version: 66.07
glider: 513
mission: 7
dive: 343
start: 8 27 111 2 33 12
data:
$ID,513
$MISSION,7
$DIVE,343
$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,-429939.25
$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,49
$R_STBD_OVSHOOT,44
$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,342
$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
$GPS1,270811,022206,1859.941,-15645.927,38,1.5,38,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-80.7
$GPS2,270811,023214,1859.915,-15646.100,11,1.5,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.172,0.166
$KALMAN_X,-144250.2,2156.5,785.9,154540.7,-13490.2
$KALMAN_Y,-201942.2,1700.0,1197.3,88281.5,-14711.7
$MHEAD_RNG_PITCHd_Wd,58.2,1932,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-51.22,0.000,2,0.000,0.000,38,2109,3538,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.0,-4.6,8,107,9.82,2.25,-5.62,0.000,4,0.243,0.065,2317,3513,3858,0,0,0,0,0,0
$GC,192,-0.80,-136.7,40.9,-28.1,23,196,0.00,2.17,0.00,0.000,6,0.000,0.035,2317,2114,3861,0,0,0,0,0,0
$GC,455,-0.80,-136.7,131.6,-35.3,47,459,0.00,2.20,0.00,0.000,4,0.000,0.048,2317,693,3861,0,0,0,0,0,0
$GC,475,-0.80,-136.7,137.2,-30.7,48,480,0.12,2.17,0.00,0.000,6,0.194,0.050,2335,2091,3862,0,0,0,0,0,0
$GC,741,-0.80,-136.7,199.2,-21.7,72,745,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3509,3863,0,0,0,0,0,0
$GC,784,-0.80,-136.7,210.4,-21.0,74,788,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2085,3863,0,0,0,0,0,0
$GC,1051,-0.80,-136.7,265.9,-20.7,87,1055,0.00,2.08,0.00,0.000,4,0.000,0.042,2326,697,3864,0,0,0,0,0,0
$GC,1083,-0.80,-136.7,273.8,-22.7,88,1089,0.00,2.17,0.00,0.000,6,0.000,0.046,2316,2100,3866,0,0,0,0,0,0
$GC,1356,-0.80,-136.7,323.1,-17.4,99,1360,0.00,2.22,0.00,0.000,4,0.000,0.052,2304,3513,3865,0,0,0,0,0,0
$GC,1413,-0.80,-136.7,333.9,-18.9,100,1418,0.12,2.15,0.00,0.000,6,0.163,0.032,2336,2086,3865,0,0,0,0,0,0
$GC,1680,-0.80,-136.7,379.7,-16.8,107,1684,0.00,2.08,0.00,0.000,4,0.000,0.041,2336,699,3866,0,0,0,0,0,0
$GC,1696,-0.80,-136.7,382.6,-16.2,107,1700,0.00,2.15,0.00,0.000,6,0.000,0.042,2328,2105,3865,0,0,0,0,0,0
$GC,1958,-0.80,-136.7,423.7,-15.5,114,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2104,3868,0,0,0,0,0,0
$GC,2200,-0.80,-136.7,458.8,-14.3,120,2204,0.00,2.22,0.00,0.000,4,0.000,0.051,2321,3515,3862,0,0,0,0,0,0
$GC,2290,-0.80,-136.7,471.6,-13.3,122,2294,0.00,2.12,0.00,0.000,6,0.000,0.031,2316,2099,3862,0,0,0,0,0,0
$GC,2569,-0.80,-136.7,511.3,-14.5,129,2573,0.00,2.10,0.00,0.000,4,0.000,0.039,2317,690,3859,0,0,0,0,0,0
$GC,2613,-0.80,-136.7,517.8,-13.9,130,2618,0.12,2.17,0.00,0.000,6,0.174,0.043,2337,2097,3859,0,0,0,0,0,0
$GC,2891,-0.80,-136.7,551.5,-12.2,137,2895,0.00,2.22,0.00,0.000,4,0.000,0.053,2328,3520,3853,0,0,0,0,0,0
$GC,2919,-0.80,-136.7,555.2,-12.9,137,2923,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,2101,3855,0,0,0,0,0,0
$GC,3170,-0.80,-136.7,587.3,-12.9,143,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2099,3852,0,0,0,0,0,0
$GC,3413,-0.80,-136.7,617.9,-12.3,149,3416,0.00,2.10,0.00,0.000,4,0.000,0.039,2328,700,3850,0,0,0,0,0,0
$GC,3470,-0.80,-136.7,625.2,-12.8,150,3474,0.00,2.17,0.00,0.000,6,0.000,0.044,2318,2103,3850,0,0,0,0,0,0
