version: 66.07
glider: 513
mission: 7
dive: 355
start: 8 28 111 22 34 17
data:
$ID,513
$MISSION,7
$DIVE,355
$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,-430205.16
$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,46
$R_STBD_OVSHOOT,59
$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,354
$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
$GPS1,280811,220801,1859.555,-15645.845,42,1.2,42,9.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.5
$GPS2,280811,223320,1859.259,-15646.377,11,1.1,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.013,0.239
$KALMAN_X,-175255.7,1246.4,689.9,186080.8,-11522.2
$KALMAN_Y,-232099.3,1141.5,533.0,118470.3,-11544.5
$MHEAD_RNG_PITCHd_Wd,47.4,2775,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.17,0.000,2,0.000,0.000,35,2126,3760,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.3,-7.3,9,113,9.85,2.22,-1.58,0.000,4,0.242,0.071,2317,3483,3861,0,0,0,0,0,0
$GC,178,-0.80,-136.7,44.3,-31.0,20,186,0.00,2.15,0.00,0.000,6,0.000,0.036,2316,2114,3864,0,0,0,0,0,0
$GC,443,-0.80,-136.7,136.6,-34.2,45,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2107,3864,0,0,0,0,0,0
$GC,705,-0.80,-136.7,204.7,-22.8,69,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2107,3866,0,0,0,0,0,0
$GC,951,-0.80,-136.7,257.2,-20.3,81,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2107,3868,0,0,0,0,0,0
$GC,1199,-0.80,-136.7,301.7,-17.8,93,1203,0.00,2.17,0.00,0.000,4,0.000,0.041,2317,680,3868,0,0,0,0,0,0
$GC,1245,-0.80,-136.7,310.0,-17.1,94,1250,0.12,2.15,0.00,0.000,6,0.173,0.048,2337,2082,3868,0,0,0,0,0,0
$GC,1535,-0.80,-136.7,353.9,-13.9,101,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2082,3868,0,0,0,0,0,0
$GC,1778,-0.80,-136.7,387.9,-14.2,107,1782,0.00,2.22,0.00,0.000,4,0.000,0.050,2328,3514,3868,0,0,0,0,0,0
$GC,1823,-0.80,-136.7,394.6,-14.4,108,1827,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2081,3867,0,0,0,0,0,0
$GC,2100,-0.80,-136.7,437.1,-15.8,115,2104,0.00,2.10,0.00,0.000,4,0.000,0.044,2328,701,3865,0,0,0,0,0,0
$GC,2116,-0.80,-136.7,439.8,-16.3,115,2120,0.00,2.17,0.00,0.000,6,0.000,0.045,2318,2106,3867,0,0,0,0,0,0
$GC,2385,-0.80,-136.7,483.1,-16.1,122,2389,0.00,2.15,0.00,0.000,4,0.000,0.041,2318,692,3865,0,0,0,0,0,0
$GC,2423,-0.80,-136.7,489.9,-16.7,122,2429,0.12,2.17,0.00,0.000,6,0.170,0.044,2339,2107,3861,0,0,0,0,0,0
$GC,2674,-0.80,-136.7,523.4,-13.1,129,2678,0.00,2.20,0.00,0.000,4,0.000,0.051,2329,3511,3858,0,0,0,0,0,0
$GC,2697,-0.80,-136.7,526.6,-13.2,129,2701,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,2097,3858,0,0,0,0,0,0
$GC,2952,-0.80,-136.7,557.9,-12.0,136,2956,0.00,2.10,0.00,0.000,4,0.000,0.040,2330,698,3856,0,0,0,0,0,0
$GC,2984,-0.80,-136.7,562.2,-12.7,136,2991,0.00,2.17,0.00,0.000,6,0.000,0.041,2320,2107,3855,0,0,0,0,0,0
$GC,3234,-0.80,-136.7,591.6,-11.5,143,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2107,3853,0,0,0,0,0,0
$GC,3480,-0.80,-136.7,621.2,-12.5,149,3484,0.00,2.22,0.00,0.000,4,0.000,0.053,2308,3513,3850,0,0,0,0,0,0
$GC,3524,-0.80,-136.7,627.5,-13.2,150,3529,0.12,2.10,0.00,0.000,6,0.161,0.032,2340,2101,3849,0,0,0,0,0,0
