version: 66.07
glider: 513
mission: 7
dive: 326
start: 8 24 111 10 53 18
data:
$ID,513
$MISSION,7
$DIVE,326
$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,-428678.5
$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,39
$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,325
$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
$GPS1,240811,102824,1900.458,-15634.152,40,2.8,59,9.6
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.5
$GPS2,240811,105222,1900.139,-15634.647,14,2.7,33,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.226,0.079
$KALMAN_X,-102546.7,552.1,469.6,134705.4,-5472.8
$KALMAN_Y,-146287.3,1578.1,739.4,33643.5,-14125.0
$MHEAD_RNG_PITCHd_Wd,19.0,138877,-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,-136.7,0.0,0.0,0,82,0.00,0.00,-51.60,0.000,2,0.000,0.000,32,2004,3546,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.1,-4.0,8,108,9.68,2.28,-5.50,0.000,4,0.238,0.065,2321,3409,3857,0,0,0,0,0,0
$GC,259,-0.80,-136.7,60.1,-30.2,29,263,0.00,2.17,0.00,0.000,6,0.000,0.039,2320,1993,3862,0,0,0,0,0,0
$GC,525,-0.80,-136.7,144.7,-27.6,53,529,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,595,3860,0,0,0,0,0,0
$GC,535,-0.80,-136.7,149.2,-27.1,53,543,0.08,2.17,0.00,0.000,6,0.175,0.041,2332,2002,3860,0,0,0,0,0,0
$GC,795,-0.80,-136.7,209.9,-20.8,76,799,0.00,2.22,0.00,0.000,4,0.000,0.049,2323,3405,3862,0,0,0,0,0,0
$GC,829,-0.80,-136.7,216.9,-20.0,77,835,0.00,2.10,0.00,0.000,6,0.000,0.030,2321,1995,3862,0,0,0,0,0,0
$GC,1083,-0.80,-136.7,264.1,-16.1,90,1087,0.00,2.08,0.00,0.000,4,0.000,0.040,2324,593,3863,0,0,0,0,0,0
$GC,1116,-0.80,-136.7,269.6,-16.7,91,1122,0.00,2.10,0.00,0.000,6,0.000,0.041,2316,1994,3863,0,0,0,0,0,0
$GC,1390,-0.80,-136.7,315.7,-17.1,103,1394,0.00,2.20,0.00,0.000,4,0.000,0.050,2304,3413,3866,0,0,0,0,0,0
$GC,1456,-0.80,-136.7,327.5,-16.7,104,1461,0.12,2.10,0.00,0.000,6,0.169,0.031,2336,2007,3863,0,0,0,0,0,0
$GC,1711,-0.80,-136.7,367.4,-15.9,111,1715,0.00,2.10,0.00,0.000,4,0.000,0.039,2336,591,3861,0,0,0,0,0,0
$GC,1734,-0.80,-136.7,370.8,-14.8,111,1738,0.00,2.12,0.00,0.000,6,0.000,0.039,2327,2002,3863,0,0,0,0,0,0
$GC,1990,-0.80,-136.7,410.1,-15.3,118,1994,0.00,2.20,0.00,0.000,4,0.000,0.051,2316,3404,3862,0,0,0,0,0,0
$GC,2051,-0.80,-136.7,419.7,-15.1,119,2055,0.00,2.12,0.00,0.000,6,0.000,0.033,2316,1993,3861,0,0,0,0,0,0
$GC,2325,-0.80,-136.7,458.6,-14.3,126,2329,0.00,2.25,0.00,0.000,4,0.000,0.052,2305,3405,3859,0,0,0,0,0,0
$GC,2374,-0.80,-136.7,466.1,-13.0,127,2379,0.12,2.12,0.00,0.000,6,0.166,0.034,2337,2001,3859,0,0,0,0,0,0
$GC,2646,-0.80,-136.7,498.7,-11.7,134,2650,0.00,2.10,0.00,0.000,4,0.000,0.043,2337,598,3856,0,0,0,0,0,0
$GC,2675,-0.80,-136.7,501.9,-11.4,134,2679,0.00,2.12,0.00,0.000,6,0.000,0.042,2327,1998,3855,0,0,0,0,0,0
$GC,2925,-0.80,-136.7,533.1,-12.5,140,2929,0.00,2.22,0.00,0.000,4,0.000,0.051,2317,3415,3853,0,0,0,0,0,0
$GC,3014,-0.80,-136.7,545.3,-13.1,142,3018,0.00,2.15,0.00,0.000,6,0.000,0.032,2317,1992,3852,0,0,0,0,0,0
$GC,3299,-0.80,-136.7,585.6,-14.6,149,3303,0.00,2.10,0.00,0.000,4,0.000,0.044,2317,596,3849,0,0,0,0,0,0
$GC,3321,-0.80,-136.7,589.3,-14.5,149,3326,0.12,2.15,0.00,0.000,6,0.183,0.044,2337,1999,3849,0,0,0,0,0,0
