version: 66.07
glider: 513
mission: 7
dive: 357
start: 8 29 111 6 6 39
data:
$ID,513
$MISSION,7
$DIVE,357
$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,-430257.41
$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,44
$R_STBD_OVSHOOT,47
$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,356
$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
$GPS1,290811,054421,1859.637,-15646.157,41,2.7,61,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.8
$GPS2,290811,060543,1859.529,-15646.491,15,1.6,32,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.161,0.177
$KALMAN_X,-177253.1,1545.9,325.0,187942.0,-9743.0
$KALMAN_Y,-238976.2,971.8,1080.2,125461.6,-12657.5
$MHEAD_RNG_PITCHd_Wd,55.3,2753,-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,-136.7,0.0,0.0,0,86,0.00,0.00,-56.22,0.000,2,0.000,0.000,34,2128,3687,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.5,-4.6,8,111,9.93,2.20,-2.85,0.000,4,0.243,0.061,2322,3506,3859,0,0,0,0,0,0
$GC,163,-0.80,-136.7,36.2,-34.1,19,167,0.00,2.17,0.00,0.000,6,0.000,0.039,2323,2095,3861,0,0,0,0,0,0
$GC,427,-0.80,-136.7,123.7,-33.0,43,431,0.00,2.10,0.00,0.000,4,0.000,0.042,2318,697,3865,0,0,0,0,0,0
$GC,457,-0.80,-136.7,131.5,-23.5,45,461,0.00,2.15,0.00,0.000,6,0.000,0.047,2313,2088,3863,0,0,0,0,0,0
$GC,721,-0.80,-136.7,192.1,-22.5,69,725,0.00,2.25,0.00,0.000,4,0.000,0.054,2301,3518,3865,0,0,0,0,0,0
$GC,753,-0.80,-136.7,199.7,-21.3,71,762,0.10,2.17,0.00,0.000,6,0.150,0.034,2332,2095,3862,0,0,0,0,0,0
$GC,1007,-0.80,-136.7,249.7,-18.3,84,1011,0.00,2.08,0.00,0.000,4,0.000,0.038,2332,693,3865,0,0,0,0,0,0
$GC,1081,-0.80,-136.7,263.2,-17.6,87,1085,0.00,2.17,0.00,0.000,6,0.000,0.044,2325,2108,3865,0,0,0,0,0,0
$GC,1339,-0.80,-136.7,307.8,-17.8,99,1343,0.00,2.17,0.00,0.000,4,0.000,0.050,2312,3511,3864,0,0,0,0,0,0
$GC,1417,-0.80,-136.7,320.9,-15.8,100,1422,0.00,2.12,0.00,0.000,6,0.000,0.031,2312,2096,3866,0,0,0,0,0,0
$GC,1668,-0.80,-136.7,364.1,-17.1,107,1672,0.00,2.08,0.00,0.000,4,0.000,0.039,2312,700,3866,0,0,0,0,0,0
$GC,1695,-0.80,-136.7,369.4,-18.4,107,1699,0.12,2.15,0.00,0.000,6,0.171,0.044,2334,2096,3865,0,0,0,0,0,0
$GC,1945,-0.80,-136.7,410.4,-16.3,113,1949,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3511,3865,0,0,0,0,0,0
$GC,2086,-0.80,-136.7,433.0,-14.6,116,2090,0.00,2.12,0.00,0.000,6,0.000,0.030,2324,2097,3864,0,0,0,0,0,0
$GC,2363,-0.80,-136.7,475.1,-15.0,123,2367,0.00,2.10,0.00,0.000,4,0.000,0.040,2325,697,3862,0,0,0,0,0,0
$GC,2408,-0.80,-136.7,481.4,-13.5,124,2412,0.00,2.17,0.00,0.000,6,0.000,0.045,2314,2105,3861,0,0,0,0,0,0
$GC,2693,-0.80,-136.7,521.7,-14.2,131,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2105,3859,0,0,0,0,0,0
$GC,2935,-0.80,-136.7,554.7,-13.3,137,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2105,3856,0,0,0,0,0,0
$GC,3179,-0.80,-136.7,588.1,-13.8,143,3183,0.00,2.12,0.00,0.000,4,0.000,0.043,2314,704,3854,0,0,0,0,0,0
$GC,3247,-0.80,-136.7,597.9,-14.2,144,3251,0.12,2.15,0.00,0.000,6,0.170,0.046,2335,2095,3856,0,0,0,0,0,0
$GC,3507,-0.80,-136.7,632.3,-12.9,151,3511,0.00,2.25,0.00,0.000,4,0.000,0.058,2326,3515,3850,0,0,0,0,0,0
$GC,3547,-0.80,-136.7,637.6,-13.7,152,3552,0.00,2.15,0.00,0.000,6,0.000,0.034,2326,2106,3850,0,0,0,0,0,0
