version: 66.07
glider: 513
mission: 7
dive: 336
start: 8 25 111 23 51 0
data:
$ID,513
$MISSION,7
$DIVE,336
$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,-429787.84
$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,48
$R_STBD_OVSHOOT,41
$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,335
$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
$GPS1,170213,135313,1853.261,-15635.812,0,10000.0,0,9.6
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.2
$GPS2,250811,235001,1900.013,-15637.039,9,1.0,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.034,0.237
$KALMAN_X,-123337.9,2032.4,556.9,149746.3,-9178.7
$KALMAN_Y,-174421.5,420.7,596.7,62857.4,-12139.8
$MHEAD_RNG_PITCHd_Wd,355.4,139413,-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,-136.7,0.0,0.0,0,139,0.00,0.00,-109.28,0.000,2,0.000,0.000,38,2113,3642,0,0,0,0,0,0
$GC,144,-0.80,-136.7,3.4,-4.5,17,165,9.75,2.25,-3.67,0.000,4,0.245,0.063,2322,3509,3858,0,0,0,0,0,0
$GC,318,-0.80,-136.7,64.6,-32.2,37,322,0.00,2.12,0.00,0.000,6,0.000,0.035,2319,2113,3859,0,0,0,0,0,0
$GC,581,-0.80,-136.7,147.6,-26.6,61,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2105,3859,0,0,0,0,0,0
$GC,833,-0.80,-136.7,204.9,-22.8,84,837,0.00,2.15,0.00,0.000,4,0.000,0.043,2319,689,3860,0,0,0,0,0,0
$GC,866,-0.80,-136.7,212.9,-22.7,85,871,0.12,2.15,0.00,0.000,6,0.179,0.048,2338,2087,3860,0,0,0,0,0,0
$GC,1121,-0.80,-136.7,261.9,-18.8,97,1125,0.00,2.22,0.00,0.000,4,0.000,0.054,2329,3514,3860,0,0,0,0,0,0
$GC,1190,-0.80,-136.7,273.0,-16.4,100,1194,0.00,2.12,0.00,0.000,6,0.000,0.032,2329,2088,3859,0,0,0,0,0,0
$GC,1473,-0.80,-136.7,321.2,-16.4,111,1477,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3512,3860,0,0,0,0,0,0
$GC,1513,-0.80,-136.7,327.7,-16.3,112,1517,0.00,2.12,0.00,0.000,6,0.000,0.032,2320,2103,3863,0,0,0,0,0,0
$GC,1797,-0.80,-136.7,368.9,-14.3,119,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2108,3860,0,0,0,0,0,0
$GC,2041,-0.80,-136.7,406.3,-15.8,125,2045,0.00,2.15,0.00,0.000,4,0.000,0.043,2319,689,3857,0,0,0,0,0,0
$GC,2081,-0.80,-136.7,412.6,-15.2,126,2086,0.12,2.17,0.00,0.000,6,0.170,0.046,2340,2108,3857,0,0,0,0,0,0
$GC,2365,-0.80,-136.7,450.6,-13.3,133,2370,0.00,2.22,0.00,0.000,4,0.000,0.054,2331,3519,3854,0,0,0,0,0,0
$GC,2438,-0.80,-136.7,460.4,-12.1,134,2442,0.00,2.17,0.00,0.000,6,0.000,0.033,2331,2071,3853,0,0,0,0,0,0
$GC,2693,-0.80,-136.7,493.0,-12.9,141,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2066,3849,0,0,0,0,0,0
$GC,2938,-0.80,-136.7,523.0,-12.1,147,2942,0.00,2.08,0.00,0.000,4,0.000,0.042,2331,696,3847,0,0,0,0,0,0
$GC,2976,-0.80,-136.7,528.1,-11.6,147,2982,0.00,2.15,0.00,0.000,6,0.000,0.045,2320,2107,3846,0,0,0,0,0,0
$GC,3226,-0.80,-136.7,559.6,-12.7,154,3230,0.00,2.20,0.00,0.000,4,0.000,0.054,2309,3511,3843,0,0,0,0,0,0
$GC,3260,-0.80,-136.7,564.0,-13.0,154,3266,0.10,2.12,0.00,0.000,6,0.171,0.032,2341,2095,3843,0,0,0,0,0,0
$GC,3510,-0.80,-136.7,593.9,-12.0,161,3514,0.00,2.12,0.00,0.000,4,0.000,0.042,2335,697,3837,0,0,0,0,0,0
$GC,3587,-0.80,-136.7,604.0,-12.6,162,3593,0.00,2.15,0.00,0.000,6,0.000,0.044,2328,2101,3838,0,0,0,0,0,0
