version: 66.07
glider: 513
mission: 7
dive: 268
start: 8 15 111 9 51 31
data:
$ID,513
$MISSION,7
$DIVE,268
$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,712.8302
$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,-427330.31
$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,2000
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,43
$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,267
$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
$GPS1,150811,092337,2014.685,-15614.849,82,1.5,82,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.1
$GPS2,150811,095034,2014.375,-15615.122,9,5.6,28,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.054,0.233
$KALMAN_X,-129433.5,266.1,462.5,195894.4,-443.6
$KALMAN_Y,-100441.5,1338.4,1181.4,125061.0,-14021.6
$MHEAD_RNG_PITCHd_Wd,2.0,1177,-43.0,-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,-1.74,-20.8,0.0,0.0,0,80,0.00,0.00,-46.95,0.000,6,0.000,0.000,35,2025,3385,0,0,0,0,0,0
$GC,85,-1.76,-35.2,3.3,-4.6,8,100,8.68,2.20,-1.12,0.000,4,0.254,0.067,2011,3401,3445,0,0,0,0,0,0
$GC,343,-1.76,-35.2,106.7,-36.7,37,350,0.00,2.15,0.00,0.000,6,0.000,0.034,2020,1999,3447,0,0,0,0,0,0
$GC,609,-1.76,-35.2,178.8,-23.6,62,613,0.00,2.20,0.00,0.000,4,0.000,0.051,2016,3407,3448,0,0,0,0,0,0
$GC,639,-1.76,-35.2,187.2,-26.4,64,643,0.00,2.12,0.00,0.000,6,0.000,0.031,2019,1976,3448,0,0,0,0,0,0
$GC,894,-1.76,-35.2,245.8,-20.4,78,898,0.00,2.22,0.00,0.000,4,0.000,0.050,2010,3414,3449,0,0,0,0,0,0
$GC,935,-1.76,-35.2,254.6,-22.8,80,939,0.00,2.10,0.00,0.000,6,0.000,0.029,2014,2000,3447,0,0,0,0,0,0
$GC,1219,-1.76,-35.2,311.4,-20.2,93,1223,0.00,2.20,0.00,0.000,4,0.000,0.051,2004,3411,3447,0,0,0,0,0,0
$GC,1240,-1.76,-35.2,316.0,-20.3,93,1244,0.00,2.10,0.00,0.000,6,0.000,0.031,2004,1981,3450,0,0,0,0,0,0
$GC,1503,-1.76,-35.2,365.0,-18.2,100,1507,0.00,2.22,0.00,0.000,4,0.000,0.053,1995,3398,3450,0,0,0,0,0,0
$GC,1760,-1.76,-35.2,416.9,-17.6,105,1766,0.00,2.08,0.00,0.000,6,0.000,0.031,2003,2002,3450,0,0,0,0,0,0
$GC,2012,-1.76,-35.2,457.3,-16.0,112,2016,0.00,2.20,0.00,0.000,4,0.000,0.053,1996,3411,3446,0,0,0,0,0,0
$GC,2159,-1.76,-35.2,483.4,-18.0,115,2163,0.00,2.10,0.00,0.000,6,0.000,0.032,2003,2004,3448,0,0,0,0,0,0
$GC,2426,-1.76,-35.2,525.8,-15.8,122,2430,0.00,2.20,0.00,0.000,4,0.000,0.053,1990,3400,3445,0,0,0,0,0,0
$GC,2683,-1.76,-35.2,566.9,-15.7,127,2690,0.00,2.10,0.00,0.000,6,0.000,0.034,2003,1999,3441,0,0,0,0,0,0
$GC,2935,-1.76,-35.2,602.7,-14.3,134,2939,0.00,2.22,0.00,0.000,4,0.000,0.053,1995,3413,3441,0,0,0,0,0,0
$GC,2980,-1.76,-35.2,609.4,-15.2,135,2984,0.00,2.12,0.00,0.000,6,0.000,0.034,2003,1995,3441,0,0,0,0,0,0
$GC,3268,-1.76,-35.2,647.0,-12.5,142,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1989,3437,0,0,0,0,0,0
$GC,3513,-1.76,-35.2,676.7,-12.0,148,3517,0.00,2.25,0.00,0.000,4,0.000,0.055,1994,3412,3435,0,0,0,0,0,0
$GC,3748,-1.76,-35.2,705.9,-12.2,153,3752,0.00,2.12,0.00,0.000,6,0.000,0.035,2003,2000,3432,0,0,0,0,0,0
$GC,4015,-1.76,-35.2,737.7,-12.0,160,4019,0.00,2.10,0.00,0.000,4,0.000,0.043,2013,602,3430,0,0,0,0,0,0
$GC,4026,-1.76,-35.2,739.2,-11.9,160,4030,0.00,2.17,0.00,0.000,6,0.000,0.050,2005,1989,3430,0,0,0,0,0,0
