version: 66.07
glider: 513
mission: 7
dive: 341
start: 8 26 111 19 21 0
data:
$ID,513
$MISSION,7
$DIVE,341
$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,-429907.53
$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,50
$R_STBD_OVSHOOT,50
$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,340
$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
$GPS1,260811,190837,1859.542,-15646.009,29,1.4,30,9.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.4
$GPS2,260811,192002,1859.501,-15646.265,11,1.4,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.149,0.187
$KALMAN_X,-137767.3,296.1,735.4,149717.5,-10298.3
$KALMAN_Y,-196869.5,1642.8,852.6,82844.7,-14672.6
$MHEAD_RNG_PITCHd_Wd,54.6,2399,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,138,0.00,0.00,-109.35,0.000,2,0.000,0.000,40,2114,3643,0,0,0,0,0,0
$GC,143,-0.80,-136.7,3.6,-5.3,17,165,9.82,2.28,-3.70,0.000,4,0.245,0.074,2320,3505,3861,0,0,0,0,0,0
$GC,218,-0.80,-136.7,35.7,-34.1,28,226,0.00,2.17,0.00,0.000,6,0.000,0.038,2320,2126,3861,0,0,0,0,0,0
$GC,484,-0.80,-136.7,120.2,-33.0,53,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2122,3863,0,0,0,0,0,0
$GC,747,-0.80,-136.7,187.8,-22.3,78,751,0.00,2.20,0.00,0.000,4,0.000,0.056,2310,3508,3864,0,0,0,0,0,0
$GC,778,-0.80,-136.7,194.7,-23.5,80,783,0.12,2.12,0.00,0.000,6,0.175,0.032,2340,2090,3864,0,0,0,0,0,0
$GC,1032,-0.80,-136.7,248.0,-20.3,93,1036,0.00,2.20,0.00,0.000,4,0.000,0.053,2331,3495,3865,0,0,0,0,0,0
$GC,1072,-0.80,-136.7,255.0,-17.2,95,1076,0.00,2.08,0.00,0.000,6,0.000,0.031,2331,2096,3862,0,0,0,0,0,0
$GC,1337,-0.80,-136.7,300.2,-16.5,108,1341,0.00,2.12,0.00,0.000,4,0.000,0.042,2331,697,3865,0,0,0,0,0,0
$GC,1477,-0.80,-136.7,321.8,-14.6,111,1481,0.00,2.15,0.00,0.000,6,0.000,0.048,2321,2086,3865,0,0,0,0,0,0
$GC,1755,-0.80,-136.7,366.0,-16.8,118,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2085,3865,0,0,0,0,0,0
$GC,2000,-0.80,-136.7,406.8,-16.6,124,2004,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3520,3863,0,0,0,0,0,0
$GC,2040,-0.80,-136.7,413.4,-17.2,125,2044,0.10,2.15,0.00,0.000,6,0.166,0.032,2334,2098,3862,0,0,0,0,0,0
$GC,2323,-0.80,-136.7,454.3,-14.1,132,2326,0.00,2.10,0.00,0.000,4,0.000,0.041,2334,691,3860,0,0,0,0,0,0
$GC,2357,-0.80,-136.7,458.7,-12.4,132,2363,0.00,2.20,0.00,0.000,6,0.000,0.045,2326,2110,3860,0,0,0,0,0,0
$GC,2606,-0.80,-136.7,493.1,-13.8,139,2610,0.00,2.12,0.00,0.000,4,0.000,0.040,2326,696,3858,0,0,0,0,0,0
$GC,2634,-0.80,-136.7,497.3,-14.9,139,2638,0.00,2.17,0.00,0.000,6,0.000,0.044,2317,2086,3857,0,0,0,0,0,0
$GC,2890,-0.80,-136.7,534.7,-14.6,146,2894,0.00,2.25,0.00,0.000,4,0.000,0.053,2304,3510,3853,0,0,0,0,0,0
$GC,2933,-0.80,-136.7,541.5,-14.3,147,2938,0.12,2.15,0.00,0.000,6,0.164,0.031,2336,2091,3853,0,0,0,0,0,0
$GC,3211,-0.80,-136.7,577.3,-12.9,154,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2086,3850,0,0,0,0,0,0
$GC,3456,-0.80,-136.7,607.4,-12.2,160,3460,0.00,2.10,0.00,0.000,4,0.000,0.041,2337,697,3847,0,0,0,0,0,0
$GC,3496,-0.80,-136.7,612.6,-13.0,161,3500,0.00,2.17,0.00,0.000,6,0.000,0.045,2328,2106,3846,0,0,0,0,0,0
$GC,3779,-0.80,-136.7,649.3,-12.8,168,3783,0.00,2.20,0.00,0.000,4,0.000,0.053,2317,3509,3842,0,0,0,0,0,0
