version: 66.07
glider: 513
mission: 7
dive: 333
start: 8 25 111 12 41 10
data:
$ID,513
$MISSION,7
$DIVE,333
$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,-428829.12
$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,52
$R_STBD_OVSHOOT,71
$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,332
$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
$GPS1,250811,122555,1901.026,-15636.058,65,1.4,65,9.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.5
$GPS2,250811,124014,1900.770,-15636.275,22,1.8,22,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.233,0.053
$KALMAN_X,-114599.1,-254.3,-293.4,145519.5,-5985.8
$KALMAN_Y,-167167.2,1894.5,1432.8,54661.4,-14841.2
$MHEAD_RNG_PITCHd_Wd,26.4,137905,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.12,0.000,2,0.000,0.000,36,2139,3753,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.2,-7.2,9,114,9.95,2.17,-1.67,0.000,4,0.248,0.067,2320,3477,3862,0,0,0,0,0,0
$GC,256,-0.80,-136.7,65.2,-30.3,27,260,0.00,2.10,0.00,0.000,6,0.000,0.040,2320,2116,3864,0,0,0,0,0,0
$GC,519,-0.80,-136.7,149.1,-28.5,51,523,0.00,2.17,0.00,0.000,4,0.000,0.043,2320,685,3865,0,0,0,0,0,0
$GC,552,-0.80,-136.7,157.9,-25.1,53,560,0.00,2.17,0.00,0.000,6,0.000,0.046,2309,2057,3866,0,0,0,0,0,0
$GC,810,-0.80,-136.7,218.6,-22.2,74,815,0.12,2.30,0.00,0.000,4,0.185,0.051,2330,3530,3868,0,0,0,0,0,0
$GC,854,-0.80,-136.7,228.0,-20.1,76,858,0.00,2.15,0.00,0.000,6,0.000,0.033,2331,2097,3868,0,0,0,0,0,0
$GC,1121,-0.80,-136.7,281.0,-19.7,89,1125,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3529,3869,0,0,0,0,0,0
$GC,1131,-0.80,-136.7,283.4,-19.5,89,1137,0.00,2.15,0.00,0.000,6,0.000,0.031,2320,2093,3869,0,0,0,0,0,0
$GC,1403,-0.80,-136.7,330.3,-16.8,99,1406,0.00,2.08,0.00,0.000,4,0.000,0.040,2319,702,3869,0,0,0,0,0,0
$GC,1425,-0.80,-136.7,334.1,-16.2,99,1430,0.12,2.15,0.00,0.000,6,0.173,0.044,2340,2109,3870,0,0,0,0,0,0
$GC,1680,-0.80,-136.7,372.6,-15.1,106,1684,0.00,2.17,0.00,0.000,4,0.000,0.051,2328,3508,3869,0,0,0,0,0,0
$GC,1702,-0.80,-136.7,376.2,-15.9,106,1706,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,2100,3870,0,0,0,0,0,0
$GC,1969,-0.80,-136.7,422.6,-17.8,113,1973,0.00,2.10,0.00,0.000,4,0.000,0.041,2331,701,3869,0,0,0,0,0,0
$GC,2004,-0.80,-136.7,429.2,-18.3,113,2009,0.00,2.15,0.00,0.000,6,0.000,0.043,2321,2103,3868,0,0,0,0,0,0
$GC,2253,-0.80,-136.7,474.3,-17.8,120,2257,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3507,3866,0,0,0,0,0,0
$GC,2325,-0.80,-136.7,487.3,-16.5,121,2330,0.10,2.10,0.00,0.000,6,0.171,0.031,2337,2100,3866,0,0,0,0,0,0
$GC,2581,-0.80,-136.7,527.0,-15.3,128,2584,0.00,2.10,0.00,0.000,4,0.000,0.041,2334,701,3863,0,0,0,0,0,0
$GC,2621,-0.80,-136.7,532.6,-14.7,129,2625,0.00,2.15,0.00,0.000,6,0.000,0.043,2326,2095,3863,0,0,0,0,0,0
$GC,2904,-0.80,-136.7,573.4,-14.2,136,2908,0.00,2.25,0.00,0.000,4,0.000,0.053,2314,3522,3860,0,0,0,0,0,0
$GC,2938,-0.80,-136.7,578.2,-14.0,136,2944,0.00,2.12,0.00,0.000,6,0.000,0.034,2314,2104,3860,0,0,0,0,0,0
$GC,3187,-0.80,-136.7,613.3,-13.9,143,3191,0.00,2.12,0.00,0.000,4,0.000,0.042,2313,699,3857,0,0,0,0,0,0
