version: 66.07
glider: 513
mission: 7
dive: 272
start: 8 16 111 1 36 19
data:
$ID,513
$MISSION,7
$DIVE,272
$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,-427398.72
$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,57
$R_STBD_OVSHOOT,45
$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,271
$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
$GPS1,160811,012337,2012.492,-15615.371,61,1.3,61,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.5
$GPS2,160811,013520,2012.306,-15615.481,10,1.3,16,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.084,-0.167
$KALMAN_X,-127861.8,-281.8,-297.3,195005.3,1856.5
$KALMAN_Y,-113826.8,1502.1,665.7,134964.9,-11693.7
$MHEAD_RNG_PITCHd_Wd,163.5,133914,-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,-136.7,0.0,0.0,0,82,0.00,0.00,-53.12,0.000,2,0.000,0.000,37,2024,3592,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.2,-5.0,8,108,9.65,2.15,-4.62,0.000,4,0.240,0.050,2341,609,3859,0,0,0,0,0,0
$GC,191,-0.80,-136.7,44.5,-32.2,22,196,0.00,2.15,0.00,0.000,6,0.000,0.043,2333,1989,3862,0,0,0,0,0,0
$GC,457,-0.80,-136.7,116.7,-26.2,46,461,0.00,2.25,0.00,0.000,4,0.000,0.051,2322,3416,3866,0,0,0,0,0,0
$GC,521,-0.80,-136.7,133.5,-22.4,51,530,0.00,2.17,0.00,0.000,6,0.000,0.033,2321,2012,3865,0,0,0,0,0,0
$GC,787,-0.80,-136.7,197.2,-23.3,76,790,0.00,2.12,0.00,0.000,4,0.000,0.042,2322,595,3869,0,0,0,0,0,0
$GC,808,-0.80,-136.7,202.0,-22.6,77,812,0.00,2.12,0.00,0.000,6,0.000,0.041,2307,2003,3866,0,0,0,0,0,0
$GC,1073,-0.80,-136.7,258.5,-22.4,90,1077,0.00,2.20,0.00,0.000,4,0.000,0.051,2300,3406,3870,0,0,0,0,0,0
$GC,1251,-0.80,-136.7,296.9,-19.6,98,1255,0.15,2.12,0.00,0.000,6,0.166,0.032,2339,1984,3867,0,0,0,0,0,0
$GC,1532,-0.80,-136.7,342.4,-16.2,106,1536,0.00,2.08,0.00,0.000,4,0.000,0.040,2339,601,3868,0,0,0,0,0,0
$GC,1617,-0.80,-136.7,355.1,-15.1,108,1621,0.00,2.12,0.00,0.000,6,0.000,0.041,2331,1999,3868,0,0,0,0,0,0
$GC,1907,-0.80,-136.7,399.7,-16.4,115,1911,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3408,3867,0,0,0,0,0,0
$GC,2081,-0.80,-136.7,428.3,-15.5,119,2085,0.00,2.10,0.00,0.000,6,0.000,0.032,2319,2003,3870,0,0,0,0,0,0
$GC,2364,-0.80,-136.7,474.6,-16.5,126,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1996,3864,0,0,0,0,0,0
$GC,2608,-0.80,-136.7,511.8,-14.8,132,2612,0.00,2.10,0.00,0.000,4,0.000,0.040,2319,591,3863,0,0,0,0,0,0
$GC,2641,-0.80,-136.7,516.9,-14.5,132,2647,0.12,2.17,0.00,0.000,6,0.181,0.041,2339,2012,3863,0,0,0,0,0,0
$GC,2892,-0.80,-136.7,551.7,-14.2,139,2896,0.00,2.20,0.00,0.000,4,0.000,0.054,2331,3404,3860,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,572.5,-12.9,142,3048,0.00,2.12,0.00,0.000,6,0.000,0.034,2331,1991,3858,0,0,0,0,0,0
$GC,3306,-0.80,-136.7,607.2,-13.1,149,3310,0.00,2.22,0.00,0.000,4,0.000,0.054,2320,3401,3856,0,0,0,0,0,0
$GC,3334,-0.80,-136.7,611.0,-13.1,149,3338,0.00,2.10,0.00,0.000,6,0.000,0.034,2320,2004,3856,0,0,0,0,0,0
$GC,3590,-0.80,-136.7,644.5,-13.2,156,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1999,3853,0,0,0,0,0,0
$GC,3833,-0.80,-136.7,677.4,-13.6,162,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1999,3852,0,0,0,0,0,0
