version: 66.07
glider: 513
mission: 7
dive: 349
start: 8 28 111 0 20 24
data:
$ID,513
$MISSION,7
$DIVE,349
$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,-430065.62
$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,72
$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,348
$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
$GPS1,280811,001006,1859.425,-15646.042,31,1.0,31,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.9
$GPS2,280811,001925,1859.314,-15646.200,9,1.1,20,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.097,0.219
$KALMAN_X,-161305.1,1917.2,1048.7,171396.5,-14256.6
$KALMAN_Y,-215860.9,1272.2,802.1,101934.9,-12072.5
$MHEAD_RNG_PITCHd_Wd,38.9,2455,-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,-51.45,0.000,2,0.000,0.000,36,2138,3534,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.0,-4.5,8,106,9.98,2.15,-5.95,0.000,4,0.246,0.064,2321,3483,3857,0,0,0,0,0,0
$GC,159,-0.80,-136.7,33.2,-33.7,20,167,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,2115,3860,0,0,0,0,0,0
$GC,422,-0.80,-136.7,121.7,-34.1,45,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2109,3861,0,0,0,0,0,0
$GC,678,-0.80,-136.7,195.6,-24.0,69,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2109,3863,0,0,0,0,0,0
$GC,942,-0.80,-136.7,251.9,-19.9,83,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3864,0,0,0,0,0,0
$GC,1190,-0.80,-136.7,300.2,-19.2,95,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2109,3867,0,0,0,0,0,0
$GC,1433,-0.80,-136.7,345.9,-18.1,101,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2109,3870,0,0,0,0,0,0
$GC,1678,-0.80,-136.7,385.6,-15.6,107,1682,0.00,2.15,0.00,0.000,4,0.000,0.041,2320,684,3867,0,0,0,0,0,0
$GC,1718,-0.80,-136.7,391.7,-14.6,108,1722,0.00,2.10,0.00,0.000,6,0.000,0.040,2310,2078,3867,0,0,0,0,0,0
$GC,2002,-0.80,-136.7,433.6,-14.8,115,2004,0.10,0.00,0.00,0.000,6,0.192,0.000,2334,2073,3865,0,0,0,0,0,0
$GC,2247,-0.80,-136.7,464.3,-12.7,121,2251,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3501,3863,0,0,0,0,0,0
$GC,2268,-0.80,-136.7,467.5,-13.8,121,2272,0.00,2.12,0.00,0.000,6,0.000,0.032,2325,2084,3865,0,0,0,0,0,0
$GC,2531,-0.80,-136.7,505.6,-14.8,128,2535,0.00,2.22,0.00,0.000,4,0.000,0.051,2315,3503,3860,0,0,0,0,0,0
$GC,2569,-0.80,-136.7,511.8,-14.9,128,2575,0.00,2.15,0.00,0.000,6,0.000,0.033,2315,2091,3860,0,0,0,0,0,0
$GC,2820,-0.80,-136.7,550.1,-15.3,135,2824,0.00,2.10,0.00,0.000,4,0.000,0.041,2318,692,3857,0,0,0,0,0,0
$GC,2860,-0.80,-136.7,556.8,-16.5,136,2865,0.12,2.15,0.00,0.000,6,0.179,0.043,2334,2106,3857,0,0,0,0,0,0
$GC,3143,-0.80,-136.7,597.4,-13.8,143,3147,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3510,3854,0,0,0,0,0,0
$GC,3199,-0.80,-136.7,605.4,-14.2,144,3203,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2098,3853,0,0,0,0,0,0
$GC,3465,-0.80,-136.7,643.4,-14.2,151,3469,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,700,3851,0,0,0,0,0,0
$GC,3506,-0.80,-136.7,649.1,-15.1,152,3510,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2100,3854,0,0,0,0,0,0
