version: 66.07
glider: 513
mission: 7
dive: 335
start: 8 25 111 19 52 24
data:
$ID,513
$MISSION,7
$DIVE,335
$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,-428864.84
$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,59
$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,334
$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
$GPS1,250811,192901,1900.905,-15636.359,40,1.9,40,9.6
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.8
$GPS2,250811,195126,1900.431,-15636.685,13,1.5,13,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.036,0.236
$KALMAN_X,-122647.0,725.1,1501.0,150042.6,-11215.9
$KALMAN_Y,-169710.0,1424.8,42.6,58463.5,-11027.7
$MHEAD_RNG_PITCHd_Wd,18.5,138590,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-50.95,0.000,2,0.000,0.000,36,2134,3536,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.1,-4.6,8,106,9.88,2.15,-5.72,0.000,4,0.245,0.046,2339,702,3861,0,0,0,0,0,0
$GC,167,-0.80,-136.7,37.1,-35.0,21,171,0.00,2.17,0.00,0.000,6,0.000,0.054,2327,2080,3862,0,0,0,0,0,0
$GC,431,-0.80,-136.7,129.3,-33.4,45,435,0.00,2.25,0.00,0.000,4,0.000,0.054,2319,3509,3863,0,0,0,0,0,0
$GC,475,-0.80,-136.7,143.5,-27.2,48,482,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,2121,3870,0,0,0,0,0,0
$GC,736,-0.80,-136.7,206.9,-22.1,72,740,0.00,2.17,0.00,0.000,4,0.000,0.043,2319,691,3865,0,0,0,0,0,0
$GC,805,-0.80,-136.7,222.0,-23.0,75,809,0.12,2.15,0.00,0.000,6,0.176,0.045,2339,2103,3868,0,0,0,0,0,0
$GC,1069,-0.80,-136.7,269.4,-17.0,88,1073,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3511,3867,0,0,0,0,0,0
$GC,1097,-0.80,-136.7,274.3,-17.8,89,1101,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2077,3866,0,0,0,0,0,0
$GC,1382,-0.80,-136.7,325.4,-18.7,100,1386,0.00,2.22,0.00,0.000,4,0.000,0.050,2319,3508,3868,0,0,0,0,0,0
$GC,1442,-0.80,-136.7,337.4,-17.8,101,1446,0.00,2.10,0.00,0.000,6,0.000,0.031,2318,2097,3867,0,0,0,0,0,0
$GC,1715,-0.80,-136.7,384.6,-16.8,108,1719,0.00,2.08,0.00,0.000,4,0.000,0.039,2319,698,3867,0,0,0,0,0,0
$GC,1757,-0.80,-136.7,391.1,-15.4,109,1761,0.12,2.15,0.00,0.000,6,0.166,0.043,2340,2099,3867,0,0,0,0,0,0
$GC,2040,-0.80,-136.7,426.4,-11.9,116,2044,0.00,2.17,0.00,0.000,4,0.000,0.051,2336,3506,3865,0,0,0,0,0,0
$GC,2084,-0.80,-136.7,432.2,-13.2,117,2088,0.00,2.10,0.00,0.000,6,0.000,0.031,2331,2097,3865,0,0,0,0,0,0
$GC,2370,-0.80,-136.7,470.1,-13.5,124,2374,0.00,2.08,0.00,0.000,4,0.000,0.039,2331,703,3862,0,0,0,0,0,0
$GC,2430,-0.80,-136.7,478.8,-13.4,125,2434,0.00,2.15,0.00,0.000,6,0.000,0.042,2321,2091,3865,0,0,0,0,0,0
$GC,2698,-0.80,-136.7,516.4,-14.5,132,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2095,3858,0,0,0,0,0,0
$GC,2942,-0.80,-136.7,550.9,-14.0,138,2946,0.00,2.25,0.00,0.000,4,0.000,0.051,2310,3517,3856,0,0,0,0,0,0
$GC,2963,-0.80,-136.7,554.3,-14.9,138,2968,0.10,2.15,0.00,0.000,6,0.173,0.032,2335,2100,3855,0,0,0,0,0,0
$GC,3224,-0.80,-136.7,588.8,-13.3,145,3228,0.00,2.10,0.00,0.000,4,0.000,0.041,2335,700,3854,0,0,0,0,0,0
$GC,3270,-0.80,-136.7,595.1,-14.0,146,3274,0.00,2.15,0.00,0.000,6,0.000,0.041,2325,2105,3852,0,0,0,0,0,0
