version: 66.07
glider: 513
mission: 7
dive: 347
start: 8 27 111 17 8 48
data:
$ID,513
$MISSION,7
$DIVE,347
$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,-430026.28
$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,40
$R_STBD_OVSHOOT,60
$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,346
$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
$GPS1,270811,165736,1859.712,-15646.680,30,1.4,30,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.4
$GPS2,270811,170750,1859.648,-15646.832,15,1.7,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.190,0.145
$KALMAN_X,-155550.5,921.7,939.8,165651.0,-12970.2
$KALMAN_Y,-210799.3,1105.8,805.8,97644.8,-11639.3
$MHEAD_RNG_PITCHd_Wd,58.6,3273,-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,24,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-57.12,0.000,2,0.000,0.000,35,2134,3757,0,0,0,0,0,0
$GC,89,-0.80,-136.7,4.4,-7.8,9,111,9.88,2.20,-1.62,0.000,4,0.245,0.067,2325,3484,3861,0,0,0,0,0,0
$GC,221,-0.80,-136.7,55.5,-28.7,24,230,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,2107,3864,0,0,0,0,0,0
$GC,487,-0.80,-136.7,140.2,-30.4,49,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2100,3865,0,0,0,0,0,0
$GC,759,-0.80,-136.7,212.1,-24.0,73,763,0.00,2.12,0.00,0.000,4,0.000,0.042,2320,695,3868,0,0,0,0,0,0
$GC,831,-0.80,-136.7,229.2,-20.9,76,836,0.12,2.12,0.00,0.000,6,0.185,0.042,2342,2084,3868,0,0,0,0,0,0
$GC,1086,-0.80,-136.7,271.9,-15.9,88,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2083,3870,0,0,0,0,0,0
$GC,1351,-0.80,-136.7,312.5,-14.9,99,1355,0.00,2.20,0.00,0.000,4,0.000,0.049,2330,3507,3870,0,0,0,0,0,0
$GC,1424,-0.80,-136.7,323.6,-15.0,100,1428,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,2093,3875,0,0,0,0,0,0
$GC,1675,-0.80,-136.7,361.6,-15.1,106,1679,0.00,2.08,0.00,0.000,4,0.000,0.039,2330,699,3870,0,0,0,0,0,0
$GC,1702,-0.80,-136.7,366.0,-15.0,106,1705,0.00,2.15,0.00,0.000,6,0.000,0.042,2320,2109,3870,0,0,0,0,0,0
$GC,1958,-0.80,-136.7,405.5,-15.6,113,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2108,3870,0,0,0,0,0,0
$GC,2201,-0.80,-136.7,447.3,-17.4,119,2205,0.00,2.20,0.00,0.000,4,0.000,0.050,2309,3505,3870,0,0,0,0,0,0
$GC,2279,-0.80,-136.7,461.3,-17.5,120,2287,0.12,2.12,0.00,0.000,6,0.160,0.031,2341,2096,3868,0,0,0,0,0,0
$GC,2531,-0.80,-136.7,498.3,-14.8,127,2534,0.00,2.10,0.00,0.000,4,0.000,0.038,2344,700,3867,0,0,0,0,0,0
$GC,2575,-0.80,-136.7,504.8,-13.4,128,2579,0.00,2.12,0.00,0.000,6,0.000,0.041,2336,2106,3865,0,0,1,0,0,0
$GC,2860,-0.80,-136.7,543.6,-13.7,135,2864,0.00,2.12,0.00,0.000,4,0.000,0.038,2337,696,3864,0,0,0,0,0,0
$GC,2915,-0.80,-136.7,552.1,-14.3,136,2919,0.00,2.15,0.00,0.000,6,0.000,0.041,2326,2094,3863,0,0,0,0,0,0
$GC,3188,-0.80,-136.7,592.0,-14.9,143,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2094,3863,0,0,0,0,0,0
$GC,3433,-0.80,-136.7,627.9,-14.6,149,3437,0.00,2.22,0.00,0.000,4,0.000,0.054,2314,3508,3858,0,0,0,0,0,0
$GC,3460,-0.80,-136.7,632.3,-14.9,149,3464,0.00,2.15,0.00,0.000,6,0.000,0.033,2314,2094,3857,0,0,0,0,0,0
$GC,3721,-0.80,-136.7,670.0,-14.4,156,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2088,3855,0,0,0,0,0,0