$GC,3839,-0.80,-136.7,634.9,-12.5,169,3843,0.00,2.22,0.00,0.000,4,0.000,0.057,2316,3511,3835,0,0,0,0,0,0
$GC,3905,-0.80,-136.7,643.6,-12.0,170,3910,0.00,2.15,0.00,0.000,6,0.000,0.033,2316,2096,3834,0,0,0,0,0,0
$GC,4161,-0.80,-136.7,677.3,-13.4,177,4165,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,697,3831,0,0,0,0,0,0
$GC,4202,-0.80,-136.7,682.9,-13.7,178,4207,0.12,2.15,0.00,0.000,6,0.180,0.044,2335,2099,3831,0,0,0,0,0,0
$GC,4486,-0.80,-136.7,718.0,-12.4,185,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2098,3828,0,0,0,0,0,0
$GC,4729,-0.80,-136.7,747.0,-11.6,191,4733,0.00,2.22,0.00,0.000,4,0.000,0.057,2327,3505,3826,0,0,0,0,0,0
$GC,4756,-0.80,-136.7,750.4,-12.0,191,4760,0.00,2.17,0.00,0.000,6,0.000,0.035,2327,2098,3825,0,0,0,0,0,0
$GC,5012,-0.80,-136.7,781.1,-12.1,198,5016,0.00,2.12,0.00,0.000,4,0.000,0.044,2327,697,3823,0,0,0,0,0,0
$GC,5039,-0.80,-136.7,784.7,-12.9,198,5043,0.00,2.17,0.00,0.000,6,0.000,0.046,2316,2099,3823,0,0,0,0,0,0
$GC,5295,-0.80,-136.7,815.6,-12.0,205,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2099,3821,0,0,0,0,0,0
$GC,5539,-0.80,-136.7,844.5,-11.9,211,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2099,3819,0,0,0,0,0,0
$GC,5782,-0.80,-136.7,872.1,-11.3,217,5786,0.00,2.25,0.00,0.000,4,0.000,0.058,2305,3512,3817,0,0,0,0,0,0
$GC,5826,-0.80,-136.7,877.6,-12.5,218,5831,0.12,2.12,0.00,0.000,6,0.171,0.034,2336,2098,3816,0,0,0,0,0,0
$STATE,6061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6061,begin apogee
$GC,6069,-0.28,0.0,900.9,9.6,224,6183,0.55,0.00,108.28,1.072,6,0.143,0.000,2501,1946,3301,0,0,0,0,0,0
$STATE,6186,end apogee,CONTROL_FINISHED_OK
$STATE,6186,begin climb
$GC,6188,0.80,136.7,902.9,0.0,227,6314,1.05,0.00,121.18,1.044,6,0.093,0.000,2849,1946,2744,0,0,0,0,0,0
$GC,6549,0.80,136.7,840.8,20.8,236,6553,0.00,2.30,0.00,0.000,4,0.000,0.055,2845,3363,2736,0,0,0,0,0,0
$GC,6610,0.80,136.7,827.3,21.1,237,6614,0.00,2.17,0.00,0.000,6,0.000,0.030,2856,1963,2735,0,0,0,0,0,0
$GC,6877,0.80,136.7,773.1,20.5,244,6881,0.00,2.15,0.00,0.000,4,0.000,0.042,2867,559,2733,0,0,0,0,0,0
$GC,6911,0.80,136.7,766.1,21.0,244,6917,0.00,2.17,0.00,0.000,6,0.000,0.039,2868,1963,2728,0,0,0,0,0,0
$GC,7161,0.80,136.7,714.7,20.8,251,7165,0.00,2.25,0.00,0.000,4,0.000,0.054,2869,3377,2728,0,0,0,0,0,0
$GC,7205,0.80,136.7,705.2,22.0,252,7208,0.00,2.15,0.00,0.000,6,0.000,0.032,2878,1959,2726,0,0,0,0,0,0
$GC,7490,0.80,136.7,647.8,20.1,259,7494,0.00,2.12,0.00,0.000,4,0.000,0.041,2889,557,2730,0,0,0,0,0,0
$GC,7534,0.80,136.7,638.7,19.8,260,7539,0.15,2.15,0.00,0.000,6,0.194,0.038,2854,1966,2722,0,0,0,0,0,0
$GC,7811,0.80,136.7,589.7,17.4,267,7815,0.00,2.22,0.00,0.000,4,0.000,0.054,2843,3368,2725,0,0,0,0,0,0
$GC,7868,0.80,136.7,579.8,17.9,268,7872,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1956,2725,0,0,0,0,0,0
$GC,8140,0.80,136.7,532.9,17.0,275,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1952,2724,0,0,0,0,0,0
$GC,8384,0.80,136.7,493.4,16.2,281,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1950,2724,0,0,0,0,0,0
$GC,8627,0.80,136.7,455.0,15.6,287,8631,0.00,2.12,0.00,0.000,4,0.000,0.039,2864,558,2723,0,0,0,0,0,0
