,173,4421,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,1984,3843,0,0,0,0,0,0
$GC,4702,-0.80,-136.7,777.6,-12.8,180,4706,0.00,2.25,0.00,0.000,4,0.000,0.051,2309,3396,3840,0,0,0,0,0,0
$GC,4735,-0.80,-136.7,782.1,-13.7,180,4742,0.12,2.17,0.00,0.000,6,0.169,0.035,2340,1990,3840,0,0,0,0,0,0
$GC,4984,-0.80,-136.7,810.1,-11.3,187,4989,0.00,2.28,0.00,0.000,4,0.000,0.055,2328,3392,3838,0,0,0,0,0,0
$GC,5047,-0.80,-136.7,817.3,-11.8,188,5051,0.00,2.12,0.00,0.000,6,0.000,0.033,2331,2007,3837,0,0,0,0,0,0
$GC,5307,-0.80,-136.7,848.1,-11.8,195,5311,0.00,2.22,0.00,0.000,4,0.000,0.051,2321,3394,3837,0,0,0,0,0,0
$GC,5328,-0.80,-136.7,850.9,-12.8,195,5332,0.00,2.20,0.00,0.000,6,0.000,0.034,2320,1990,3835,0,0,0,0,0,0
$GC,5589,-0.80,-136.7,883.0,-12.4,202,5593,0.00,2.25,0.00,0.000,4,0.000,0.053,2309,3392,3833,0,0,0,0,0,0
$GC,5675,-0.80,-136.7,893.3,-11.6,204,5679,0.00,2.15,0.00,0.000,6,0.000,0.034,2309,1990,3832,0,0,0,0,0,0
$STATE,5753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5753,begin apogee
$GC,5759,-0.28,0.0,903.4,12.5,206,5877,0.65,0.00,111.18,1.087,6,0.154,0.000,2498,1985,3301,0,0,0,0,0,0
$STATE,5879,end apogee,CONTROL_FINISHED_OK
$STATE,5879,begin climb
$GC,5883,0.80,136.7,906.7,0.0,209,6009,1.08,0.00,121.25,1.052,6,0.095,0.000,2850,1984,2742,0,0,0,0,0,0
$GC,6239,0.80,136.7,849.6,19.4,218,6243,0.00,2.22,0.00,0.000,4,0.000,0.052,2849,3332,2734,0,0,0,0,0,0
$GC,6279,0.80,136.7,841.5,20.4,219,6283,0.00,2.20,0.00,0.000,6,0.000,0.031,2863,1931,2734,0,0,0,0,0,0
$GC,6564,0.80,136.7,785.8,19.6,226,6568,0.00,2.17,0.00,0.000,4,0.000,0.041,2869,513,2731,0,0,0,0,0,0
$GC,6579,0.80,136.7,782.4,19.9,226,6584,0.00,2.17,0.00,0.000,6,0.000,0.035,2861,1912,2728,0,0,0,0,0,0
$GC,6847,0.80,136.7,732.4,18.2,233,6851,0.00,2.30,0.00,0.000,4,0.000,0.051,2850,3337,2732,0,0,0,0,0,0
$GC,6892,0.80,136.7,724.0,19.4,234,6896,0.00,2.20,0.00,0.000,6,0.000,0.031,2859,1928,2729,0,0,0,0,0,0
$GC,7170,0.80,136.7,675.9,16.8,241,7174,0.00,2.25,0.00,0.000,4,0.000,0.050,2850,3336,2727,0,0,0,0,0,0
$GC,7185,0.80,136.7,673.2,16.6,241,7189,0.00,2.20,0.00,0.000,6,0.000,0.032,2859,1921,2728,0,0,0,0,0,0
$GC,7452,0.80,136.7,630.2,15.8,248,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1920,2727,0,0,0,0,0,0
$GC,7697,0.80,136.7,591.6,16.0,254,7701,0.00,2.28,0.00,0.000,4,0.000,0.050,2850,3337,2725,0,0,0,0,0,0
$GC,7747,0.80,136.7,582.9,16.9,255,7751,0.00,2.17,0.00,0.000,6,0.000,0.031,2860,1928,2726,0,0,0,0,0,0
$GC,8025,0.80,136.7,540.8,14.8,262,8029,0.00,2.12,0.00,0.000,4,0.000,0.041,2871,526,2725,0,0,0,0,0,0
$GC,8088,0.80,136.7,531.5,15.2,263,8092,0.00,2.15,0.00,0.000,6,0.000,0.036,2869,1934,2723,0,0,0,0,0,0
$GC,8348,0.80,136.7,490.6,15.7,270,8353,0.00,2.25,0.00,0.000,4,0.000,0.050,2869,3334,2724,0,0,0,0,0,0
$GC,8398,0.80,136.7,481.5,17.9,271,8402,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1925,2720,0,0,0,0,0,0
$GC,8678,0.80,136.7,434.5,17.1,278,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1921,2721,0,0,0,0,0,0
$GC,8920,0.80,136.7,390.4,18.1,284,8924,0.00,2.10,0.00,0.000,4,0.000,0.039,2890,527,2722,0,0,0,0,0,0