$GC,3220,-0.80,-136.7,618.1,-14.4,143,3227,0.12,2.17,0.00,0.000,6,0.177,0.047,2334,2105,3857,0,0,0,0,0,0
$GC,3471,-0.80,-136.7,648.5,-12.0,150,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2105,3854,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,678.4,-12.3,156,3718,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3514,3852,0,0,0,0,0,0
$GC,3759,-0.80,-136.7,683.9,-12.4,157,3763,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,2095,3851,0,0,0,0,0,0
$GC,4049,-0.80,-136.7,723.3,-13.6,164,4053,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,701,3849,0,0,0,0,0,0
$GC,4076,-0.80,-136.7,727.6,-15.2,164,4080,0.00,2.20,0.00,0.000,6,0.000,0.044,2315,2101,3849,0,0,0,0,0,0
$GC,4331,-0.80,-136.7,764.6,-14.4,171,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2101,3846,0,0,0,0,0,0
$GC,4575,-0.80,-136.7,797.7,-13.3,177,4579,0.00,2.22,0.00,0.000,4,0.000,0.055,2307,3508,3843,0,0,0,0,0,0
$GC,4632,-0.80,-136.7,805.6,-13.7,178,4636,0.12,2.12,0.00,0.000,6,0.171,0.032,2335,2099,3842,0,0,0,0,0,0
$GC,4904,-0.80,-136.7,836.6,-11.0,185,4908,0.00,2.12,0.00,0.000,4,0.000,0.043,2335,701,3841,0,0,0,0,0,0
$GC,4943,-0.80,-136.7,841.0,-11.6,186,4947,0.00,2.12,0.00,0.000,6,0.000,0.044,2327,2102,3841,0,0,1,0,0,0
$GC,5228,-0.80,-136.7,872.2,-10.8,193,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2101,3839,0,0,0,0,0,0
$GC,5469,-0.80,-136.7,898.3,-10.7,199,5473,0.00,2.25,0.00,0.000,4,0.000,0.056,2316,3504,3837,0,0,0,0,0,0
$STATE,5483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5483,begin apogee
$GC,5492,-0.28,0.0,900.3,10.9,199,5608,0.60,0.00,112.22,1.081,6,0.148,0.000,2497,1956,3300,0,0,0,0,0,0
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5614,0.80,136.7,903.3,0.0,202,5746,1.05,2.35,120.60,1.046,4,0.097,0.038,2858,559,2743,0,0,0,0,0,0
$GC,5753,0.80,136.7,888.3,16.1,205,5757,0.00,2.28,0.00,0.000,6,0.000,0.037,2851,1959,2740,0,0,0,0,0,0
$GC,6019,0.80,136.7,836.2,19.5,212,6023,0.00,2.30,0.00,0.000,4,0.000,0.056,2850,3372,2736,0,0,0,0,0,0
$GC,6074,0.80,136.7,824.8,20.4,213,6078,0.00,2.17,0.00,0.000,6,0.000,0.031,2860,1951,2736,0,0,0,0,0,0
$GC,6353,0.80,136.7,769.7,19.8,220,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1948,2733,0,0,0,0,0,0
$GC,6596,0.80,136.7,719.8,20.3,226,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1947,2732,0,0,0,0,0,0
$GC,6839,0.80,136.7,670.9,19.7,232,6843,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,561,2730,0,0,0,0,0,0
$GC,6855,0.80,136.7,667.5,20.0,232,6859,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,1969,2724,0,0,0,0,0,0
$GC,7129,0.80,136.7,613.6,20.1,239,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1970,2726,0,0,0,0,0,0
$GC,7372,0.80,136.7,566.5,19.0,245,7376,0.00,2.22,0.00,0.000,4,0.000,0.053,2866,3368,2725,0,0,0,0,0,0
$GC,7421,0.80,136.7,556.8,18.9,246,7425,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1958,2725,0,0,0,0,0,0
$GC,7701,0.80,136.7,503.6,19.0,253,7705,0.00,2.25,0.00,0.000,4,0.000,0.054,2872,3370,2724,0,0,0,0,0,0
$GC,7742,0.80,136.7,495.4,21.0,254,7746,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1961,2724,0,0,0,0,0,0
