version: 66.07
glider: 513
mission: 7
dive: 275
start: 8 16 111 12 31 21
data:
$ID,513
$MISSION,7
$DIVE,275
$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,-427477.34
$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,47
$R_STBD_OVSHOOT,41
$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,274
$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
$GPS1,160811,122007,2005.719,-15615.327,37,1.0,37,9.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.0
$GPS2,160811,123025,2005.521,-15615.272,12,1.3,23,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.143,-0.207
$KALMAN_X,-124287.1,129.7,-247.0,191329.1,3029.2
$KALMAN_Y,-109274.0,1518.3,339.7,118177.4,-3697.1
$MHEAD_RNG_PITCHd_Wd,175.7,121346,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.12,0.000,2,0.000,0.000,34,1996,3748,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.3,-8.1,9,114,9.73,2.17,-1.77,0.000,4,0.243,0.051,2337,591,3861,0,0,0,0,0,0
$GC,202,-0.80,-136.7,48.9,-28.5,22,209,0.00,2.20,0.00,0.000,6,0.000,0.041,2329,2000,3864,0,0,0,0,0,0
$GC,466,-0.80,-136.7,125.8,-27.8,47,470,0.00,2.10,0.00,0.000,4,0.000,0.038,2328,597,3866,0,0,0,0,0,0
$GC,488,-0.80,-136.7,132.0,-29.0,48,492,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2005,3866,0,0,0,0,0,0
$GC,753,-0.80,-136.7,197.9,-23.2,72,757,0.00,2.17,0.00,0.000,4,0.000,0.046,2308,3416,3867,0,0,0,0,0,0
$GC,794,-0.80,-136.7,208.5,-24.6,74,798,0.12,2.12,0.00,0.000,6,0.170,0.031,2337,1998,3867,0,0,0,0,0,0
$GC,1058,-0.80,-136.7,259.0,-16.1,87,1062,0.00,2.25,0.00,0.000,4,0.000,0.049,2330,3417,3871,0,0,0,0,0,0
$GC,1175,-0.80,-136.7,282.6,-19.9,92,1179,0.00,2.12,0.00,0.000,6,0.000,0.030,2330,1987,3869,0,0,0,0,0,0
$GC,1453,-0.80,-136.7,330.6,-16.8,102,1457,0.00,2.05,0.00,0.000,4,0.000,0.039,2330,603,3871,0,0,0,0,0,0
$GC,1503,-0.80,-136.7,339.2,-15.2,103,1507,0.00,2.12,0.00,0.000,6,0.000,0.040,2319,2015,3870,0,0,0,0,0,0
$GC,1781,-0.80,-136.7,385.9,-16.4,110,1785,0.00,2.20,0.00,0.000,4,0.000,0.048,2309,3416,3870,0,0,0,0,0,0
$GC,1882,-0.80,-136.7,403.2,-16.0,112,1887,0.12,2.12,0.00,0.000,6,0.166,0.031,2340,1994,3869,0,0,0,0,0,0
$GC,2148,-0.80,-136.7,442.8,-15.1,119,2152,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3417,3865,0,0,0,0,0,0
$GC,2204,-0.80,-136.7,451.3,-14.8,120,2208,0.00,2.15,0.00,0.000,6,0.000,0.031,2331,1993,3865,0,0,0,0,0,0
$GC,2470,-0.80,-136.7,489.7,-14.0,127,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1988,3865,0,0,0,0,0,0
$GC,2714,-0.80,-136.7,524.2,-14.3,133,2718,0.00,2.10,0.00,0.000,4,0.000,0.044,2331,606,3863,0,0,0,0,0,0
$GC,2759,-0.80,-136.7,530.9,-14.6,134,2763,0.00,2.12,0.00,0.000,6,0.000,0.041,2321,2000,3862,0,0,0,0,0,0
$GC,3050,-0.80,-136.7,572.5,-14.5,141,3054,0.00,2.25,0.00,0.000,4,0.000,0.052,2310,3406,3860,0,0,0,0,0,0
$GC,3140,-0.80,-136.7,586.2,-15.2,143,3145,0.10,2.15,0.00,0.000,6,0.179,0.035,2334,2006,3859,0,0,0,0,0,0
$GC,3419,-0.80,-136.7,625.5,-14.1,150,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2001,3856,0,0,0,0,0,0
$GC,3661,-0.80,-136.7,657.4,-12.9,156,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1998,3854,0,0,0,0,0,0
$GC,3905,-0.80,-136.7,686.2,-11.6,162,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2001,3852,0,0,0,0,0,0