$GC,8947,0.80,136.7,384.8,20.3,284,8951,0.15,2.12,0.00,0.000,6,0.191,0.035,2855,1947,2721,0,0,0,0,0,0
$GC,9203,0.80,136.7,343.2,15.7,291,9207,0.00,2.15,0.00,0.000,4,0.000,0.039,2864,518,2718,0,0,0,0,0,0
$GC,9226,0.80,136.7,339.5,15.7,291,9230,0.00,2.12,0.00,0.000,6,0.000,0.034,2864,1933,2723,0,0,0,0,0,0
$GC,9481,0.80,136.7,304.4,13.2,298,9485,0.00,2.25,0.00,0.000,4,0.000,0.050,2864,3331,2720,0,0,0,0,0,0
$GC,9571,0.80,136.7,291.8,13.4,301,9575,0.00,2.15,0.00,0.000,6,0.000,0.030,2874,1924,2721,0,0,0,0,0,0
$GC,9831,0.80,136.7,258.7,12.3,314,9835,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3333,2720,0,0,0,0,0,0
$GC,9857,0.80,136.7,254.6,14.0,315,9861,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1919,2720,0,0,0,0,0,0
$GC,10124,0.80,136.7,224.4,12.7,328,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1917,2721,0,0,0,0,0,0
$GC,10374,0.80,136.7,192.2,12.0,343,10378,0.00,2.10,0.00,0.000,4,0.000,0.038,2894,516,2720,0,0,0,0,0,0
$GC,10480,0.80,136.7,180.3,9.4,352,10485,0.15,2.10,0.00,0.000,6,0.187,0.031,2858,1943,2718,0,0,0,0,0,0
$GC,10745,0.81,148.1,157.8,8.1,376,10759,0.00,2.17,6.72,0.476,4,0.000,0.046,2847,3328,2697,0,0,0,0,0,0
$GC,10876,0.81,148.1,145.0,10.9,387,10884,0.00,2.17,0.00,0.000,6,0.000,0.030,2857,1918,2697,0,0,0,0,0,0
$GC,11143,0.83,165.7,121.9,7.8,412,11168,0.00,2.12,16.85,0.512,4,0.000,0.038,2868,530,2623,0,0,0,0,0,0
$GC,11416,0.91,231.7,106.0,5.8,436,11476,0.00,2.10,53.85,0.515,6,0.000,0.031,2867,1919,2357,0,0,0,0,0,0
$GC,11741,0.91,231.7,76.6,11.6,466,11745,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,533,2352,0,0,0,0,0,0
$GC,11858,0.91,231.7,63.3,10.9,476,11862,0.00,2.08,0.00,0.000,6,0.000,0.031,2878,1928,2351,0,0,0,0,0,0
$GC,12124,0.91,231.7,33.7,11.8,500,12128,0.00,2.22,0.00,0.000,4,0.000,0.047,2878,3329,2352,0,0,0,0,0,0
$GC,12328,0.91,231.7,8.0,12.7,534,12336,0.00,2.15,0.00,0.000,6,0.000,0.029,2889,1938,2353,0,0,0,0,0,0
$STATE,12369,end climb,SURFACE_DEPTH_REACHED
$STATE,12369,begin surface coast
$FINISH,0.4,1.022911
$STATE,12392,end surface coast,CONTROL_FINISHED_OK
$STATE,12392,begin surface
$SM_CCo,12413,31.95,0.418,0,0,2075,300.49
$SM_GC,1.54,0.00,0.00,31.95,0.000,0.000,0.418,43,2005,2075,-7.98,0.11,300.49
$IRIDIUM_FIX,1850.98,-15633.72,160213,010119
$TT8_MAMPS,0.253877
$HUMID,1078862571
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.70
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258655232
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,30059888640
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,45.612
$10V_AH,10.0,41.503
$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,19.775,135.650,309.850,31.950,0.000,114.966,231.385,431.549,21.750,0.000,26.640,1201.840,8956.177,433.386,2608.056,451.335,33.354,1214.731,0.000,1844.600,0.000,0.541,0.000
$DEVICE_MAMPS,241.605,119.652,1086.839,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.219,0.000,919.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353648
$DATA_FILE_SIZE,26916,545
$CAP_FILE_SIZE,126276,0
$CFSIZE,260165632,181997568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,216.4,1
$GPS,240811,102824,1900.458,-15634.152,40,2.8,59,9.6