$GC,4078,-0.80,-136.7,712.7,-14.7,168,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1998,3849,0,0,0,0,0,0
$GC,4320,-0.80,-136.7,749.1,-14.6,174,4324,0.00,2.22,0.00,0.000,4,0.000,0.053,2309,3402,3847,0,0,0,0,0,0
$GC,4392,-0.80,-136.7,759.4,-13.6,175,4397,0.12,2.12,0.00,0.000,6,0.168,0.034,2341,1999,3846,0,0,0,0,0,0
$GC,4654,-0.80,-136.7,786.9,-10.0,182,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1993,3844,0,0,0,0,0,0
$GC,4897,-0.80,-136.7,808.9,-8.9,188,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1992,3842,0,0,0,0,0,0
$GC,5140,-0.80,-136.7,833.1,-10.1,194,5144,0.00,2.22,0.00,0.000,4,0.000,0.055,2332,3399,3838,0,0,0,0,0,0
$GC,5168,-0.80,-136.7,836.1,-10.8,194,5172,0.00,2.12,0.00,0.000,6,0.000,0.035,2332,1994,3840,0,0,0,0,0,0
$GC,5424,-0.80,-136.7,864.5,-11.3,201,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1988,3839,0,0,0,0,0,0
$GC,5667,-0.80,-136.7,891.0,-10.9,207,5671,0.00,2.22,0.00,0.000,4,0.000,0.053,2321,3399,3837,0,0,0,0,0,0
$GC,5727,-0.80,-136.7,897.8,-11.4,208,5731,0.00,2.12,0.00,0.000,6,0.000,0.034,2321,1999,3837,0,0,0,0,0,0
$STATE,5748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5748,begin apogee
$GC,5756,-0.28,0.0,900.5,11.8,209,5872,0.60,0.00,111.75,1.089,6,0.149,0.000,2498,1926,3300,0,0,0,0,0,0
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5877,0.80,136.7,903.6,0.0,212,6003,1.05,0.00,120.88,1.055,6,0.098,0.000,2845,1925,2742,0,0,0,0,0,0
$GC,6244,0.80,136.7,846.6,18.4,221,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1925,2733,0,0,0,0,0,0
$GC,6487,0.80,136.7,801.8,18.5,227,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1925,2731,0,0,0,0,0,0
$GC,6730,0.80,136.7,755.7,18.8,233,6734,0.00,2.28,0.00,0.000,4,0.000,0.051,2843,3342,2730,0,0,0,0,0,0
$GC,6762,0.80,136.7,749.1,19.8,233,6766,0.00,2.15,0.00,0.000,6,0.000,0.031,2852,1927,2730,0,0,0,0,0,0
$GC,7018,0.80,136.7,700.8,18.8,240,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1923,2728,0,0,0,0,0,0
$GC,7262,0.80,136.7,658.8,17.0,246,7266,0.00,2.12,0.00,0.000,4,0.000,0.039,2863,520,2730,0,0,0,0,0,0
$GC,7312,0.80,136.7,649.7,17.3,247,7316,0.00,2.15,0.00,0.000,6,0.000,0.036,2863,1936,2725,0,0,0,0,0,0
$GC,7591,0.80,136.7,600.2,17.7,254,7596,0.00,2.22,0.00,0.000,4,0.000,0.052,2869,3338,2725,0,0,0,0,0,0
$GC,7637,0.80,136.7,591.5,19.7,255,7641,0.00,2.15,0.00,0.000,6,0.000,0.032,2873,1925,2726,0,0,0,0,0,0
$GC,7914,0.80,136.7,539.5,18.9,262,7918,0.00,2.12,0.00,0.000,4,0.000,0.039,2885,521,2725,0,0,0,0,0,0
$GC,7946,0.80,136.7,533.5,18.3,262,7953,0.12,2.12,0.00,0.000,6,0.202,0.035,2857,1933,2722,0,0,0,0,0,0
$GC,8197,0.80,136.7,492.3,16.3,269,8201,0.00,2.20,0.00,0.000,4,0.000,0.051,2846,3334,2722,0,0,0,0,0,0
$GC,8232,0.80,136.7,486.5,16.2,269,8237,0.00,2.15,0.00,0.000,6,0.000,0.031,2854,1912,2723,0,0,0,0,0,0
$GC,8482,0.80,136.7,446.3,16.5,276,8486,0.00,2.08,0.00,0.000,4,0.000,0.040,2866,528,2722,0,0,0,0,0,0
$GC,8525,0.80,136.7,438.7,16.5,277,8529,0.00,2.10,0.00,0.000,6,0.000,0.035,2866,1929,2721,0,0,0,0,0,0
$GC,8811,0.80,136.7,393.4,15.7,284,8815,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3332,2721,0,0,0,0,0,0
