version: 66.07
glider: 513
mission: 7
dive: 332
start: 8 25 111 9 1 33
data:
$ID,513
$MISSION,7
$DIVE,332
$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,-428801.03
$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,48
$R_STBD_OVSHOOT,66
$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,331
$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
$GPS1,250811,084206,1901.093,-15635.613,38,1.1,49,9.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.7
$GPS2,250811,090037,1900.806,-15635.907,10,1.1,21,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.218,0.098
$KALMAN_X,-110748.7,185.9,574.1,140974.2,-5504.0
$KALMAN_Y,-165288.8,1593.9,655.2,53948.7,-14384.7
$MHEAD_RNG_PITCHd_Wd,20.6,137791,-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,-136.7,0.0,0.0,0,140,0.00,0.00,-109.57,0.000,2,0.000,0.000,38,2136,3688,0,0,0,0,0,0
$GC,145,-0.80,-136.7,3.9,-6.8,17,166,9.88,2.20,-2.85,0.000,4,0.246,0.071,2316,3485,3863,0,0,1,0,0,0
$GC,308,-0.80,-136.7,63.8,-28.6,36,312,0.00,2.10,0.00,0.000,6,0.000,0.041,2316,2111,3864,0,0,0,0,0,0
$GC,573,-0.80,-136.7,148.1,-28.1,60,577,0.00,2.17,0.00,0.000,4,0.000,0.054,2302,3481,3864,0,0,0,0,0,0
$GC,594,-0.80,-136.7,155.1,-27.8,61,602,0.10,2.15,0.00,0.000,6,0.165,0.037,2335,2104,3865,0,0,0,0,0,0
$GC,859,-0.80,-136.7,210.1,-20.9,84,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2099,3865,0,0,0,0,0,0
$GC,1101,-0.80,-136.7,257.3,-18.6,96,1105,0.00,2.15,0.00,0.000,4,0.000,0.044,2335,686,3865,0,0,0,0,0,0
$GC,1142,-0.80,-136.7,265.3,-19.7,98,1146,0.00,2.15,0.00,0.000,6,0.000,0.049,2327,2064,3865,0,0,0,0,0,0
$GC,1426,-0.80,-136.7,317.1,-18.2,110,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2063,3866,0,0,0,0,0,0
$GC,1669,-0.80,-136.7,358.0,-16.9,116,1673,0.00,2.25,0.00,0.000,4,0.000,0.051,2318,3513,3865,0,0,0,0,0,0
$GC,1748,-0.80,-136.7,370.7,-15.6,117,1754,0.00,2.12,0.00,0.000,6,0.000,0.032,2315,2091,3865,0,0,0,0,0,0
$GC,1998,-0.80,-136.7,409.0,-15.2,124,2002,0.00,2.10,0.00,0.000,4,0.000,0.042,2317,691,3865,0,0,0,0,0,0
$GC,2064,-0.80,-136.7,419.6,-15.6,125,2069,0.12,2.15,0.00,0.000,6,0.175,0.045,2336,2107,3863,0,0,0,0,0,0
$GC,2320,-0.80,-136.7,452.8,-12.8,132,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2108,3857,0,0,0,0,0,0
$GC,2563,-0.80,-136.7,484.9,-13.4,138,2567,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3512,3857,0,0,0,0,0,0
$GC,2589,-0.80,-136.7,489.0,-14.8,138,2593,0.00,2.12,0.00,0.000,6,0.000,0.032,2327,2096,3855,0,0,0,0,0,0
$GC,2846,-0.80,-136.7,524.0,-13.9,145,2850,0.00,2.12,0.00,0.000,4,0.000,0.042,2327,689,3854,0,0,0,0,0,0
$GC,2869,-0.80,-136.7,527.2,-13.3,145,2873,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,2091,3851,0,0,0,0,0,0
$GC,3129,-0.80,-136.7,565.0,-14.6,152,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2090,3850,0,0,0,0,0,0
$GC,3373,-0.80,-136.7,600.1,-14.3,158,3377,0.00,2.25,0.00,0.000,4,0.000,0.055,2305,3519,3847,0,0,0,0,0,0
$GC,3389,-0.80,-136.7,602.4,-14.0,158,3394,0.12,2.15,0.00,0.000,6,0.166,0.035,2337,2099,3847,0,0,0,0,0,0
$GC,3658,-0.80,-136.7,635.5,-12.3,165,3662,0.00,2.12,0.00,0.000,4,0.000,0.043,2342,695,3844,0,0,0,0,0,0
