version: 66.07
glider: 513
mission: 7
dive: 273
start: 8 16 111 5 16 32
data:
$ID,513
$MISSION,7
$DIVE,273
$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,-427435.16
$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,44
$R_STBD_OVSHOOT,33
$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,272
$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
$GPS1,160811,050407,2010.010,-15615.947,26,1.6,26,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-77.9
$GPS2,160811,051534,2009.866,-15615.981,12,3.1,31,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.049,-0.246
$KALMAN_X,-127777.4,225.9,-94.3,193342.9,1251.5
$KALMAN_Y,-114667.6,1899.6,1200.6,130360.8,-11551.6
$MHEAD_RNG_PITCHd_Wd,152.2,129403,-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,-50.75,0.000,2,0.000,0.000,36,2004,3531,0,0,0,0,0,0
$GC,84,-0.80,-136.7,3.5,-5.5,8,106,9.70,2.17,-5.68,0.000,4,0.242,0.051,2341,590,3857,0,0,0,0,0,0
$GC,201,-0.80,-136.7,42.9,-27.7,24,205,0.00,2.17,0.00,0.000,6,0.000,0.041,2331,2015,3860,0,0,0,0,0,0
$GC,470,-0.80,-136.7,122.4,-25.5,49,474,0.00,2.22,0.00,0.000,4,0.000,0.051,2320,3415,3861,0,0,0,0,0,0
$GC,557,-0.80,-136.7,143.8,-21.0,56,565,0.00,2.17,0.00,0.000,6,0.000,0.033,2320,2010,3862,0,0,0,0,0,0
$GC,819,-0.80,-136.7,205.9,-22.9,80,823,0.00,2.12,0.00,0.000,4,0.000,0.038,2321,578,3864,0,0,0,0,0,0
$GC,852,-0.80,-136.7,214.7,-23.8,81,857,0.10,2.17,0.00,0.000,6,0.188,0.041,2334,2003,3864,0,0,0,0,0,0
$GC,1111,-0.80,-136.7,265.5,-19.7,94,1115,0.00,2.17,0.00,0.000,4,0.000,0.048,2325,3407,3863,0,0,0,0,0,0
$GC,1168,-0.80,-136.7,276.9,-19.6,96,1174,0.00,2.15,0.00,0.000,6,0.000,0.033,2325,1993,3865,0,0,0,0,0,0
$GC,1419,-0.80,-136.7,320.1,-16.5,106,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1987,3865,0,0,0,0,0,0
$GC,1664,-0.80,-136.7,363.7,-17.8,112,1668,0.00,2.08,0.00,0.000,4,0.000,0.040,2325,595,3865,0,0,0,0,0,0
$GC,1685,-0.80,-136.7,367.9,-18.0,112,1689,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2007,3865,0,0,0,0,0,0
$GC,1948,-0.80,-136.7,413.9,-17.3,119,1952,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3413,3865,0,0,0,0,0,0
$GC,1975,-0.80,-136.7,419.0,-17.2,119,1980,0.12,2.15,0.00,0.000,6,0.166,0.033,2339,1994,3865,0,0,0,0,0,0
$GC,2236,-0.80,-136.7,457.0,-14.5,126,2240,0.00,2.22,0.00,0.000,4,0.000,0.051,2327,3414,3862,0,0,0,0,0,0
$GC,2316,-0.80,-136.7,468.6,-14.8,127,2323,0.00,2.15,0.00,0.000,6,0.000,0.033,2323,2001,3862,0,0,0,0,0,0
$GC,2566,-0.80,-136.7,507.8,-15.8,134,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1992,3861,0,0,0,0,0,0
$GC,2810,-0.80,-136.7,544.1,-14.9,140,2814,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,3413,3858,0,0,0,0,0,0
$GC,2844,-0.80,-136.7,549.4,-15.9,140,2849,0.00,2.15,0.00,0.000,6,0.000,0.033,2316,1999,3860,0,0,0,0,0,0
$GC,3093,-0.80,-136.7,588.8,-15.5,147,3097,0.00,2.22,0.00,0.000,4,0.000,0.051,2305,3410,3856,0,0,0,0,0,0
$GC,3154,-0.80,-136.7,598.0,-14.1,148,3159,0.08,2.17,0.00,0.000,6,0.150,0.034,2345,2009,3855,0,0,0,0,0,0
$GC,3422,-0.80,-136.7,631.7,-12.5,155,3426,0.00,2.12,0.00,0.000,4,0.000,0.041,2342,588,3852,0,0,0,0,0,0
$GC,3455,-0.80,-136.7,636.4,-13.8,155,3461,0.00,2.15,0.00,0.000,6,0.000,0.041,2334,1999,3853,0,0,0,0,0,0
