version: 66.07
glider: 513
mission: 7
dive: 346
start: 8 27 111 13 35 5
data:
$ID,513
$MISSION,7
$DIVE,346
$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,-430008.66
$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,47
$R_STBD_OVSHOOT,54
$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,345
$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
$GPS1,270811,132034,1859.548,-15646.704,50,1.8,54,9.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.7
$GPS2,270811,133408,1859.467,-15646.918,11,1.3,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.178,0.159
$KALMAN_X,-152272.4,484.2,772.4,162826.1,-11837.8
$KALMAN_Y,-209040.7,1121.1,973.2,95366.4,-12554.0
$MHEAD_RNG_PITCHd_Wd,51.4,3501,-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,-136.7,0.0,0.0,0,89,0.00,0.00,-57.97,0.000,2,0.000,0.000,36,2129,3799,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.6,-8.2,9,115,9.90,2.25,-0.93,0.000,4,0.244,0.067,2319,3505,3864,0,0,0,0,0,0
$GC,222,-0.80,-136.7,56.1,-29.9,24,226,0.00,2.15,0.00,0.000,6,0.000,0.038,2319,2115,3866,0,0,0,0,0,0
$GC,486,-0.80,-136.7,146.7,-33.7,48,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2108,3867,0,0,0,0,0,0
$GC,745,-0.80,-136.7,214.7,-22.9,70,749,0.00,2.15,0.00,0.000,4,0.000,0.039,2319,685,3869,0,0,0,0,0,0
$GC,762,-0.80,-136.7,218.5,-22.4,71,767,0.12,2.12,0.00,0.000,6,0.186,0.042,2338,2087,3869,0,0,0,0,0,0
$GC,1028,-0.80,-136.7,267.2,-18.3,84,1032,0.00,2.10,0.00,0.000,4,0.000,0.038,2338,679,3873,0,0,0,0,0,0
$GC,1049,-0.80,-136.7,271.3,-17.1,85,1053,0.00,2.17,0.00,0.000,6,0.000,0.044,2334,2100,3871,0,0,0,0,0,0
$GC,1313,-0.80,-136.7,317.7,-18.1,96,1317,0.00,2.20,0.00,0.000,4,0.000,0.052,2319,3508,3871,0,0,0,0,0,0
$GC,1381,-0.80,-136.7,329.7,-16.7,97,1385,0.00,2.12,0.00,0.000,6,0.000,0.029,2318,2081,3875,0,0,0,0,0,0
$GC,1642,-0.80,-136.7,374.8,-17.1,104,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2074,3872,0,0,0,0,0,0
$GC,1885,-0.80,-136.7,413.5,-15.6,110,1889,0.00,2.25,0.00,0.000,4,0.000,0.053,2308,3506,3871,0,0,0,0,0,0
$GC,1930,-0.80,-136.7,420.6,-15.0,111,1935,0.12,2.10,0.00,0.000,6,0.163,0.031,2339,2099,3871,0,0,0,0,0,0
$GC,2220,-0.80,-136.7,458.0,-12.6,118,2224,0.00,2.08,0.00,0.000,4,0.000,0.039,2341,705,3868,0,0,0,0,0,0
$GC,2242,-0.80,-136.7,461.1,-12.8,118,2246,0.00,2.15,0.00,0.000,6,0.000,0.044,2333,2098,3868,0,0,0,0,0,0
$GC,2504,-0.80,-136.7,493.3,-12.4,125,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2098,3865,0,0,0,0,0,0
$GC,2748,-0.80,-136.7,524.1,-12.8,131,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2098,3862,0,0,0,0,0,0
$GC,2991,-0.80,-136.7,554.9,-12.7,137,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2098,3861,0,0,0,0,0,0
$GC,3234,-0.80,-136.7,585.3,-12.3,143,3238,0.00,2.22,0.00,0.000,4,0.000,0.054,2321,3509,3858,0,0,0,0,0,0
$GC,3278,-0.80,-136.7,591.2,-12.4,144,3282,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,2103,3857,0,0,0,0,0,0
$GC,3563,-0.80,-136.7,628.4,-13.6,151,3567,0.00,2.12,0.00,0.000,4,0.000,0.043,2321,691,3857,0,0,0,0,0,0
$GC,3596,-0.80,-136.7,633.2,-13.5,151,3602,0.00,2.17,0.00,0.000,6,0.000,0.045,2311,2103,3854,0,0,0,0,0,0
$GC,3846,-0.80,-136.7,667.4,-13.9,158,3850,0.00,2.22,0.00,0.000,4,0.000,0.054,2300,3503,3852,0,0,0,0,0,0