$GC,8684,0.80,136.7,446.1,15.6,288,8688,0.00,2.15,0.00,0.000,6,0.000,0.035,2864,1968,2720,0,0,0,0,0,0
$GC,8950,0.80,136.7,401.2,17.4,295,8954,0.00,2.22,0.00,0.000,4,0.000,0.052,2864,3370,2724,0,0,0,0,0,0
$GC,9035,0.80,136.7,385.0,18.0,297,9039,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1946,2721,0,0,0,0,0,0
$GC,9319,0.80,136.7,337.8,16.2,304,9323,0.00,2.25,0.00,0.000,4,0.000,0.050,2870,3367,2721,0,0,0,0,0,0
$GC,9346,0.80,136.7,332.7,18.2,304,9350,0.00,2.15,0.00,0.000,6,0.000,0.031,2880,1954,2721,0,0,0,0,0,0
$GC,9596,0.80,136.7,298.2,12.9,310,9600,0.00,2.10,0.00,0.000,4,0.000,0.038,2891,560,2720,0,0,0,0,0,0
$GC,9624,0.80,136.7,294.3,13.4,311,9629,0.15,2.12,0.00,0.000,6,0.193,0.033,2855,1968,2719,0,0,0,0,0,0
$GC,9878,0.80,136.7,265.0,11.8,323,9882,0.00,2.20,0.00,0.000,4,0.000,0.050,2847,3362,2719,0,0,0,0,0,0
$GC,9973,0.80,136.7,254.1,11.4,327,9977,0.00,2.10,0.00,0.000,6,0.000,0.029,2853,1956,2719,0,0,0,0,0,0
$GC,10227,0.80,136.7,227.6,11.1,339,10231,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,556,2718,0,0,0,0,0,0
$GC,10249,0.80,136.7,225.0,11.5,340,10253,0.00,2.12,0.00,0.000,6,0.000,0.033,2865,1968,2720,0,0,0,0,0,0
$GC,10516,0.80,136.7,198.0,10.0,353,10520,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3361,2717,0,0,0,0,0,0
$GC,10771,0.80,136.7,169.5,9.3,376,10775,0.00,2.10,0.00,0.000,6,0.000,0.028,2875,1958,2719,0,0,0,0,0,0
$GC,11037,0.80,136.7,147.0,9.0,400,11041,0.00,2.22,0.00,0.000,4,0.000,0.048,2875,3360,2719,0,0,0,0,0,0
$GC,11291,0.89,215.9,124.6,5.2,422,11358,0.00,2.12,61.22,0.535,6,0.000,0.027,2887,1952,2420,0,0,0,0,0,0
$GC,11614,0.89,215.9,98.4,11.4,452,11618,0.00,2.22,0.00,0.000,4,0.000,0.048,2886,3368,2416,0,0,0,0,0,0
$GC,11850,0.89,215.9,72.5,11.3,473,11854,0.00,2.12,0.00,0.000,6,0.000,0.030,2897,1956,2416,0,0,0,0,0,0
$GC,12118,0.89,215.9,42.7,11.5,497,12122,0.00,2.22,0.00,0.000,4,0.000,0.045,2897,3367,2416,0,0,0,0,0,0
$GC,12230,0.89,215.9,27.2,14.0,508,12238,0.00,2.15,0.00,0.000,6,0.000,0.029,2909,1961,2417,0,0,0,0,0,0
$STATE,12428,end climb,SURFACE_DEPTH_REACHED
$STATE,12429,begin surface coast
$FINISH,0.2,1.022815
$STATE,12452,end surface coast,CONTROL_FINISHED_OK
$STATE,12452,begin surface
$SM_CCo,12472,37.50,0.416,0,0,2074,300.24
$SM_GC,1.85,0.00,0.00,37.50,0.000,0.000,0.416,56,2114,2074,-7.94,0.34,300.24
$IRIDIUM_FIX,1850.98,-15635.81,170213,141410
$TT8_MAMPS,0.25311
$HUMID,1078907732
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258294784
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,28363980800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,47.012
$10V_AH,9.9,42.850
$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,19.800,126.050,290.675,37.500,0.000,30.072,36.121,465.037,23.000,0.000,17.454,1190.104,8834.467,424.202,2422.517,409.190,33.358,1239.851,0.000,1879.311,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,69.797,1072.266,415.714,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.094,0.000,919.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26940,549
$CAP_FILE_SIZE,122879,0
$CFSIZE,260165632,181211136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,218.7,1
$GPS,260811,032125,1900.571,-15637.815,55,1.2,55,9.6