version: 66.07
glider: 513
mission: 7
dive: 356
start: 8 29 111 2 21 49
data:
$ID,513
$MISSION,7
$DIVE,356
$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,-430222.59
$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,39
$R_STBD_OVSHOOT,62
$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,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
$GPS1,290811,020207,1859.409,-15646.070,61,1.3,61,9.6
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.9
$GPS2,290811,022049,1859.293,-15646.393,9,1.3,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.167,0.172
$KALMAN_X,-175398.5,1704.9,1237.7,185166.5,-10562.0
$KALMAN_Y,-236099.7,888.1,533.6,122790.7,-12088.4
$MHEAD_RNG_PITCHd_Wd,45.9,2767,-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,-136.7,0.0,0.0,0,80,0.00,0.00,-50.92,0.000,2,0.000,0.000,36,2129,3534,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.3,-5.1,8,106,9.90,2.15,-5.75,0.000,4,0.243,0.062,2321,3484,3861,0,0,0,0,0,0
$GC,248,-0.80,-136.7,61.6,-29.1,28,255,0.00,2.15,0.00,0.000,6,0.000,0.033,2321,2100,3866,0,0,0,0,0,0
$GC,513,-0.80,-136.7,150.6,-31.2,53,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2094,3865,0,0,0,0,0,0
$GC,773,-0.80,-136.7,213.7,-21.9,75,777,0.00,2.10,0.00,0.000,4,0.000,0.041,2321,696,3866,0,0,0,0,0,0
$GC,812,-0.80,-136.7,222.2,-21.7,77,816,0.00,2.12,0.00,0.000,6,0.000,0.044,2311,2075,3867,0,0,0,0,0,0
$GC,1077,-0.80,-136.7,275.6,-19.6,90,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2075,3869,0,0,0,0,0,0
$GC,1345,-0.80,-136.7,326.2,-18.6,100,1349,0.00,2.25,0.00,0.000,4,0.000,0.048,2300,3523,3869,0,0,0,0,0,0
$GC,1368,-0.80,-136.7,330.2,-16.7,100,1372,0.15,2.12,0.00,0.000,6,0.167,0.031,2340,2094,3869,0,0,0,0,0,0
$GC,1622,-0.80,-136.7,371.9,-16.0,107,1626,0.00,2.20,0.00,0.000,4,0.000,0.048,2331,3514,3869,0,0,0,0,0,0
$GC,1685,-0.80,-136.7,381.6,-14.9,108,1689,0.00,2.10,0.00,0.000,6,0.000,0.030,2331,2098,3869,0,0,0,0,0,0
$GC,1951,-0.80,-136.7,421.9,-14.9,115,1955,0.00,2.12,0.00,0.000,4,0.000,0.041,2331,691,3867,0,0,0,0,0,0
$GC,1979,-0.80,-136.7,426.5,-16.5,115,1983,0.00,2.17,0.00,0.000,6,0.000,0.044,2320,2106,3867,0,0,0,0,0,0
$GC,2236,-0.80,-136.7,465.8,-15.2,122,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3865,0,0,0,0,0,0
$GC,2478,-0.80,-136.7,502.8,-15.1,128,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3862,0,0,0,0,0,0
$GC,2722,-0.80,-136.7,538.6,-14.5,134,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2106,3860,0,0,0,0,0,0
$GC,2966,-0.80,-136.7,573.0,-14.0,140,2970,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,701,3857,0,0,0,0,0,0
$GC,3016,-0.80,-136.7,580.2,-13.0,141,3021,0.00,2.15,0.00,0.000,6,0.000,0.043,2314,2095,3856,0,0,0,0,0,0
$GC,3289,-0.80,-136.7,619.2,-14.4,148,3294,0.10,2.25,0.00,0.000,4,0.186,0.053,2326,3518,3853,0,0,0,0,0,0
$GC,3339,-0.80,-136.7,626.2,-12.8,149,3342,0.00,2.15,0.00,0.000,6,0.000,0.034,2326,2111,3852,0,0,0,0,0,0
$GC,3618,-0.80,-136.7,663.3,-13.3,156,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3849,0,0,0,0,0,0
$GC,3860,-0.80,-136.7,693.9,-12.4,162,3864,0.00,2.15,0.00,0.000,4,0.000,0.044,2326,688,3846,0,0,0,0,0,0