$GC,4297,-1.76,-35.2,773.1,-13.0,167,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1989,3427,0,0,0,0,0,0
$GC,4541,-1.76,-35.2,802.9,-12.3,173,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1993,3425,0,0,0,0,0,0
$GC,4786,-1.76,-35.2,833.4,-12.5,179,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1989,3423,0,0,0,0,0,0
$GC,5029,-1.76,-35.2,861.8,-11.7,185,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1989,3421,0,0,0,0,0,0
$GC,5272,-1.76,-35.2,890.6,-11.6,191,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1989,3419,0,0,0,0,0,0
$STATE,5392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5392,begin apogee
$GC,5398,-0.28,0.0,904.7,11.6,194,5429,2.00,0.00,26.30,1.051,6,0.228,0.000,2499,1926,3301,0,0,0,0,0,0
$STATE,5431,end apogee,CONTROL_FINISHED_OK
$STATE,5432,begin climb
$GC,5435,1.76,35.2,904.7,0.0,194,5477,1.90,2.22,32.00,1.048,4,0.096,0.034,3165,517,3155,0,0,0,0,0,0
$GC,5483,1.76,35.2,902.4,11.4,195,5487,0.00,2.22,0.00,0.000,6,0.000,0.035,3161,1936,3153,0,0,0,0,0,0
$GC,5760,1.76,35.2,855.2,17.3,202,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1936,3153,0,0,0,0,0,0
$GC,6006,1.76,35.2,814.3,16.9,208,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1936,3150,0,0,0,0,0,0
$GC,6247,1.76,35.2,776.3,15.5,214,6251,0.00,2.15,0.00,0.000,4,0.000,0.035,3170,517,3148,0,0,0,0,0,0
$GC,6406,1.76,35.2,752.0,15.1,217,6410,0.00,2.17,0.00,0.000,6,0.000,0.038,3161,1939,3147,0,0,0,0,0,0
$GC,6673,1.76,35.2,713.1,14.7,224,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1939,3146,0,0,0,0,0,0
$GC,6915,1.76,35.2,680.3,13.4,230,6919,0.00,2.15,0.00,0.000,4,0.000,0.034,3170,514,3145,0,0,0,0,0,0
$GC,6937,1.76,35.2,677.3,13.2,230,6941,0.00,2.15,0.00,0.000,6,0.000,0.037,3166,1926,3144,0,0,0,0,0,0
$GC,7199,1.76,35.2,646.5,11.5,237,7203,0.00,2.22,0.00,0.000,4,0.000,0.048,3151,3340,3145,0,0,0,0,0,0
$GC,7457,1.76,35.2,616.0,11.7,242,7463,0.00,2.12,0.00,0.000,6,0.000,0.028,3159,1908,3144,0,0,0,0,0,0
$GC,7708,1.76,35.2,588.6,11.0,249,7712,0.00,2.25,0.00,0.000,4,0.000,0.048,3150,3336,3142,0,0,0,0,0,0
$GC,7966,1.76,35.2,563.5,9.2,254,7971,0.00,2.10,0.00,0.000,6,0.000,0.028,3159,1937,3141,0,0,0,0,0,0
$GC,8217,1.77,38.0,543.9,7.8,261,8221,0.00,2.20,0.00,0.000,4,0.000,0.047,3150,3340,3141,0,0,0,0,0,0
$GC,8436,1.77,42.4,526.1,7.4,266,8446,0.00,2.12,4.57,0.606,6,0.000,0.028,3159,1906,3128,0,0,0,0,0,0
$GC,8726,1.77,44.3,502.5,8.1,273,8730,0.00,2.25,0.00,0.000,4,0.000,0.045,3150,3344,3127,0,0,0,0,0,0
$GC,8984,1.79,57.8,486.9,4.9,278,9004,0.00,2.10,14.15,0.795,6,0.000,0.025,3159,1932,3062,0,0,0,0,0,0
$GC,9278,1.79,57.8,455.4,12.3,286,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1932,3062,0,0,0,0,0,0
$GC,9521,1.79,57.8,428.8,11.0,292,9525,0.00,2.20,0.00,0.000,4,0.000,0.046,3150,3334,3061,0,0,0,0,0,0
$GC,9779,1.79,57.8,402.4,10.4,297,9784,0.00,2.12,0.00,0.000,6,0.000,0.028,3160,1917,3062,0,0,0,0,0,0
$GC,10030,1.80,64.5,383.6,6.7,304,10041,0.00,2.12,6.60,0.640,4,0.000,0.034,3170,527,3037,0,0,0,0,0,0
$GC,10071,1.80,68.6,380.7,7.4,305,10081,0.00,2.12,5.32,0.585,6,0.000,0.031,3161,1945,3020,0,0,0,0,0,0