$GC,8832,0.80,136.7,389.6,15.7,284,8836,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1923,2721,0,0,0,0,0,0
$GC,9092,0.80,136.7,348.1,16.0,291,9096,0.00,2.22,0.00,0.000,4,0.000,0.048,2874,3334,2721,0,0,0,0,0,0
$GC,9139,0.80,136.7,340.1,18.3,292,9144,0.12,2.12,0.00,0.000,6,0.201,0.031,2855,1930,2721,0,0,0,0,0,0
$GC,9428,0.80,136.7,298.0,14.0,299,9432,0.00,2.12,0.00,0.000,4,0.000,0.040,2864,533,2720,0,0,0,0,0,0
$GC,9583,0.80,136.7,278.7,10.4,306,9587,0.00,2.10,0.00,0.000,6,0.000,0.033,2856,1936,2719,0,0,0,0,0,0
$GC,9847,0.80,136.7,252.1,10.1,319,9851,0.00,2.20,0.00,0.000,4,0.000,0.049,2848,3341,2719,0,0,0,0,0,0
$GC,9869,0.80,136.7,249.3,12.6,320,9873,0.00,2.12,0.00,0.000,6,0.000,0.031,2854,1935,2720,0,0,0,0,0,0
$GC,10135,0.80,136.7,216.9,12.5,333,10139,0.00,2.22,0.00,0.000,4,0.000,0.046,2846,3337,2719,0,0,0,0,0,0
$GC,10264,0.80,136.7,200.1,12.1,339,10268,0.00,2.12,0.00,0.000,6,0.000,0.030,2855,1921,2720,0,0,0,0,0,0
$GC,10530,0.80,136.7,172.5,10.7,363,10534,0.00,2.20,0.00,0.000,4,0.000,0.047,2846,3331,2722,0,0,0,0,0,0
$GC,10627,0.80,136.7,162.4,8.9,371,10636,0.00,2.15,0.00,0.000,6,0.000,0.030,2855,1928,2720,0,0,0,0,0,0
$GC,10894,0.80,136.7,140.1,8.7,396,10898,0.00,2.12,0.00,0.000,4,0.000,0.038,2866,519,2720,0,0,0,0,0,0
$GC,11090,0.80,136.7,118.6,9.0,413,11098,0.00,2.12,0.00,0.000,6,0.000,0.032,2866,1928,2720,0,0,0,0,0,0
$GC,11358,0.87,195.9,100.0,6.1,438,11408,0.00,2.28,45.25,0.522,4,0.000,0.046,2866,3327,2502,0,0,0,0,0,0
$GC,11445,0.87,195.9,91.1,12.3,445,11449,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1922,2501,0,0,0,0,0,0
$GC,11712,0.87,195.9,55.4,14.0,469,11716,0.00,2.22,0.00,0.000,4,0.000,0.044,2877,3327,2499,0,0,0,0,0,0
$GC,11818,0.87,195.9,42.3,11.9,478,11822,0.00,2.10,0.00,0.000,6,0.000,0.030,2886,1936,2499,0,0,0,0,0,0
$GC,12083,0.87,195.9,22.9,8.8,510,12090,0.00,2.17,0.00,0.000,4,0.000,0.038,2899,524,2499,0,0,0,0,0,0
$STATE,12268,end climb,SURFACE_DEPTH_REACHED
$STATE,12268,begin surface coast
$FINISH,0.2,1.011071
$STATE,12301,end surface coast,CONTROL_FINISHED_OK
$STATE,12301,begin surface
$SM_CCo,12322,46.10,0.433,0,0,2076,300.73
$SM_GC,1.74,0.00,0.00,46.10,0.000,0.000,0.433,51,2005,2076,-7.97,0.14,300.73
$IRIDIUM_FIX,2006.47,-15614.61,070213,161630
$TT8_MAMPS,0.263848
$HUMID,1078889668
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,73
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6298828800
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,38133465088
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,39.171
$10V_AH,10.0,35.767
$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,19.450,121.075,277.875,46.100,0.000,34.164,36.778,401.142,18.250,0.000,18.597,1209.158,8695.671,412.988,2388.328,388.121,33.354,1183.235,0.000,1877.874,0.000,0.542,0.000
$DEVICE_MAMPS,240.071,104.312,1089.140,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.082,0.000,945.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353752
$DATA_FILE_SIZE,26945,550
$CAP_FILE_SIZE,118449,0
$CFSIZE,260165632,185892864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,209.9,1
$GPS,160811,050407,2010.010,-15615.947,26,1.6,26,9.8