$GC,3916,-0.80,-136.7,701.3,-13.1,163,3920,0.00,2.20,0.00,0.000,6,0.000,0.045,2315,2107,3846,0,0,0,0,0,0
$GC,4183,-0.80,-136.7,735.3,-12.8,170,4187,0.00,2.15,0.00,0.000,4,0.000,0.041,2315,688,3843,0,0,0,0,0,0
$GC,4210,-0.80,-136.7,739.2,-13.7,170,4214,0.00,2.22,0.00,0.000,6,0.000,0.045,2307,2104,3843,0,0,0,0,0,0
$GC,4465,-0.80,-136.7,773.2,-13.4,177,4470,0.12,2.20,0.00,0.000,4,0.180,0.046,2337,684,3841,0,0,0,0,0,0
$GC,4492,-0.80,-136.7,776.6,-12.7,177,4496,0.00,2.20,0.00,0.000,6,0.000,0.048,2329,2088,3841,0,0,0,0,0,0
$GC,4743,-0.80,-136.7,806.2,-11.8,183,4747,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3514,3839,0,0,0,0,0,0
$GC,4786,-0.80,-136.7,811.8,-11.6,184,4790,0.00,2.15,0.00,0.000,6,0.000,0.033,2318,2094,3838,0,0,0,0,0,0
$GC,5070,-0.80,-136.7,848.3,-12.9,191,5074,0.00,2.15,0.00,0.000,4,0.000,0.046,2318,686,3836,0,0,0,0,0,0
$GC,5121,-0.80,-136.7,854.8,-12.7,192,5126,0.12,2.22,0.00,0.000,6,0.183,0.046,2336,2105,3836,0,0,0,0,0,0
$GC,5393,-0.80,-136.7,885.2,-10.9,199,5397,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3519,3833,0,0,0,0,0,0
$GC,5433,-0.80,-136.7,889.6,-11.1,200,5438,0.00,2.15,0.00,0.000,6,0.000,0.033,2328,2097,3832,0,0,0,0,0,0
$STATE,5552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5552,begin apogee
$GC,5560,-0.28,0.0,902.9,10.9,203,5675,0.57,0.00,110.90,1.086,6,0.143,0.000,2498,1920,3301,0,0,0,0,0,0
$STATE,5677,end apogee,CONTROL_FINISHED_OK
$STATE,5677,begin climb
$GC,5680,0.80,136.7,906.2,0.0,206,5804,1.08,0.00,120.35,1.048,6,0.095,0.000,2851,1919,2744,0,0,0,0,0,0
$GC,6040,0.80,136.7,847.5,19.8,215,6044,0.00,2.35,0.00,0.000,4,0.000,0.059,2851,3364,2735,0,0,0,0,0,0
$GC,6095,0.80,136.7,835.4,20.9,216,6099,0.00,2.12,0.00,0.000,6,0.000,0.030,2861,1988,2735,0,0,0,0,0,0
$GC,6367,0.80,136.7,778.1,21.3,223,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2730,0,0,0,0,0,0
$GC,6612,0.80,136.7,729.0,20.0,229,6616,0.00,2.17,0.00,0.000,4,0.000,0.041,2873,561,2731,0,0,0,0,0,0
$GC,6680,0.80,136.7,715.2,19.8,230,6684,0.00,2.15,0.00,0.000,6,0.000,0.038,2869,1962,2728,0,0,0,0,0,0
$GC,6935,0.80,136.7,666.6,19.0,237,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1962,2726,0,0,0,0,0,0
$GC,7179,0.80,136.7,622.3,18.0,243,7183,0.00,2.22,0.00,0.000,4,0.000,0.053,2869,3365,2730,0,0,0,0,0,0
$GC,7196,0.80,136.7,619.3,17.5,243,7200,0.00,2.15,0.00,0.000,6,0.000,0.030,2878,1957,2727,0,0,0,0,0,0
$GC,7456,0.80,136.7,570.5,18.8,250,7460,0.00,2.25,0.00,0.000,4,0.000,0.052,2879,3372,2727,0,0,0,0,0,0
$GC,7472,0.80,136.7,567.3,18.6,250,7477,0.00,2.20,0.00,0.000,6,0.000,0.031,2884,1952,2727,0,0,0,0,0,0
$GC,7739,0.80,136.7,517.4,18.8,257,7744,0.12,2.12,0.00,0.000,4,0.202,0.039,2864,556,2726,0,0,0,0,0,0
$GC,7794,0.80,136.7,507.4,17.3,258,7798,0.00,2.17,0.00,0.000,6,0.000,0.035,2856,1959,2724,0,0,0,0,0,0
$GC,8067,0.80,136.7,464.3,15.7,265,8071,0.00,2.22,0.00,0.000,4,0.000,0.052,2845,3366,2724,0,0,0,0,0,0
$GC,8112,0.80,136.7,456.7,17.0,266,8116,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1951,2724,0,0,0,0,0,0
$GC,8389,0.80,136.7,415.3,14.7,273,8393,0.00,2.12,0.00,0.000,4,0.000,0.040,2865,561,2723,0,0,0,0,0,0
