version: 66.07
glider: 513
mission: 7
dive: 329
start: 8 24 111 21 50 42
data:
$ID,513
$MISSION,7
$DIVE,329
$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,-428742
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,45
$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,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
$GPS1,240811,213631,1900.676,-15635.021,43,1.9,43,9.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-80.4
$GPS2,240811,214944,1900.489,-15635.217,12,1.5,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.027,0.238
$KALMAN_X,-108474.5,787.7,1026.0,138832.0,-7949.0
$KALMAN_Y,-153466.8,1090.1,247.2,42462.9,-11670.2
$MHEAD_RNG_PITCHd_Wd,17.6,138292,-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,-52.28,0.000,2,0.000,0.000,38,2005,3563,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.1,-3.8,8,107,9.70,2.40,-5.12,0.000,4,0.240,0.062,2312,3502,3863,0,0,0,0,0,0
$GC,235,-0.80,-136.7,55.8,-29.1,26,239,0.00,2.17,0.00,0.000,6,0.000,0.040,2314,2103,3863,0,0,0,0,0,0
$GC,499,-0.80,-136.7,138.7,-28.4,50,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2097,3864,0,0,0,0,0,0
$GC,770,-0.80,-136.7,207.4,-25.0,75,774,0.00,2.10,0.00,0.000,4,0.000,0.038,2314,692,3863,0,0,0,0,0,0
$GC,815,-0.80,-136.7,218.6,-23.9,77,820,0.12,2.15,0.00,0.000,6,0.187,0.042,2335,2091,3865,0,0,0,0,0,0
$GC,1086,-0.80,-136.7,271.1,-17.1,90,1090,0.00,2.20,0.00,0.000,4,0.000,0.046,2326,3520,3868,0,0,0,0,0,0
$GC,1148,-0.80,-136.7,281.1,-15.0,93,1152,0.00,2.12,0.00,0.000,6,0.000,0.030,2326,2093,3867,0,0,0,0,0,0
$GC,1411,-0.80,-136.7,317.3,-12.8,103,1415,0.00,2.10,0.00,0.000,4,0.000,0.040,2324,705,3869,0,0,0,0,0,0
$GC,1455,-0.80,-136.7,324.5,-15.4,104,1459,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2114,3869,0,0,0,0,0,0
$GC,1739,-0.80,-136.7,367.0,-15.2,111,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2113,3870,0,0,0,0,0,0
$GC,1983,-0.80,-136.7,407.6,-16.8,117,1987,0.00,2.17,0.00,0.000,4,0.000,0.051,2308,3506,3867,0,0,0,0,0,0
$GC,2079,-0.80,-136.7,423.9,-17.0,119,2083,0.12,2.12,0.00,0.000,6,0.163,0.031,2339,2094,3867,0,0,0,0,0,0
$GC,2352,-0.80,-136.7,465.3,-15.1,126,2356,0.00,2.08,0.00,0.000,4,0.000,0.040,2339,701,3867,0,0,0,0,0,0
$GC,2425,-0.80,-136.7,476.4,-13.7,127,2429,0.00,2.12,0.00,0.000,6,0.000,0.044,2331,2095,3864,0,0,0,0,0,0
$GC,2675,-0.80,-136.7,512.2,-14.3,133,2679,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3510,3861,0,0,0,0,0,0
$GC,2702,-0.80,-136.7,516.5,-15.5,133,2706,0.00,2.17,0.00,0.000,6,0.000,0.034,2320,2101,3863,0,0,0,0,0,0
$GC,2959,-0.80,-136.7,554.3,-14.9,140,2963,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,693,3858,0,0,0,0,0,0
$GC,2986,-0.80,-136.7,558.7,-14.7,140,2990,0.10,2.17,0.00,0.000,6,0.182,0.048,2330,2106,3858,0,0,0,0,0,0
$GC,3236,-0.80,-136.7,591.3,-13.0,146,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2106,3856,0,0,0,0,0,0
$GC,3480,-0.80,-136.7,620.8,-11.8,152,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2106,3853,0,0,0,0,0,0
$GC,3724,-0.80,-136.7,649.0,-11.6,158,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2106,3852,0,0,0,0,0,0