$GC,3705,-0.80,-136.7,670.2,-13.5,162,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1999,3849,0,0,0,0,0,0
$GC,3949,-0.80,-136.7,702.8,-13.4,168,3953,0.00,2.20,0.00,0.000,4,0.000,0.051,2322,3400,3848,0,0,0,0,0,0
$GC,4011,-0.80,-136.7,710.8,-12.9,169,4015,0.00,2.15,0.00,0.000,6,0.000,0.034,2322,1989,3847,0,0,0,0,0,0
$GC,4278,-0.80,-136.7,744.8,-12.6,176,4282,0.00,2.25,0.00,0.000,4,0.000,0.052,2312,3406,3845,0,0,0,0,0,0
$GC,4367,-0.80,-136.7,757.0,-13.0,178,4371,0.00,2.17,0.00,0.000,6,0.000,0.036,2310,1995,3844,0,0,0,0,0,0
$GC,4652,-0.80,-136.7,795.6,-13.7,185,4656,0.00,2.25,0.00,0.000,4,0.000,0.052,2300,3401,3842,0,0,0,0,0,0
$GC,4691,-0.80,-136.7,801.4,-13.9,186,4696,0.15,2.17,0.00,0.000,6,0.167,0.035,2339,1987,3841,0,0,0,0,0,0
$GC,4974,-0.80,-136.7,832.6,-10.9,193,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1982,3839,0,0,0,0,0,0
$GC,5219,-0.80,-136.7,858.7,-10.6,199,5223,0.00,2.25,0.00,0.000,4,0.000,0.053,2330,3402,3838,0,0,0,0,0,0
$GC,5280,-0.80,-136.7,865.2,-10.9,200,5284,0.00,2.12,0.00,0.000,6,0.000,0.034,2330,2007,3837,0,0,0,0,0,0
$GC,5546,-0.80,-136.7,893.0,-10.6,207,5550,0.00,2.15,0.00,0.000,4,0.000,0.043,2330,592,3836,0,0,0,0,0,0
$GC,5564,-0.80,-136.7,894.8,-10.3,207,5568,0.00,2.15,0.00,0.000,6,0.000,0.043,2323,1998,3835,0,0,0,0,0,0
$STATE,5624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5625,begin apogee
$GC,5631,-0.28,0.0,901.5,10.6,209,5748,0.62,0.00,111.10,1.088,6,0.149,0.000,2504,1911,3301,0,0,0,0,0,0
$STATE,5751,end apogee,CONTROL_FINISHED_OK
$STATE,5751,begin climb
$GC,5754,0.80,136.7,903.8,0.0,212,5878,1.02,0.00,120.30,1.055,6,0.095,0.000,2846,1911,2744,0,0,0,0,0,0
$GC,6119,0.80,136.7,842.4,19.6,221,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1910,2734,0,0,0,0,0,0
$GC,6363,0.80,136.7,796.8,18.9,227,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1910,2729,0,0,0,0,0,0
$GC,6606,0.80,136.7,750.8,18.7,233,6610,0.00,2.30,0.00,0.000,4,0.000,0.053,2846,3342,2730,0,0,0,0,0,0
$GC,6640,0.80,136.7,744.1,19.9,233,6645,0.00,2.15,0.00,0.000,6,0.000,0.032,2856,1937,2730,0,0,0,0,0,0
$GC,6890,0.80,136.7,696.2,19.2,239,6894,0.00,2.25,0.00,0.000,4,0.000,0.050,2857,3335,2728,0,0,0,0,0,0
$GC,6934,0.80,136.7,687.3,20.7,240,6937,0.00,2.17,0.00,0.000,6,0.000,0.032,2867,1924,2724,0,0,0,0,0,0
$GC,7218,0.80,136.7,632.0,19.4,247,7222,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,526,2727,0,0,0,0,0,0
$GC,7246,0.80,136.7,626.3,19.5,247,7250,0.00,2.15,0.00,0.000,6,0.000,0.035,2878,1941,2724,0,0,0,0,0,0
$GC,7496,0.80,136.7,578.4,19.2,253,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1943,2725,0,0,0,0,0,0
$GC,7740,0.80,136.7,534.5,17.8,259,7744,0.00,2.22,0.00,0.000,4,0.000,0.051,2878,3340,2725,0,0,0,0,0,0
$GC,7823,0.80,136.7,517.8,19.5,260,7829,0.15,2.17,0.00,0.000,6,0.202,0.033,2854,1925,2725,0,0,0,0,0,0
$GC,8073,0.80,136.7,476.1,16.6,267,8077,0.00,2.12,0.00,0.000,4,0.000,0.041,2864,521,2724,0,0,0,0,0,0
$GC,8123,0.80,136.7,467.5,18.2,268,8127,0.00,2.15,0.00,0.000,6,0.000,0.035,2863,1930,2722,0,0,0,0,0,0
$GC,8396,0.80,136.7,419.2,17.9,275,8400,0.00,2.22,0.00,0.000,4,0.000,0.050,2863,3342,2722,0,0,0,0,0,0