$GC,3685,-0.80,-136.7,639.3,-13.3,165,3689,0.00,2.17,0.00,0.000,6,0.000,0.044,2330,2105,3844,0,0,0,0,0,0
$GC,3946,-0.80,-136.7,673.6,-13.3,172,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2107,3843,0,0,0,0,0,0
$GC,4191,-0.80,-136.7,705.6,-13.2,178,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2107,3838,0,0,0,0,0,0
$GC,4433,-0.80,-136.7,737.5,-12.9,184,4437,0.00,2.15,0.00,0.000,4,0.000,0.041,2328,693,3834,0,0,0,0,0,0
$GC,4455,-0.80,-136.7,740.5,-13.2,184,4459,0.00,2.17,0.00,0.000,6,0.000,0.045,2318,2105,3835,0,0,0,0,0,0
$GC,4716,-0.80,-136.7,773.8,-12.9,191,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2104,3830,0,0,0,0,0,0
$GC,4961,-0.80,-136.7,803.8,-12.1,197,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2104,3830,0,0,0,0,0,0
$GC,5203,-0.80,-136.7,832.8,-11.9,203,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2105,3828,0,0,0,0,0,0
$GC,5448,-0.80,-136.7,862.5,-12.2,209,5452,0.00,2.22,0.00,0.000,4,0.000,0.055,2307,3508,3826,0,0,0,0,0,0
$GC,5487,-0.80,-136.7,867.7,-12.8,210,5492,0.12,2.15,0.00,0.000,6,0.170,0.035,2338,2097,3825,0,0,0,0,0,0
$GC,5772,-0.80,-136.7,898.0,-10.5,217,5776,0.00,2.12,0.00,0.000,4,0.000,0.044,2338,700,3825,0,0,0,0,0,0
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5793,-0.28,0.0,900.1,10.6,217,5906,0.55,0.00,109.45,1.077,6,0.145,0.000,2497,1966,3300,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5913,0.80,136.7,903.3,0.0,220,6045,1.05,2.45,121.40,1.043,4,0.096,0.052,2838,3368,2742,0,0,0,0,0,0
$GC,6073,0.80,136.7,884.1,19.3,223,6079,0.00,2.28,0.00,0.000,6,0.000,0.030,2846,1950,2740,0,0,0,0,0,0
$GC,6324,0.80,136.7,836.4,19.0,230,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1945,2735,0,0,0,0,0,0
$GC,6567,0.80,136.7,790.4,18.8,236,6571,0.00,2.28,0.00,0.000,4,0.000,0.049,2839,3378,2734,0,0,0,0,0,0
$GC,6582,0.80,136.7,787.0,19.1,236,6587,0.00,2.20,0.00,0.000,6,0.000,0.030,2848,1949,2732,0,0,0,0,0,0
$GC,6850,0.80,136.7,739.8,17.4,243,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1943,2731,0,0,0,0,0,0
$GC,7093,0.80,136.7,699.5,16.2,249,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1944,2729,0,0,0,0,0,0
$GC,7336,0.80,136.7,659.2,16.8,255,7340,0.00,2.12,0.00,0.000,4,0.000,0.038,2858,557,2730,0,0,0,0,0,0
$GC,7364,0.80,136.7,654.3,17.0,255,7368,0.00,2.15,0.00,0.000,6,0.000,0.035,2850,1971,2727,0,0,0,0,0,0
$GC,7620,0.80,136.7,609.5,17.6,262,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1971,2724,0,0,0,0,0,0
$GC,7863,0.80,136.7,566.3,17.4,268,7867,0.00,2.22,0.00,0.000,4,0.000,0.053,2840,3368,2723,0,0,0,0,0,0
$GC,7895,0.80,136.7,560.4,17.7,268,7901,0.00,2.15,0.00,0.000,6,0.000,0.031,2848,1959,2724,0,0,0,0,0,0
$GC,8145,0.80,136.7,518.4,16.7,275,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1955,2723,0,0,0,0,0,0
$GC,8391,0.80,136.7,479.7,15.8,281,8394,0.00,2.12,0.00,0.000,4,0.000,0.040,2859,555,2720,0,0,0,0,0,0
$GC,8425,0.80,136.7,474.5,14.4,281,8431,0.00,2.17,0.00,0.000,6,0.000,0.036,2859,1965,2720,0,0,0,0,0,0
$GC,8675,0.80,136.7,435.1,16.1,288,8679,0.00,2.25,0.00,0.000,4,0.000,0.052,2859,3373,2720,0,0,0,0,0,0
