version: 66.07
glider: 513
mission: 7
dive: 353
start: 8 28 111 14 57 30
data:
$ID,513
$MISSION,7
$DIVE,353
$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,-430173.09
$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,57
$R_STBD_OVSHOOT,42
$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,352
$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
$GPS1,280811,143707,1859.786,-15645.927,27,1.7,27,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.2
$GPS2,280811,145634,1859.630,-15646.217,15,2.7,34,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173,0.165
$KALMAN_X,-168610.1,563.8,738.2,180351.2,-10701.2
$KALMAN_Y,-226401.8,1224.8,644.2,113262.7,-11536.8
$MHEAD_RNG_PITCHd_Wd,50.0,2238,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-57.08,0.000,2,0.000,0.000,36,2124,3743,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.1,-6.7,9,112,9.82,2.22,-1.90,0.000,4,0.241,0.065,2322,3505,3862,0,0,0,0,0,0
$GC,243,-0.80,-136.7,59.8,-28.5,27,247,0.00,2.12,0.00,0.000,6,0.000,0.034,2322,2118,3865,0,0,0,0,0,0
$GC,507,-0.80,-136.7,147.3,-31.4,51,511,0.00,2.15,0.00,0.000,4,0.000,0.039,2323,686,3865,0,0,0,0,0,0
$GC,560,-0.80,-136.7,161.0,-22.0,55,565,0.10,2.17,0.00,0.000,6,0.189,0.043,2339,2090,3866,0,0,0,0,0,0
$GC,818,-0.80,-136.7,216.7,-19.7,75,822,0.00,2.20,0.00,0.000,4,0.000,0.050,2324,3512,3867,0,0,0,0,0,0
$GC,891,-0.80,-136.7,229.5,-17.4,78,895,0.00,2.10,0.00,0.000,6,0.000,0.029,2325,2085,3867,0,0,0,0,0,0
$GC,1145,-0.80,-136.7,277.1,-18.5,90,1149,0.00,2.10,0.00,0.000,4,0.000,0.039,2324,675,3868,0,0,0,0,0,0
$GC,1177,-0.80,-136.7,283.1,-17.1,91,1181,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,2104,3868,0,0,0,0,0,0
$GC,1457,-0.80,-136.7,329.7,-16.4,101,1461,0.00,2.20,0.00,0.000,4,0.000,0.050,2304,3511,3868,0,0,0,0,0,0
$GC,1506,-0.80,-136.7,338.1,-15.4,102,1511,0.12,2.08,0.00,0.000,6,0.163,0.029,2337,2100,3868,0,0,0,0,0,0
$GC,1779,-0.80,-136.7,374.2,-13.2,109,1783,0.00,2.08,0.00,0.000,4,0.000,0.037,2337,696,3868,0,0,0,0,0,0
$GC,1819,-0.80,-136.7,379.7,-13.9,110,1823,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2105,3868,0,0,0,0,0,0
$GC,2103,-0.80,-136.7,421.3,-14.8,117,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2101,3865,0,0,0,0,0,0
$GC,2346,-0.80,-136.7,457.0,-14.8,123,2350,0.00,2.20,0.00,0.000,4,0.000,0.054,2317,3512,3863,0,0,0,0,0,0
$GC,2392,-0.80,-136.7,463.9,-14.9,124,2396,0.00,2.10,0.00,0.000,6,0.000,0.031,2317,2104,3863,0,0,0,0,0,0
$GC,2669,-0.80,-136.7,503.7,-14.4,131,2673,0.00,2.08,0.00,0.000,4,0.000,0.038,2317,700,3860,0,0,0,0,0,0
$GC,2724,-0.80,-136.7,511.5,-14.8,132,2729,0.12,2.12,0.00,0.000,6,0.175,0.042,2341,2095,3859,0,0,0,0,0,0
$GC,2992,-0.80,-136.7,544.8,-12.4,139,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2095,3857,0,0,0,0,0,0
$GC,3234,-0.80,-136.7,576.4,-12.9,145,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2094,3854,0,0,0,0,0,0
$GC,3478,-0.80,-136.7,607.2,-12.5,151,3482,0.00,2.15,0.00,0.000,4,0.000,0.042,2338,696,3851,0,0,0,0,0,0
$GC,3499,-0.80,-136.7,610.2,-12.8,151,3503,0.00,2.17,0.00,0.000,6,0.000,0.044,2330,2102,3851,0,0,0,0,0,0
$GC,3762,-0.80,-136.7,645.1,-13.7,158,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2102,3849,0,0,0,0,0,0