$GC,3967,-0.80,-136.7,676.2,-11.1,164,3971,0.00,2.15,0.00,0.000,4,0.000,0.044,2334,703,3848,0,0,0,0,0,0
$GC,3995,-0.80,-136.7,679.3,-11.6,164,3999,0.00,2.17,0.00,0.000,6,0.000,0.048,2325,2111,3848,0,0,0,0,0,0
$GC,4250,-0.80,-136.7,707.4,-11.0,171,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2110,3845,0,0,0,0,0,0
$GC,4495,-0.80,-136.7,735.8,-11.8,177,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2110,3844,0,0,0,0,0,0
$GC,4738,-0.80,-136.7,766.0,-12.3,183,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2111,3841,0,0,0,0,0,0
$GC,4981,-0.80,-136.7,797.1,-12.9,189,4985,0.00,2.17,0.00,0.000,4,0.000,0.046,2326,702,3839,0,0,0,0,0,0
$GC,5033,-0.80,-136.7,804.0,-13.0,190,5037,0.00,2.17,0.00,0.000,6,0.000,0.048,2316,2099,3839,0,0,0,0,0,0
$GC,5312,-0.80,-136.7,840.6,-13.3,197,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2099,3836,0,0,0,0,0,0
$GC,5554,-0.80,-136.7,872.6,-13.2,203,5558,0.00,2.30,0.00,0.000,4,0.000,0.060,2304,3518,3834,0,0,0,0,0,0
$GC,5586,-0.80,-136.7,877.1,-13.9,203,5594,0.12,2.17,0.00,0.000,6,0.170,0.038,2335,2100,3834,0,0,0,0,0,0
$STATE,5793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5793,begin apogee
$GC,5801,-0.28,0.0,900.7,11.2,209,5918,0.55,0.00,112.00,1.081,6,0.143,0.000,2500,1950,3300,0,0,0,0,0,0
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5923,0.80,136.7,904.5,0.0,212,6056,1.05,2.47,121.32,1.045,4,0.094,0.054,2848,3364,2740,0,0,0,0,0,0
$GC,6073,0.80,136.7,887.9,18.1,215,6077,0.00,2.25,0.00,0.000,6,0.000,0.030,2860,1956,2738,0,0,0,0,0,0
$GC,6328,0.80,136.7,840.0,18.8,222,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1957,2732,0,0,0,0,0,0
$GC,6572,0.80,136.7,795.7,18.2,228,6576,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,561,2730,0,0,0,0,0,0
$GC,6613,0.80,136.7,788.5,18.1,229,6617,0.00,2.17,0.00,0.000,6,0.000,0.041,2862,1968,2728,0,0,0,0,0,0
$GC,6896,0.80,136.7,737.4,18.4,236,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1967,2727,0,0,0,0,0,0
$GC,7139,0.80,136.7,691.8,18.8,242,7143,0.00,2.25,0.00,0.000,4,0.000,0.055,2851,3372,2726,0,0,0,0,0,0
$GC,7173,0.80,136.7,685.0,21.1,242,7179,0.00,2.17,0.00,0.000,6,0.000,0.032,2860,1951,2726,0,0,0,0,0,0
$GC,7423,0.80,136.7,635.7,19.7,249,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1949,2725,0,0,0,0,0,0
$GC,7667,0.80,136.7,587.0,19.9,255,7671,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,561,2722,0,0,0,0,0,0
$GC,7716,0.80,136.7,577.3,19.8,256,7720,0.00,2.12,0.00,0.000,6,0.000,0.037,2869,1962,2722,0,0,0,0,0,0
$GC,7995,0.80,136.7,523.7,18.9,263,7999,0.00,2.25,0.00,0.000,4,0.000,0.054,2870,3365,2722,0,0,0,0,0,0
$GC,8067,0.80,136.7,508.5,20.2,264,8071,0.00,2.12,0.00,0.000,6,0.000,0.029,2878,1958,2723,0,0,0,0,0,0
$GC,8323,0.80,136.7,459.1,19.5,271,8327,0.00,2.10,0.00,0.000,4,0.000,0.038,2890,557,2722,0,0,0,0,0,0
$GC,8379,0.80,136.7,448.4,18.8,272,8384,0.15,2.15,0.00,0.000,6,0.196,0.036,2855,1968,2720,0,0,0,0,0,0
$GC,8651,0.80,136.7,405.6,15.5,279,8655,0.00,2.22,0.00,0.000,4,0.000,0.050,2844,3372,2720,0,0,0,0,0,0