$GC,3965,-0.80,-136.7,703.2,-13.6,162,3969,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,699,3852,0,0,0,0,0,0
$GC,4010,-0.80,-136.7,709.4,-13.4,163,4015,0.12,2.17,0.00,0.000,6,0.182,0.044,2335,2104,3852,0,0,0,0,0,0
$GC,4288,-0.80,-136.7,742.9,-12.2,170,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2109,3850,0,0,0,0,0,0
$GC,4531,-0.80,-136.7,773.5,-12.6,176,4535,0.00,2.25,0.00,0.000,4,0.000,0.055,2325,3511,3847,0,0,0,0,0,0
$GC,4573,-0.80,-136.7,778.5,-12.4,177,4577,0.00,2.15,0.00,0.000,6,0.000,0.032,2325,2101,3847,0,0,0,0,0,0
$GC,4856,-0.80,-136.7,814.4,-12.4,184,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2096,3849,0,0,0,0,0,0
$GC,5099,-0.80,-136.7,843.9,-12.1,190,5103,0.00,2.15,0.00,0.000,4,0.000,0.044,2325,701,3843,0,0,0,0,0,0
$GC,5150,-0.80,-136.7,850.2,-13.0,191,5155,0.00,2.20,0.00,0.000,6,0.000,0.048,2315,2098,3843,0,0,0,0,0,0
$GC,5423,-0.80,-136.7,883.9,-12.3,198,5427,0.00,2.25,0.00,0.000,4,0.000,0.054,2304,3508,3840,0,0,0,0,0,0
$GC,5478,-0.80,-136.7,890.9,-12.3,199,5483,0.12,2.17,0.00,0.000,6,0.168,0.035,2335,2100,3839,0,0,0,0,0,0
$STATE,5579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5579,begin apogee
$GC,5587,-0.28,0.0,902.1,10.6,202,5704,0.55,0.00,113.15,1.087,6,0.146,0.000,2499,1948,3300,0,0,0,0,0,0
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5719,begin climb
$GC,5722,0.80,136.7,905.0,0.0,205,5847,1.08,0.00,121.80,1.049,6,0.096,0.000,2852,1948,2742,0,0,0,0,0,0
$GC,6066,0.80,136.7,849.7,19.6,214,6070,0.00,2.33,0.00,0.000,4,0.000,0.052,2847,3364,2733,0,0,0,0,0,0
$GC,6122,0.80,136.7,838.3,20.6,215,6126,0.00,2.20,0.00,0.000,6,0.000,0.030,2856,1956,2733,0,0,0,0,0,0
$GC,6388,0.80,136.7,785.0,19.6,222,6392,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,560,2730,0,0,0,0,0,0
$GC,6432,0.80,136.7,776.3,19.0,223,6436,0.00,2.15,0.00,0.000,6,0.000,0.035,2858,1964,2727,0,0,0,0,0,0
$GC,6717,0.80,136.7,724.5,18.1,230,6721,0.00,2.25,0.00,0.000,4,0.000,0.051,2848,3366,2731,0,0,0,0,0,0
$GC,6744,0.80,136.7,719.2,18.6,230,6748,0.00,2.15,0.00,0.000,6,0.000,0.029,2857,1960,2727,0,0,0,0,0,0
$GC,7000,0.80,136.7,675.0,16.9,237,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1955,2727,0,0,0,0,0,0
$GC,7245,0.80,136.7,635.4,16.3,243,7249,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,556,2730,0,0,0,0,0,0
$GC,7272,0.80,136.7,630.3,16.9,243,7276,0.00,2.17,0.00,0.000,6,0.000,0.035,2863,1963,2723,0,0,0,0,0,0
$GC,7527,0.80,136.7,587.0,17.1,250,7531,0.00,2.22,0.00,0.000,4,0.000,0.051,2850,3370,2724,0,0,0,0,0,0
$GC,7587,0.80,136.7,575.9,18.2,251,7592,0.00,2.17,0.00,0.000,6,0.000,0.031,2858,1962,2724,0,0,0,0,0,0
$GC,7855,0.80,136.7,528.9,17.8,258,7859,0.00,2.15,0.00,0.000,4,0.000,0.039,2869,557,2724,0,0,0,0,0,0
$GC,7911,0.80,136.7,518.1,18.8,259,7915,0.00,2.17,0.00,0.000,6,0.000,0.035,2868,1959,2722,0,0,0,0,0,0
$GC,8183,0.80,136.7,465.9,19.3,266,8187,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3370,2722,0,0,0,0,0,0
$GC,8211,0.80,136.7,460.0,21.4,266,8215,0.00,2.12,0.00,0.000,6,0.000,0.031,2883,1962,2722,0,0,0,0,0,0