$GC,4004,-0.80,-136.7,676.5,-12.7,164,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2102,3848,0,0,0,0,0,0
$GC,4248,-0.80,-136.7,706.5,-12.2,170,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2099,3843,0,0,0,0,0,0
$GC,4492,-0.80,-136.7,736.1,-12.0,176,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2102,3841,0,0,0,0,0,0
$GC,4737,-0.80,-136.7,763.3,-11.0,182,4741,0.00,2.15,0.00,0.000,4,0.000,0.043,2330,698,3839,0,0,0,0,0,0
$GC,4770,-0.80,-136.7,767.3,-10.7,182,4775,0.00,2.20,0.00,0.000,6,0.000,0.047,2319,2108,3839,0,0,0,0,0,0
$GC,5020,-0.80,-136.7,795.0,-11.0,189,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2107,3837,0,0,0,0,0,0
$GC,5263,-0.80,-136.7,822.3,-11.2,195,5267,0.00,2.22,0.00,0.000,4,0.000,0.057,2308,3505,3835,0,0,0,0,0,0
$GC,5297,-0.80,-136.7,826.4,-12.1,195,5303,0.12,2.17,0.00,0.000,6,0.163,0.035,2339,2100,3834,0,0,0,0,0,0
$GC,5546,-0.80,-136.7,852.5,-10.4,202,5550,0.00,2.15,0.00,0.000,4,0.000,0.045,2341,698,3833,0,0,0,0,0,0
$GC,5602,-0.80,-136.7,858.8,-11.3,203,5606,0.00,2.20,0.00,0.000,6,0.000,0.045,2333,2105,3832,0,0,0,0,0,0
$GC,5876,-0.80,-136.7,889.1,-11.2,210,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2105,3830,0,0,0,0,0,0
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,6001,-0.28,0.0,902.5,11.0,213,6116,0.57,0.00,110.65,1.087,6,0.143,0.000,2503,1944,3300,0,0,0,0,0,0
$STATE,6119,end apogee,CONTROL_FINISHED_OK
$STATE,6119,begin climb
$GC,6121,0.80,136.7,906.0,0.0,216,6246,1.05,0.00,120.57,1.052,6,0.094,0.000,2851,1944,2742,0,0,0,0,0,0
$GC,6482,0.80,136.7,850.1,18.9,225,6486,0.00,2.35,0.00,0.000,4,0.000,0.056,2848,3364,2738,0,0,0,0,0,0
$GC,6509,0.80,136.7,844.1,20.2,225,6514,0.00,2.20,0.00,0.000,6,0.000,0.031,2859,1966,2734,0,0,0,0,0,0
$GC,6765,0.80,136.7,792.5,20.5,232,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1961,2731,0,0,0,0,0,0
$GC,7010,0.80,136.7,743.6,20.2,238,7014,0.00,2.15,0.00,0.000,4,0.000,0.041,2871,563,2730,0,0,0,0,0,0
$GC,7048,0.80,136.7,735.5,20.5,238,7054,0.00,2.15,0.00,0.000,6,0.000,0.039,2868,1962,2728,0,0,0,0,0,0
$GC,7298,0.80,136.7,685.7,20.0,245,7302,0.00,2.28,0.00,0.000,4,0.000,0.055,2867,3370,2728,0,0,0,0,0,0
$GC,7326,0.80,136.7,679.6,21.1,245,7330,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1965,2729,0,0,0,0,0,0
$GC,7582,0.80,136.7,627.4,20.5,252,7586,0.00,2.25,0.00,0.000,4,0.000,0.051,2873,3363,2727,0,0,0,0,0,0
$GC,7614,0.80,136.7,620.2,20.3,252,7621,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1953,2727,0,0,0,0,0,0
$GC,7864,0.80,136.7,568.4,20.9,259,7868,0.00,2.10,0.00,0.000,4,0.000,0.038,2894,561,2726,0,0,0,0,0,0
$GC,7904,0.80,136.7,560.2,21.7,259,7910,0.15,2.15,0.00,0.000,6,0.196,0.035,2859,1962,2722,0,0,0,0,0,0
$GC,8154,0.80,136.7,515.5,17.4,266,8158,0.00,2.25,0.00,0.000,4,0.000,0.052,2848,3372,2724,0,0,0,0,0,0
$GC,8186,0.80,136.7,509.6,17.7,266,8192,0.00,2.15,0.00,0.000,6,0.000,0.030,2857,1962,2725,0,0,0,0,0,0
$GC,8437,0.80,136.7,466.6,17.1,273,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1957,2724,0,0,0,0,0,0
$GC,8681,0.80,136.7,426.6,16.4,279,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1957,2724,0,0,0,0,0,0
$GC,8924,0.80,136.7,390.1,14.5,285,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1957,2723,0,0,0,0,0,0