$GC,8695,0.80,136.7,398.8,15.3,280,8699,0.00,2.12,0.00,0.000,6,0.000,0.031,2853,1958,2721,0,0,0,0,0,0
$GC,8980,0.80,136.7,359.7,13.5,287,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1954,2720,0,0,0,0,0,0
$GC,9222,0.80,136.7,329.8,12.4,293,9226,0.00,2.25,0.00,0.000,4,0.000,0.051,2853,3364,2720,0,0,0,0,0,0
$GC,9278,0.80,136.7,322.4,14.4,294,9282,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1947,2718,0,0,0,0,0,0
$GC,9532,0.80,136.7,287.3,13.2,302,9536,0.00,2.10,0.00,0.000,4,0.000,0.038,2875,560,2720,0,0,0,0,0,0
$GC,9587,0.80,136.7,280.1,12.6,304,9592,0.00,2.10,0.00,0.000,6,0.000,0.034,2875,1960,2719,0,0,0,0,0,0
$GC,9840,0.80,136.7,245.1,14.0,317,9844,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3364,2718,0,0,0,0,0,0
$GC,10065,0.80,136.7,215.5,12.3,327,10070,0.12,2.10,0.00,0.000,6,0.196,0.028,2856,1958,2717,0,0,0,0,0,0
$GC,10327,0.80,136.7,189.9,9.6,344,10331,0.00,2.08,0.00,0.000,4,0.000,0.038,2866,562,2719,0,0,0,0,0,0
$GC,10577,0.80,136.7,165.6,9.9,366,10584,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1966,2718,0,0,0,0,0,0
$GC,10843,0.88,203.7,147.6,5.7,391,10904,0.00,2.28,51.75,0.559,4,0.000,0.048,2866,3362,2466,0,0,0,0,0,0
$GC,10976,0.88,203.7,134.6,14.3,402,10984,0.00,2.17,0.00,0.000,6,0.000,0.030,2875,1977,2467,0,0,0,0,0,0
$GC,11241,0.88,203.7,109.0,10.7,427,11245,0.00,2.15,0.00,0.000,4,0.000,0.038,2886,548,2466,0,0,0,0,0,0
$GC,11436,0.88,203.7,90.1,8.9,444,11441,0.00,2.12,0.00,0.000,6,0.000,0.033,2886,1963,2464,0,0,0,0,0,0
$GC,11703,0.88,203.7,67.8,8.6,468,11707,0.00,2.20,0.00,0.000,4,0.000,0.048,2886,3364,2466,0,0,0,0,0,0
$GC,11811,0.88,203.7,55.2,12.5,477,11815,0.00,2.12,0.00,0.000,6,0.000,0.028,2897,1946,2467,0,0,0,0,0,0
$GC,12076,0.88,203.7,25.1,10.3,505,12084,0.00,2.12,0.00,0.000,4,0.000,0.038,2908,557,2467,0,0,0,0,0,0
$GC,12125,0.88,203.7,19.9,10.8,513,12133,0.00,2.12,0.00,0.000,6,0.000,0.031,2908,1961,2467,0,0,0,0,0,0
$STATE,12278,end climb,SURFACE_DEPTH_REACHED
$STATE,12278,begin surface coast
$FINISH,0.3,1.011834
$STATE,12306,end surface coast,CONTROL_FINISHED_OK
$STATE,12306,begin surface
$SM_CCo,12326,53.35,0.425,0,0,2076,300.24
$SM_GC,2.22,0.00,0.00,53.35,0.000,0.000,0.425,58,2138,2076,-7.93,1.07,300.24
$IRIDIUM_FIX,1853.26,-15635.81,160213,161644
$TT8_MAMPS,0.1534
$HUMID,1078849668
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.00
$XPDR_PINGS,94
$AR_DIVENUM,329
$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,23.7,46.097
$10V_AH,9.8,41.860
$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,19.650,113.200,285.075,53.350,0.000,62.048,114.855,326.446,23.500,0.000,16.415,1172.055,8833.916,401.760,2369.541,405.380,33.348,1179.412,0.000,1854.899,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,66.729,1081.470,424.918,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,372.722,0.000,939.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,26890,546
$CAP_FILE_SIZE,115978,0
$CFSIZE,260165632,181719040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,217.1,1
$GPS,250811,011837,1900.819,-15635.179,33,1.7,33,9.6