$GC,3880,-0.80,-136.7,672.4,-14.5,158,3886,0.15,2.12,0.00,0.000,6,0.163,0.035,2339,2101,3851,0,0,0,0,0,0
$GC,4131,-0.80,-136.7,701.1,-11.3,165,4135,0.00,2.12,0.00,0.000,4,0.000,0.042,2339,688,3848,0,0,0,0,0,0
$GC,4186,-0.80,-136.7,707.7,-10.9,166,4190,0.00,2.17,0.00,0.000,6,0.000,0.044,2330,2106,3849,0,0,0,0,0,0
$GC,4460,-0.80,-136.7,738.0,-11.1,173,4464,0.00,2.15,0.00,0.000,4,0.000,0.041,2330,687,3846,0,0,0,0,0,0
$GC,4488,-0.80,-136.7,741.4,-11.3,173,4491,0.00,2.20,0.00,0.000,6,0.000,0.045,2315,2106,3846,0,0,0,0,0,0
$GC,4743,-0.80,-136.7,769.3,-10.9,180,4747,0.00,2.20,0.00,0.000,4,0.000,0.052,2309,3508,3842,0,0,0,0,0,0
$GC,4795,-0.80,-136.7,775.0,-10.6,181,4799,0.12,2.15,0.00,0.000,6,0.164,0.034,2340,2098,3843,0,0,0,0,0,0
$GC,5073,-0.80,-136.7,800.6,-9.2,188,5077,0.00,2.12,0.00,0.000,4,0.000,0.044,2341,701,3842,0,0,0,0,0,0
$GC,5123,-0.80,-136.7,805.7,-9.4,189,5127,0.00,2.20,0.00,0.000,6,0.000,0.049,2332,2102,3841,0,0,0,0,0,0
$GC,5402,-0.80,-136.7,833.4,-10.2,196,5406,0.00,2.17,0.00,0.000,4,0.000,0.045,2334,698,3839,0,0,0,0,0,0
$GC,5424,-0.80,-136.7,836.0,-11.0,196,5428,0.00,2.17,0.00,0.000,6,0.000,0.051,2322,2100,3836,0,0,0,0,0,0
$GC,5685,-0.80,-136.7,865.4,-11.4,203,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2100,3837,0,0,0,0,0,0
$GC,5930,-0.80,-136.7,893.6,-11.6,209,5934,0.00,2.25,0.00,0.000,4,0.000,0.056,2310,3504,3836,0,0,0,0,0,0
$GC,5970,-0.80,-136.7,898.3,-11.3,210,5975,0.10,2.15,0.00,0.000,6,0.176,0.036,2334,2096,3836,0,0,0,0,0,0
$STATE,5984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5984,begin apogee
$GC,5990,-0.28,0.0,900.5,11.9,210,6106,0.52,0.00,112.43,1.085,6,0.145,0.000,2495,1946,3300,0,0,0,0,0,0
$STATE,6108,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6112,0.80,136.7,903.7,0.0,213,6239,1.10,0.00,121.75,1.049,6,0.097,0.000,2853,1945,2742,0,0,0,0,0,0
$GC,6455,0.80,136.7,851.4,18.8,222,6459,0.00,2.33,0.00,0.000,4,0.000,0.054,2853,3370,2733,0,0,0,0,0,0
$GC,6499,0.80,136.7,842.5,20.1,223,6503,0.00,2.20,0.00,0.000,6,0.000,0.031,2864,1954,2733,0,0,0,0,0,0
$GC,6784,0.80,136.7,787.1,19.2,230,6788,0.00,2.15,0.00,0.000,4,0.000,0.040,2875,553,2729,0,0,0,0,0,0
$GC,6823,0.80,136.7,779.2,19.0,231,6827,0.00,2.17,0.00,0.000,6,0.000,0.037,2875,1963,2728,0,0,0,0,0,0
$GC,7107,0.80,136.7,725.5,18.9,238,7111,0.00,2.25,0.00,0.000,4,0.000,0.052,2875,3365,2728,0,0,0,0,0,0
$GC,7163,0.80,136.7,713.8,20.0,239,7168,0.12,2.15,0.00,0.000,6,0.206,0.031,2859,1954,2727,0,0,0,0,0,0
$GC,7430,0.80,136.7,664.5,18.6,246,7433,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,560,2726,0,0,0,0,0,0
$GC,7485,0.80,136.7,653.8,19.8,247,7489,0.00,2.15,0.00,0.000,6,0.000,0.035,2860,1969,2724,0,0,0,0,0,0
$GC,7759,0.80,136.7,603.3,18.6,254,7763,0.00,2.22,0.00,0.000,4,0.000,0.053,2849,3375,2724,0,0,0,0,0,0
$GC,7808,0.80,136.7,593.3,19.9,255,7812,0.00,2.17,0.00,0.000,6,0.000,0.031,2858,1952,2724,0,0,0,0,0,0
$GC,8086,0.80,136.7,544.2,17.5,262,8090,0.00,2.12,0.00,0.000,4,0.000,0.039,2869,558,2724,0,0,0,0,0,0
$GC,8132,0.80,136.7,536.1,17.8,263,8136,0.00,2.15,0.00,0.000,6,0.000,0.034,2868,1962,2720,0,0,0,0,0,0
$GC,8409,0.80,136.7,490.5,16.4,270,8413,0.00,2.15,0.00,0.000,4,0.000,0.037,2877,560,2722,0,0,0,0,0,0