$GC,9167,0.80,136.7,358.3,12.7,291,9171,0.00,2.25,0.00,0.000,4,0.000,0.051,2857,3362,2721,0,0,0,0,0,0
$GC,9184,0.80,136.7,356.2,12.8,291,9188,0.00,2.12,0.00,0.000,6,0.000,0.029,2867,1960,2723,0,0,0,0,0,0
$GC,9446,0.80,136.7,325.1,12.1,298,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1955,2722,0,0,0,0,0,0
$GC,9689,0.80,136.7,291.1,14.1,305,9693,0.00,2.25,0.00,0.000,4,0.000,0.049,2868,3374,2722,0,0,0,0,0,0
$GC,9745,0.80,136.7,283.0,14.7,307,9751,0.00,2.15,0.00,0.000,6,0.000,0.029,2878,1955,2721,0,0,0,0,0,0
$GC,9999,0.80,136.7,251.9,12.0,320,10003,0.00,2.22,0.00,0.000,4,0.000,0.048,2878,3363,2721,0,0,0,0,0,0
$GC,10026,0.80,136.7,248.8,11.4,321,10031,0.12,2.10,0.00,0.000,6,0.196,0.027,2859,1954,2722,0,0,0,0,0,0
$GC,10285,0.80,136.7,223.4,9.9,334,10289,0.00,2.25,0.00,0.000,4,0.000,0.048,2858,3363,2722,0,0,0,0,0,0
$GC,10353,0.80,136.7,215.9,11.1,337,10357,0.00,2.10,0.00,0.000,6,0.000,0.027,2868,1947,2722,0,0,0,0,0,0
$GC,10617,0.80,136.7,187.9,9.0,355,10621,0.00,2.22,0.00,0.000,4,0.000,0.047,2867,3362,2722,0,0,0,0,0,0
$GC,10647,0.80,136.7,185.4,9.0,357,10651,0.00,2.10,0.00,0.000,6,0.000,0.028,2876,1958,2722,0,0,0,0,0,0
$GC,10915,0.80,136.7,161.9,10.0,381,10919,0.00,2.20,0.00,0.000,4,0.000,0.047,2875,3362,2722,0,0,0,0,0,0
$GC,10968,0.81,152.4,156.9,7.9,385,10984,0.00,2.08,11.05,0.515,6,0.000,0.028,2884,1963,2678,0,0,0,0,0,0
$GC,11244,0.89,217.2,139.1,5.8,410,11303,0.00,2.22,53.97,0.544,4,0.000,0.045,2884,3364,2413,0,0,0,0,0,0
$GC,11548,0.89,217.2,101.2,10.9,437,11556,0.00,2.17,0.00,0.000,6,0.000,0.032,2895,1961,2411,0,0,0,0,0,0
$GC,11815,0.89,217.2,75.3,10.4,462,11819,0.00,2.20,0.00,0.000,4,0.000,0.046,2895,3362,2410,0,0,0,0,0,0
$GC,11856,0.89,217.2,70.3,11.9,465,11860,0.00,2.12,0.00,0.000,6,0.000,0.028,2905,1958,2410,0,0,0,0,0,0
$GC,12123,0.89,217.2,38.8,12.0,489,12127,0.00,2.22,0.00,0.000,4,0.000,0.044,2905,3372,2410,0,0,0,0,0,0
$GC,12213,0.89,217.2,27.1,13.1,498,12221,0.08,2.15,0.00,0.000,6,0.174,0.028,2894,1964,2411,0,0,0,0,0,0
$STATE,12432,end climb,SURFACE_DEPTH_REACHED
$STATE,12432,begin surface coast
$FINISH,0.3,1.022722
$STATE,12461,end surface coast,CONTROL_FINISHED_OK
$STATE,12461,begin surface
$SM_CCo,12482,38.00,0.418,0,0,2074,300.24
$SM_GC,1.93,0.00,0.00,38.00,0.000,0.000,0.418,50,2119,2074,-7.96,0.54,300.24
$IRIDIUM_FIX,1853.26,-15645.99,200213,090919
$TT8_MAMPS,0.24544
$HUMID,1078869023
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.90
$XPDR_PINGS,93
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257737728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,25820463104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,49.040
$10V_AH,9.9,44.634
$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,19.750,117.575,296.250,38.000,0.000,78.745,111.451,595.317,23.250,0.000,36.892,1150.459,9212.662,428.791,2413.903,490.158,33.358,1126.252,0.000,1670.193,0.000,0.542,0.000
$DEVICE_MAMPS,240.838,68.263,1086.839,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,370.668,0.000,886.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26875,543
$CAP_FILE_SIZE,121627,0
$CFSIZE,260165632,179982336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,246.4,1
$GPS,280811,182736,1859.954,-15646.080,26,1.6,26,9.6