$GC,4149,-0.80,-136.7,712.4,-10.9,168,4153,0.00,2.22,0.00,0.000,4,0.000,0.054,2325,3408,3854,0,0,0,0,0,0
$GC,4211,-0.80,-136.7,719.8,-11.8,169,4215,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,1990,3848,0,0,0,0,0,0
$GC,4471,-0.80,-136.7,754.1,-13.4,176,4475,0.00,2.28,0.00,0.000,4,0.000,0.054,2314,3410,3850,0,0,0,0,0,0
$GC,4543,-0.80,-136.7,763.3,-12.5,177,4547,0.00,2.17,0.00,0.000,6,0.000,0.035,2314,2006,3845,0,0,0,0,0,0
$GC,4799,-0.80,-136.7,796.1,-13.1,184,4801,0.10,0.00,0.00,0.000,6,0.200,0.000,2338,2000,3844,0,0,0,0,0,0
$GC,5042,-0.80,-136.7,825.0,-11.9,190,5045,0.00,2.25,0.00,0.000,4,0.000,0.054,2328,3403,3842,0,0,0,0,0,0
$GC,5080,-0.80,-136.7,829.6,-12.0,190,5086,0.00,2.12,0.00,0.000,6,0.000,0.034,2329,1995,3842,0,0,0,0,0,0
$GC,5332,-0.80,-136.7,858.2,-11.3,197,5336,0.00,2.12,0.00,0.000,4,0.000,0.048,2328,604,3840,0,0,0,0,0,0
$GC,5432,-0.80,-136.7,871.2,-12.0,199,5436,0.00,2.15,0.00,0.000,6,0.000,0.044,2318,2016,3840,0,0,0,0,0,0
$STATE,5702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5702,begin apogee
$GC,5709,-0.28,0.0,904.6,12.0,206,5826,0.62,0.00,111.28,1.098,6,0.148,0.000,2503,1928,3300,0,0,0,0,0,0
$STATE,5828,end apogee,CONTROL_FINISHED_OK
$STATE,5828,begin climb
$GC,5832,0.80,136.7,909.4,0.0,209,5960,1.02,2.28,118.70,1.066,4,0.094,0.038,2858,529,2741,0,0,0,0,0,0
$GC,6028,0.80,136.7,884.9,19.3,213,6033,0.00,2.22,0.00,0.000,6,0.000,0.037,2857,1925,2735,0,0,0,0,0,0
$GC,6278,0.80,136.7,836.4,19.3,219,6282,0.00,2.15,0.00,0.000,4,0.000,0.038,2867,526,2733,0,0,0,0,0,0
$GC,6322,0.80,136.7,828.1,18.4,220,6325,0.00,2.17,0.00,0.000,6,0.000,0.035,2867,1931,2732,0,0,0,0,0,0
$GC,6607,0.80,136.7,774.4,19.0,227,6611,0.00,2.25,0.00,0.000,4,0.000,0.054,2867,3337,2731,0,0,0,0,0,0
$GC,6656,0.80,136.7,763.7,21.2,228,6660,0.00,2.15,0.00,0.000,6,0.000,0.032,2877,1931,2731,0,0,0,0,0,0
$GC,6934,0.80,136.7,709.0,19.7,235,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1928,2729,0,0,0,0,0,0
$GC,7179,0.80,136.7,659.2,20.8,241,7183,0.00,2.22,0.00,0.000,4,0.000,0.050,2875,3338,2728,0,0,0,0,0,0
$GC,7214,0.80,136.7,651.3,21.8,241,7220,0.12,2.17,0.00,0.000,6,0.210,0.031,2857,1921,2728,0,0,0,0,0,0
$GC,7463,0.80,136.7,603.0,18.8,248,7467,0.00,2.10,0.00,0.000,4,0.000,0.040,2866,529,2727,0,0,0,0,0,0
$GC,7479,0.80,136.7,599.6,19.3,248,7483,0.00,2.12,0.00,0.000,6,0.000,0.035,2857,1942,2725,0,0,0,0,0,0
$GC,7746,0.80,136.7,554.3,16.6,255,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1948,2725,0,0,0,0,0,0
$GC,7990,0.80,136.7,512.2,17.0,261,7994,0.00,2.17,0.00,0.000,4,0.000,0.039,2867,530,2725,0,0,0,0,0,0
$GC,8018,0.80,136.7,507.3,16.9,261,8022,0.00,2.17,0.00,0.000,6,0.000,0.035,2859,1927,2723,0,0,0,0,0,0
$GC,8274,0.80,136.7,467.5,15.3,268,8278,0.00,2.25,0.00,0.000,4,0.000,0.053,2848,3349,2724,0,0,0,0,0,0
$GC,8289,0.80,136.7,465.0,14.9,268,8293,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1917,2724,0,0,0,0,0,0
$GC,8556,0.80,136.7,425.3,14.9,275,8560,0.00,2.28,0.00,0.000,4,0.000,0.050,2847,3349,2723,0,0,0,0,0,0
$GC,8616,0.80,136.7,416.6,14.5,276,8620,0.00,2.15,0.00,0.000,6,0.000,0.031,2858,1930,2724,0,0,0,0,0,0