$GC,3790,-0.80,-136.7,690.8,-14.7,159,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2100,3850,0,0,0,0,0,0
$GC,4033,-0.80,-136.7,725.0,-14.0,165,4037,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3510,3843,0,0,0,0,0,0
$GC,4066,-0.80,-136.7,729.9,-15.1,165,4070,0.12,2.12,0.00,0.000,6,0.169,0.032,2336,2101,3844,0,0,0,0,0,0
$GC,4317,-0.80,-136.7,759.5,-11.6,171,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2096,3843,0,0,0,0,0,0
$GC,4559,-0.80,-136.7,786.7,-11.1,177,4563,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,701,3841,0,0,0,0,0,0
$GC,4615,-0.80,-136.7,793.3,-11.9,178,4619,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2111,3840,0,0,0,0,0,0
$GC,4887,-0.80,-136.7,825.3,-11.9,185,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2110,3836,0,0,0,0,0,0
$GC,5132,-0.80,-136.7,853.7,-11.8,191,5136,0.00,2.15,0.00,0.000,4,0.000,0.044,2328,701,3836,0,0,0,0,0,0
$GC,5153,-0.80,-136.7,856.7,-13.1,191,5157,0.00,2.17,0.00,0.000,6,0.000,0.044,2318,2091,3836,0,0,0,0,0,0
$GC,5420,-0.80,-136.7,889.9,-12.6,198,5424,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3510,3834,0,0,0,0,0,0
$GC,5487,-0.80,-136.7,898.7,-13.2,199,5492,0.12,2.12,0.00,0.000,6,0.172,0.031,2337,2100,3833,0,0,0,0,0,0
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5503,-0.28,0.0,900.2,13.2,200,5618,0.55,0.00,111.22,1.081,6,0.144,0.000,2501,1929,3298,0,0,0,0,0,0
$STATE,5621,end apogee,CONTROL_FINISHED_OK
$STATE,5621,begin climb
$GC,5623,0.80,136.7,904.3,0.0,203,5748,1.08,0.00,120.78,1.045,6,0.094,0.000,2854,1928,2744,0,0,0,0,0,0
$GC,5984,0.80,136.7,848.8,19.0,212,5988,0.00,2.33,0.00,0.000,4,0.000,0.052,2854,3365,2735,0,0,0,0,0,0
$GC,6023,0.80,136.7,840.3,21.9,213,6027,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1976,2735,0,0,0,0,0,0
$GC,6306,0.80,136.7,783.5,19.7,220,6310,0.00,2.15,0.00,0.000,4,0.000,0.038,2876,561,2732,0,0,0,0,0,0
$GC,6347,0.80,136.7,775.8,20.2,221,6351,0.00,2.17,0.00,0.000,6,0.000,0.035,2872,1968,2730,0,0,0,0,0,0
$GC,6630,0.80,136.7,719.5,19.6,228,6634,0.00,2.22,0.00,0.000,4,0.000,0.051,2878,3368,2729,0,0,0,0,0,0
$GC,6674,0.80,136.7,710.5,19.7,229,6678,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,1955,2730,0,0,0,0,0,0
$GC,6960,0.80,136.7,656.3,19.0,236,6964,0.00,2.12,0.00,0.000,4,0.000,0.038,2892,560,2728,0,0,0,0,0,0
$GC,6981,0.80,136.7,651.5,19.1,236,6986,0.15,2.12,0.00,0.000,6,0.197,0.034,2857,1966,2726,0,0,0,0,0,0
$GC,7236,0.80,136.7,610.7,15.5,243,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1970,2727,0,0,0,0,0,0
$GC,7481,0.80,136.7,573.1,15.5,249,7485,0.00,2.20,0.00,0.000,4,0.000,0.051,2847,3357,2726,0,0,0,0,0,0
$GC,7525,0.80,136.7,565.6,16.0,250,7529,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1954,2726,0,0,0,0,0,0
$GC,7809,0.80,136.7,520.3,16.2,257,7813,0.00,2.12,0.00,0.000,4,0.000,0.038,2867,563,2726,0,0,0,0,0,0
$GC,7888,0.80,136.7,507.6,16.5,258,7893,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,1954,2722,0,0,0,0,0,0
$GC,8137,0.80,136.7,467.8,15.7,265,8141,0.00,2.25,0.00,0.000,4,0.000,0.050,2866,3375,2724,0,0,0,0,0,0
