version: 66.07
glider: 513
mission: 7
dive: 331
start: 8 25 111 5 17 52
data:
$ID,513
$MISSION,7
$DIVE,331
$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,712.8302
$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,-428777.34
$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,46
$R_STBD_OVSHOOT,44
$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,330
$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
$GPS1,250811,045625,1901.142,-15635.216,50,1.3,50,9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-80.2
$GPS2,250811,051655,1900.834,-15635.592,10,1.8,15,9.6
$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,-110835.5,832.2,498.8,141065.4,-7190.1
$KALMAN_Y,-160627.6,1198.7,589.0,49783.8,-12664.8
$MHEAD_RNG_PITCHd_Wd,18.7,137698,-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,-51.47,0.000,2,0.000,0.000,39,2122,3552,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.1,-4.5,8,108,9.80,2.20,-5.38,0.000,4,0.244,0.066,2321,3507,3859,0,0,0,0,0,0
$GC,215,-0.80,-136.7,50.4,-30.0,25,223,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,2106,3861,0,0,0,0,0,0
$GC,481,-0.80,-136.7,135.9,-31.4,50,485,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3507,3862,0,0,0,0,0,0
$GC,491,-0.80,-136.7,140.9,-31.9,50,500,0.08,2.15,0.00,0.000,6,0.175,0.031,2331,2099,3862,0,0,0,0,0,0
$GC,754,-0.80,-136.7,205.0,-23.9,74,758,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3505,3861,0,0,0,0,0,0
$GC,764,-0.80,-136.7,207.9,-23.0,74,770,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2100,3861,0,0,0,0,0,0
$GC,1018,-0.80,-136.7,259.6,-19.0,87,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2100,3864,0,0,0,0,0,0
$GC,1267,-0.80,-136.7,302.7,-17.4,99,1270,0.00,2.10,0.00,0.000,4,0.000,0.040,2321,692,3865,0,0,0,0,0,0
$GC,1339,-0.80,-136.7,315.0,-15.8,100,1343,0.00,2.20,0.00,0.000,6,0.000,0.049,2312,2087,3865,0,0,0,0,0,0
$GC,1594,-0.80,-136.7,357.7,-17.5,107,1598,0.00,2.25,0.00,0.000,4,0.000,0.051,2296,3513,3865,0,0,0,0,0,0
$GC,1616,-0.80,-136.7,361.6,-16.1,107,1621,0.15,2.12,0.00,0.000,6,0.165,0.031,2340,2086,3866,0,0,0,0,0,0
$GC,1872,-0.80,-136.7,398.7,-14.4,114,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2083,3865,0,0,0,0,0,0
$GC,2115,-0.80,-136.7,434.9,-14.9,120,2119,0.00,2.10,0.00,0.000,4,0.000,0.044,2340,701,3863,0,0,0,0,0,0
$GC,2164,-0.80,-136.7,442.0,-14.4,121,2168,0.00,2.15,0.00,0.000,6,0.000,0.046,2332,2105,3862,0,0,0,0,0,0
$GC,2444,-0.80,-136.7,479.9,-13.6,128,2448,0.00,2.20,0.00,0.000,4,0.000,0.053,2321,3510,3860,0,0,0,0,0,0
$GC,2483,-0.80,-136.7,485.7,-14.8,129,2487,0.00,2.10,0.00,0.000,6,0.000,0.031,2325,2106,3860,0,0,0,0,0,0
$GC,2766,-0.80,-136.7,528.3,-15.2,136,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2100,3861,0,0,0,0,0,0
$GC,3011,-0.80,-136.7,566.9,-15.6,142,3015,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,704,3854,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,572.5,-16.5,142,3047,0.00,2.17,0.00,0.000,6,0.000,0.048,2310,2103,3854,0,0,0,0,0,0
$GC,3299,-0.80,-136.7,611.8,-15.4,149,3301,0.10,0.00,0.00,0.000,6,0.187,0.000,2334,2103,3851,0,0,0,0,0,0
$GC,3543,-0.80,-136.7,642.2,-12.1,155,3548,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3514,3849,0,0,0,0,0,0
