version: 66.07
glider: 513
mission: 7
dive: 277
start: 8 16 111 20 6 33
data:
$ID,513
$MISSION,7
$DIVE,277
$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,-427586.12
$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,60
$R_STBD_OVSHOOT,40
$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,276
$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
$GPS1,160811,194155,2000.375,-15615.103,32,1.6,37,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.1
$GPS2,160811,200536,1959.931,-15615.006,8,1.4,24,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.345,-3.954
$KALMAN_X,-116152.4,-252.0,287.6,183504.9,7263.5
$KALMAN_Y,-107728.4,-750.3,372.4,108542.7,-338.6
$MHEAD_RNG_PITCHd_Wd,181.5,110992,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.33,0.000,2,0.000,0.000,39,2014,3537,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.1,-4.8,8,108,9.52,2.15,-5.88,0.000,4,0.239,0.052,2341,610,3858,0,0,0,0,0,0
$GC,280,-0.80,-136.7,65.4,-24.3,31,284,0.00,2.12,0.00,0.000,6,0.000,0.041,2333,1996,3860,0,0,0,0,0,0
$GC,547,-0.80,-136.7,135.1,-25.5,55,551,0.00,2.20,0.00,0.000,4,0.000,0.048,2321,3418,3861,0,0,0,0,0,0
$GC,568,-0.80,-136.7,142.2,-26.7,56,576,0.00,2.15,0.00,0.000,6,0.000,0.031,2321,2009,3861,0,0,0,0,0,0
$GC,829,-0.80,-136.7,205.0,-21.9,80,833,0.00,2.20,0.00,0.000,4,0.000,0.048,2311,3412,3862,0,0,0,0,0,0
$GC,879,-0.80,-136.7,216.7,-22.6,82,883,0.00,2.10,0.00,0.000,6,0.000,0.031,2310,1999,3862,0,0,0,0,0,0
$GC,1139,-0.80,-136.7,271.2,-19.6,95,1143,0.00,2.17,0.00,0.000,4,0.000,0.048,2300,3412,3864,0,0,0,0,0,0
$GC,1285,-0.80,-136.7,299.2,-18.1,101,1290,0.15,2.10,0.00,0.000,6,0.165,0.031,2339,1991,3864,0,0,0,0,0,0
$GC,1555,-0.80,-136.7,342.1,-16.1,108,1559,0.00,2.08,0.00,0.000,4,0.000,0.041,2339,597,3864,0,0,0,0,0,0
$GC,1623,-0.80,-136.7,352.6,-15.9,109,1627,0.00,2.15,0.00,0.000,6,0.000,0.041,2331,2007,3863,0,0,0,0,0,0
$GC,1878,-0.80,-136.7,392.8,-16.0,116,1882,0.00,2.17,0.00,0.000,4,0.000,0.050,2320,3399,3864,0,0,0,0,0,0
$GC,1995,-0.80,-136.7,411.4,-14.8,118,1999,0.00,2.08,0.00,0.000,6,0.000,0.031,2320,2003,3863,0,0,0,0,0,0
$GC,2252,-0.80,-136.7,448.7,-14.3,125,2256,0.00,2.10,0.00,0.000,4,0.000,0.041,2320,599,3858,0,0,0,0,0,0
$GC,2296,-0.80,-136.7,455.8,-15.1,126,2300,0.12,2.12,0.00,0.000,6,0.176,0.041,2340,2003,3861,0,0,0,0,0,0
$GC,2579,-0.80,-136.7,495.9,-14.0,133,2583,0.00,2.17,0.00,0.000,4,0.000,0.051,2331,3405,3857,0,0,0,0,0,0
$GC,2607,-0.80,-136.7,499.6,-13.6,133,2611,0.00,2.12,0.00,0.000,6,0.000,0.034,2331,1995,3857,0,0,0,0,0,0
$GC,2857,-0.80,-136.7,532.8,-13.2,139,2861,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3404,3855,0,0,0,0,0,0
$GC,2884,-0.80,-136.7,536.5,-13.7,139,2888,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,1990,3854,0,0,0,0,0,0
$GC,3140,-0.80,-136.7,569.5,-12.9,146,3144,0.00,2.12,0.00,0.000,4,0.000,0.046,2321,603,3852,0,0,0,0,0,0
$GC,3156,-0.80,-136.7,572.0,-13.7,146,3161,0.10,2.12,0.00,0.000,6,0.187,0.042,2339,1998,3852,0,0,0,0,0,0
$GC,3428,-0.80,-136.7,606.3,-12.4,153,3432,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3408,3849,0,0,0,0,0,0
$GC,3468,-0.80,-136.7,611.3,-12.4,154,3472,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,2005,3848,0,0,0,0,0,0
$GC,3752,-0.80,-136.7,645.9,-12.1,161,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1999,3845,0,0,0,0,0,0