$GC,8165,0.80,136.7,462.8,16.9,265,8169,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1956,2724,0,0,0,0,0,0
$GC,8422,0.80,136.7,420.9,16.2,272,8426,0.00,2.22,0.00,0.000,4,0.000,0.047,2875,3365,2724,0,0,0,0,0,0
$GC,8432,0.80,136.7,418.9,16.1,272,8436,0.00,2.15,0.00,0.000,6,0.000,0.029,2884,1955,2724,0,0,0,0,0,0
$GC,8710,0.80,136.7,372.2,16.8,279,8714,0.00,2.22,0.00,0.000,4,0.000,0.048,2884,3360,2723,0,0,0,0,0,0
$GC,8753,0.80,136.7,364.4,17.7,280,8758,0.15,2.12,0.00,0.000,6,0.203,0.029,2859,1949,2724,0,0,0,0,0,0
$GC,9032,0.80,136.7,320.9,15.1,287,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1945,2723,0,0,0,0,0,0
$GC,9276,0.80,136.7,284.7,14.1,295,9280,0.00,2.28,0.00,0.000,4,0.000,0.048,2849,3364,2723,0,0,0,0,0,0
$GC,9406,0.80,136.7,266.3,14.9,301,9410,0.00,2.12,0.00,0.000,6,0.000,0.029,2858,1957,2725,0,0,0,0,0,0
$GC,9670,0.80,136.7,232.5,11.1,314,9674,0.00,2.22,0.00,0.000,4,0.000,0.048,2849,3365,2722,0,0,0,0,0,0
$GC,9918,0.80,136.7,205.9,11.7,325,9922,0.00,2.15,0.00,0.000,6,0.000,0.028,2858,1954,2722,0,0,0,0,0,0
$GC,10186,0.80,136.7,181.4,8.7,347,10190,0.00,2.10,0.00,0.000,4,0.000,0.038,2870,559,2720,0,0,0,0,0,0
$GC,10229,0.84,176.3,177.7,6.9,350,10263,0.00,2.15,29.20,0.591,6,0.000,0.032,2869,1969,2584,0,0,0,0,0,0
$GC,10527,0.85,183.4,145.8,8.3,378,10540,0.00,2.15,7.70,0.489,4,0.000,0.035,2878,556,2550,0,0,0,0,0,0
$GC,10646,0.94,252.1,139.8,5.7,388,10708,0.00,2.15,56.80,0.555,6,0.000,0.034,2878,1968,2272,0,0,0,0,0,0
$GC,10966,0.94,252.1,106.4,11.6,417,10970,0.00,2.15,0.00,0.000,4,0.000,0.038,2889,564,2267,0,0,0,0,0,0
$GC,10989,0.94,252.1,103.5,11.5,418,10996,0.00,2.15,0.00,0.000,6,0.000,0.031,2889,1950,2265,0,0,0,0,0,0
$GC,11255,0.94,252.1,66.4,14.5,443,11259,0.00,2.22,0.00,0.000,4,0.000,0.048,2889,3364,2266,0,0,0,0,0,0
$GC,11320,0.94,252.1,56.8,14.6,448,11324,0.00,2.12,0.00,0.000,6,0.000,0.030,2900,1960,2266,0,0,0,0,0,0
$GC,11583,0.94,252.1,18.9,14.6,479,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1960,2265,0,0,0,0,0,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FINISH,0.2,1.008995
$STATE,11723,end surface coast,CONTROL_FINISHED_OK
$STATE,11723,begin surface
$SM_CCo,11753,23.95,0.418,0,0,2075,300.73
$SM_GC,0.97,0.00,0.00,23.95,0.000,0.000,0.418,50,2139,2075,-7.96,1.10,300.73
$IRIDIUM_FIX,1853.26,-15645.99,190213,141453
$TT8_MAMPS,0.310635
$HUMID,1078946442
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257868800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,26445348864
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,48.553
$10V_AH,9.9,44.287
$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,19.875,113.000,325.700,23.950,0.000,28.697,32.616,271.834,24.750,0.000,25.732,1098.219,8444.532,421.742,2002.391,381.966,33.359,1134.911,0.000,1644.046,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,64.428,1080.703,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,344.048,0.000,810.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23626,504
$CAP_FILE_SIZE,109786,0
$CFSIZE,260165632,180277248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,237.5,1
$GPS,280811,033810,1859.840,-15645.929,8,2.3,27,9.6