version: 66.07
glider: 513
mission: 7
dive: 278
start: 8 16 111 23 58 30
data:
$ID,513
$MISSION,7
$DIVE,278
$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,-427611.5
$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,45
$R_STBD_OVSHOOT,32
$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,277
$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
$GPS1,160811,234007,1957.818,-15614.743,38,1.7,38,9.7
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.2
$GPS2,160811,235731,1957.461,-15614.673,16,1.6,21,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.021,-0.238
$KALMAN_X,-108125.9,118.9,-214.9,176188.3,12272.4
$KALMAN_Y,-38576.6,6398.3,10762.3,16906.7,40638.7
$MHEAD_RNG_PITCHd_Wd,191.7,106419,-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,-136.7,0.0,0.0,0,143,0.00,0.00,-112.88,0.000,2,0.000,0.000,37,2000,3741,0,0,0,0,0,0
$GC,148,-0.80,-136.7,3.7,-5.9,17,169,9.48,2.17,-2.03,0.000,4,0.236,0.056,2336,594,3862,0,0,0,0,0,0
$GC,310,-0.80,-136.7,64.0,-33.6,36,314,0.00,2.20,0.00,0.000,6,0.000,0.044,2329,2009,3864,0,0,0,0,0,0
$GC,575,-0.80,-136.7,138.2,-27.2,60,579,0.00,2.20,0.00,0.000,4,0.000,0.048,2317,3414,3864,0,0,0,0,0,0
$GC,661,-0.80,-136.7,159.7,-23.4,67,665,0.00,2.12,0.00,0.000,6,0.000,0.030,2313,1999,3864,0,0,0,0,0,0
$GC,919,-0.80,-136.7,218.7,-22.5,87,923,0.00,2.22,0.00,0.000,4,0.000,0.048,2306,3420,3865,0,0,0,0,0,0
$GC,993,-0.80,-136.7,234.7,-19.9,90,997,0.12,2.10,0.00,0.000,6,0.172,0.031,2337,2000,3866,0,0,0,0,0,0
$GC,1246,-0.80,-136.7,282.5,-18.3,102,1250,0.00,2.17,0.00,0.000,4,0.000,0.047,2328,3414,3863,0,0,0,0,0,0
$GC,1306,-0.80,-136.7,291.9,-14.2,104,1313,0.00,2.10,0.00,0.000,6,0.000,0.029,2328,1987,3865,0,0,0,0,0,0
$GC,1579,-0.80,-136.7,335.9,-16.7,113,1583,0.00,2.08,0.00,0.000,4,0.000,0.041,2328,604,3866,0,0,0,0,0,0
$GC,1607,-0.80,-136.7,341.3,-18.2,113,1611,0.00,2.12,0.00,0.000,6,0.000,0.039,2318,2014,3866,0,0,0,0,0,0
$GC,1868,-0.80,-136.7,388.2,-18.2,120,1872,0.00,2.15,0.00,0.000,4,0.000,0.048,2306,3396,3864,0,0,0,0,0,0
$GC,1975,-0.80,-136.7,406.4,-15.6,122,1980,0.12,2.08,0.00,0.000,6,0.166,0.031,2338,2002,3864,0,0,0,0,0,0
$GC,2236,-0.80,-136.7,439.7,-12.4,129,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1997,3861,0,0,0,0,0,0
$GC,2479,-0.80,-136.7,472.8,-13.5,135,2483,0.00,2.20,0.00,0.000,4,0.000,0.049,2330,3399,3859,0,0,0,0,0,0
$GC,2557,-0.80,-136.7,483.5,-13.5,136,2564,0.00,2.12,0.00,0.000,6,0.000,0.032,2330,1992,3857,0,0,0,0,0,0
$GC,2807,-0.80,-136.7,519.2,-14.4,143,2811,0.00,2.22,0.00,0.000,4,0.000,0.051,2319,3402,3856,0,0,0,0,0,0
$GC,2839,-0.80,-136.7,524.3,-15.7,143,2843,0.00,2.12,0.00,0.000,6,0.000,0.034,2319,1999,3855,0,0,0,0,0,0
$GC,3095,-0.80,-136.7,565.8,-16.7,150,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1992,3851,0,0,0,0,0,0
$GC,3340,-0.80,-136.7,604.2,-15.1,156,3344,0.00,2.20,0.00,0.000,4,0.000,0.050,2309,3394,3848,0,0,0,0,0,0
$GC,3367,-0.80,-136.7,608.6,-15.3,156,3371,0.12,2.10,0.00,0.000,6,0.172,0.031,2340,1998,3847,0,0,0,0,0,0
$GC,3621,-0.80,-136.7,641.7,-12.9,163,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1993,3846,0,0,0,0,0,0
$GC,3867,-0.80,-136.7,672.0,-12.1,169,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1994,3842,0,0,0,0,0,0