$GC,3995,-0.80,-136.7,676.5,-12.7,167,3999,0.00,2.28,0.00,0.000,4,0.000,0.053,2314,3416,3843,0,0,0,0,0,0
$GC,4044,-0.80,-136.7,683.0,-12.7,168,4048,0.00,2.15,0.00,0.000,6,0.000,0.034,2314,1990,3841,0,0,0,0,0,0
$GC,4324,-0.80,-136.7,720.1,-13.6,175,4328,0.00,2.28,0.00,0.000,4,0.000,0.053,2303,3422,3840,0,0,0,0,0,0
$GC,4345,-0.80,-136.7,723.6,-15.0,175,4350,0.12,2.15,0.00,0.000,6,0.173,0.035,2335,1991,3840,0,0,0,0,0,0
$GC,4600,-0.80,-136.7,754.9,-12.2,182,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1986,3837,0,0,0,0,0,0
$GC,4845,-0.80,-136.7,784.5,-12.2,188,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1986,3836,0,0,0,0,0,0
$GC,5087,-0.80,-136.7,813.1,-11.7,194,5091,0.00,2.25,0.00,0.000,4,0.000,0.054,2326,3406,3833,0,0,0,0,0,0
$GC,5120,-0.80,-136.7,817.2,-12.3,194,5127,0.00,2.17,0.00,0.000,6,0.000,0.038,2326,2002,3832,0,0,0,0,0,0
$GC,5370,-0.80,-136.7,848.4,-12.4,201,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1997,3830,0,0,0,0,0,0
$GC,5616,-0.80,-136.7,878.3,-12.3,207,5620,0.00,2.22,0.00,0.000,4,0.000,0.051,2315,3411,3829,0,0,0,0,0,0
$GC,5655,-0.80,-136.7,883.6,-12.9,208,5659,0.00,2.15,0.00,0.000,6,0.000,0.034,2315,1993,3828,0,0,0,0,0,0
$STATE,5814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5814,begin apogee
$GC,5821,-0.28,0.0,905.1,13.6,212,5938,0.62,0.00,109.93,1.093,6,0.152,0.000,2498,1925,3300,0,0,0,0,0,0
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5941,begin climb
$GC,5944,0.80,136.7,910.0,0.0,215,6072,1.08,2.28,120.78,1.057,4,0.097,0.038,2861,529,2743,0,0,0,0,0,0
$GC,6088,0.80,136.7,894.8,17.6,218,6095,0.00,2.25,0.00,0.000,6,0.000,0.035,2852,1931,2736,0,0,0,0,0,0
$GC,6338,0.80,136.7,846.9,19.2,225,6342,0.00,2.30,0.00,0.000,4,0.000,0.054,2842,3343,2732,0,0,0,0,0,0
$GC,6390,0.80,136.7,837.1,18.2,226,6394,0.00,2.20,0.00,0.000,6,0.000,0.031,2850,1913,2734,0,0,0,0,0,0
$GC,6667,0.80,136.7,787.9,17.6,233,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1913,2731,0,0,0,0,0,0
$GC,6912,0.80,136.7,743.8,18.3,239,6915,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,533,2730,0,0,0,0,0,0
$GC,6962,0.80,136.7,734.3,18.6,240,6967,0.00,2.15,0.00,0.000,6,0.000,0.035,2853,1947,2727,0,0,0,0,0,0
$GC,7235,0.80,136.7,685.9,17.3,247,7239,0.00,2.20,0.00,0.000,4,0.000,0.051,2842,3336,2726,0,0,0,0,0,0
$GC,7275,0.80,136.7,678.8,17.0,248,7279,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1922,2728,0,0,0,0,0,0
$GC,7559,0.80,136.7,631.8,16.8,255,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1919,2727,0,0,0,0,0,0
$GC,7801,0.80,136.7,588.5,17.9,261,7805,0.00,2.12,0.00,0.000,4,0.000,0.041,2862,529,2729,0,0,0,0,0,0
$GC,7851,0.80,136.7,579.4,18.3,262,7855,0.00,2.17,0.00,0.000,6,0.000,0.036,2853,1928,2724,0,0,0,0,0,0
$GC,8136,0.80,136.7,527.8,18.6,269,8140,0.00,2.25,0.00,0.000,4,0.000,0.052,2843,3342,2724,0,0,0,0,0,0
$GC,8157,0.80,136.7,523.2,20.0,269,8161,0.00,2.15,0.00,0.000,6,0.000,0.031,2851,1924,2724,0,0,0,0,0,0
$GC,8424,0.80,136.7,475.9,17.3,276,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1922,2722,0,0,0,0,0,0
$GC,8668,0.80,136.7,436.6,15.9,282,8672,0.00,2.28,0.00,0.000,4,0.000,0.051,2848,3342,2724,0,0,0,0,0,0
$GC,8690,0.80,136.7,433.1,15.5,282,8694,0.00,2.17,0.00,0.000,6,0.000,0.031,2851,1922,2725,0,0,0,0,0,0
$GC,8946,0.80,136.7,393.0,15.2,289,8950,0.00,2.12,0.00,0.000,4,0.000,0.041,2863,528,2723,0,0,0,0,0,0
