version: 66.07
glider: 513
mission: 7
dive: 339
start: 8 26 111 11 1 54
data:
$ID,513
$MISSION,7
$DIVE,339
$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,-429874.38
$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,51
$R_STBD_OVSHOOT,38
$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,338
$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
$GPS1,260811,104445,1900.156,-15640.870,64,2.5,83,9.6
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.7
$GPS2,260811,110058,1859.919,-15641.217,15,2.1,34,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.001,0.239
$KALMAN_X,-126788.5,-224.0,114.6,148642.2,-6605.0
$KALMAN_Y,-188830.8,1913.2,784.0,75403.7,-16448.0
$MHEAD_RNG_PITCHd_Wd,306.7,6626,-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,29,-0.80,-136.7,0.0,0.0,0,83,0.00,0.00,-51.25,0.000,2,0.000,0.000,35,2158,3537,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.1,-4.2,8,110,9.73,2.22,-5.68,0.000,4,0.239,0.046,2337,698,3860,0,0,0,0,0,0
$GC,304,-0.80,-136.7,78.1,-28.2,33,308,0.00,2.17,0.00,0.000,6,0.000,0.049,2328,2101,3862,0,0,0,0,0,0
$GC,571,-0.80,-136.7,158.5,-27.1,57,575,0.00,2.22,0.00,0.000,4,0.000,0.053,2316,3509,3864,0,0,0,0,0,0
$GC,691,-0.80,-136.7,189.6,-20.7,67,699,0.00,2.15,0.00,0.000,6,0.000,0.031,2316,2103,3864,0,0,0,0,0,0
$GC,958,-0.80,-136.7,245.4,-20.0,83,962,0.00,2.20,0.00,0.000,4,0.000,0.051,2303,3519,3865,0,0,0,0,0,0
$GC,1025,-0.80,-136.7,258.5,-19.4,86,1030,0.12,2.15,0.00,0.000,6,0.169,0.032,2337,2091,3865,0,0,0,0,0,0
$GC,1284,-0.80,-136.7,299.4,-15.2,99,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2088,3866,0,0,0,0,0,0
$GC,1549,-0.80,-136.7,337.5,-14.6,106,1553,0.00,2.12,0.00,0.000,4,0.000,0.042,2337,692,3866,0,0,0,0,0,0
$GC,1582,-0.80,-136.7,343.1,-15.5,106,1586,0.00,2.20,0.00,0.000,6,0.000,0.045,2329,2107,3866,0,0,0,0,0,0
$GC,1838,-0.80,-136.7,385.6,-16.7,113,1842,0.00,2.17,0.00,0.000,4,0.000,0.048,2318,3520,3866,0,0,0,0,0,0
$GC,1893,-0.80,-136.7,395.0,-15.7,114,1897,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2089,3866,0,0,0,0,0,0
$GC,2167,-0.80,-136.7,439.3,-16.4,121,2171,0.00,2.08,0.00,0.000,4,0.000,0.041,2318,702,3864,0,0,0,0,0,0
$GC,2222,-0.80,-136.7,447.6,-13.4,122,2227,0.12,2.12,0.00,0.000,6,0.176,0.041,2338,2107,3863,0,0,0,0,0,0
$GC,2490,-0.80,-136.7,477.7,-11.2,129,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2107,3862,0,0,0,0,0,0
$GC,2733,-0.80,-136.7,508.4,-12.8,135,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2107,3859,0,0,0,0,0,0
$GC,2976,-0.80,-136.7,540.2,-13.1,141,2980,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3512,3857,0,0,0,0,0,0
$GC,3015,-0.80,-136.7,545.3,-13.1,142,3019,0.00,2.15,0.00,0.000,6,0.000,0.031,2329,2097,3856,0,0,0,0,0,0
$GC,3299,-0.80,-136.7,582.9,-13.2,149,3303,0.00,2.10,0.00,0.000,4,0.000,0.040,2329,693,3853,0,0,0,0,0,0
$GC,3376,-0.80,-136.7,593.3,-12.9,150,3383,0.00,2.17,0.00,0.000,6,0.000,0.042,2320,2106,3854,0,0,0,0,0,0
$GC,3626,-0.80,-136.7,625.2,-12.7,157,3630,0.00,2.20,0.00,0.000,4,0.000,0.051,2308,3511,3849,0,0,0,0,0,0
$GC,3700,-0.80,-136.7,634.0,-11.7,158,3705,0.12,2.15,0.00,0.000,6,0.164,0.031,2340,2095,3849,0,0,0,0,0,0
$GC,3949,-0.80,-136.7,659.6,-10.3,164,3953,0.00,2.10,0.00,0.000,4,0.000,0.042,2340,700,3847,0,0,0,0,0,0
