version: 66.07
glider: 513
mission: 7
dive: 328
start: 8 24 111 18 9 36
data:
$ID,513
$MISSION,7
$DIVE,328
$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,-428724.97
$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,36
$R_STBD_OVSHOOT,35
$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,327
$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
$GPS1,240811,175349,1900.665,-15634.868,45,1.3,62,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.8
$GPS2,240811,180837,1900.467,-15635.157,25,1.8,25,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.031,0.237
$KALMAN_X,-109241.3,907.9,1374.1,139247.3,-10210.9
$KALMAN_Y,-148891.6,1001.4,68.6,38102.1,-10453.9
$MHEAD_RNG_PITCHd_Wd,21.7,138326,-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,-51.67,0.000,2,0.000,0.000,39,2009,3539,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.0,-3.8,8,107,9.77,2.25,-5.72,0.000,4,0.242,0.062,2318,3413,3859,0,0,0,0,0,0
$GC,261,-0.80,-136.7,63.0,-31.4,29,268,0.00,2.25,0.00,0.000,6,0.000,0.042,2318,1996,3863,0,0,0,0,0,0
$GC,524,-0.80,-136.7,147.8,-27.8,54,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1990,3863,0,0,0,0,0,0
$GC,778,-0.80,-136.7,209.8,-22.6,76,782,0.00,2.25,0.00,0.000,4,0.000,0.051,2308,3409,3865,0,0,0,0,0,0
$GC,856,-0.80,-136.7,227.4,-20.0,79,864,0.12,2.15,0.00,0.000,6,0.170,0.033,2338,1988,3865,0,0,0,0,0,0
$GC,1110,-0.80,-136.7,270.1,-16.6,92,1114,0.00,2.10,0.00,0.000,4,0.000,0.043,2338,601,3867,0,0,0,0,0,0
$GC,1145,-0.80,-136.7,275.2,-15.4,93,1149,0.00,2.12,0.00,0.000,6,0.000,0.041,2330,2015,3867,0,0,0,0,0,0
$GC,1418,-0.80,-136.7,314.9,-14.7,104,1422,0.00,2.20,0.00,0.000,4,0.000,0.052,2319,3402,3867,0,0,0,0,0,0
$GC,1433,-0.80,-136.7,317.6,-14.9,104,1437,0.00,2.12,0.00,0.000,6,0.000,0.033,2319,2000,3867,0,0,0,0,0,0
$GC,1707,-0.80,-136.7,361.9,-16.2,111,1711,0.00,2.22,0.00,0.000,4,0.000,0.054,2308,3400,3866,0,0,0,0,0,0
$GC,1756,-0.80,-136.7,370.0,-15.5,112,1761,0.12,2.12,0.00,0.000,6,0.164,0.035,2339,2004,3867,0,0,0,0,0,0
$GC,2028,-0.80,-136.7,409.6,-14.3,119,2032,0.00,2.15,0.00,0.000,4,0.000,0.044,2339,598,3866,0,0,0,0,0,0
$GC,2045,-0.80,-136.7,412.0,-14.2,119,2049,0.00,2.15,0.00,0.000,6,0.000,0.043,2331,1997,3866,0,0,0,0,0,0
$GC,2307,-0.80,-136.7,450.1,-14.7,126,2311,0.00,2.22,0.00,0.000,4,0.000,0.051,2320,3399,3862,0,0,0,0,0,0
$GC,2413,-0.80,-136.7,465.3,-13.5,128,2417,0.00,2.17,0.00,0.000,6,0.000,0.034,2320,2001,3865,0,0,0,0,0,0
$GC,2686,-0.80,-136.7,501.9,-13.7,135,2690,0.00,2.15,0.00,0.000,4,0.000,0.048,2320,590,3860,0,0,0,0,0,0
$GC,2714,-0.80,-136.7,506.4,-15.7,135,2719,0.12,2.17,0.00,0.000,6,0.176,0.043,2341,2004,3860,0,0,0,0,0,0
$GC,2964,-0.80,-136.7,538.3,-13.0,141,2968,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3409,3857,0,0,0,0,0,0
$GC,3021,-0.80,-136.7,545.6,-12.3,142,3025,0.00,2.15,0.00,0.000,6,0.000,0.033,2331,1997,3857,0,0,0,0,0,0
$GC,3293,-0.80,-136.7,583.5,-14.2,149,3297,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3408,3854,0,0,0,0,0,0
$GC,3370,-0.80,-136.7,594.5,-12.8,150,3376,0.00,2.17,0.00,0.000,6,0.000,0.034,2321,1995,3853,0,0,0,0,0,0
$GC,3621,-0.80,-136.7,628.8,-13.8,157,3625,0.00,2.12,0.00,0.000,4,0.000,0.048,2319,604,3850,0,0,0,0,0,0