$GC,3802,-0.80,-136.7,660.7,-12.2,157,3806,0.00,2.12,0.00,0.000,4,0.000,0.044,2340,701,3846,0,0,0,0,0,0
$GC,3888,-0.80,-136.7,671.3,-12.3,159,3891,0.00,2.17,0.00,0.000,6,0.000,0.043,2332,2106,3845,0,0,0,0,0,0
$GC,4171,-0.80,-136.7,706.9,-12.3,166,4175,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3512,3843,0,0,0,0,0,0
$GC,4203,-0.80,-136.7,711.1,-13.2,166,4209,0.00,2.12,0.00,0.000,6,0.000,0.031,2321,2099,3842,0,0,0,0,0,0
$GC,4455,-0.80,-136.7,742.2,-12.5,173,4459,0.00,2.12,0.00,0.000,4,0.000,0.044,2321,700,3840,0,0,0,0,0,0
$GC,4516,-0.80,-136.7,750.3,-12.7,174,4520,0.00,2.20,0.00,0.000,6,0.000,0.043,2312,2125,3839,0,0,0,0,0,0
$GC,4782,-0.80,-136.7,783.6,-12.5,181,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2125,3837,0,0,0,0,0,0
$GC,5027,-0.80,-136.7,813.9,-12.3,187,5029,0.10,0.00,0.00,0.000,6,0.189,0.000,2335,2125,3835,0,0,0,0,0,0
$GC,5270,-0.80,-136.7,840.1,-10.7,193,5274,0.00,2.20,0.00,0.000,4,0.000,0.045,2335,704,3832,0,0,0,0,0,0
$GC,5325,-0.80,-136.7,846.5,-10.9,194,5329,0.00,2.20,0.00,0.000,6,0.000,0.047,2327,2106,3832,0,0,0,0,0,0
$GC,5598,-0.80,-136.7,875.2,-10.6,201,5602,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,3508,3830,0,0,0,0,0,0
$GC,5631,-0.80,-136.7,879.2,-11.5,201,5637,0.00,2.12,0.00,0.000,6,0.000,0.031,2315,2097,3830,0,0,0,0,0,0
$STATE,5838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5838,begin apogee
$GC,5845,-0.28,0.0,902.8,11.4,207,5961,0.62,0.00,110.65,1.083,6,0.150,0.000,2498,1923,3300,0,0,0,0,0,0
$STATE,5963,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5967,0.80,136.7,905.9,0.0,210,6093,1.05,0.00,119.50,1.048,6,0.095,0.000,2848,1923,2743,0,0,0,0,0,0
$GC,6332,0.80,136.7,844.3,20.6,219,6337,0.00,2.33,0.00,0.000,4,0.000,0.052,2848,3365,2734,0,0,0,0,0,0
$GC,6384,0.80,136.7,833.6,21.4,220,6388,0.00,2.15,0.00,0.000,6,0.000,0.033,2858,1991,2736,0,0,0,0,0,0
$GC,6656,0.80,136.7,778.4,20.2,227,6660,0.00,2.22,0.00,0.000,4,0.000,0.041,2871,559,2730,0,0,0,0,0,0
$GC,6706,0.80,136.7,767.7,21.1,228,6710,0.00,2.17,0.00,0.000,6,0.000,0.037,2872,1963,2729,0,0,0,0,0,0
$GC,6985,0.80,136.7,709.4,20.9,235,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1964,2729,0,0,0,0,0,0
$GC,7228,0.80,136.7,660.1,20.1,241,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1963,2725,0,0,0,0,0,0
$GC,7471,0.80,136.7,613.2,19.2,247,7475,0.00,2.22,0.00,0.000,4,0.000,0.054,2870,3365,2730,0,0,0,0,0,0
$GC,7515,0.80,136.7,604.4,19.9,248,7519,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,1955,2727,0,0,0,0,0,0
$GC,7800,0.80,136.7,549.0,19.7,255,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1949,2726,0,0,0,0,0,0
$GC,8042,0.80,136.7,503.4,18.9,261,8046,0.00,2.12,0.00,0.000,4,0.000,0.040,2894,556,2726,0,0,0,0,0,0
$GC,8064,0.80,136.7,499.0,19.3,261,8069,0.15,2.15,0.00,0.000,6,0.193,0.035,2857,1963,2723,0,0,0,0,0,0
$GC,8320,0.80,136.7,456.0,16.5,268,8324,0.00,2.22,0.00,0.000,4,0.000,0.050,2846,3372,2723,0,0,0,0,0,0
$GC,8348,0.80,136.7,450.8,17.5,268,8352,0.00,2.15,0.00,0.000,6,0.000,0.031,2855,1954,2724,0,0,0,0,0,0