$GC,4044,-0.80,-136.7,670.7,-11.4,166,4049,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2098,3846,0,0,0,0,0,0
$GC,4318,-0.80,-136.7,703.6,-12.3,173,4322,0.00,2.25,0.00,0.000,4,0.000,0.054,2321,3510,3842,0,0,0,0,0,0
$GC,4369,-0.80,-136.7,710.1,-12.7,174,4373,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2095,3841,0,0,0,0,0,0
$GC,4648,-0.80,-136.7,745.5,-12.6,181,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2089,3839,0,0,0,0,0,0
$GC,4891,-0.80,-136.7,775.6,-12.2,187,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2089,3838,0,0,0,0,0,0
$GC,5134,-0.80,-136.7,803.2,-11.3,193,5138,0.00,2.15,0.00,0.000,4,0.000,0.044,2321,694,3836,0,0,0,0,0,0
$GC,5166,-0.80,-136.7,807.1,-12.1,193,5171,0.12,2.15,0.00,0.000,6,0.181,0.043,2340,2094,3835,0,0,0,0,0,0
$GC,5418,-0.80,-136.7,831.3,-9.5,199,5422,0.00,2.28,0.00,0.000,4,0.000,0.056,2331,3512,3836,0,0,0,0,0,0
$GC,5451,-0.80,-136.7,834.8,-10.3,199,5456,0.00,2.15,0.00,0.000,6,0.000,0.032,2331,2098,3832,0,0,0,0,0,0
$GC,5700,-0.80,-136.7,861.7,-10.9,206,5704,0.00,2.15,0.00,0.000,4,0.000,0.044,2331,697,3831,0,0,0,0,0,0
$GC,5728,-0.80,-136.7,865.0,-11.5,206,5732,0.00,2.20,0.00,0.000,6,0.000,0.042,2321,2114,3830,0,0,0,0,0,0
$GC,5984,-0.80,-136.7,894.4,-11.6,213,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2113,3829,0,0,0,0,0,0
$STATE,6062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6062,begin apogee
$GC,6069,-0.28,0.0,903.8,11.4,215,6185,0.62,0.00,111.65,1.081,6,0.147,0.000,2504,1925,3300,0,0,0,0,0,0
$STATE,6187,end apogee,CONTROL_FINISHED_OK
$STATE,6187,begin climb
$GC,6190,0.80,136.7,906.9,0.0,218,6319,1.02,0.00,121.12,1.048,6,0.094,0.000,2847,1924,2742,0,0,0,0,0,0
$GC,6556,0.80,136.7,848.0,19.3,227,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1924,2735,0,0,0,0,0,0
$GC,6799,0.80,136.7,803.6,18.0,233,6803,0.00,2.33,0.00,0.000,4,0.000,0.051,2847,3364,2731,0,0,0,0,0,0
$GC,6845,0.80,136.7,794.7,20.1,234,6849,0.00,2.12,0.00,0.000,6,0.000,0.031,2857,1973,2731,0,0,0,0,0,0
$GC,7122,0.80,136.7,741.6,19.4,241,7126,0.00,2.17,0.00,0.000,4,0.000,0.038,2866,561,2729,0,0,0,0,0,0
$GC,7149,0.80,136.7,736.1,20.1,241,7153,0.00,2.17,0.00,0.000,6,0.000,0.035,2869,1965,2728,0,0,0,0,0,0
$GC,7406,0.80,136.7,685.3,19.7,248,7410,0.00,2.25,0.00,0.000,4,0.000,0.051,2869,3370,2727,0,0,0,0,0,0
$GC,7461,0.80,136.7,674.1,19.1,249,7466,0.10,2.17,0.00,0.000,6,0.215,0.031,2859,1956,2727,0,0,0,0,0,0
$GC,7733,0.80,136.7,628.7,16.2,256,7737,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,563,2726,0,0,0,0,0,0
$GC,7784,0.80,136.7,620.5,16.4,257,7788,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,1968,2725,0,0,0,0,0,0
$GC,8067,0.80,136.7,574.9,16.5,264,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1970,2724,0,0,0,0,0,0
$GC,8311,0.80,136.7,531.2,18.4,270,8315,0.00,2.22,0.00,0.000,4,0.000,0.052,2859,3361,2724,0,0,0,0,0,0
$GC,8379,0.80,136.7,518.5,19.1,271,8383,0.00,2.15,0.00,0.000,6,0.000,0.030,2868,1956,2724,0,0,0,0,0,0
$GC,8634,0.80,136.7,473.8,17.2,278,8638,0.00,2.15,0.00,0.000,4,0.000,0.040,2879,553,2723,0,0,0,0,0,0
$GC,8666,0.80,136.7,468.0,17.3,278,8673,0.00,2.17,0.00,0.000,6,0.000,0.034,2873,1967,2721,0,0,0,0,0,0