$GC,8984,0.80,136.7,386.7,15.6,289,8990,0.00,2.12,0.00,0.000,6,0.000,0.034,2854,1939,2721,0,0,0,0,0,0
$GC,9235,0.80,136.7,350.2,14.4,296,9239,0.00,2.15,0.00,0.000,4,0.000,0.039,2858,519,2722,0,0,0,0,0,0
$GC,9257,0.80,136.7,346.7,14.5,296,9261,0.00,2.12,0.00,0.000,6,0.000,0.035,2855,1929,2721,0,0,0,0,0,0
$GC,9519,0.80,136.7,308.8,14.5,303,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1929,2721,0,0,0,0,0,0
$GC,9764,0.80,136.7,277.2,10.3,313,9768,0.00,2.22,0.00,0.000,4,0.000,0.051,2844,3331,2721,0,0,0,0,0,0
$GC,9810,0.80,136.7,272.2,11.2,315,9814,0.00,2.12,0.00,0.000,6,0.000,0.031,2853,1914,2721,0,0,0,0,0,0
$GC,10069,0.80,136.7,241.9,12.0,328,10073,0.00,2.22,0.00,0.000,4,0.000,0.049,2844,3329,2721,0,0,0,0,0,0
$GC,10118,0.80,136.7,236.2,11.7,330,10122,0.00,2.10,0.00,0.000,6,0.000,0.030,2853,1928,2721,0,0,0,0,0,0
$GC,10378,0.80,136.7,211.5,9.2,343,10382,0.00,2.12,0.00,0.000,4,0.000,0.038,2864,530,2721,0,0,0,0,0,0
$GC,10434,0.80,136.7,205.7,11.7,345,10439,0.00,2.10,0.00,0.000,6,0.000,0.032,2856,1933,2720,0,0,0,0,0,0
$GC,10697,0.80,136.7,177.5,11.1,367,10701,0.00,2.20,0.00,0.000,4,0.000,0.048,2845,3338,2722,0,0,0,0,0,0
$GC,10948,0.80,136.7,150.0,9.5,389,10956,0.00,2.15,0.00,0.000,6,0.000,0.029,2853,1928,2721,0,0,0,0,0,0
$GC,11216,0.80,136.7,126.6,9.5,414,11220,0.00,2.17,0.00,0.000,4,0.000,0.045,2846,3327,2721,0,0,0,0,0,0
$GC,11236,0.80,136.7,124.2,10.1,415,11241,0.00,2.08,0.00,0.000,6,0.000,0.028,2854,1921,2722,0,0,0,0,0,0
$GC,11503,0.80,136.7,97.0,9.6,439,11507,0.00,2.20,0.00,0.000,4,0.000,0.046,2846,3340,2722,0,0,0,0,0,0
$GC,11546,0.80,139.7,92.3,8.4,442,11555,0.00,2.12,0.00,0.000,6,0.000,0.028,2854,1937,2723,0,0,0,0,0,0
$GC,11813,0.85,184.7,72.4,6.7,467,11853,0.00,0.00,37.25,0.493,6,0.000,0.000,2854,1936,2549,0,0,0,0,0,0
$GC,12111,0.95,259.5,47.7,5.4,494,12176,0.12,2.22,59.42,0.479,4,0.096,0.045,2909,3326,2241,0,0,0,0,0,0
$GC,12214,0.95,259.5,36.8,14.8,502,12219,0.00,2.12,0.00,0.000,6,0.000,0.029,2920,1929,2240,0,0,0,0,0,0
$STATE,12422,end climb,SURFACE_DEPTH_REACHED
$STATE,12422,begin surface coast
$FINISH,0.6,1.023164
$STATE,12440,end surface coast,CONTROL_FINISHED_OK
$STATE,12440,begin surface
$SM_CCo,12461,258.75,0.434,0,0,396,712.83
$SM_GC,0.97,0.00,0.00,258.75,0.000,0.000,0.434,43,2004,396,-7.95,0.11,712.83
$IRIDIUM_FIX,1955.00,-15614.36,080213,141408
$TT8_MAMPS,0.060593
$HUMID,1078758055
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,25.10
$XPDR_PINGS,83
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6337101824
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,37325537280
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,39.808
$10V_AH,10.0,36.395
$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,19.600,134.425,327.375,258.750,0.000,133.853,314.636,477.642,20.750,0.000,26.581,1177.568,9149.236,670.167,2710.556,436.450,33.355,1434.583,0.000,1778.875,0.000,0.542,0.000
$DEVICE_MAMPS,238.537,104.312,1092.975,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,368.437,0.000,886.539,0.000,0.000,0.000,0.000,42938.602,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.621,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26958,539
$CAP_FILE_SIZE,126864,0
$CFSIZE,260165632,185499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,133.0,1
$GPS,160811,234007,1957.818,-15614.743,38,1.7,38,9.7