$GC,8609,0.80,136.7,412.3,14.3,275,8613,0.00,2.22,0.00,0.000,4,0.000,0.049,2855,3363,2723,0,0,0,0,0,0
$GC,8626,0.80,136.7,409.9,13.5,275,8630,0.00,2.10,0.00,0.000,6,0.000,0.029,2865,1964,2723,0,0,0,0,0,0
$GC,8892,0.80,136.7,372.2,13.9,282,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1959,2723,0,0,0,0,0,0
$GC,9136,0.80,136.7,337.3,14.5,288,9140,0.00,2.22,0.00,0.000,4,0.000,0.049,2865,3363,2722,0,0,0,0,0,0
$GC,9191,0.80,136.7,328.6,16.1,289,9195,0.00,2.12,0.00,0.000,6,0.000,0.029,2876,1954,2723,0,0,0,0,0,0
$GC,9444,0.80,136.7,293.4,13.0,296,9448,0.00,2.25,0.00,0.000,4,0.000,0.048,2876,3369,2719,0,0,0,0,0,0
$GC,9484,0.80,136.7,287.3,14.8,298,9489,0.12,2.15,0.00,0.000,6,0.203,0.030,2858,1952,2722,0,0,0,0,0,0
$GC,9748,0.80,136.7,254.1,12.3,311,9752,0.00,2.10,0.00,0.000,4,0.000,0.038,2867,563,2720,0,0,0,0,0,0
$GC,10006,0.82,159.8,228.1,7.6,322,10031,0.00,2.12,16.67,0.617,6,0.000,0.038,2868,1962,2648,0,0,0,0,0,0
$GC,10280,0.82,159.8,199.7,11.7,336,10284,0.00,2.12,0.00,0.000,4,0.000,0.039,2877,561,2647,0,0,0,0,0,0
$GC,10295,0.82,159.8,197.9,10.4,337,10303,0.00,2.15,0.00,0.000,6,0.000,0.033,2877,1956,2645,0,0,0,0,0,0
$GC,10562,0.82,159.8,168.7,9.7,362,10566,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,558,2645,0,0,0,0,0,0
$GC,10692,0.82,159.8,155.0,10.7,373,10700,0.00,2.17,0.00,0.000,6,0.000,0.033,2887,1972,2644,0,0,0,0,0,0
$GC,10960,0.89,209.5,135.7,6.5,398,11008,0.00,2.25,41.30,0.545,4,0.000,0.048,2888,3364,2447,0,0,0,0,0,0
$GC,11256,0.89,209.5,109.4,10.2,424,11265,0.00,2.17,0.00,0.000,6,0.000,0.029,2898,1959,2446,0,0,0,0,0,0
$GC,11521,0.89,209.5,81.5,10.9,449,11525,0.00,2.22,0.00,0.000,4,0.000,0.046,2898,3364,2445,0,0,0,0,0,0
$GC,11771,0.89,209.5,51.7,12.1,471,11779,0.00,2.15,0.00,0.000,6,0.000,0.028,2909,1957,2445,0,0,0,0,0,0
$GC,12036,0.89,209.5,23.0,11.0,501,12044,0.00,2.22,0.00,0.000,4,0.000,0.044,2909,3361,2446,0,0,0,0,0,0
$GC,12178,0.89,209.5,9.0,11.3,526,12186,0.10,2.12,0.00,0.000,6,0.169,0.026,2890,1971,2447,0,0,0,0,0,0
$STATE,12231,end climb,SURFACE_DEPTH_REACHED
$STATE,12231,begin surface coast
$FINISH,0.4,1.002152
$STATE,12261,end surface coast,CONTROL_FINISHED_OK
$STATE,12261,begin surface
$SM_CCo,12295,44.40,0.419,0,0,2076,300.24
$SM_GC,1.79,0.00,0.00,44.40,0.000,0.000,0.419,59,2127,2076,-7.94,0.76,300.24
$IRIDIUM_FIX,1853.26,-15645.99,200213,161630
$TT8_MAMPS,0.269217
$HUMID,1078865152
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.70
$XPDR_PINGS,95
$AR_DIVENUM,355
$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
$24V_AH,23.7,49.302
$10V_AH,9.9,44.814
$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,19.825,117.600,288.125,44.400,0.000,121.180,153.794,812.437,23.750,0.000,13.893,1164.580,8940.596,408.535,2861.166,502.518,33.356,1190.290,0.000,1813.727,0.000,0.543,0.000
$DEVICE_MAMPS,241.605,72.865,1083.004,418.782,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.214,0.000,896.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,27019,540
$CAP_FILE_SIZE,129150,0
$CFSIZE,260165632,179830784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,232.9,1
$GPS,290811,020207,1859.409,-15646.070,61,1.3,61,9.6