$GC,8917,0.80,136.7,423.8,18.0,285,8921,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3361,2725,0,0,0,0,0,0
$GC,8990,0.80,136.7,409.7,19.6,286,8994,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1951,2722,0,0,0,0,0,0
$GC,9245,0.80,136.7,365.1,16.9,293,9247,0.12,0.00,0.00,0.000,6,0.202,0.000,2853,1945,2721,0,0,0,0,0,0
$GC,9490,0.80,136.7,332.4,12.8,299,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1946,2721,0,0,0,0,0,0
$GC,9734,0.80,136.7,301.0,13.0,305,9738,0.00,2.28,0.00,0.000,4,0.000,0.052,2843,3381,2720,0,0,0,0,0,0
$GC,9761,0.80,136.7,296.6,15.5,305,9764,0.00,2.17,0.00,0.000,6,0.000,0.030,2852,1952,2721,0,0,0,0,0,0
$GC,10020,0.80,136.7,261.2,12.5,318,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1947,2720,0,0,0,0,0,0
$GC,10269,0.86,186.5,239.9,6.5,330,10313,0.00,2.30,38.53,0.654,4,0.000,0.048,2843,3357,2539,0,0,0,0,0,0
$GC,10449,0.86,186.5,214.8,14.9,338,10453,0.00,2.15,0.00,0.000,6,0.000,0.029,2858,1961,2537,0,0,0,0,0,0
$GC,10711,0.86,186.5,183.3,11.4,357,10715,0.00,2.12,0.00,0.000,4,0.000,0.039,2863,563,2534,0,0,0,0,0,0
$GC,10806,0.86,186.5,172.4,11.2,365,10810,0.00,2.15,0.00,0.000,6,0.000,0.034,2863,1964,2531,0,0,0,0,0,0
$GC,11074,0.88,201.4,145.6,7.9,389,11091,0.00,2.22,12.60,0.525,4,0.000,0.047,2863,3372,2480,0,0,0,0,0,0
$GC,11339,0.88,201.4,120.4,10.7,412,11346,0.00,2.17,0.00,0.000,6,0.000,0.030,2874,1962,2480,0,0,0,0,0,0
$GC,11604,0.91,227.6,98.1,7.5,437,11632,0.00,2.25,22.88,0.497,4,0.000,0.047,2874,3358,2373,0,0,0,0,0,0
$GC,11756,0.91,227.6,81.6,12.0,450,11760,0.00,2.15,0.00,0.000,6,0.000,0.028,2885,1948,2372,0,0,0,0,0,0
$GC,12020,0.91,227.6,52.8,10.4,474,12024,0.00,2.22,0.00,0.000,4,0.000,0.044,2885,3361,2372,0,0,0,0,0,0
$GC,12074,0.91,227.6,46.4,11.6,478,12078,0.00,2.12,0.00,0.000,6,0.000,0.028,2895,1952,2372,0,0,0,0,0,0
$GC,12339,0.91,229.7,16.1,8.5,513,12355,0.00,2.28,4.10,0.306,4,0.000,0.045,2895,3361,2361,0,0,0,0,0,0
$GC,12424,0.91,229.7,6.4,13.3,527,12432,0.00,2.12,0.00,0.000,6,0.000,0.028,2906,1966,2363,0,0,0,0,0,0
$STATE,12448,end climb,SURFACE_DEPTH_REACHED
$STATE,12448,begin surface coast
$FINISH,0.3,1.010375
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12492,33.90,0.417,0,0,2074,300.24
$SM_GC,1.82,0.00,0.00,33.90,0.000,0.000,0.417,50,2130,2074,-7.96,0.85,300.24
$IRIDIUM_FIX,1850.98,-15638.81,180213,050559
$TT8_MAMPS,0.273052
$HUMID,1078905152
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.60
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258196480
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27920236544
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,47.418
$10V_AH,9.8,43.241
$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,19.700,122.425,310.875,33.900,0.000,54.672,69.747,529.225,24.500,0.000,37.653,1180.425,9010.303,404.746,2458.786,450.847,33.351,1192.012,0.000,1807.096,0.000,0.543,0.000
$DEVICE_MAMPS,239.304,68.263,1080.703,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,365.449,0.000,870.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354072
$DATA_FILE_SIZE,26989,535
$CAP_FILE_SIZE,124094,0
$CFSIZE,260165632,180989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,235.8,1
$GPS,260811,143254,1900.090,-15643.748,55,0.9,73,9.6