$GC,3643,-0.80,-136.7,632.2,-14.0,157,3648,0.12,2.17,0.00,0.000,6,0.177,0.045,2341,2003,3848,0,0,0,0,0,0
$GC,3899,-0.80,-136.7,663.3,-12.2,164,3903,0.00,2.22,0.00,0.000,4,0.000,0.053,2331,3409,3847,0,0,0,0,0,0
$GC,3973,-0.80,-136.7,672.1,-12.2,165,3977,0.00,2.17,0.00,0.000,6,0.000,0.035,2335,2001,3847,0,0,0,0,0,0
$GC,4229,-0.80,-136.7,705.4,-13.4,172,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1998,3842,0,0,0,0,0,0
$GC,4472,-0.80,-136.7,738.7,-13.8,178,4476,0.00,2.28,0.00,0.000,4,0.000,0.054,2321,3412,3843,0,0,0,0,0,0
$GC,4505,-0.80,-136.7,743.5,-14.4,178,4509,0.00,2.17,0.00,0.000,6,0.000,0.035,2321,1989,3842,0,0,0,0,0,0
$GC,4761,-0.80,-136.7,778.8,-13.8,185,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1983,3840,0,0,0,0,0,0
$GC,5005,-0.80,-136.7,812.2,-13.7,191,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1984,3838,0,0,0,0,0,0
$GC,5248,-0.80,-136.7,843.4,-12.7,197,5252,0.00,2.30,0.00,0.000,4,0.000,0.054,2310,3410,3833,0,0,0,0,0,0
$GC,5281,-0.80,-136.7,847.9,-13.8,197,5287,0.10,2.17,0.00,0.000,6,0.176,0.035,2334,2000,3835,0,0,0,0,0,0
$GC,5532,-0.80,-136.7,875.5,-10.9,204,5536,0.00,2.28,0.00,0.000,4,0.000,0.056,2325,3410,3831,0,0,0,0,0,0
$GC,5576,-0.80,-136.7,880.8,-11.8,205,5580,0.00,2.17,0.00,0.000,6,0.000,0.035,2325,1993,3833,0,0,0,0,0,0
$STATE,5776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5776,begin apogee
$GC,5784,-0.28,0.0,903.5,11.3,210,5900,0.60,0.00,112.40,1.081,6,0.146,0.000,2502,1932,3300,0,0,0,0,0,0
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5905,0.80,136.7,906.5,0.0,213,6031,1.05,0.00,122.35,1.048,6,0.093,0.000,2848,1933,2742,0,0,0,0,0,0
$GC,6263,0.80,136.7,848.1,19.8,222,6267,0.00,2.30,0.00,0.000,4,0.000,0.053,2846,3335,2733,0,0,0,0,0,0
$GC,6303,0.80,136.7,840.2,20.4,223,6308,0.00,2.25,0.00,0.000,6,0.000,0.031,2851,1914,2733,0,0,0,0,0,0
$GC,6587,0.80,136.7,785.9,18.8,230,6591,0.00,2.12,0.00,0.000,4,0.000,0.044,2866,523,2730,0,0,0,0,0,0
$GC,6608,0.80,136.7,781.8,18.4,230,6612,0.00,2.20,0.00,0.000,6,0.000,0.038,2866,1929,2729,0,0,0,0,0,0
$GC,6871,0.80,136.7,733.8,18.3,237,6875,0.00,2.28,0.00,0.000,4,0.000,0.054,2866,3341,2728,0,0,0,0,0,0
$GC,6898,0.80,136.7,728.2,18.8,237,6902,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1919,2728,0,0,0,0,0,0
$GC,7154,0.80,136.7,680.8,18.5,244,7158,0.00,2.30,0.00,0.000,4,0.000,0.052,2874,3336,2727,0,0,0,0,0,0
$GC,7175,0.80,136.7,676.4,19.7,244,7179,0.00,2.17,0.00,0.000,6,0.000,0.034,2883,1936,2727,0,0,0,0,0,0
$GC,7443,0.80,136.7,625.6,19.0,251,7447,0.00,2.25,0.00,0.000,4,0.000,0.053,2882,3337,2726,0,0,0,0,0,0
$GC,7475,0.80,136.7,618.5,20.7,251,7483,0.15,2.20,0.00,0.000,6,0.203,0.033,2859,1922,2726,0,0,0,0,0,0
$GC,7725,0.80,136.7,574.1,17.8,258,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1918,2726,0,0,0,0,0,0
$GC,7971,0.80,136.7,532.3,17.2,264,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1918,2725,0,0,0,0,0,0
$GC,8213,0.80,136.7,490.1,17.6,270,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1917,2724,0,0,0,0,0,0
$GC,8457,0.80,136.7,444.8,18.9,276,8461,0.00,2.15,0.00,0.000,4,0.000,0.043,2870,521,2724,0,0,0,0,0,0