$GC,8451,0.80,136.7,409.2,17.7,276,8455,0.00,2.17,0.00,0.000,6,0.000,0.031,2874,1919,2723,0,0,0,0,0,0
$GC,8725,0.80,136.7,361.2,17.2,283,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1914,2722,0,0,0,0,0,0
$GC,8967,0.80,136.7,323.4,15.5,289,8971,0.00,2.25,0.00,0.000,4,0.000,0.051,2870,3340,2722,0,0,0,0,0,0
$GC,8977,0.80,136.7,321.8,14.9,289,8981,0.00,2.12,0.00,0.000,6,0.000,0.031,2879,1933,2722,0,0,0,0,0,0
$GC,9236,0.80,136.7,283.8,14.7,298,9240,0.00,2.10,0.00,0.000,4,0.000,0.038,2890,524,2721,0,0,0,0,0,0
$GC,9410,0.80,136.7,261.4,12.5,306,9415,0.15,2.15,0.00,0.000,6,0.191,0.037,2854,1943,2721,0,0,0,0,0,0
$GC,9680,0.80,136.7,233.2,10.3,319,9684,0.00,2.12,0.00,0.000,4,0.000,0.038,2864,523,2719,0,0,0,0,0,0
$GC,9743,0.80,136.7,226.5,11.3,322,9747,0.00,2.15,0.00,0.000,6,0.000,0.035,2863,1936,2718,0,0,0,0,0,0
$GC,10007,0.80,136.7,198.8,10.4,335,10011,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3335,2721,0,0,0,0,0,0
$GC,10116,0.80,136.7,186.5,12.0,344,10120,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1922,2721,0,0,0,0,0,0
$GC,10382,0.80,136.7,155.2,11.2,368,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1920,2720,0,0,0,0,0,0
$GC,10646,0.80,136.7,123.1,9.8,393,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1920,2720,0,0,0,0,0,0
$GC,10911,0.81,146.2,99.5,8.2,418,10924,0.00,2.25,5.80,0.423,4,0.000,0.045,2873,3346,2704,0,0,0,0,0,0
$GC,10961,0.81,146.2,95.3,8.8,422,10965,0.00,2.12,0.00,0.000,6,0.000,0.028,2882,1915,2707,0,0,0,0,0,0
$GC,11228,0.83,163.0,72.0,7.9,446,11253,0.00,2.28,15.75,0.477,4,0.000,0.047,2883,3340,2635,0,0,0,0,0,0
$GC,11300,0.83,163.0,65.2,10.3,452,11304,0.00,2.12,0.00,0.000,6,0.000,0.028,2894,1925,2633,0,0,0,0,0,0
$GC,11567,0.84,174.9,42.1,8.1,476,11584,0.00,0.00,11.23,0.434,6,0.000,0.000,2894,1922,2586,0,0,0,0,0,0
$GC,11842,0.84,174.9,13.5,10.6,516,11849,0.00,2.22,0.00,0.000,4,0.000,0.044,2894,3321,2585,0,0,0,0,0,0
$STATE,11944,end climb,SURFACE_DEPTH_REACHED
$STATE,11944,begin surface coast
$FINISH,1.6,1.023144
$STATE,11953,end surface coast,CONTROL_FINISHED_OK
$STATE,11953,begin surface
$SM_CCo,11975,65.25,0.439,0,0,2075,300.24
$SM_GC,1.03,0.00,0.00,65.25,0.000,0.000,0.439,53,1998,2075,-7.95,-0.08,300.24
$IRIDIUM_FIX,2004.18,-15614.61,070213,191950
$TT8_MAMPS,0.252343
$HUMID,1078856119
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,87
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6298796032
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,37971558400
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,39.282
$10V_AH,10.1,35.854
$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,19.600,121.800,264.175,65.250,0.000,27.206,58.171,358.922,21.750,0.000,35.822,1163.676,8517.430,422.415,2237.893,396.318,33.357,1162.411,0.000,1764.645,0.000,0.542,0.000
$DEVICE_MAMPS,241.605,84.370,1088.373,439.491,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.039,0.000,922.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26975,536
$CAP_FILE_SIZE,116113,0
$CFSIZE,260165632,185815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,174.8,1
$GPS,160811,083900,2008.155,-15615.492,47,1.1,47,9.7