$GC,3577,-0.80,-136.7,622.2,-12.9,156,3581,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3406,3845,0,0,0,0,0,0
$GC,3701,-0.80,-136.7,638.6,-13.6,158,3705,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,2008,3844,0,0,0,0,0,0
$GC,3951,-0.80,-136.7,672.0,-13.1,164,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2001,3841,0,0,0,0,0,0
$GC,4194,-0.80,-136.7,703.2,-12.7,170,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2002,3839,0,0,0,0,0,0
$GC,4438,-0.80,-136.7,733.5,-12.3,176,4442,0.00,2.30,0.00,0.000,4,0.000,0.054,2318,3414,3838,0,0,0,0,0,0
$GC,4473,-0.80,-136.7,737.8,-12.9,176,4478,0.00,2.17,0.00,0.000,6,0.000,0.034,2318,1986,3836,0,0,0,0,0,0
$GC,4722,-0.80,-136.7,770.0,-12.7,183,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1979,3834,0,0,0,0,0,0
$GC,4966,-0.80,-136.7,798.8,-11.6,189,4970,0.00,2.28,0.00,0.000,4,0.000,0.054,2307,3406,3832,0,0,0,0,0,0
$GC,5016,-0.80,-136.7,804.5,-10.9,190,5021,0.12,2.15,0.00,0.000,6,0.172,0.035,2337,2009,3831,0,0,0,0,0,0
$GC,5288,-0.80,-136.7,832.0,-10.0,197,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2001,3829,0,0,0,0,0,0
$GC,5532,-0.80,-136.7,857.4,-10.6,203,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2003,3828,0,0,0,0,0,0
$GC,5776,-0.80,-136.7,884.0,-10.9,209,5780,0.00,2.25,0.00,0.000,4,0.000,0.054,2329,3407,3826,0,0,0,0,0,0
$GC,5804,-0.80,-136.7,887.4,-12.1,209,5808,0.00,2.17,0.00,0.000,6,0.000,0.033,2328,1984,3825,0,0,0,0,0,0
$STATE,5934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5940,-0.28,0.0,902.8,11.7,213,6058,0.57,0.00,110.40,1.079,6,0.144,0.000,2504,1978,3300,0,0,0,0,0,0
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6063,0.80,136.7,906.6,0.0,216,6189,1.08,0.00,122.15,1.048,6,0.094,0.000,2852,1974,2742,0,0,0,0,0,0
$GC,6422,0.80,136.7,850.0,19.7,225,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1981,2733,0,0,0,0,0,0
$GC,6665,0.80,136.7,802.0,19.7,231,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1977,2730,0,0,0,0,0,0
$GC,6908,0.80,136.7,754.7,19.2,237,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1977,2729,0,0,0,0,0,0
$GC,7152,0.80,136.7,709.2,18.8,243,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1978,2728,0,0,0,0,0,0
$GC,7397,0.80,136.7,663.4,19.0,249,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1977,2727,0,0,0,0,0,0
$GC,7640,0.80,136.7,617.4,18.8,255,7644,0.00,2.17,0.00,0.000,4,0.000,0.052,2852,3337,2727,0,0,0,0,0,0
$GC,7655,0.80,136.7,614.2,18.7,255,7659,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1927,2726,0,0,0,0,0,0
$GC,7929,0.80,136.7,563.7,18.5,262,7933,0.00,2.28,0.00,0.000,4,0.000,0.051,2854,3343,2725,0,0,0,0,0,0
$GC,7957,0.80,136.7,558.1,19.0,262,7961,0.00,2.20,0.00,0.000,6,0.000,0.031,2863,1920,2725,0,0,0,0,0,0
$GC,8207,0.80,136.7,514.5,17.5,268,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1918,2724,0,0,0,0,0,0
$GC,8450,0.80,136.7,473.6,17.0,274,8454,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,517,2724,0,0,0,0,0,0
$GC,8468,0.80,136.7,470.8,15.7,274,8472,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,1937,2722,0,0,0,0,0,0
$GC,8734,0.80,136.7,425.9,16.5,281,8738,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3329,2722,0,0,0,0,0,0
$GC,8767,0.80,136.7,420.0,17.8,281,8773,0.12,2.15,0.00,0.000,6,0.208,0.032,2857,1922,2722,0,0,0,0,0,0