$GC,10356,1.80,68.6,350.5,11.6,312,10360,0.00,2.15,0.00,0.000,4,0.000,0.041,3151,3340,3019,0,0,0,0,0,0
$GC,10613,1.81,73.9,326.8,7.1,317,10623,0.00,2.10,5.47,0.568,6,0.000,0.025,3160,1911,3000,0,0,0,0,0,0
$GC,10901,1.81,73.9,302.2,8.6,325,10905,0.00,2.03,0.00,0.000,4,0.000,0.035,3170,550,2998,0,0,0,0,0,0
$GC,11159,1.84,99.3,295.3,1.6,335,11190,0.00,2.10,22.20,0.683,6,0.000,0.032,3161,1952,2896,0,0,0,0,0,0
$GC,11442,1.84,99.3,262.5,12.7,349,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1952,2893,0,0,0,0,0,0
$GC,11685,1.84,99.3,228.8,14.2,361,11689,0.00,2.12,0.00,0.000,4,0.000,0.035,3170,540,2891,0,0,0,0,0,0
$GC,11943,1.84,99.3,197.3,10.0,373,11951,0.00,2.12,0.00,0.000,6,0.000,0.035,3162,1920,2891,0,0,0,0,0,0
$GC,12208,1.84,99.3,172.3,9.7,398,12212,0.00,2.05,0.00,0.000,4,0.000,0.032,3166,544,2892,0,0,0,0,0,0
$GC,12218,1.84,99.3,170.7,10.1,398,12226,0.00,2.12,0.00,0.000,6,0.000,0.034,3162,1939,2892,0,0,0,0,0,0
$GC,12485,1.84,99.6,148.0,8.5,423,12489,0.00,2.12,0.00,0.000,4,0.000,0.035,3155,3358,2893,0,0,0,0,0,0
$GC,12741,1.84,100.7,118.4,8.3,445,12749,0.00,2.12,0.00,0.000,6,0.000,0.025,3164,1935,2893,0,0,0,0,0,0
$GC,13008,1.86,117.1,106.4,4.1,470,13033,0.00,2.17,16.62,0.505,4,0.000,0.041,3155,3322,2820,0,0,0,0,0,0
$GC,13283,1.86,117.1,76.0,13.7,494,13290,0.00,2.08,0.00,0.000,6,0.000,0.025,3164,1937,2823,0,0,0,0,0,0
$GC,13549,1.86,117.1,46.9,8.9,519,13553,0.00,2.15,0.00,0.000,4,0.000,0.041,3155,3336,2822,0,0,0,0,0,0
$GC,13802,1.88,130.9,36.8,4.8,541,13823,0.08,2.10,12.70,0.436,6,0.089,0.025,3197,1916,2765,0,0,0,0,0,0
$GC,14078,1.89,142.8,26.2,5.3,576,14099,0.00,2.22,10.62,0.413,4,0.000,0.040,3187,3333,2718,0,0,0,0,0,0
$GC,14235,1.89,142.8,9.2,15.2,604,14243,0.00,2.08,0.00,0.000,6,0.000,0.026,3196,1943,2717,0,0,0,0,0,0
$STATE,14276,end climb,SURFACE_DEPTH_REACHED
$STATE,14276,begin surface coast
$FINISH,0.6,1.023266
$STATE,14293,end surface coast,CONTROL_FINISHED_OK
$STATE,14293,begin surface
$SM_CCo,14315,323.67,0.428,0,0,393,713.08
$SM_GC,0.94,0.00,0.00,323.67,0.000,0.000,0.428,41,1990,393,-7.95,-0.28,713.08
$IRIDIUM_FIX,2004.18,-15614.61,070213,040431
$TT8_MAMPS,0.060593
$HUMID,1078699990
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.70
$XPDR_PINGS,75
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6337396736
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,38710607872
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.5,38.654
$10V_AH,10.1,35.277
$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,21.350,116.200,156.575,323.675,0.000,142.161,244.308,689.672,18.750,0.000,31.531,1427.105,10148.269,572.113,3601.744,511.634,33.348,1592.358,0.000,2498.116,0.000,0.542,0.000
$DEVICE_MAMPS,253.877,154.167,1050.790,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,419.858,0.000,1021.682,0.000,0.000,0.000,0.000,17311.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,13.644,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,30220,614
$CAP_FILE_SIZE,150239,0
$CFSIZE,260165632,186155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,208.8,1
$GPS,150811,135707,2013.884,-15615.555,40,1.0,41,9.8