$GC,8461,0.80,136.7,414.0,17.5,272,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1956,2722,0,0,0,0,0,0
$GC,8705,0.80,136.7,377.8,14.5,278,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1956,2721,0,0,0,0,0,0
$GC,8948,0.80,136.7,346.2,12.4,284,8952,0.00,2.25,0.00,0.000,4,0.000,0.049,2876,3360,2721,0,0,0,0,0,0
$GC,8977,0.80,136.7,342.4,13.3,284,8982,0.12,2.15,0.00,0.000,6,0.201,0.031,2857,1952,2721,0,0,0,0,0,0
$GC,9227,0.80,136.7,312.8,11.8,290,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1952,2721,0,0,0,0,0,0
$GC,9472,0.80,136.7,280.8,13.6,299,9476,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,560,2720,0,0,0,0,0,0
$GC,9523,0.80,136.7,274.0,13.2,301,9528,0.00,2.15,0.00,0.000,6,0.000,0.034,2862,1970,2718,0,0,0,0,0,0
$GC,9777,0.80,136.7,243.7,12.3,313,9781,0.00,2.20,0.00,0.000,4,0.000,0.051,2862,3360,2719,0,0,0,0,0,0
$GC,9973,0.80,136.7,216.4,13.3,321,9978,0.00,2.12,0.00,0.000,6,0.000,0.029,2872,1959,2720,0,0,0,0,0,0
$GC,10232,0.80,136.7,190.0,9.0,339,10236,0.00,2.22,0.00,0.000,4,0.000,0.048,2872,3369,2720,0,0,0,0,0,0
$GC,10339,0.80,136.7,179.3,10.9,348,10343,0.00,2.15,0.00,0.000,6,0.000,0.029,2878,1952,2719,0,0,0,0,0,0
$GC,10604,0.81,144.8,155.2,8.2,372,10618,0.00,2.12,4.20,0.393,4,0.000,0.035,2892,564,2709,0,0,0,0,0,0
$GC,10756,0.86,191.9,142.9,6.6,385,10804,0.00,2.10,40.10,0.552,6,0.000,0.031,2892,1965,2517,0,0,0,0,0,0
$GC,11059,0.89,214.9,116.8,7.6,413,11085,0.00,2.22,20.15,0.508,4,0.000,0.036,2903,552,2422,0,0,0,0,0,0
$GC,11166,0.89,214.9,107.0,10.0,422,11174,0.00,2.17,0.00,0.000,6,0.000,0.032,2903,1954,2420,0,0,0,0,0,0
$GC,11431,0.89,214.9,78.5,11.2,447,11435,0.00,2.20,0.00,0.000,4,0.000,0.046,2903,3363,2420,0,0,0,0,0,0
$GC,11517,0.89,214.9,68.4,12.6,454,11521,0.00,2.12,0.00,0.000,6,0.000,0.028,2913,1953,2424,0,0,0,0,0,0
$GC,11786,0.89,214.9,34.5,12.9,479,11790,0.00,2.10,0.00,0.000,4,0.000,0.037,2924,556,2420,0,0,0,0,0,0
$GC,11921,0.89,214.9,17.5,12.5,499,11929,0.12,2.12,0.00,0.000,6,0.159,0.029,2887,1964,2421,0,0,0,0,0,0
$STATE,12049,end climb,SURFACE_DEPTH_REACHED
$STATE,12049,begin surface coast
$FINISH,0.4,1.010174
$STATE,12077,end surface coast,CONTROL_FINISHED_OK
$STATE,12077,begin surface
$SM_CCo,12098,40.45,0.423,0,0,2076,300.24
$SM_GC,1.83,0.00,0.00,40.45,0.000,0.000,0.423,58,2126,2076,-7.93,0.79,300.24
$IRIDIUM_FIX,1853.26,-15645.99,190213,070745
$TT8_MAMPS,0.253877
$HUMID,1078865152
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257934336
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,26741964800
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,48.331
$10V_AH,9.9,44.124
$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,19.800,117.250,299.400,40.450,0.000,27.333,38.308,323.641,25.750,0.000,16.991,1141.192,8631.562,433.192,2161.841,394.776,33.349,1164.966,0.000,1747.012,0.000,0.541,0.000
$DEVICE_MAMPS,244.673,72.098,1086.839,422.617,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.699,0.000,886.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,26821,527
$CAP_FILE_SIZE,113081,0
$CFSIZE,260165632,180412416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.190,236.2,1
$GPS,270811,203237,1859.565,-15646.403,31,1.1,31,9.6