$GC,3578,-0.80,-136.7,646.5,-12.4,155,3583,0.00,2.12,0.00,0.000,6,0.000,0.033,2326,2107,3849,0,0,0,0,0,0
$GC,3827,-0.80,-136.7,677.1,-12.3,162,3831,0.00,2.17,0.00,0.000,4,0.000,0.045,2326,693,3846,0,0,0,0,0,0
$GC,3868,-0.80,-136.7,682.1,-12.2,163,3872,0.00,2.20,0.00,0.000,6,0.000,0.048,2314,2106,3845,0,0,0,0,0,0
$GC,4152,-0.80,-136.7,720.3,-13.6,170,4156,0.00,2.22,0.00,0.000,4,0.000,0.055,2304,3506,3842,0,0,0,0,0,0
$GC,4208,-0.80,-136.7,727.9,-13.1,171,4212,0.12,2.12,0.00,0.000,6,0.167,0.035,2336,2099,3841,0,0,0,0,0,0
$GC,4474,-0.80,-136.7,758.4,-11.6,178,4478,0.00,2.15,0.00,0.000,4,0.000,0.044,2335,683,3837,0,0,0,0,0,0
$GC,4502,-0.80,-136.7,762.1,-12.7,178,4506,0.00,2.20,0.00,0.000,6,0.000,0.047,2327,2099,3839,0,0,0,0,0,0
$GC,4752,-0.80,-136.7,793.7,-12.9,184,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2098,3837,0,0,0,0,0,0
$GC,4996,-0.80,-136.7,825.2,-13.0,190,5000,0.00,2.22,0.00,0.000,4,0.000,0.054,2316,3511,3836,0,0,0,0,0,0
$GC,5039,-0.80,-136.7,831.5,-13.9,191,5043,0.00,2.15,0.00,0.000,6,0.000,0.035,2316,2097,3834,0,0,0,0,0,0
$GC,5323,-0.80,-136.7,872.5,-14.6,198,5327,0.00,2.12,0.00,0.000,4,0.000,0.043,2316,695,3831,0,0,0,0,0,0
$GC,5372,-0.80,-136.7,880.1,-14.9,199,5377,0.12,2.17,0.00,0.000,6,0.184,0.046,2336,2101,3833,0,0,0,0,0,0
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5568,-0.28,0.0,904.4,12.6,204,5684,0.55,0.00,111.32,1.085,6,0.143,0.000,2501,1927,3300,0,0,0,0,0,0
$STATE,5707,end apogee,CONTROL_FINISHED_OK
$STATE,5707,begin climb
$GC,5710,0.80,136.7,910.0,0.0,207,5842,1.02,2.28,120.43,1.052,4,0.094,0.042,2856,584,2740,0,0,0,0,0,0
$GC,5859,0.80,136.7,895.7,16.6,210,5863,0.00,2.22,0.00,0.000,6,0.000,0.041,2854,1960,2736,0,0,0,0,0,0
$GC,6115,0.80,136.7,849.0,18.5,217,6119,0.00,2.30,0.00,0.000,4,0.000,0.057,2850,3369,2732,0,0,0,0,0,0
$GC,6136,0.80,136.7,844.3,20.2,217,6140,0.00,2.15,0.00,0.000,6,0.000,0.031,2859,1977,2732,0,0,0,0,0,0
$GC,6404,0.80,136.7,791.1,20.3,224,6408,0.00,2.25,0.00,0.000,4,0.000,0.052,2851,3381,2731,0,0,0,0,0,0
$GC,6431,0.80,136.7,785.0,21.2,224,6435,0.00,2.17,0.00,0.000,6,0.000,0.031,2860,1954,2731,0,0,0,0,0,0
$GC,6681,0.80,136.7,735.3,19.8,230,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1951,2728,0,0,0,0,0,0
$GC,6925,0.80,136.7,686.4,19.7,236,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1951,2728,0,0,0,0,0,0
$GC,7168,0.80,136.7,637.0,20.5,242,7172,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,555,2726,0,0,0,0,0,0
$GC,7212,0.80,136.7,627.8,20.8,243,7215,0.00,2.17,0.00,0.000,6,0.000,0.037,2870,1966,2724,0,0,0,0,0,0
$GC,7495,0.80,136.7,570.0,20.5,250,7499,0.00,2.25,0.00,0.000,4,0.000,0.051,2870,3374,2722,0,0,0,0,0,0
$GC,7563,0.80,136.7,555.8,22.2,251,7567,0.00,2.15,0.00,0.000,6,0.000,0.031,2879,1959,2723,0,0,0,0,0,0
$GC,7818,0.80,136.7,504.9,19.7,258,7822,0.00,2.12,0.00,0.000,4,0.000,0.039,2891,553,2723,0,0,0,0,0,0
$GC,7873,0.80,136.7,493.7,19.8,259,7878,0.15,2.15,0.00,0.000,6,0.194,0.036,2856,1969,2721,0,0,0,0,0,0
$GC,8141,0.80,136.7,450.2,16.0,266,8145,0.00,2.22,0.00,0.000,4,0.000,0.051,2845,3372,2722,0,0,0,0,0,0
$GC,8230,0.80,136.7,434.9,17.0,268,8234,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1950,2720,0,0,0,0,0,0
$GC,8515,0.80,136.7,391.6,14.8,275,8519,0.00,2.10,0.00,0.000,4,0.000,0.039,2865,557,2722,0,0,0,0,0,0
