version: 66.07
glider: 513
mission: 7
dive: 271
start: 8 15 111 21 57 27
data:
$ID,513
$MISSION,7
$DIVE,271
$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,-427379.5
$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,49
$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,270
$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
$GPS1,150811,213537,2014.752,-15615.031,55,1.3,55,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.2
$GPS2,150811,215626,2014.544,-15615.299,11,1.6,11,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.020,-0.064
$KALMAN_X,-128285.6,-516.1,299.7,195380.7,472.7
$KALMAN_Y,-112469.7,1277.5,1153.2,137491.1,-14285.9
$MHEAD_RNG_PITCHd_Wd,162.4,138056,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.80,-136.7,0.0,0.0,0,143,0.00,0.00,-113.70,0.000,2,0.000,0.000,37,2015,3778,0,0,0,0,0,0
$GC,147,-0.80,-136.7,3.9,-6.0,17,170,9.68,2.22,-1.27,0.000,4,0.243,0.055,2340,603,3858,0,0,0,0,0,0
$GC,224,-0.80,-136.7,37.4,-33.0,28,232,0.00,2.17,0.00,0.000,6,0.000,0.044,2331,1990,3860,0,0,0,0,0,0
$GC,489,-0.80,-136.7,114.8,-28.2,53,493,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3403,3861,0,0,0,0,0,0
$GC,511,-0.80,-136.7,121.6,-26.0,54,519,0.00,2.15,0.00,0.000,6,0.000,0.032,2320,2005,3858,0,0,0,0,0,0
$GC,774,-0.80,-136.7,185.5,-22.5,79,778,0.00,2.15,0.00,0.000,4,0.000,0.044,2320,588,3861,0,0,0,0,0,0
$GC,814,-0.80,-136.7,195.4,-24.3,82,819,0.12,2.17,0.00,0.000,6,0.188,0.042,2336,2011,3861,0,0,0,0,0,0
$GC,1070,-0.80,-136.7,245.2,-19.1,95,1074,0.00,2.15,0.00,0.000,4,0.000,0.051,2330,3400,3861,0,0,0,0,0,0
$GC,1170,-0.80,-136.7,262.2,-15.6,99,1177,0.00,2.12,0.00,0.000,6,0.000,0.031,2330,1982,3859,0,0,0,0,0,0
$GC,1445,-0.80,-136.7,308.9,-17.5,112,1449,0.00,2.08,0.00,0.000,4,0.000,0.042,2330,605,3862,0,0,0,0,0,0
$GC,1478,-0.80,-136.7,315.3,-18.5,112,1482,0.00,2.10,0.00,0.000,6,0.000,0.041,2320,2000,3862,0,0,0,0,0,0
$GC,1734,-0.80,-136.7,359.8,-17.2,119,1738,0.00,2.20,0.00,0.000,4,0.000,0.052,2310,3407,3860,0,0,0,0,0,0
$GC,1795,-0.80,-136.7,370.1,-16.6,120,1799,0.12,2.12,0.00,0.000,6,0.163,0.033,2341,1993,3861,0,0,0,0,0,0
$GC,2061,-0.80,-136.7,408.3,-14.1,127,2065,0.00,2.22,0.00,0.000,4,0.000,0.051,2332,3405,3858,0,0,0,0,0,0
$GC,2093,-0.80,-136.7,412.9,-13.8,127,2100,0.00,2.12,0.00,0.000,6,0.000,0.033,2333,2004,3858,0,0,0,0,0,0
$GC,2343,-0.80,-136.7,447.8,-13.8,134,2347,0.00,2.12,0.00,0.000,4,0.000,0.043,2332,592,3854,0,0,0,0,0,0
$GC,2372,-0.80,-136.7,451.8,-15.1,134,2376,0.00,2.15,0.00,0.000,6,0.000,0.042,2318,2010,3856,0,0,0,0,0,0
$GC,2627,-0.80,-136.7,490.3,-15.1,141,2631,0.00,2.17,0.00,0.000,4,0.000,0.051,2311,3410,3853,0,0,0,0,0,0
$GC,2711,-0.80,-136.7,503.5,-15.2,143,2715,0.00,2.12,0.00,0.000,6,0.000,0.035,2310,1999,3852,0,0,0,0,0,0
$GC,2995,-0.80,-136.7,548.1,-15.5,150,2997,0.10,0.00,0.00,0.000,6,0.191,0.000,2334,1991,3848,0,0,0,0,0,0
$GC,3239,-0.80,-136.7,581.0,-13.1,156,3243,0.00,2.22,0.00,0.000,4,0.000,0.056,2325,3400,3844,0,0,0,0,0,0
$GC,3272,-0.80,-136.7,585.6,-13.6,156,3277,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,1983,3845,0,0,0,0,0,0
$GC,3523,-0.80,-136.7,618.9,-13.7,163,3527,0.00,2.10,0.00,0.000,4,0.000,0.044,2326,595,3842,0,0,0,0,0,0
$GC,3574,-0.80,-136.7,626.5,-15.0,164,3578,0.00,2.15,0.00,0.000,6,0.000,0.044,2315,1998,3842,0,0,0,0,0,0
