version: 66.07
glider: 513
mission: 7
dive: 342
start: 8 26 111 22 57 10
data:
$ID,513
$MISSION,7
$DIVE,342
$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,-429925.22
$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,66
$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,341
$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
$GPS1,260811,224538,1859.660,-15645.876,27,1.6,27,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-80.7
$GPS2,260811,225613,1859.609,-15646.095,10,1.7,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.156,0.181
$KALMAN_X,-141012.4,1553.3,551.7,152152.0,-11706.4
$KALMAN_Y,-199734.4,1593.8,1076.6,85736.6,-15008.1
$MHEAD_RNG_PITCHd_Wd,50.8,2049,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.90,0.000,2,0.000,0.000,37,2137,3553,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.3,-4.7,8,107,9.82,2.17,-5.32,0.000,4,0.243,0.067,2321,3484,3859,0,0,0,0,0,0
$GC,192,-0.80,-136.7,42.1,-28.4,23,196,0.00,2.10,0.00,0.000,6,0.000,0.034,2321,2113,3862,0,0,0,0,0,0
$GC,455,-0.80,-136.7,134.7,-35.1,47,459,0.00,2.22,0.00,0.000,4,0.000,0.056,2310,3489,3864,0,0,0,0,0,0
$GC,476,-0.80,-136.7,141.6,-36.2,48,480,0.10,2.12,0.00,0.000,6,0.188,0.033,2333,2091,3863,0,0,0,0,0,0
$GC,748,-0.80,-136.7,209.9,-20.9,71,752,0.00,2.22,0.00,0.000,4,0.000,0.053,2324,3484,3865,0,0,0,0,0,0
$GC,803,-0.80,-136.7,222.0,-20.0,73,807,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,2093,3866,0,0,0,0,0,0
$GC,1063,-0.80,-136.7,272.6,-20.0,86,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2091,3865,0,0,0,0,0,0
$GC,1309,-0.80,-136.7,316.5,-17.2,96,1313,0.00,2.10,0.00,0.000,4,0.000,0.043,2324,695,3866,0,0,0,0,0,0
$GC,1341,-0.80,-136.7,322.4,-17.0,96,1347,0.00,2.12,0.00,0.000,6,0.000,0.049,2314,2065,3869,0,0,0,0,0,0
$GC,1592,-0.80,-136.7,364.9,-17.2,103,1596,0.00,2.25,0.00,0.000,4,0.000,0.050,2302,3511,3868,0,0,0,0,0,0
$GC,1693,-0.80,-136.7,381.6,-15.6,105,1698,0.12,2.15,0.00,0.000,6,0.165,0.030,2336,2073,3866,0,0,0,0,0,0
$GC,1971,-0.80,-136.7,416.8,-12.3,112,1975,0.00,2.08,0.00,0.000,4,0.000,0.041,2334,700,3867,0,0,0,0,0,0
$GC,2033,-0.80,-136.7,424.3,-11.5,113,2037,0.00,2.17,0.00,0.000,6,0.000,0.047,2326,2100,3867,0,0,0,0,0,0
$GC,2299,-0.80,-136.7,457.2,-12.6,120,2303,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3517,3865,0,0,0,0,0,0
$GC,2344,-0.80,-136.7,463.3,-12.6,121,2348,0.00,2.17,0.00,0.000,6,0.000,0.032,2315,2089,3864,0,0,0,0,0,0
$GC,2629,-0.80,-136.7,503.0,-14.5,128,2634,0.10,2.12,0.00,0.000,4,0.183,0.044,2339,695,3861,0,0,0,0,0,0
$GC,2656,-0.80,-136.7,507.4,-14.9,128,2660,0.00,2.17,0.00,0.000,6,0.000,0.044,2331,2107,3861,0,0,0,0,0,0
$GC,2911,-0.80,-136.7,543.6,-14.6,135,2915,0.00,2.20,0.00,0.000,4,0.000,0.053,2320,3506,3859,0,0,0,0,0,0
$GC,2953,-0.80,-136.7,549.7,-15.4,136,2957,0.00,2.15,0.00,0.000,6,0.000,0.033,2320,2098,3858,0,0,0,0,0,0
$GC,3236,-0.80,-136.7,596.7,-16.7,143,3240,0.00,2.12,0.00,0.000,4,0.000,0.041,2320,699,3855,0,0,0,0,0,0
$GC,3258,-0.80,-136.7,600.4,-16.3,143,3263,0.12,2.17,0.00,0.000,6,0.179,0.046,2340,2102,3854,0,0,0,0,0,0
$GC,3514,-0.80,-136.7,637.7,-14.2,150,3518,0.00,2.15,0.00,0.000,4,0.000,0.043,2340,694,3852,0,0,0,0,0,0
$GC,3535,-0.80,-136.7,641.2,-14.9,150,3539,0.00,2.20,0.00,0.000,6,0.000,0.045,2332,2109,3852,0,0,0,0,0,0