$GC,9018,0.80,136.7,379.4,16.4,288,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1918,2721,0,0,0,0,0,0
$GC,9262,0.80,136.7,340.3,16.0,294,9266,0.00,2.28,0.00,0.000,4,0.000,0.051,2846,3332,2721,0,0,0,0,0,0
$GC,9334,0.80,136.7,328.3,16.1,295,9338,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1927,2721,0,0,0,0,0,0
$GC,9590,0.80,136.7,295.0,11.8,303,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1923,2720,0,0,0,0,0,0
$GC,9839,0.80,136.7,270.5,9.0,315,9843,0.00,2.25,0.00,0.000,4,0.000,0.048,2847,3332,2719,0,0,0,0,0,0
$GC,9961,0.80,136.7,257.1,11.5,320,9967,0.00,2.15,0.00,0.000,6,0.000,0.031,2856,1923,2720,0,0,0,0,0,0
$GC,10216,0.80,136.7,232.3,9.6,333,10220,0.00,2.10,0.00,0.000,4,0.000,0.039,2867,523,2721,0,0,0,0,0,0
$GC,10237,0.80,136.7,229.6,11.3,334,10241,0.00,2.12,0.00,0.000,6,0.000,0.034,2867,1939,2718,0,0,0,0,0,0
$GC,10502,0.80,136.7,201.5,9.7,347,10506,0.00,2.25,0.00,0.000,4,0.000,0.050,2867,3341,2718,0,0,0,0,0,0
$GC,10688,0.80,136.7,182.1,10.5,363,10692,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1927,2719,0,0,0,0,0,0
$GC,10953,0.80,143.6,156.8,8.3,387,10957,0.00,2.25,0.00,0.000,4,0.000,0.047,2877,3342,2723,0,0,0,0,0,0
$GC,10974,0.82,156.0,155.2,8.0,388,10998,0.00,2.12,13.32,0.532,6,0.000,0.028,2888,1911,2664,0,0,0,0,0,0
$GC,11254,0.92,237.3,136.1,5.1,414,11332,0.00,2.17,66.75,0.545,4,0.000,0.038,2895,535,2332,0,0,0,0,0,0
$GC,11438,0.92,237.3,115.8,13.0,430,11442,0.00,2.10,0.00,0.000,6,0.000,0.031,2899,1932,2330,0,0,0,0,0,0
$GC,11704,0.92,237.3,80.5,13.3,454,11708,0.00,2.22,0.00,0.000,4,0.000,0.045,2899,3332,2328,0,0,0,0,0,0
$GC,11780,0.92,237.3,69.0,14.1,460,11787,0.00,2.15,0.00,0.000,6,0.000,0.029,2910,1945,2325,0,0,0,0,0,0
$GC,12046,0.92,237.3,31.0,15.8,485,12050,0.00,2.20,0.00,0.000,4,0.000,0.044,2909,3337,2328,0,0,0,0,0,0
$GC,12157,0.92,237.3,15.1,16.3,504,12165,0.00,2.17,0.00,0.000,6,0.000,0.028,2920,1923,2329,0,0,0,0,0,0
$STATE,12243,end climb,SURFACE_DEPTH_REACHED
$STATE,12243,begin surface coast
$FINISH,0.3,1.022364
$STATE,12267,end surface coast,CONTROL_FINISHED_OK
$STATE,12267,begin surface
$SM_CCo,12289,30.58,0.423,0,0,2078,300.24
$SM_GC,1.15,0.00,0.00,30.58,0.000,0.000,0.423,55,2018,2078,-7.94,0.57,300.24
$IRIDIUM_FIX,1850.98,-15656.16,160213,050512
$TT8_MAMPS,0.253877
$HUMID,1078912893
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.20
$XPDR_PINGS,89
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258622464
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,29906501632
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,45.749
$10V_AH,10.0,41.591
$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,19.625,117.350,312.625,30.575,0.000,140.718,267.627,520.354,22.250,0.000,36.395,1122.583,9199.630,434.744,2547.387,459.675,33.357,1140.374,0.000,1623.679,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,99.710,1079.169,422.617,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,357.469,0.000,823.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,27012,524
$CAP_FILE_SIZE,120689,0
$CFSIZE,260165632,181927936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,223.2,1
$GPS,240811,142136,1900.565,-15634.785,117,0.8,117,9.6