$GC,3851,-0.80,-136.7,665.4,-13.8,171,3855,0.00,2.25,0.00,0.000,4,0.000,0.054,2304,3418,3839,0,0,0,0,0,0
$GC,3924,-0.80,-136.7,675.5,-14.0,172,3929,0.12,2.15,0.00,0.000,6,0.170,0.034,2335,1994,3837,0,0,0,0,0,0
$GC,4174,-0.80,-136.7,705.2,-11.6,178,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1986,3835,0,0,0,0,0,0
$GC,4418,-0.80,-136.7,734.0,-11.9,184,4422,0.00,2.28,0.00,0.000,4,0.000,0.058,2327,3407,3832,0,0,0,0,0,0
$GC,4440,-0.80,-136.7,736.9,-12.1,184,4444,0.00,2.12,0.00,0.000,6,0.000,0.036,2327,2004,3832,0,0,0,0,0,0
$GC,4695,-0.80,-136.7,768.8,-12.5,191,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1997,3830,0,0,0,0,0,0
$GC,4938,-0.80,-136.7,800.2,-12.9,197,4942,0.00,2.25,0.00,0.000,4,0.000,0.053,2316,3411,3827,0,0,0,0,0,0
$GC,5035,-0.80,-136.7,812.7,-13.3,199,5039,0.00,2.17,0.00,0.000,6,0.000,0.037,2312,1990,3826,0,0,0,0,0,0
$GC,5307,-0.80,-136.7,847.5,-12.6,206,5311,0.00,2.15,0.00,0.000,4,0.000,0.048,2316,596,3823,0,0,0,0,0,0
$GC,5328,-0.80,-136.7,850.4,-13.5,206,5333,0.12,2.17,0.00,0.000,6,0.183,0.046,2336,2014,3825,0,0,0,0,0,0
$GC,5585,-0.80,-136.7,877.9,-10.6,213,5589,0.00,2.20,0.00,0.000,4,0.000,0.054,2327,3407,3823,0,0,0,0,0,0
$GC,5663,-0.80,-136.7,886.4,-10.7,214,5668,0.00,2.15,0.00,0.000,6,0.000,0.036,2327,2003,3822,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5835,-0.28,0.0,903.8,10.5,219,5951,0.60,0.00,108.82,1.091,6,0.146,0.000,2505,1906,3300,0,0,0,0,0,0
$STATE,5953,end apogee,CONTROL_FINISHED_OK
$STATE,5953,begin climb
$GC,5957,0.80,136.7,906.7,0.0,222,6086,1.02,2.22,119.43,1.056,4,0.096,0.038,2857,535,2742,0,0,0,0,0,0
$GC,6120,0.80,136.7,885.7,20.0,226,6124,0.00,2.25,0.00,0.000,6,0.000,0.038,2858,1924,2736,0,0,0,0,0,0
$GC,6405,0.80,136.7,827.9,20.1,233,6409,0.00,2.30,0.00,0.000,4,0.000,0.052,2858,3345,2732,0,0,0,0,0,0
$GC,6465,0.80,136.7,814.7,21.8,234,6470,0.00,2.20,0.00,0.000,6,0.000,0.031,2868,1938,2736,0,0,0,0,0,0
$GC,6733,0.80,136.7,759.9,20.5,241,6737,0.00,2.28,0.00,0.000,4,0.000,0.054,2860,3342,2730,0,0,0,0,0,0
$GC,6760,0.80,136.7,753.5,22.5,241,6764,0.00,2.17,0.00,0.000,6,0.000,0.032,2869,1925,2730,0,0,0,0,0,0
$GC,7017,0.80,136.7,703.2,19.7,248,7020,0.00,2.12,0.00,0.000,4,0.000,0.038,2880,527,2729,0,0,0,0,0,0
$GC,7066,0.80,136.7,692.7,20.1,249,7071,0.00,2.20,0.00,0.000,6,0.000,0.035,2880,1940,2726,0,0,0,0,0,0
$GC,7350,0.80,136.7,635.1,20.5,256,7355,0.00,2.20,0.00,0.000,4,0.000,0.050,2880,3340,2726,0,0,0,0,0,0
$GC,7378,0.80,136.7,629.1,20.9,256,7382,0.15,2.15,0.00,0.000,6,0.198,0.031,2855,1931,2727,0,0,0,0,0,0
$GC,7633,0.80,136.7,582.1,18.4,263,7637,0.00,2.12,0.00,0.000,4,0.000,0.038,2864,518,2726,0,0,0,0,0,0
$GC,7746,0.80,136.7,561.7,17.3,265,7750,0.00,2.17,0.00,0.000,6,0.000,0.035,2864,1944,2723,0,0,0,0,0,0
$GC,8001,0.80,136.7,518.3,16.5,272,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1944,2724,0,0,0,0,0,0
$GC,8245,0.80,136.7,480.6,15.4,278,8249,0.00,2.17,0.00,0.000,4,0.000,0.051,2864,3331,2723,0,0,0,0,0,0
$GC,8301,0.80,136.7,471.2,16.6,279,8305,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1925,2723,0,0,0,0,0,0
$GC,8567,0.80,136.7,423.3,18.1,286,8571,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,525,2723,0,0,0,0,0,0
$GC,8606,0.80,136.7,415.7,19.8,287,8611,0.12,2.15,0.00,0.000,6,0.198,0.035,2858,1944,2720,0,0,0,0,0,0