$GC,8025,0.80,136.7,443.5,18.4,261,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1957,2724,0,0,0,0,0,0
$GC,8269,0.80,136.7,398.5,18.2,267,8272,0.00,2.22,0.00,0.000,4,0.000,0.051,2870,3365,2723,0,0,0,0,0,0
$GC,8321,0.80,136.7,388.7,19.6,268,8325,0.00,2.12,0.00,0.000,6,0.000,0.031,2879,1956,2723,0,0,0,0,0,0
$GC,8598,0.80,136.7,342.7,16.3,275,8602,0.00,2.25,0.00,0.000,4,0.000,0.049,2876,3379,2720,0,0,0,0,0,0
$GC,8642,0.80,136.7,335.1,17.4,276,8647,0.12,2.17,0.00,0.000,6,0.207,0.030,2857,1947,2722,0,0,0,0,0,0
$GC,8927,0.80,136.7,294.5,14.4,283,8931,0.00,2.25,0.00,0.000,4,0.000,0.048,2846,3375,2721,0,0,0,0,0,0
$GC,8982,0.80,136.7,286.6,13.9,285,8987,0.00,2.12,0.00,0.000,6,0.000,0.030,2855,1956,2721,0,0,0,0,0,0
$GC,9235,0.80,136.7,255.0,10.9,298,9239,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,564,2721,0,0,0,0,0,0
$GC,9305,0.80,136.7,247.6,10.8,301,9309,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1974,2718,0,0,0,0,0,0
$GC,9569,0.80,136.7,221.1,9.6,314,9573,0.00,2.20,0.00,0.000,4,0.000,0.051,2867,3361,2718,0,0,0,0,0,0
$GC,9634,0.80,136.7,214.5,10.1,317,9638,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1949,2719,0,0,0,0,0,0
$GC,9893,0.80,136.7,189.3,9.8,334,9897,0.00,2.10,0.00,0.000,4,0.000,0.037,2888,559,2720,0,0,0,0,0,0
$GC,10010,0.81,148.3,178.2,8.1,344,10024,0.00,2.10,6.47,0.489,6,0.000,0.031,2887,1963,2697,0,0,0,0,0,0
$GC,10280,0.81,148.3,151.3,11.5,369,10284,0.00,2.20,0.00,0.000,4,0.000,0.048,2886,3361,2697,0,0,0,0,0,0
$GC,10533,0.97,276.9,130.9,3.1,391,10648,0.00,2.12,104.68,0.541,6,0.000,0.027,2897,1957,2171,0,0,0,0,0,0
$GC,10904,0.97,276.9,88.3,14.2,425,10908,0.00,2.25,0.00,0.000,4,0.000,0.046,2897,3368,2165,0,0,0,0,0,0
$GC,11155,0.97,276.9,50.2,15.8,447,11159,0.00,2.12,0.00,0.000,6,0.000,0.031,2907,1970,2165,0,0,0,0,0,0
$GC,11419,0.97,276.9,9.4,15.1,483,11426,0.00,2.15,0.00,0.000,4,0.000,0.035,2919,559,2165,0,0,0,0,0,0
$STATE,11454,end climb,SURFACE_DEPTH_REACHED
$STATE,11454,begin surface coast
$FINISH,0.3,1.022817
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11495,9.62,0.383,0,0,2075,300.24
$SM_GC,1.65,0.00,0.00,9.62,0.000,0.000,0.383,51,2102,2075,-7.96,0.08,300.24
$IRIDIUM_FIX,1853.26,-15638.81,170213,060657
$TT8_MAMPS,0.29146
$HUMID,1078951603
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.00
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258393088
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,28841181184
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,46.622
$10V_AH,9.9,42.323
$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,19.950,130.600,343.975,9.625,0.000,59.093,68.195,432.169,24.250,0.000,27.476,1082.597,8252.037,394.468,2243.372,398.689,33.352,1165.287,0.000,1666.944,0.000,0.541,0.000
$DEVICE_MAMPS,247.741,67.496,1080.703,382.733,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,335.357,0.000,781.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,23503,492
$CAP_FILE_SIZE,117067,0
$CFSIZE,260165632,181436416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.217,220.7,1
$GPS,250811,155436,1900.941,-15636.363,31,0.9,41,9.6