$GC,8422,0.80,136.7,410.1,16.5,273,8428,0.00,2.12,0.00,0.000,6,0.000,0.035,2856,1963,2722,0,0,0,0,0,0
$GC,8674,0.80,136.7,374.0,14.2,280,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1964,2721,0,0,0,0,0,0
$GC,8916,0.80,136.7,337.8,14.5,286,8920,0.00,2.25,0.00,0.000,4,0.000,0.051,2846,3371,2723,0,0,0,0,0,0
$GC,9095,0.80,136.7,312.8,12.4,290,9099,0.00,2.12,0.00,0.000,6,0.000,0.030,2854,1952,2722,0,0,0,0,0,0
$GC,9363,0.80,136.7,282.3,10.6,300,9367,0.00,2.25,0.00,0.000,4,0.000,0.051,2845,3374,2723,0,0,0,0,0,0
$GC,9611,0.80,136.7,253.4,10.6,311,9615,0.00,2.12,0.00,0.000,6,0.000,0.031,2855,1955,2721,0,0,0,0,0,0
$GC,9872,0.80,136.7,226.1,10.8,324,9875,0.00,2.12,0.00,0.000,4,0.000,0.040,2866,559,2721,0,0,0,0,0,0
$GC,10073,0.80,136.7,205.3,8.8,333,10077,0.00,2.10,0.00,0.000,6,0.000,0.034,2866,1964,2719,0,0,0,0,0,0
$GC,10340,0.81,150.1,184.0,8.0,354,10356,0.00,2.20,9.02,0.525,4,0.000,0.037,2876,554,2686,0,0,0,0,0,0
$GC,10365,0.81,150.1,181.2,9.3,356,10369,0.00,2.12,0.00,0.000,6,0.000,0.035,2876,1962,2685,0,0,0,0,0,0
$GC,10632,0.88,208.2,152.0,6.1,380,10689,0.00,2.22,48.42,0.561,4,0.000,0.040,2887,559,2451,0,0,0,0,0,0
$GC,10714,0.90,224.4,146.9,7.9,387,10739,0.00,2.15,15.12,0.519,6,0.000,0.035,2887,1961,2383,0,0,0,0,0,0
$GC,10995,0.90,224.4,118.5,10.4,413,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1962,2379,0,0,0,0,0,0
$GC,11250,0.90,224.4,88.8,12.4,437,11254,0.00,2.20,0.00,0.000,4,0.000,0.049,2887,3361,2377,0,0,0,0,0,0
$GC,11348,0.90,224.4,76.5,12.5,445,11352,0.00,2.12,0.00,0.000,6,0.000,0.031,2898,1959,2379,0,0,0,0,0,0
$GC,11618,0.90,224.4,45.1,12.1,470,11622,0.00,2.22,0.00,0.000,4,0.000,0.048,2902,3364,2378,0,0,0,0,0,0
$GC,11640,0.90,224.4,41.7,13.1,471,11649,0.00,2.15,0.00,0.000,6,0.000,0.030,2909,1968,2380,0,0,0,0,0,0
$GC,11909,0.90,224.4,7.8,13.8,512,11916,0.00,2.22,0.00,0.000,4,0.000,0.046,2909,3360,2382,0,0,0,0,0,0
$GC,11936,0.90,224.4,3.8,14.8,516,11944,0.00,2.15,0.00,0.000,6,0.000,0.030,2920,1954,2382,0,0,0,0,0,0
$STATE,11950,end climb,SURFACE_DEPTH_REACHED
$STATE,11950,begin surface coast
$FINISH,0.3,1.022403
$STATE,11973,end surface coast,CONTROL_FINISHED_OK
$STATE,11973,begin surface
$SM_CCo,11993,36.75,0.420,0,0,2075,300.24
$SM_GC,1.58,0.00,0.00,36.75,0.000,0.000,0.420,56,2127,2075,-7.96,0.79,300.24
$IRIDIUM_FIX,1853.26,-15645.99,200213,202007
$TT8_MAMPS,0.296062
$HUMID,1078880635
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257639424
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,25360105472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,49.432
$10V_AH,9.9,44.903
$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,19.700,122.150,303.825,36.750,0.000,85.816,110.686,555.067,23.000,0.000,16.822,1145.920,8647.092,431.975,2474.247,462.591,33.355,1178.539,0.000,1746.414,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,65.962,1086.072,420.316,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,356.311,0.000,846.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,26949,522
$CAP_FILE_SIZE,122691,0
$CFSIZE,260165632,179761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,243.2,1
$GPS,290811,054421,1859.637,-15646.157,41,2.7,61,9.6