$GC,8890,0.80,136.7,374.4,16.1,283,8894,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,524,2723,0,0,0,0,0,0
$GC,8956,0.80,136.7,363.3,15.8,284,8960,0.00,2.15,0.00,0.000,6,0.000,0.036,2869,1948,2721,0,0,0,0,0,0
$GC,9217,0.80,136.7,323.0,15.1,291,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1948,2722,0,0,0,0,0,0
$GC,9463,0.80,136.7,289.6,13.5,298,9467,0.00,2.15,0.00,0.000,4,0.000,0.038,2879,521,2722,0,0,0,0,0,0
$GC,9479,0.80,136.7,286.7,15.2,298,9484,0.00,2.12,0.00,0.000,6,0.000,0.035,2879,1931,2721,0,0,0,0,0,0
$GC,9732,0.80,136.7,251.0,12.9,311,9736,0.00,2.12,0.00,0.000,4,0.000,0.038,2890,520,2721,0,0,0,0,0,0
$GC,9774,0.80,136.7,246.0,13.0,313,9778,0.15,2.12,0.00,0.000,6,0.192,0.035,2855,1932,2720,0,0,0,0,0,0
$GC,10038,0.80,136.7,214.3,11.5,326,10042,0.00,2.20,0.00,0.000,4,0.000,0.051,2854,3333,2721,0,0,0,0,0,0
$GC,10271,0.80,136.7,189.7,11.1,340,10279,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1926,2721,0,0,0,0,0,0
$GC,10538,0.80,136.7,161.1,10.4,365,10542,0.00,2.12,0.00,0.000,4,0.000,0.038,2874,517,2721,0,0,0,0,0,0
$GC,10591,0.80,136.7,155.5,10.4,369,10595,0.00,2.12,0.00,0.000,6,0.000,0.032,2874,1945,2720,0,0,0,0,0,0
$GC,10858,0.80,137.5,128.9,8.5,393,10862,0.00,2.15,0.00,0.000,4,0.000,0.047,2874,3333,2721,0,0,0,0,0,0
$GC,10900,0.80,137.5,124.7,8.9,396,10909,0.00,2.12,0.00,0.000,6,0.000,0.028,2885,1921,2722,0,0,0,0,0,0
$GC,11169,0.80,140.2,102.2,8.5,421,11172,0.00,2.05,0.00,0.000,4,0.000,0.038,2896,544,2723,0,0,0,0,0,0
$GC,11261,0.84,176.7,94.9,7.0,429,11295,0.00,2.10,29.98,0.524,6,0.000,0.031,2901,1929,2580,0,0,0,0,0,0
$GC,11553,0.84,176.7,60.5,13.4,456,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1928,2578,0,0,0,0,0,0
$GC,11809,0.92,237.9,39.5,6.0,480,11869,0.00,2.28,49.42,0.476,4,0.000,0.047,2896,3331,2330,0,0,0,0,0,0
$GC,11928,0.92,237.9,26.5,13.3,492,11937,0.00,2.15,0.00,0.000,6,0.000,0.028,2907,1951,2328,0,0,0,0,0,0
$STATE,12074,end climb,SURFACE_DEPTH_REACHED
$STATE,12074,begin surface coast
$FINISH,0.2,1.023188
$STATE,12092,end surface coast,CONTROL_FINISHED_OK
$STATE,12092,begin surface
$SM_CCo,12112,33.15,0.435,0,0,2074,300.24
$SM_GC,1.60,0.00,0.00,33.15,0.000,0.000,0.435,61,1950,2074,-7.93,-1.36,300.24
$IRIDIUM_FIX,1959.59,-15617.64,080213,030305
$TT8_MAMPS,0.243906
$HUMID,1078896119
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,25.10
$XPDR_PINGS,82
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260293632
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,37677072384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,39.512
$10V_AH,10.0,36.030
$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,19.825,125.650,309.375,33.150,0.000,24.917,33.986,326.458,20.500,0.000,25.943,1152.422,8634.194,402.937,2188.124,392.641,33.354,1190.479,0.000,1777.315,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,87.438,1097.577,434.889,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,355.937,0.000,856.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26888,521
$CAP_FILE_SIZE,117954,0
$CFSIZE,260165632,185667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,179.4,1
$GPS,160811,155502,2002.973,-15615.480,16,1.9,16,9.7