$GC,3802,-0.80,-136.7,679.1,-14.1,157,3806,0.00,2.22,0.00,0.000,4,0.000,0.054,2321,3502,3850,0,0,0,0,0,0
$GC,3830,-0.80,-136.7,682.8,-13.4,157,3834,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,2102,3846,0,0,0,0,0,0
$GC,4080,-0.80,-136.7,717.8,-14.0,163,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2096,3847,0,0,0,0,0,0
$GC,4323,-0.80,-136.7,750.5,-13.4,169,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2096,3842,0,0,0,0,0,0
$GC,4567,-0.80,-136.7,782.9,-13.2,175,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2096,3843,0,0,0,0,0,0
$GC,4812,-0.80,-136.7,815.3,-13.3,181,4816,0.00,2.28,0.00,0.000,4,0.000,0.054,2310,3507,3840,0,0,0,0,0,0
$GC,4834,-0.80,-136.7,818.4,-13.3,181,4838,0.10,2.15,0.00,0.000,6,0.174,0.031,2334,2101,3840,0,0,0,0,0,0
$GC,5095,-0.80,-136.7,849.6,-12.0,188,5099,0.00,2.15,0.00,0.000,4,0.000,0.044,2334,696,3838,0,0,0,0,0,0
$GC,5150,-0.80,-136.7,856.5,-12.1,189,5154,0.00,2.17,0.00,0.000,6,0.000,0.049,2326,2095,3838,0,0,0,0,0,0
$GC,5422,-0.80,-136.7,889.7,-12.1,196,5426,0.00,2.28,0.00,0.000,4,0.000,0.056,2315,3516,3836,0,0,0,0,0,0
$GC,5468,-0.80,-136.7,895.3,-12.2,197,5472,0.00,2.17,0.00,0.000,6,0.000,0.032,2314,2092,3836,0,0,0,0,0,0
$STATE,5504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5504,begin apogee
$GC,5512,-0.28,0.0,900.4,12.2,197,5628,0.62,0.00,112.85,1.075,6,0.150,0.000,2501,1930,3301,0,0,0,0,0,0
$STATE,5630,end apogee,CONTROL_FINISHED_OK
$STATE,5630,begin climb
$GC,5633,0.80,136.7,904.1,0.0,200,5760,1.05,0.00,122.80,1.042,6,0.095,0.000,2850,1935,2741,0,0,0,0,0,0
$GC,6003,0.80,136.7,849.5,17.9,210,6007,0.00,2.35,0.00,0.000,4,0.000,0.054,2850,3368,2733,0,0,0,0,0,0
$GC,6048,0.80,136.7,840.9,19.1,211,6052,0.00,2.17,0.00,0.000,6,0.000,0.032,2861,1972,2733,0,0,0,0,0,0
$GC,6326,0.80,136.7,788.9,18.7,218,6330,0.00,2.15,0.00,0.000,4,0.000,0.040,2872,561,2729,0,0,0,0,0,0
$GC,6370,0.80,136.7,780.6,18.9,219,6374,0.00,2.17,0.00,0.000,6,0.000,0.038,2868,1968,2727,0,0,0,0,0,0
$GC,6654,0.80,136.7,726.1,19.6,226,6658,0.00,2.22,0.00,0.000,4,0.000,0.052,2869,3361,2727,0,0,0,0,0,0
$GC,6675,0.80,136.7,721.5,20.0,226,6679,0.00,2.17,0.00,0.000,6,0.000,0.031,2883,1945,2727,0,0,0,0,0,0
$GC,6936,0.80,136.7,669.7,19.9,233,6940,0.00,2.30,0.00,0.000,4,0.000,0.051,2882,3371,2726,0,0,0,0,0,0
$GC,6958,0.80,136.7,664.7,21.4,233,6963,0.15,2.17,0.00,0.000,6,0.203,0.031,2857,1960,2726,0,0,0,0,0,0
$GC,7227,0.80,136.7,615.9,18.2,240,7230,0.00,2.12,0.00,0.000,4,0.000,0.040,2867,557,2725,0,0,0,0,0,0
$GC,7271,0.80,136.7,607.0,18.8,241,7275,0.00,2.15,0.00,0.000,6,0.000,0.036,2867,1970,2722,0,0,0,0,0,0
$GC,7555,0.80,136.7,553.5,18.9,248,7559,0.00,2.15,0.00,0.000,4,0.000,0.039,2878,551,2723,0,0,0,0,0,0
$GC,7572,0.80,136.7,550.3,18.3,248,7576,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1963,2722,0,0,0,0,0,0
$GC,7832,0.80,136.7,502.5,18.0,255,7836,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3364,2721,0,0,0,0,0,0
$GC,7904,0.80,136.7,488.9,18.6,256,7908,0.12,2.15,0.00,0.000,6,0.202,0.030,2860,1956,2722,0,0,0,0,0,0
$GC,8160,0.80,136.7,446.2,16.5,263,8164,0.00,2.15,0.00,0.000,4,0.000,0.038,2869,548,2723,0,0,0,0,0,0
$GC,8175,0.80,136.7,443.2,16.5,263,8179,0.00,2.15,0.00,0.000,6,0.000,0.035,2872,1969,2720,0,0,0,0,0,0