$GC,3742,-0.80,-136.7,660.7,-12.9,157,3746,0.00,2.22,0.00,0.000,4,0.000,0.054,2308,3513,3847,0,0,0,0,0,0
$GC,3763,-0.80,-136.7,664.0,-14.6,157,3768,0.12,2.12,0.00,0.000,6,0.168,0.032,2337,2101,3847,0,0,0,0,0,0
$GC,4019,-0.80,-136.7,692.7,-11.3,164,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2096,3844,0,0,0,0,0,0
$GC,4261,-0.80,-136.7,720.6,-11.5,170,4265,0.00,2.10,0.00,0.000,4,0.000,0.041,2338,702,3842,0,0,0,0,0,0
$GC,4289,-0.80,-136.7,724.0,-12.3,170,4293,0.00,2.17,0.00,0.000,6,0.000,0.042,2330,2107,3842,0,0,0,0,0,0
$GC,4544,-0.80,-136.7,754.2,-11.8,177,4548,0.00,2.22,0.00,0.000,4,0.000,0.054,2319,3503,3840,0,0,0,0,0,0
$GC,4584,-0.80,-136.7,758.7,-11.5,177,4590,0.00,2.15,0.00,0.000,6,0.000,0.034,2319,2097,3839,0,0,0,0,0,0
$GC,4834,-0.80,-136.7,788.9,-12.1,184,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2091,3837,0,0,0,0,0,0
$GC,5077,-0.80,-136.7,816.5,-11.2,190,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2091,3835,0,0,0,0,0,0
$GC,5321,-0.80,-136.7,843.3,-10.9,196,5325,0.00,2.15,0.00,0.000,4,0.000,0.044,2319,700,3833,0,0,0,0,0,0
$GC,5368,-0.80,-136.7,848.3,-11.2,197,5373,0.12,2.15,0.00,0.000,6,0.184,0.043,2338,2090,3833,0,0,0,0,0,0
$GC,5656,-0.80,-136.7,874.1,-8.7,204,5660,0.00,2.28,0.00,0.000,4,0.000,0.054,2329,3510,3830,0,0,0,0,0,0
$GC,5712,-0.80,-136.7,879.1,-9.0,205,5716,0.00,2.15,0.00,0.000,6,0.000,0.030,2329,2098,3830,0,0,0,0,0,0
$STATE,5941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5949,-0.28,0.0,900.7,9.4,211,6065,0.57,0.00,112.12,1.076,6,0.145,0.000,2500,1929,3300,0,0,0,0,0,0
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6082,0.80,136.7,902.2,0.0,214,6213,1.08,2.47,123.40,1.039,4,0.095,0.052,2852,3372,2741,0,0,0,0,0,0
$GC,6236,0.80,136.7,881.8,20.7,218,6240,0.00,2.22,0.00,0.000,6,0.000,0.029,2863,1982,2738,0,0,0,0,0,0
$GC,6508,0.80,136.7,822.7,21.3,225,6512,0.00,2.20,0.00,0.000,4,0.000,0.040,2874,562,2732,0,0,0,0,0,0
$GC,6541,0.80,136.7,815.8,21.0,225,6547,0.00,2.22,0.00,0.000,6,0.000,0.041,2874,1971,2730,0,0,0,0,0,0
$GC,6792,0.80,136.7,764.4,20.5,232,6796,0.00,2.25,0.00,0.000,4,0.000,0.053,2874,3373,2729,0,0,0,0,0,0
$GC,6848,0.80,136.7,752.3,21.0,233,6853,0.12,2.22,0.00,0.000,6,0.206,0.032,2857,1956,2729,0,0,0,0,0,0
$GC,7120,0.80,136.7,703.5,17.6,240,7123,0.00,2.12,0.00,0.000,4,0.000,0.039,2866,561,2727,0,0,0,0,0,0
$GC,7142,0.80,136.7,699.5,17.5,240,7147,0.00,2.17,0.00,0.000,6,0.000,0.034,2857,1972,2726,0,0,0,0,0,0
$GC,7398,0.80,136.7,655.9,17.1,247,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1973,2726,0,0,0,0,0,0
$GC,7641,0.80,136.7,613.7,17.6,253,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1973,2726,0,0,0,0,0,0
$GC,7886,0.80,136.7,571.5,17.4,259,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1970,2725,0,0,0,0,0,0
$GC,8130,0.80,136.7,530.4,16.7,265,8134,0.00,2.22,0.00,0.000,4,0.000,0.052,2847,3366,2724,0,0,0,0,0,0
$GC,8157,0.80,136.7,525.3,17.8,265,8161,0.00,2.17,0.00,0.000,6,0.000,0.031,2857,1953,2724,0,0,0,0,0,0
$GC,8419,0.80,136.7,484.2,15.7,272,8423,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,561,2724,0,0,0,0,0,0
$GC,8440,0.80,136.7,480.6,16.3,272,8444,0.00,2.15,0.00,0.000,6,0.000,0.034,2867,1953,2722,0,0,0,0,0,0