$GC,3824,-0.80,-136.7,655.1,-13.3,169,3828,0.00,2.12,0.00,0.000,6,0.000,0.031,2317,2093,3841,0,0,0,0,0,0
$GC,4101,-0.80,-136.7,691.5,-13.2,176,4105,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,701,3839,0,0,0,0,0,0
$GC,4157,-0.80,-136.7,699.3,-13.1,177,4162,0.12,2.17,0.00,0.000,6,0.180,0.046,2337,2098,3839,0,0,0,0,0,0
$GC,4424,-0.80,-136.7,730.4,-11.5,184,4428,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3506,3836,0,0,0,0,0,0
$GC,4468,-0.80,-136.7,735.9,-11.9,185,4472,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,2096,3835,0,0,0,0,0,0
$GC,4752,-0.80,-136.7,769.6,-11.9,192,4756,0.00,2.12,0.00,0.000,4,0.000,0.041,2328,699,3833,0,0,0,0,0,0
$GC,4793,-0.80,-136.7,774.3,-12.3,193,4797,0.00,2.20,0.00,0.000,6,0.000,0.047,2317,2106,3832,0,0,0,0,0,0
$GC,5076,-0.80,-136.7,811.6,-13.1,200,5080,0.00,2.15,0.00,0.000,4,0.000,0.039,2317,700,3829,0,0,0,0,0,0
$GC,5109,-0.80,-136.7,816.3,-14.3,200,5116,0.12,2.17,0.00,0.000,6,0.177,0.045,2338,2099,3829,0,0,0,0,0,0
$GC,5360,-0.80,-136.7,846.1,-11.8,207,5364,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3505,3827,0,0,0,0,0,0
$GC,5394,-0.80,-136.7,850.4,-12.6,207,5400,0.00,2.15,0.00,0.000,6,0.000,0.033,2329,2101,3827,0,0,0,0,0,0
$GC,5644,-0.80,-136.7,879.6,-11.5,214,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2096,3822,0,0,0,0,0,0
$STATE,5844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5845,begin apogee
$GC,5851,-0.28,0.0,901.6,10.7,219,5967,0.57,0.00,111.05,1.071,6,0.145,0.000,2502,1948,3300,0,0,0,0,0,0
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5993,0.80,136.7,904.5,0.0,222,6119,1.05,0.00,120.93,1.042,6,0.096,0.000,2849,1948,2744,0,0,0,0,0,0
$GC,6359,0.80,136.7,842.5,20.3,231,6363,0.00,2.33,0.00,0.000,4,0.000,0.054,2849,3366,2736,0,0,0,0,0,0
$GC,6404,0.80,136.7,832.9,22.7,232,6407,0.00,2.20,0.00,0.000,6,0.000,0.031,2859,1960,2736,0,0,0,0,0,0
$GC,6681,0.80,136.7,774.4,21.0,239,6685,0.00,2.12,0.00,0.000,4,0.000,0.040,2870,565,2734,0,0,0,0,0,0
$GC,6721,0.80,136.7,765.8,21.5,240,6725,0.00,2.15,0.00,0.000,6,0.000,0.038,2871,1960,2729,0,0,0,0,0,0
$GC,7005,0.80,136.7,703.7,21.9,247,7010,0.00,2.22,0.00,0.000,4,0.000,0.052,2871,3363,2730,0,0,0,0,0,0
$GC,7061,0.80,136.7,690.5,22.8,248,7065,0.00,2.12,0.00,0.000,6,0.000,0.028,2881,1957,2728,0,0,0,0,0,0
$GC,7333,0.80,136.7,632.5,21.2,255,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1951,2727,0,0,0,0,0,0
$GC,7579,0.80,136.7,583.2,20.2,261,7583,0.00,2.12,0.00,0.000,4,0.000,0.039,2892,561,2726,0,0,0,0,0,0
$GC,7612,0.80,136.7,575.9,20.8,261,7616,0.15,2.15,0.00,0.000,6,0.194,0.035,2857,1963,2724,0,0,0,0,0,0
$GC,7862,0.80,136.7,532.8,16.8,267,7866,0.00,2.22,0.00,0.000,4,0.000,0.051,2860,3370,2724,0,0,0,0,0,0
$GC,7918,0.80,136.7,522.5,18.4,268,7922,0.00,2.17,0.00,0.000,6,0.000,0.031,2865,1947,2725,0,0,0,0,0,0
$GC,8184,0.80,136.7,479.1,16.0,275,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1943,2724,0,0,0,0,0,0
$GC,8428,0.80,136.7,438.3,16.8,281,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1942,2723,0,0,0,0,0,0
$GC,8671,0.80,136.7,398.2,16.2,287,8675,0.00,2.10,0.00,0.000,4,0.000,0.039,2876,563,2723,0,0,0,0,0,0