$GC,8448,0.80,136.7,396.9,17.0,270,8452,0.00,2.22,0.00,0.000,4,0.000,0.051,2869,3361,2720,0,0,0,0,0,0
$GC,8554,0.80,136.7,377.3,18.8,272,8558,0.00,2.15,0.00,0.000,6,0.000,0.029,2879,1953,2721,0,0,0,0,0,0
$GC,8815,0.80,136.7,333.1,16.2,279,8819,0.00,2.28,0.00,0.000,4,0.000,0.050,2879,3371,2720,0,0,0,0,0,0
$GC,8843,0.80,136.7,328.6,15.7,279,8848,0.17,2.17,0.00,0.000,6,0.197,0.029,2849,1949,2721,0,0,0,0,0,0
$GC,9094,0.80,136.7,296.5,12.5,285,9098,0.00,2.25,0.00,0.000,4,0.000,0.048,2838,3368,2720,0,0,0,0,0,0
$GC,9261,0.80,136.7,276.5,11.7,292,9267,0.00,2.15,0.00,0.000,6,0.000,0.030,2847,1958,2720,0,0,0,0,0,0
$GC,9516,0.80,136.7,248.3,11.9,305,9520,0.00,2.22,0.00,0.000,4,0.000,0.048,2839,3364,2719,0,0,0,0,0,0
$GC,9559,0.80,136.7,241.8,14.0,307,9563,0.00,2.12,0.00,0.000,6,0.000,0.030,2847,1958,2719,0,0,0,0,0,0
$GC,9825,0.80,136.7,214.6,9.4,320,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1955,2718,0,0,0,0,0,0
$GC,10078,0.80,136.7,191.5,9.3,336,10082,0.00,2.22,0.00,0.000,4,0.000,0.047,2839,3374,2719,0,0,0,0,0,0
$GC,10119,0.80,136.7,187.3,9.8,339,10124,0.00,2.15,0.00,0.000,6,0.000,0.029,2844,1952,2717,0,0,0,0,0,0
$GC,10386,0.85,180.4,165.4,6.7,363,10425,0.00,2.15,33.17,0.570,4,0.000,0.037,2859,570,2562,0,0,0,0,0,0
$GC,10456,0.87,199.7,160.6,7.8,369,10481,0.00,2.10,17.48,0.542,6,0.000,0.032,2859,1965,2485,0,0,0,0,0,0
$GC,10738,0.87,199.7,133.3,9.6,395,10742,0.00,2.20,0.00,0.000,4,0.000,0.050,2855,3358,2482,0,0,0,0,0,0
$GC,10990,0.88,204.2,110.2,8.4,417,11001,0.00,2.15,4.82,0.384,6,0.000,0.029,2870,1965,2467,0,0,0,0,0,0
$GC,11264,0.89,212.0,90.6,8.2,443,11279,0.00,2.28,8.75,0.439,4,0.000,0.048,2870,3365,2434,0,0,0,0,0,0
$GC,11381,0.89,212.0,78.8,11.3,453,11385,0.00,2.15,0.00,0.000,6,0.000,0.030,2880,1952,2437,0,0,0,0,0,0
$GC,11647,0.89,212.0,50.8,10.2,477,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1950,2435,0,0,0,0,0,0
$GC,11914,0.89,212.0,22.3,12.0,508,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1951,2436,0,0,0,0,0,0
$STATE,12107,end climb,SURFACE_DEPTH_REACHED
$STATE,12107,begin surface coast
$FINISH,0.3,1.011501
$STATE,12135,end surface coast,CONTROL_FINISHED_OK
$STATE,12136,begin surface
$SM_CCo,12156,41.65,0.414,0,0,2075,300.49
$SM_GC,1.71,0.00,0.00,41.65,0.000,0.000,0.414,49,2111,2075,-7.96,0.28,300.49
$IRIDIUM_FIX,1850.98,-15645.99,180213,131350
$TT8_MAMPS,0.253877
$HUMID,1078831603
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.30
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6258098176
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27472953344
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,47.778
$10V_AH,9.9,43.706
$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,19.975,135.450,299.875,41.650,0.000,24.824,50.259,331.403,24.000,0.000,17.056,1203.586,8537.289,431.256,2267.992,401.275,33.349,1200.896,0.000,1847.754,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,69.797,1075.334,414.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.691,0.000,955.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26967,549
$CAP_FILE_SIZE,120221,0
$CFSIZE,260165632,180764672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,242.1,1
$GPS,270811,022206,1859.941,-15645.927,38,1.5,38,9.6