$GC,8542,0.80,136.7,387.0,16.4,275,8546,0.00,2.12,0.00,0.000,6,0.000,0.035,2871,1964,2720,0,0,0,0,0,0
$GC,8797,0.80,136.7,349.3,14.2,282,8801,0.00,2.22,0.00,0.000,4,0.000,0.050,2865,3372,2720,0,0,0,0,0,0
$GC,8836,0.80,136.7,343.3,15.6,282,8842,0.00,2.12,0.00,0.000,6,0.000,0.030,2876,1959,2720,0,0,0,0,0,0
$GC,9087,0.80,136.7,306.6,15.1,289,9091,0.00,2.10,0.00,0.000,4,0.000,0.039,2887,561,2720,0,0,0,0,0,0
$GC,9130,0.80,136.7,300.4,13.1,290,9135,0.12,2.10,0.00,0.000,6,0.197,0.033,2859,1965,2716,0,0,0,0,0,0
$GC,9391,0.80,136.7,269.4,11.8,302,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1966,2719,0,0,0,0,0,0
$GC,9640,0.80,136.7,241.3,11.3,314,9644,0.00,2.20,0.00,0.000,4,0.000,0.051,2848,3361,2719,0,0,0,0,0,0
$GC,9723,0.80,136.7,232.1,9.8,317,9728,0.00,2.10,0.00,0.000,6,0.000,0.028,2857,1957,2719,0,0,0,0,0,0
$GC,9976,0.80,136.7,208.0,10.0,330,9980,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,559,2719,0,0,0,0,0,0
$GC,10056,0.81,150.2,200.5,8.0,333,10070,0.00,2.10,8.60,0.545,6,0.000,0.033,2868,1958,2686,0,0,0,0,0,0
$GC,10336,0.81,150.2,176.2,8.8,359,10340,0.00,2.20,0.00,0.000,4,0.000,0.051,2869,3361,2685,0,0,0,0,0,0
$GC,10499,0.81,150.2,157.4,11.6,373,10503,0.00,2.10,0.00,0.000,6,0.000,0.028,2879,1952,2685,0,0,0,0,0,0
$GC,10765,0.87,194.8,134.2,6.7,397,10808,0.00,2.22,38.17,0.544,4,0.000,0.046,2879,3362,2503,0,0,0,0,0,0
$GC,10814,0.93,244.2,131.1,6.5,401,10860,0.00,2.15,40.80,0.536,6,0.000,0.029,2890,1973,2303,0,0,0,0,0,0
$GC,11123,0.93,244.2,101.0,12.1,430,11127,0.00,2.15,0.00,0.000,4,0.000,0.039,2901,561,2298,0,0,0,0,0,0
$GC,11199,0.93,244.2,90.3,13.4,436,11208,0.00,2.15,0.00,0.000,6,0.000,0.031,2899,1956,2298,0,0,0,0,0,0
$GC,11465,0.93,244.2,54.1,13.5,461,11469,0.00,2.25,0.00,0.000,4,0.000,0.054,2902,3364,2295,0,0,0,0,0,0
$GC,11607,0.93,244.2,33.3,14.0,473,11614,0.00,2.17,0.00,0.000,6,0.000,0.030,2918,1955,2298,0,0,0,0,0,0
$STATE,11829,end climb,SURFACE_DEPTH_REACHED
$STATE,11829,begin surface coast
$FINISH,0.3,1.022846
$STATE,11852,end surface coast,CONTROL_FINISHED_OK
$STATE,11852,begin surface
$SM_CCo,11872,275.55,0.428,0,0,395,712.83
$SM_GC,1.19,0.00,0.00,275.55,0.000,0.000,0.428,43,2133,395,-7.96,0.93,712.83
$IRIDIUM_FIX,1853.26,-15635.81,160213,232343
$TT8_MAMPS,0.060593
$HUMID,1078742571
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,26.20
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6335332352
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,29092380672
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,46.369
$10V_AH,9.8,42.154
$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,19.900,130.500,319.325,275.550,0.000,146.961,363.755,237.180,24.000,0.000,16.965,1125.962,8690.556,652.215,2509.078,405.582,33.353,1423.844,0.000,1725.926,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,65.962,1084.538,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,351.870,0.000,840.372,0.000,0.000,0.000,0.000,28015.801,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.432,0.000,0.000
$MEM,353640
$DATA_FILE_SIZE,26977,516
$CAP_FILE_SIZE,119963,0
$CFSIZE,260165632,181555200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.213,213.7,1
$GPS,250811,084206,1901.093,-15635.613,38,1.1,49,9.6