$GC,8430,0.80,136.7,486.4,17.7,270,8434,0.00,2.15,0.00,0.000,6,0.000,0.035,2877,1961,2721,0,0,0,0,0,0
$GC,8692,0.80,136.7,440.1,18.0,277,8696,0.00,2.22,0.00,0.000,4,0.000,0.051,2883,3358,2722,0,0,0,0,0,0
$GC,8720,0.80,136.7,434.7,19.4,277,8725,0.12,2.12,0.00,0.000,6,0.207,0.029,2860,1957,2723,0,0,0,0,0,0
$GC,8975,0.80,136.7,392.0,16.4,284,8979,0.00,2.22,0.00,0.000,4,0.000,0.048,2849,3365,2722,0,0,0,0,0,0
$GC,9024,0.80,136.7,383.5,16.2,285,9028,0.00,2.12,0.00,0.000,6,0.000,0.030,2858,1958,2723,0,0,0,0,0,0
$GC,9303,0.80,136.7,340.1,15.5,292,9307,0.00,2.10,0.00,0.000,4,0.000,0.039,2870,557,2721,0,0,0,0,0,0
$GC,9347,0.80,136.7,333.3,15.1,293,9351,0.00,2.12,0.00,0.000,6,0.000,0.035,2869,1967,2719,0,0,0,0,0,0
$GC,9631,0.80,136.7,297.1,12.1,300,9635,0.00,2.22,0.00,0.000,4,0.000,0.051,2869,3372,2719,0,0,0,0,0,0
$GC,9873,0.80,136.7,265.5,13.8,311,9877,0.00,2.15,0.00,0.000,6,0.000,0.030,2877,1954,2720,0,0,0,0,0,0
$GC,10139,0.80,136.7,232.1,11.7,324,10143,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,559,2719,0,0,0,0,0,0
$GC,10190,0.80,136.7,226.3,12.0,326,10195,0.12,2.15,0.00,0.000,6,0.191,0.032,2860,1975,2718,0,0,0,0,0,0
$GC,10449,0.80,136.7,200.3,9.3,339,10453,0.00,2.17,0.00,0.000,4,0.000,0.038,2869,558,2716,0,0,0,0,0,0
$GC,10492,0.80,136.7,196.6,9.3,342,10496,0.00,2.12,0.00,0.000,6,0.000,0.032,2869,1962,2718,0,0,0,0,0,0
$GC,10757,0.80,136.7,168.6,11.3,366,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1961,2718,0,0,0,0,0,0
$GC,11022,0.95,263.4,147.8,3.2,391,11124,0.10,0.00,99.45,0.559,6,0.115,0.000,2911,1961,2228,0,0,0,0,0,0
$GC,11380,0.95,263.4,103.3,15.2,424,11384,0.00,2.22,0.00,0.000,4,0.000,0.047,2910,3367,2220,0,0,0,0,0,0
$GC,11477,0.95,263.4,87.5,16.7,432,11481,0.00,2.15,0.00,0.000,6,0.000,0.030,2917,1972,2220,0,0,0,0,0,0
$GC,11742,0.95,263.4,45.9,15.4,456,11746,0.00,2.15,0.00,0.000,4,0.000,0.038,2932,552,2219,0,0,0,0,0,0
$GC,11865,0.95,263.4,26.6,15.2,468,11874,0.00,2.15,0.00,0.000,6,0.000,0.031,2933,1955,2219,0,0,0,0,0,0
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.3,1.022931
$STATE,12020,end surface coast,CONTROL_FINISHED_OK
$STATE,12020,begin surface
$SM_CCo,12041,18.58,0.415,0,0,2075,300.49
$SM_GC,1.59,0.00,0.00,18.58,0.000,0.000,0.415,46,2136,2075,-7.97,0.96,300.49
$IRIDIUM_FIX,1853.26,-15648.08,190213,040444
$TT8_MAMPS,0.25311
$HUMID,1078968377
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.70
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257967104
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,26910031872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,48.219
$10V_AH,9.9,44.040
$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,20.350,130.300,333.625,18.575,0.000,59.466,130.137,344.239,23.000,0.000,13.430,1109.373,8756.910,427.375,2190.524,398.894,33.350,1177.826,0.000,1646.221,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,66.729,1085.305,414.947,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,338.809,0.000,734.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353664
$DATA_FILE_SIZE,23616,496
$CAP_FILE_SIZE,116947,0
$CFSIZE,260165632,180482048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,245.6,1
$GPS,270811,165736,1859.712,-15646.680,30,1.4,30,9.6