$GC,3832,-0.80,-136.7,677.5,-13.9,159,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2100,3845,0,0,0,0,0,0
$GC,4075,-0.80,-136.7,709.9,-13.0,165,4078,0.00,2.17,0.00,0.000,4,0.000,0.046,2326,695,3844,0,0,0,0,0,0
$GC,4114,-0.80,-136.7,715.0,-12.9,166,4118,0.00,2.20,0.00,0.000,6,0.000,0.044,2316,2104,3844,0,0,0,0,0,0
$GC,4399,-0.80,-136.7,751.7,-12.7,173,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2107,3841,0,0,0,0,0,0
$GC,4641,-0.80,-136.7,781.3,-12.1,179,4645,0.00,2.15,0.00,0.000,4,0.000,0.044,2316,700,3839,0,0,0,0,0,0
$GC,4657,-0.80,-136.7,783.5,-12.2,179,4662,0.12,2.17,0.00,0.000,6,0.176,0.045,2336,2110,3839,0,0,0,0,0,0
$GC,4918,-0.80,-136.7,811.0,-10.6,186,4922,0.00,2.22,0.00,0.000,4,0.000,0.055,2331,3510,3836,0,0,0,0,0,0
$GC,4970,-0.80,-136.7,816.5,-11.1,187,4974,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,2096,3835,0,0,0,0,0,0
$GC,5248,-0.80,-136.7,847.4,-11.0,194,5252,0.00,2.12,0.00,0.000,4,0.000,0.045,2328,702,3833,0,0,0,0,0,0
$GC,5309,-0.80,-136.7,854.7,-11.0,195,5312,0.00,2.20,0.00,0.000,6,0.000,0.048,2317,2096,3832,0,0,0,0,0,0
$GC,5577,-0.80,-136.7,886.2,-12.0,202,5581,0.00,2.25,0.00,0.000,4,0.000,0.055,2306,3517,3830,0,0,0,0,0,0
$GC,5616,-0.80,-136.7,891.1,-12.0,203,5621,0.12,2.17,0.00,0.000,6,0.167,0.034,2337,2097,3830,0,0,0,0,0,0
$STATE,5694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5694,begin apogee
$GC,5702,-0.28,0.0,900.2,11.2,205,5818,0.55,0.00,110.93,1.081,6,0.140,0.000,2504,1923,3300,0,0,0,0,0,0
$STATE,5820,end apogee,CONTROL_FINISHED_OK
$STATE,5820,begin climb
$GC,5823,0.80,136.7,904.1,0.0,208,5947,1.05,0.00,119.90,1.046,6,0.092,0.000,2851,1921,2744,0,0,0,0,0,0
$GC,6182,0.80,136.7,849.6,18.9,217,6186,0.00,2.33,0.00,0.000,4,0.000,0.051,2850,3372,2738,0,0,0,0,0,0
$GC,6225,0.80,136.7,840.4,19.7,218,6229,0.00,2.12,0.00,0.000,6,0.000,0.031,2861,1980,2738,0,0,0,0,0,0
$GC,6509,0.80,136.7,785.8,19.3,225,6513,0.00,2.20,0.00,0.000,4,0.000,0.041,2873,557,2732,0,0,0,0,0,0
$GC,6525,0.80,136.7,782.4,19.9,225,6529,0.00,2.20,0.00,0.000,6,0.000,0.038,2873,1954,2730,0,0,0,0,0,0
$GC,6793,0.80,136.7,731.2,19.4,232,6797,0.00,2.25,0.00,0.000,4,0.000,0.054,2873,3362,2730,0,0,0,0,0,0
$GC,6809,0.80,136.7,727.3,20.5,232,6813,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1967,2729,0,0,0,0,0,0
$GC,7076,0.80,136.7,674.5,19.8,239,7079,0.00,2.17,0.00,0.000,4,0.000,0.043,2895,553,2728,0,0,0,0,0,0
$GC,7123,0.80,136.7,665.7,19.2,240,7127,0.15,2.17,0.00,0.000,6,0.194,0.040,2860,1962,2726,0,0,0,0,0,0
$GC,7411,0.80,136.7,618.4,15.7,247,7415,0.00,2.22,0.00,0.000,4,0.000,0.052,2859,3366,2729,0,0,0,0,0,0
$GC,7472,0.80,136.7,607.6,16.9,248,7476,0.00,2.17,0.00,0.000,6,0.000,0.031,2868,1948,2726,0,0,0,0,0,0
$GC,7739,0.80,136.7,563.6,16.3,255,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1943,2725,0,0,0,0,0,0
$GC,7983,0.80,136.7,523.3,16.5,261,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1943,2728,0,0,0,0,0,0
$GC,8227,0.80,136.7,484.4,15.7,267,8230,0.00,2.10,0.00,0.000,4,0.000,0.041,2879,556,2723,0,0,0,0,0,0
$GC,8259,0.80,136.7,478.9,17.0,267,8266,0.00,2.17,0.00,0.000,6,0.000,0.038,2880,1964,2723,0,0,0,0,0,0
$GC,8511,0.80,136.7,435.9,17.0,274,8515,0.00,2.25,0.00,0.000,4,0.000,0.051,2879,3379,2723,0,0,0,0,0,0