$GC,3547,-0.80,-136.7,633.5,-13.8,153,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3850,0,0,0,0,0,0
$GC,3791,-0.80,-136.7,667.6,-14.3,159,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3848,0,0,0,0,0,0
$GC,4034,-0.80,-136.7,702.1,-14.0,165,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3845,0,0,0,0,0,0
$GC,4279,-0.80,-136.7,735.2,-13.5,171,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3842,0,0,0,0,0,0
$GC,4522,-0.80,-136.7,766.2,-12.4,177,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3840,0,0,0,0,0,0
$GC,4766,-0.80,-136.7,796.4,-12.4,183,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2105,3838,0,0,0,0,0,0
$GC,5009,-0.80,-136.7,826.0,-12.2,189,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2105,3836,0,0,0,0,0,0
$GC,5253,-0.80,-136.7,854.9,-11.7,195,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2105,3836,0,0,0,0,0,0
$GC,5497,-0.80,-136.7,882.9,-11.5,201,5501,0.00,2.17,0.00,0.000,4,0.000,0.048,2327,700,3831,0,0,0,0,0,0
$GC,5524,-0.80,-136.7,886.3,-11.9,201,5528,0.00,2.17,0.00,0.000,6,0.000,0.047,2316,2096,3834,0,0,0,0,0,0
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5663,-0.28,0.0,902.5,12.3,205,5779,0.62,0.00,110.97,1.084,6,0.148,0.000,2500,1936,3302,0,0,0,0,0,0
$STATE,5801,end apogee,CONTROL_FINISHED_OK
$STATE,5802,begin climb
$GC,5804,0.80,136.7,906.8,0.0,208,5936,1.05,2.30,120.68,1.052,4,0.094,0.041,2868,575,2740,0,0,0,0,0,0
$GC,5959,0.80,136.7,890.2,18.5,211,5964,0.00,2.25,0.00,0.000,6,0.000,0.039,2854,1965,2735,0,0,0,0,0,0
$GC,6209,0.80,136.7,841.4,19.6,217,6213,0.00,2.28,0.00,0.000,4,0.000,0.055,2849,3369,2732,0,0,0,0,0,0
$GC,6254,0.80,136.7,832.2,20.0,218,6259,0.00,2.17,0.00,0.000,6,0.000,0.031,2852,1967,2732,0,0,0,0,0,0
$GC,6545,0.80,136.7,776.6,19.4,225,6549,0.00,2.15,0.00,0.000,4,0.000,0.042,2864,562,2729,0,0,0,0,0,0
$GC,6572,0.80,136.7,770.8,19.5,225,6576,0.00,2.20,0.00,0.000,6,0.000,0.039,2859,1988,2727,0,0,0,0,0,0
$GC,6828,0.80,136.7,720.6,19.7,232,6832,0.00,2.20,0.00,0.000,4,0.000,0.054,2863,3365,2727,0,0,0,0,0,0
$GC,6890,0.80,136.7,708.0,20.7,233,6894,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1955,2727,0,0,0,0,0,0
$GC,7157,0.80,136.7,655.5,19.2,240,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1952,2726,0,0,0,0,0,0
$GC,7400,0.80,136.7,607.2,19.8,246,7404,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,562,2726,0,0,0,0,0,0
$GC,7432,0.80,136.7,600.5,20.4,246,7438,0.12,2.15,0.00,0.000,6,0.199,0.036,2855,1968,2724,0,0,0,0,0,0
$GC,7683,0.80,136.7,556.9,17.3,253,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1970,2723,0,0,0,0,0,0
$GC,7926,0.80,136.7,515.2,17.0,259,7930,0.00,2.22,0.00,0.000,4,0.000,0.054,2845,3365,2723,0,0,0,0,0,0
$GC,7958,0.80,136.7,509.4,18.2,259,7962,0.00,2.12,0.00,0.000,6,0.000,0.031,2853,1957,2723,0,0,0,0,0,0
$GC,8215,0.80,136.7,467.1,16.5,266,8219,0.00,2.10,0.00,0.000,4,0.000,0.038,2864,562,2723,0,0,0,0,0,0
$GC,8300,0.80,136.7,452.1,17.8,268,8304,0.00,2.12,0.00,0.000,6,0.000,0.036,2865,1963,2720,0,0,0,0,0,0
$GC,8583,0.80,136.7,402.4,17.5,275,8587,0.00,2.25,0.00,0.000,4,0.000,0.052,2865,3363,2723,0,0,0,0,0,0
$GC,8731,0.80,136.7,377.4,17.0,278,8735,0.00,2.12,0.00,0.000,6,0.000,0.029,2874,1959,2725,0,0,0,0,0,0