$GC,8703,0.80,136.7,441.2,14.6,279,8707,0.00,2.25,0.00,0.000,4,0.000,0.052,2867,3363,2722,0,0,0,0,0,0
$GC,8809,0.80,136.7,424.7,15.2,281,8813,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1958,2722,0,0,0,0,0,0
$GC,9077,0.80,136.7,387.5,13.8,288,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1952,2722,0,0,0,0,0,0
$GC,9320,0.80,136.7,350.4,15.5,294,9324,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3368,2721,0,0,0,0,0,0
$GC,9347,0.80,136.7,345.6,17.4,294,9351,0.00,2.15,0.00,0.000,6,0.000,0.031,2884,1952,2721,0,0,0,0,0,0
$GC,9608,0.80,136.7,303.3,16.3,301,9612,0.00,2.22,0.00,0.000,4,0.000,0.048,2884,3364,2721,0,0,0,0,0,0
$GC,9787,0.80,136.7,276.6,13.6,308,9792,0.10,2.15,0.00,0.000,6,0.180,0.029,2865,1968,2721,0,0,0,0,0,0
$GC,10051,0.80,136.7,243.7,13.0,321,10055,0.00,2.12,0.00,0.000,4,0.000,0.037,2874,561,2720,0,0,0,0,0,0
$GC,10085,0.80,136.7,239.2,13.9,322,10091,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1973,2718,0,0,0,0,0,0
$GC,10339,0.80,136.7,211.6,9.6,335,10342,0.00,2.20,0.00,0.000,4,0.000,0.050,2873,3363,2719,0,0,0,0,0,0
$GC,10388,0.80,136.7,206.3,10.7,337,10392,0.00,2.15,0.00,0.000,6,0.000,0.029,2882,1948,2721,0,0,0,0,0,0
$GC,10657,0.80,136.7,181.4,9.3,359,10661,0.00,2.25,0.00,0.000,4,0.000,0.046,2883,3367,2719,0,0,0,0,0,0
$GC,10688,0.80,136.7,177.5,11.0,361,10697,0.12,2.17,0.00,0.000,6,0.163,0.028,2855,1953,2720,0,0,0,0,0,0
$GC,10952,0.85,179.4,157.9,6.8,386,10991,0.00,2.15,32.58,0.557,4,0.000,0.036,2865,563,2569,0,0,0,0,0,0
$GC,11059,0.85,179.4,148.0,10.7,395,11066,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1954,2565,0,0,0,0,0,0
$GC,11326,1.02,320.6,129.0,2.6,420,11449,0.17,2.22,114.20,0.531,4,0.083,0.039,2944,557,1992,0,0,0,0,0,0
$GC,11681,1.02,320.6,71.6,19.0,451,11685,0.00,2.17,0.00,0.000,6,0.000,0.029,2944,1975,1983,0,0,0,0,0,0
$GC,11946,1.02,320.6,17.8,19.6,480,11954,0.00,2.20,0.00,0.000,4,0.000,0.038,2952,561,1982,0,0,0,0,0,0
$GC,11994,1.02,320.6,8.2,19.0,488,12002,0.00,2.15,0.00,0.000,6,0.000,0.031,2953,1959,1984,0,0,0,0,0,0
$STATE,12024,end climb,SURFACE_DEPTH_REACHED
$STATE,12024,begin surface coast
$FINISH,0.3,1.022692
$STATE,12041,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12122,0.00,0.000,0,0,1982,323.55
$SM_GC,1.18,7.78,0.00,0.00,0.048,0.000,0.000,53,2150,1982,-7.89,1.36,323.55
$IRIDIUM_FIX,1853.26,-15643.00,180213,171703
$TT8_MAMPS,0.151866
$HUMID,1078951603
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.50
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6296502272
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27318353920
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,47.896
$10V_AH,9.9,43.784
$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,20.400,131.200,382.300,0.000,0.000,31.539,39.282,310.190,24.500,0.000,13.404,1090.460,8808.771,430.907,2009.631,397.623,33.350,1181.173,0.000,1602.664,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,65.195,1076.101,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.397,0.000,748.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,23572,496
$CAP_FILE_SIZE,115187,0
$CFSIZE,260165632,180699136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,245.2,1
$GPS,270811,055654,1900.027,-15645.596,25,1.7,42,9.6