$GC,8770,0.80,136.7,417.7,18.4,290,8774,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1961,2720,0,0,0,0,0,0
$GC,9043,0.80,136.7,373.1,16.2,297,9047,0.00,2.15,0.00,0.000,4,0.000,0.040,2881,559,2720,0,0,0,0,0,0
$GC,9103,0.80,136.7,363.5,15.1,298,9108,0.00,2.17,0.00,0.000,6,0.000,0.034,2882,1966,2718,0,0,0,0,0,0
$GC,9372,0.80,136.7,325.3,14.1,305,9376,0.00,2.22,0.00,0.000,4,0.000,0.051,2881,3364,2717,0,0,0,0,0,0
$GC,9495,0.80,136.7,306.7,15.2,307,9501,0.15,2.12,0.00,0.000,6,0.204,0.028,2856,1940,2718,0,0,0,0,0,0
$GC,9747,0.80,136.7,274.1,13.3,318,9751,0.00,2.08,0.00,0.000,4,0.000,0.038,2865,567,2718,0,0,0,0,0,0
$GC,9865,0.80,136.7,258.8,11.9,323,9869,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1970,2716,0,0,0,0,0,0
$GC,10119,0.80,136.7,229.6,11.5,335,10123,0.00,2.20,0.00,0.000,4,0.000,0.051,2865,3362,2717,0,0,0,0,0,0
$GC,10320,0.80,136.7,204.5,11.7,344,10324,0.00,2.10,0.00,0.000,6,0.000,0.029,2875,1958,2717,0,0,0,0,0,0
$GC,10591,0.80,136.7,175.5,10.8,367,10595,0.00,2.12,0.00,0.000,4,0.000,0.037,2886,557,2717,0,0,0,0,0,0
$GC,10622,0.80,136.7,172.1,10.7,369,10627,0.12,2.12,0.00,0.000,6,0.186,0.033,2858,1970,2716,0,0,0,0,0,0
$GC,10890,0.80,136.7,145.2,9.2,394,10894,0.00,2.17,0.00,0.000,4,0.000,0.048,2846,3366,2717,0,0,0,0,0,0
$GC,10902,0.80,136.7,144.0,8.7,394,10910,0.00,2.12,0.00,0.000,6,0.000,0.029,2855,1978,2718,0,0,0,0,0,0
$GC,11169,0.94,256.0,129.5,3.5,419,11270,0.12,2.25,92.25,0.542,4,0.102,0.048,2907,3358,2256,0,0,0,0,0,0
$GC,11456,0.94,256.0,95.1,14.8,444,11460,0.00,2.17,0.00,0.000,6,0.000,0.029,2917,1944,2249,0,0,0,0,0,0
$GC,11728,0.94,256.0,55.2,14.1,469,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1945,2250,0,0,0,0,0,0
$GC,11993,0.94,256.0,15.9,15.4,502,12000,0.00,2.12,0.00,0.000,4,0.000,0.038,2928,570,2250,0,0,0,0,0,0
$GC,12059,0.94,256.0,6.1,14.7,513,12067,0.00,2.12,0.00,0.000,6,0.000,0.030,2928,1959,2249,0,0,0,0,0,0
$STATE,12079,end climb,SURFACE_DEPTH_REACHED
$STATE,12079,begin surface coast
$FINISH,0.2,1.000953
$STATE,12096,end surface coast,CONTROL_FINISHED_OK
$STATE,12097,begin surface
$SM_CCo,12117,19.95,0.413,0,0,2075,300.24
$SM_GC,1.02,0.00,0.00,19.95,0.000,0.000,0.413,49,2137,2075,-7.96,1.05,300.24
$IRIDIUM_FIX,1853.26,-15635.81,170213,030310
$TT8_MAMPS,0.259246
$HUMID,1078949023
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.80
$XPDR_PINGS,85
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258425856
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,28990767104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,46.498
$10V_AH,9.9,42.241
$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,20.050,112.825,323.100,19.950,0.000,93.430,161.098,501.654,21.250,0.000,23.051,1098.596,8884.136,408.911,2425.602,439.237,33.353,1182.773,0.000,1684.593,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,71.331,1076.868,413.413,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,353.158,0.000,840.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353728
$DATA_FILE_SIZE,26998,519
$CAP_FILE_SIZE,118388,0
$CFSIZE,260165632,181501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.220,219.0,1
$GPS,250811,122555,1901.026,-15636.058,65,1.4,65,9.6