$GC,4109,-0.80,-136.7,699.3,-11.1,175,4113,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3396,3840,0,0,0,0,0,0
$GC,4141,-0.80,-136.7,703.1,-11.5,175,4147,0.00,2.10,0.00,0.000,6,0.000,0.032,2331,1999,3840,0,0,0,0,0,0
$GC,4391,-0.80,-136.7,730.6,-11.0,182,4395,0.00,2.20,0.00,0.000,4,0.000,0.050,2321,3396,3838,0,0,0,0,0,0
$GC,4431,-0.80,-136.7,735.1,-12.1,182,4436,0.00,2.10,0.00,0.000,6,0.000,0.031,2317,1995,3837,0,0,0,0,0,0
$GC,4681,-0.80,-136.7,763.8,-11.6,189,4685,0.00,2.22,0.00,0.000,4,0.000,0.052,2309,3393,3832,0,0,0,0,0,0
$GC,4725,-0.80,-136.7,769.3,-12.3,190,4730,0.12,2.10,0.00,0.000,6,0.171,0.032,2341,1996,3834,0,0,0,0,0,0
$GC,5010,-0.80,-136.7,797.6,-9.9,197,5014,0.00,2.22,0.00,0.000,4,0.000,0.054,2332,3391,3832,0,0,0,0,0,0
$GC,5059,-0.80,-136.7,803.3,-10.9,198,5063,0.00,2.10,0.00,0.000,6,0.000,0.031,2333,1997,3830,0,0,0,0,0,0
$GC,5338,-0.80,-136.7,834.8,-11.6,205,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1991,3828,0,0,0,0,0,0
$GC,5582,-0.80,-136.7,863.9,-12.0,211,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1991,3827,0,0,0,0,0,0
$GC,5825,-0.80,-136.7,893.2,-11.9,217,5829,0.00,2.12,0.00,0.000,4,0.000,0.044,2332,600,3826,0,0,0,0,0,0
$GC,5853,-0.80,-136.7,896.9,-12.8,217,5857,0.00,2.12,0.00,0.000,6,0.000,0.041,2322,1993,3825,0,0,0,0,0,0
$STATE,5902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5903,begin apogee
$GC,5909,-0.28,0.0,902.7,11.5,219,6025,0.60,0.00,109.80,1.088,6,0.150,0.000,2498,1923,3301,0,0,0,0,0,0
$STATE,6027,end apogee,CONTROL_FINISHED_OK
$STATE,6028,begin climb
$GC,6031,0.80,136.7,905.9,0.0,222,6163,1.05,2.33,120.65,1.055,4,0.098,0.039,2857,538,2741,0,0,0,0,0,0
$GC,6187,0.80,136.7,886.1,20.4,225,6191,0.00,2.25,0.00,0.000,6,0.000,0.035,2850,1927,2737,0,0,0,0,0,0
$GC,6436,0.80,136.7,833.9,21.0,231,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1928,2734,0,0,0,0,0,0
$GC,6680,0.80,136.7,785.1,19.9,237,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1928,2732,0,0,0,0,0,0
$GC,6924,0.80,136.7,736.0,20.3,243,6928,0.00,2.28,0.00,0.000,4,0.000,0.055,2838,3336,2734,0,0,0,0,0,0
$GC,6969,0.80,136.7,726.5,21.2,244,6973,0.00,2.15,0.00,0.000,6,0.000,0.031,2846,1934,2732,0,0,0,0,0,0
$GC,7246,0.80,136.7,673.4,18.6,251,7250,0.00,2.25,0.00,0.000,4,0.000,0.051,2838,3338,2732,0,0,0,0,0,0
$GC,7274,0.80,136.7,668.0,18.6,251,7277,0.00,2.12,0.00,0.000,6,0.000,0.031,2847,1931,2729,0,0,0,0,0,0
$GC,7529,0.80,136.7,625.4,16.3,258,7533,0.00,2.15,0.00,0.000,4,0.000,0.040,2859,530,2727,0,0,0,0,0,0
$GC,7579,0.80,136.7,616.6,16.9,259,7583,0.00,2.17,0.00,0.000,6,0.000,0.035,2850,1934,2723,0,0,0,0,0,0
$GC,7863,0.80,136.7,570.0,16.4,266,7867,0.00,2.22,0.00,0.000,4,0.000,0.052,2849,3337,2727,0,0,0,0,0,0
$GC,7947,0.80,136.7,555.9,16.7,267,7953,0.00,2.12,0.00,0.000,6,0.000,0.031,2858,1929,2723,0,0,0,0,0,0
$GC,8197,0.80,136.7,514.3,16.5,274,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1926,2723,0,0,0,0,0,0
$GC,8441,0.80,136.7,474.1,16.4,280,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1925,2723,0,0,0,0,0,0
$GC,8684,0.80,136.7,433.4,16.7,286,8688,0.00,2.22,0.00,0.000,4,0.000,0.048,2849,3342,2725,0,0,0,0,0,0