$GC,8547,0.80,136.7,428.5,17.8,278,8551,0.00,2.15,0.00,0.000,6,0.000,0.038,2867,1936,2720,0,0,0,0,0,0
$GC,8831,0.80,136.7,380.4,16.6,285,8835,0.00,2.25,0.00,0.000,4,0.000,0.053,2863,3331,2721,0,0,0,0,0,0
$GC,8932,0.80,136.7,363.7,16.3,287,8936,0.00,2.17,0.00,0.000,6,0.000,0.032,2875,1920,2722,0,0,0,0,0,0
$GC,9205,0.80,136.7,322.6,15.5,294,9209,0.00,2.30,0.00,0.000,4,0.000,0.052,2874,3339,2722,0,0,0,0,0,0
$GC,9272,0.80,136.7,312.5,14.7,295,9276,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1925,2721,0,0,0,0,0,0
$GC,9530,0.80,136.7,276.8,13.3,306,9534,0.00,2.28,0.00,0.000,4,0.000,0.052,2883,3340,2720,0,0,0,0,0,0
$GC,9610,0.80,136.7,264.7,14.8,309,9617,0.15,2.15,0.00,0.000,6,0.202,0.029,2859,1920,2721,0,0,0,0,0,0
$GC,9864,0.80,136.7,233.3,12.0,322,9868,0.00,2.28,0.00,0.000,4,0.000,0.049,2859,3341,2723,0,0,0,0,0,0
$GC,10004,0.80,136.7,215.5,11.3,328,10008,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,1931,2720,0,0,0,0,0,0
$GC,10263,0.80,136.7,190.6,9.6,344,10267,0.00,2.25,0.00,0.000,4,0.000,0.048,2866,3338,2720,0,0,0,0,0,0
$GC,10382,0.80,136.7,178.0,9.6,354,10390,0.00,2.17,0.00,0.000,6,0.000,0.029,2875,1931,2720,0,0,0,0,0,0
$GC,10650,0.87,200.0,159.4,5.9,379,10711,0.00,2.17,48.95,0.579,4,0.000,0.038,2886,532,2483,0,0,0,0,0,0
$GC,10844,0.87,200.0,141.5,11.0,396,10848,0.00,2.10,0.00,0.000,6,0.000,0.031,2883,1934,2480,0,0,0,0,0,0
$GC,11111,0.87,200.0,114.9,10.4,420,11115,0.00,2.25,0.00,0.000,4,0.000,0.048,2886,3337,2480,0,0,0,0,0,0
$GC,11298,0.87,200.0,92.0,12.0,436,11308,0.00,2.17,0.00,0.000,6,0.000,0.030,2897,1936,2480,0,0,0,0,0,0
$GC,11565,0.87,200.0,65.5,9.8,461,11569,0.00,2.12,0.00,0.000,4,0.000,0.037,2908,522,2481,0,0,0,0,0,0
$GC,11587,0.87,200.0,62.6,10.7,462,11595,0.08,2.12,0.00,0.000,6,0.153,0.031,2885,1929,2481,0,0,0,0,0,0
$GC,11850,0.87,200.0,38.1,9.1,487,11854,0.00,2.22,0.00,0.000,4,0.000,0.046,2882,3327,2483,0,0,0,0,0,0
$GC,12105,0.87,200.0,12.1,9.8,525,12113,0.00,2.15,0.00,0.000,6,0.000,0.029,2894,1931,2486,0,0,0,0,0,0
$STATE,12203,end climb,SURFACE_DEPTH_REACHED
$STATE,12203,begin surface coast
$FINISH,0.3,1.008465
$STATE,12235,end surface coast,CONTROL_FINISHED_OK
$STATE,12235,begin surface
$SM_CCo,12255,50.62,0.425,0,0,2076,300.24
$SM_GC,1.91,0.00,0.00,50.62,0.000,0.000,0.425,42,2006,2076,-7.98,0.14,300.24
$IRIDIUM_FIX,1855.54,-15635.81,160213,121252
$TT8_MAMPS,0.146497
$HUMID,1078845797
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.80
$XPDR_PINGS,101
$AR_DIVENUM,328
$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
$24V_AH,23.7,45.982
$10V_AH,10.0,41.770
$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,19.900,131.850,283.700,50.625,0.000,53.898,70.014,458.656,25.250,0.000,30.560,1197.096,8688.355,441.736,2450.601,434.381,33.350,1209.658,0.000,1857.034,0.000,0.542,0.000
$DEVICE_MAMPS,242.372,116.584,1081.470,424.918,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.931,0.000,942.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353632
$DATA_FILE_SIZE,26867,548
$CAP_FILE_SIZE,121722,0
$CFSIZE,260165632,181788672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,213.4,1
$GPS,240811,213631,1900.676,-15635.021,43,1.9,43,9.6