$GC,8527,0.80,136.7,432.4,18.3,274,8531,0.15,2.15,0.00,0.000,6,0.198,0.031,2854,1955,2723,0,0,0,0,0,0
$GC,8787,0.80,136.7,390.7,15.7,281,8791,0.00,2.28,0.00,0.000,4,0.000,0.054,2844,3368,2721,0,0,0,0,0,0
$GC,8821,0.80,136.7,385.4,16.2,281,8826,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1951,2724,0,0,0,0,0,0
$GC,9071,0.80,136.7,347.3,15.7,287,9075,0.00,2.28,0.00,0.000,4,0.000,0.051,2844,3377,2722,0,0,0,0,0,0
$GC,9229,0.80,136.7,323.1,14.8,290,9233,0.00,2.15,0.00,0.000,6,0.000,0.032,2853,1966,2722,0,0,0,0,0,0
$GC,9486,0.80,136.7,289.9,12.2,299,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1961,2719,0,0,0,0,0,0
$GC,9732,0.80,136.7,260.0,11.5,311,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1961,2721,0,0,0,0,0,0
$GC,9980,0.80,136.7,236.9,9.2,323,9984,0.00,2.12,0.00,0.000,4,0.000,0.040,2864,556,2721,0,0,0,0,0,0
$GC,10025,0.80,136.7,232.4,10.0,325,10029,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1966,2718,0,0,0,0,0,0
$GC,10283,0.80,136.7,202.2,12.6,338,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1966,2720,0,0,0,0,0,0
$GC,10542,0.80,136.7,173.4,10.1,361,10546,0.00,2.20,0.00,0.000,4,0.000,0.050,2864,3362,2721,0,0,0,0,0,0
$GC,10770,0.80,136.7,150.6,8.6,381,10774,0.00,2.15,0.00,0.000,6,0.000,0.031,2875,1952,2722,0,0,0,0,0,0
$GC,11037,0.91,231.7,137.4,4.5,405,11119,0.00,2.35,74.75,0.541,4,0.000,0.049,2875,3364,2354,0,0,0,0,0,0
$GC,11247,0.91,231.7,111.7,12.0,423,11255,0.00,2.17,0.00,0.000,6,0.000,0.031,2886,1970,2351,0,0,0,0,0,0
$GC,11512,0.91,231.7,79.7,12.0,448,11516,0.00,2.15,0.00,0.000,4,0.000,0.039,2897,556,2350,0,0,0,0,0,0
$GC,11575,0.91,231.7,71.9,12.1,453,11579,0.00,2.15,0.00,0.000,6,0.000,0.034,2897,1964,2348,0,0,0,0,0,0
$GC,11843,0.91,231.7,40.2,12.4,477,11847,0.00,2.20,0.00,0.000,4,0.000,0.047,2897,3376,2349,0,0,0,0,0,0
$GC,11916,0.91,231.7,29.6,15.3,483,11925,0.00,2.17,0.00,0.000,6,0.000,0.029,2908,1953,2349,0,0,0,0,0,0
$STATE,12105,end climb,SURFACE_DEPTH_REACHED
$STATE,12105,begin surface coast
$FINISH,0.2,1.010732
$STATE,12128,end surface coast,CONTROL_FINISHED_OK
$STATE,12128,begin surface
$SM_CCo,12148,31.85,0.418,0,0,2075,300.24
$SM_GC,1.46,0.00,0.00,31.85,0.000,0.000,0.418,56,2131,2075,-7.94,0.88,300.24
$IRIDIUM_FIX,1850.98,-15651.08,210213,000004
$TT8_MAMPS,0.247741
$HUMID,1078902571
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.40
$XPDR_PINGS,91
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6257606656
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,25208553472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,49.572
$10V_AH,10.0,44.993
$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,20.075,126.625,305.575,31.850,0.000,86.142,105.634,715.985,22.750,0.000,34.180,1150.069,8808.397,409.966,2625.779,476.153,33.356,1175.238,0.000,1749.807,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,67.496,1081.470,418.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.742,0.000,837.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26951,521
$CAP_FILE_SIZE,127640,0
$CFSIZE,260165632,179683328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,230.9,1
$GPS,290811,093130,1859.521,-15645.998,50,1.0,50,9.6