$GC,8739,0.80,136.7,387.4,15.4,288,8743,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1963,2721,0,0,0,0,0,0
$GC,9000,0.80,136.7,348.4,15.0,295,9004,0.00,2.22,0.00,0.000,4,0.000,0.050,2877,3366,2721,0,0,0,0,0,0
$GC,9027,0.80,136.7,343.9,16.2,295,9032,0.12,2.17,0.00,0.000,6,0.199,0.029,2858,1956,2721,0,0,0,0,0,0
$GC,9284,0.80,136.7,309.7,13.4,302,9288,0.00,2.22,0.00,0.000,4,0.000,0.049,2857,3361,2721,0,0,0,0,0,0
$GC,9423,0.80,136.7,287.8,16.4,306,9427,0.00,2.12,0.00,0.000,6,0.000,0.028,2867,1949,2721,0,0,0,0,0,0
$GC,9684,0.80,136.7,254.8,13.5,319,9688,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,556,2720,0,0,0,0,0,0
$GC,9756,0.80,136.7,244.5,14.8,322,9760,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1967,2718,0,0,0,0,0,0
$GC,10015,0.80,136.7,215.3,9.8,335,10019,0.00,2.20,0.00,0.000,4,0.000,0.049,2877,3367,2718,0,0,0,0,0,0
$GC,10124,0.80,136.7,204.9,10.6,340,10129,0.12,2.15,0.00,0.000,6,0.191,0.029,2858,1947,2719,0,0,0,0,0,0
$GC,10386,0.80,136.7,178.5,11.7,362,10390,0.00,2.08,0.00,0.000,4,0.000,0.038,2871,561,2722,0,0,0,0,0,0
$GC,10460,0.80,136.7,171.1,9.2,368,10464,0.00,2.12,0.00,0.000,6,0.000,0.032,2866,1970,2718,0,0,0,0,0,0
$GC,10727,0.92,236.2,155.0,4.4,392,10810,0.00,2.33,78.20,0.563,4,0.000,0.049,2866,3365,2339,0,0,0,0,0,0
$GC,11059,0.92,236.2,125.7,9.5,421,11066,0.00,2.17,0.00,0.000,6,0.000,0.031,2875,1975,2332,0,0,0,0,0,0
$GC,11325,0.92,236.2,100.1,10.6,446,11329,0.00,2.17,0.00,0.000,4,0.000,0.045,2875,3359,2330,0,0,0,0,0,0
$GC,11410,0.92,236.2,90.3,11.9,453,11414,0.00,2.15,0.00,0.000,6,0.000,0.029,2885,1949,2331,0,0,0,0,0,0
$GC,11676,0.92,236.2,59.4,11.2,477,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1948,2330,0,0,0,0,0,0
$GC,11940,0.92,236.2,26.1,12.0,504,11948,0.00,2.25,0.00,0.000,4,0.000,0.044,2884,3359,2332,0,0,0,0,0,0
$GC,11999,0.92,236.2,18.6,13.1,514,12007,0.00,2.15,0.00,0.000,6,0.000,0.028,2896,1958,2333,0,0,0,0,0,0
$STATE,12119,end climb,SURFACE_DEPTH_REACHED
$STATE,12119,begin surface coast
$FINISH,0.4,1.019326
$STATE,12143,end surface coast,CONTROL_FINISHED_OK
$STATE,12144,begin surface
$SM_CCo,12163,27.17,0.409,0,0,2075,300.24
$SM_GC,1.53,0.00,0.00,27.17,0.000,0.000,0.409,54,2138,2075,-7.95,1.05,300.24
$IRIDIUM_FIX,1853.26,-15643.00,180213,090925
$TT8_MAMPS,0.246974
$HUMID,1078899990
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.70
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258130944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27635580928
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,47.666
$10V_AH,9.9,43.617
$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,19.925,126.175,310.175,27.175,0.000,27.740,33.627,394.804,22.500,0.000,13.462,1160.819,8566.200,434.360,2325.953,394.155,33.357,1246.437,0.000,1835.064,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,74.399,1071.499,408.811,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.335,0.000,919.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353708
$DATA_FILE_SIZE,26912,540
$CAP_FILE_SIZE,119728,0
$CFSIZE,260165632,180838400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,237.5,1
$GPS,260811,224538,1859.660,-15645.876,27,1.6,27,9.6