$GC,9003,0.80,136.7,337.1,14.7,285,9007,0.00,2.10,0.00,0.000,4,0.000,0.038,2886,561,2721,0,0,0,0,0,0
$GC,9030,0.80,136.7,333.2,13.9,285,9035,0.12,2.12,0.00,0.000,6,0.197,0.034,2858,1970,2720,0,0,0,0,0,0
$GC,9281,0.80,136.7,302.2,11.9,291,9285,0.00,2.22,0.00,0.000,4,0.000,0.051,2847,3372,2719,0,0,0,0,0,0
$GC,9303,0.80,136.7,299.3,12.9,291,9307,0.00,2.12,0.00,0.000,6,0.000,0.030,2856,1956,2720,0,0,0,0,0,0
$GC,9574,0.80,136.7,268.7,10.9,304,9578,0.00,2.25,0.00,0.000,4,0.000,0.051,2857,3362,2719,0,0,0,0,0,0
$GC,9660,0.80,136.7,258.4,12.8,308,9664,0.00,2.12,0.00,0.000,6,0.000,0.028,2867,1953,2719,0,0,0,0,0,0
$GC,9930,0.80,136.7,228.7,10.4,321,9934,0.00,2.25,0.00,0.000,4,0.000,0.048,2867,3364,2716,0,0,0,0,0,0
$GC,10141,0.80,136.7,200.8,12.9,330,10147,0.00,2.12,0.00,0.000,6,0.000,0.028,2877,1947,2719,0,0,0,0,0,0
$GC,10404,0.80,136.7,177.1,9.3,354,10408,0.00,2.08,0.00,0.000,4,0.000,0.037,2889,558,2719,0,0,0,0,0,0
$GC,10654,0.80,136.7,154.7,9.5,376,10663,0.10,2.15,0.00,0.000,6,0.167,0.031,2860,1967,2720,0,0,0,0,0,0
$GC,10923,0.91,226.5,139.0,4.8,401,10998,0.00,2.17,70.05,0.548,4,0.000,0.036,2869,560,2375,0,0,0,0,0,0
$GC,11037,0.91,226.5,130.4,10.4,410,11044,0.00,2.17,0.00,0.000,6,0.000,0.032,2869,1950,2370,0,0,0,0,0,0
$GC,11303,0.91,226.5,104.7,9.9,435,11307,0.00,2.25,0.00,0.000,4,0.000,0.047,2869,3372,2369,0,0,0,0,0,0
$GC,11500,0.91,226.5,83.6,11.0,452,11504,0.00,2.15,0.00,0.000,6,0.000,0.030,2880,1952,2372,0,0,0,0,0,0
$GC,11768,0.91,226.5,55.2,10.9,476,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1949,2368,0,0,0,0,0,0
$GC,12035,0.91,226.5,24.4,11.3,505,12043,0.00,2.25,0.00,0.000,4,0.000,0.045,2880,3369,2370,0,0,0,0,0,0
$GC,12084,0.91,226.5,18.4,11.9,513,12091,0.00,2.15,0.00,0.000,6,0.000,0.029,2890,1959,2372,0,0,0,0,0,0
$STATE,12214,end climb,SURFACE_DEPTH_REACHED
$STATE,12214,begin surface coast
$FINISH,0.3,1.010897
$STATE,12239,end surface coast,CONTROL_FINISHED_OK
$STATE,12239,begin surface
$SM_CCo,12271,281.60,0.422,0,0,393,712.83
$SM_GC,1.24,0.00,0.00,281.60,0.000,0.000,0.422,46,2117,393,-7.94,0.37,712.83
$IRIDIUM_FIX,1853.26,-15635.81,170213,131313
$TT8_MAMPS,0.060593
$HUMID,1078729668
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,26.60
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6335201280
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,28476735488
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,46.894
$10V_AH,9.8,42.739
$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,19.800,117.425,301.700,281.600,0.000,141.005,308.061,407.758,24.250,0.000,16.964,1167.698,8930.881,635.402,2725.435,443.664,33.353,1423.878,0.000,1845.442,0.000,0.544,0.000
$DEVICE_MAMPS,244.673,73.632,1083.771,421.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.323,0.000,922.780,0.000,0.000,0.000,0.000,55718.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.122,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,26940,541
$CAP_FILE_SIZE,121856,0
$CFSIZE,260165632,181276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,178.9,1
$GPS,250811,231520,1853.261,-15635.812,0,10000.0,0,9.6