$GC,8746,0.80,136.7,423.2,17.4,287,8751,0.00,2.12,0.00,0.000,6,0.000,0.030,2865,1927,2722,0,0,0,0,0,0
$GC,9013,0.80,136.7,379.8,16.8,294,9017,0.00,2.10,0.00,0.000,4,0.000,0.040,2870,534,2725,0,0,0,0,0,0
$GC,9062,0.80,136.7,372.3,14.3,295,9066,0.00,2.10,0.00,0.000,6,0.000,0.032,2861,1942,2718,0,0,0,0,0,0
$GC,9342,0.80,136.7,333.6,14.1,302,9345,0.00,2.15,0.00,0.000,4,0.000,0.037,2871,534,2719,0,0,0,0,0,0
$GC,9374,0.80,136.7,328.2,15.6,302,9380,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1925,2718,0,0,0,0,0,0
$GC,9627,0.80,136.7,293.0,13.4,310,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1928,2720,0,0,0,0,0,0
$GC,9874,0.80,136.7,266.0,12.2,322,9878,0.00,2.22,0.00,0.000,4,0.000,0.052,2867,3338,2718,0,0,0,0,0,0
$GC,10021,0.80,136.7,246.0,12.9,328,10027,0.00,2.12,0.00,0.000,6,0.000,0.029,2877,1930,2719,0,0,0,0,0,0
$GC,10276,0.80,136.7,214.6,11.9,341,10280,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,524,2718,0,0,0,0,0,0
$GC,10382,0.80,136.7,201.6,12.9,346,10387,0.12,2.12,0.00,0.000,6,0.189,0.034,2856,1938,2716,0,0,0,0,0,0
$GC,10647,0.80,136.7,172.9,11.0,370,10651,0.00,2.17,0.00,0.000,4,0.000,0.048,2845,3341,2714,0,0,0,0,0,0
$GC,10896,0.80,143.8,148.2,8.3,392,10901,0.00,2.10,0.00,0.000,6,0.000,0.028,2854,1923,2718,0,0,0,0,0,0
$GC,11162,0.80,143.8,126.4,8.6,416,11166,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,535,2716,0,0,0,0,0,0
$GC,11416,0.82,152.8,103.7,8.2,438,11437,0.00,2.12,10.35,0.481,6,0.000,0.031,2866,1935,2678,0,0,0,0,0,0
$GC,11690,0.92,234.4,87.7,5.1,464,11762,0.00,2.22,66.20,0.512,4,0.000,0.048,2866,3333,2346,0,0,0,0,0,0
$GC,11805,0.92,234.4,79.4,10.2,473,11812,0.00,2.17,0.00,0.000,6,0.000,0.030,2876,1943,2344,0,0,0,0,0,0
$GC,12069,0.92,234.4,49.1,10.4,498,12073,0.00,2.17,0.00,0.000,4,0.000,0.039,2887,527,2342,0,0,0,0,0,0
$GC,12168,0.92,234.4,36.7,13.7,506,12172,0.00,2.12,0.00,0.000,6,0.000,0.032,2887,1927,2339,0,0,0,0,0,0
$STATE,12394,end climb,SURFACE_DEPTH_REACHED
$STATE,12394,begin surface coast
$FINISH,0.2,1.023159
$STATE,12424,end surface coast,CONTROL_FINISHED_OK
$STATE,12424,begin surface
$SM_CCo,12445,29.38,0.427,0,0,2076,300.49
$SM_GC,1.32,0.00,0.00,29.38,0.000,0.000,0.427,55,2023,2076,-7.95,0.65,300.49
$IRIDIUM_FIX,1948.12,-15615.28,080213,181828
$TT8_MAMPS,0.25311
$HUMID,1078915474
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.90
$XPDR_PINGS,73
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260195328
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,37216714752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,39.937
$10V_AH,10.0,36.488
$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,19.300,121.050,307.000,29.375,0.000,62.620,82.931,597.884,18.250,0.000,24.748,1180.748,8869.718,424.342,2627.656,426.258,33.356,1250.774,0.000,1879.644,0.000,0.541,0.000
$DEVICE_MAMPS,236.236,102.778,1087.606,427.219,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.129,0.000,939.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,27008,549
$CAP_FILE_SIZE,125893,0
$CFSIZE,260165632,185438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,137.9,1
$GPS,170811,032824,1955.263,-15614.633,42,1.0,59,9.7