$GC,8890,0.80,136.7,375.3,13.2,294,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1944,2721,0,0,0,0,0,0
$GC,9133,0.80,136.7,340.6,14.6,300,9137,0.00,2.20,0.00,0.000,4,0.000,0.050,2847,3332,2725,0,0,0,0,0,0
$GC,9200,0.80,136.7,329.9,15.2,301,9204,0.00,2.12,0.00,0.000,6,0.000,0.031,2856,1920,2721,0,0,0,0,0,0
$GC,9463,0.80,136.7,291.1,15.0,309,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1915,2721,0,0,0,0,0,0
$GC,9709,0.80,136.7,258.9,11.8,321,9713,0.00,2.25,0.00,0.000,4,0.000,0.049,2856,3332,2720,0,0,0,0,0,0
$GC,9776,0.80,136.7,249.8,13.4,324,9780,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1916,2720,0,0,0,0,0,0
$GC,10036,0.80,136.7,217.9,12.4,337,10040,0.00,2.08,0.00,0.000,4,0.000,0.038,2877,529,2720,0,0,0,0,0,0
$GC,10069,0.80,136.7,213.4,12.8,338,10074,0.00,2.10,0.00,0.000,6,0.000,0.033,2877,1935,2718,0,0,0,0,0,0
$GC,10329,0.80,136.7,182.2,11.5,358,10333,0.00,2.20,0.00,0.000,4,0.000,0.048,2880,3332,2721,0,0,0,0,0,0
$GC,10360,0.80,136.7,178.9,11.1,360,10365,0.12,2.10,0.00,0.000,6,0.196,0.029,2859,1932,2719,0,0,0,0,0,0
$GC,10623,0.80,136.7,151.6,9.1,384,10627,0.00,2.22,0.00,0.000,4,0.000,0.046,2857,3342,2719,0,0,0,0,0,0
$GC,10688,0.80,136.7,145.3,9.5,389,10692,0.00,2.12,0.00,0.000,6,0.000,0.028,2866,1922,2719,0,0,0,0,0,0
$GC,10958,0.80,136.7,120.1,10.7,414,10962,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,523,2720,0,0,0,0,0,0
$GC,11123,0.80,136.7,100.5,11.0,428,11127,0.00,2.12,0.00,0.000,6,0.000,0.032,2877,1941,2720,0,0,0,0,0,0
$GC,11388,0.84,171.2,78.9,7.1,452,11420,0.00,2.20,26.00,0.501,4,0.000,0.037,2886,521,2600,0,0,0,0,0,0
$GC,11474,0.84,171.2,70.6,12.0,460,11478,0.00,2.12,0.00,0.000,6,0.000,0.032,2886,1931,2597,0,0,0,0,0,0
$GC,11744,0.84,171.2,39.2,9.3,485,11748,0.00,2.20,0.00,0.000,4,0.000,0.047,2886,3334,2597,0,0,0,0,0,0
$GC,11786,0.84,171.2,35.4,9.0,488,11790,0.00,2.12,0.00,0.000,6,0.000,0.029,2896,1910,2598,0,0,0,0,0,0
$GC,12051,0.85,181.4,13.1,8.1,532,12066,0.00,2.05,9.68,0.408,4,0.000,0.033,2908,534,2559,0,0,0,0,0,0
$STATE,12141,end climb,SURFACE_DEPTH_REACHED
$STATE,12141,begin surface coast
$FINISH,0.2,1.023254
$STATE,12172,end surface coast,CONTROL_FINISHED_OK
$STATE,12172,begin surface
$SM_CCo,12194,54.05,0.436,0,0,2076,300.24
$SM_GC,1.43,0.00,0.00,54.05,0.000,0.000,0.436,56,2025,2076,-7.94,0.68,300.24
$IRIDIUM_FIX,2006.47,-15612.51,070213,161631
$TT8_MAMPS,0.146497
$HUMID,1078906442
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,25.10
$XPDR_PINGS,92
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6298861568
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,38286786560
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,39.058
$10V_AH,10.1,35.676
$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,19.875,143.050,263.925,54.050,0.000,81.310,122.104,689.462,23.000,0.000,13.627,1205.488,8662.958,431.802,2741.857,469.568,33.351,1252.106,0.000,1888.635,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,92.807,1091.441,436.423,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.052,0.000,965.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,26919,553
$CAP_FILE_SIZE,135653,0
$CFSIZE,260165632,185946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,197.3,1
$GPS,160811,012337,2012.492,-15615.371,61,1.3,61,9.8