version: 66.07
glider: 513
mission: 7
dive: 283
start: 8 17 111 18 31 23
data:
$ID,513
$MISSION,7
$DIVE,283
$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,-427734.03
$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,50
$R_STBD_OVSHOOT,81
$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,282
$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
$GPS1,170811,182036,1945.209,-15614.561,30,1.0,30,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.4
$GPS2,170811,183026,1945.051,-15614.487,13,1.6,13,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.089,-0.205
$KALMAN_X,-111101.6,308.0,-380.3,179505.5,2127.2
$KALMAN_Y,-38428.1,-1414.5,-4831.5,17901.2,26711.6
$MHEAD_RNG_PITCHd_Wd,189.2,83439,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,89,0.00,0.00,-57.35,0.000,2,0.000,0.000,38,2046,3741,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.0,-7.0,9,115,9.60,2.25,-1.92,0.000,4,0.238,0.054,2339,604,3860,0,0,0,0,0,0
$GC,199,-0.80,-136.7,48.4,-32.8,23,203,0.00,2.10,0.00,0.000,6,0.000,0.046,2331,1949,3863,0,0,0,0,0,0
$GC,464,-0.80,-136.7,129.6,-26.5,47,468,0.00,2.20,0.00,0.000,4,0.000,0.050,2320,3359,3864,0,0,0,0,0,0
$GC,583,-0.80,-136.7,158.3,-23.9,57,587,0.00,2.10,0.00,0.000,6,0.000,0.035,2320,2008,3866,0,0,0,0,0,0
$GC,856,-0.80,-136.7,225.9,-23.0,78,860,0.00,2.12,0.00,0.000,4,0.000,0.051,2309,3362,3871,0,0,0,0,0,0
$GC,903,-0.80,-136.7,236.6,-23.6,80,907,0.12,2.10,0.00,0.000,6,0.171,0.033,2340,2004,3867,0,0,0,0,0,0
$GC,1173,-0.80,-136.7,286.8,-17.5,93,1177,0.00,2.12,0.00,0.000,4,0.000,0.042,2340,585,3869,0,0,0,0,0,0
$GC,1217,-0.80,-136.7,294.6,-15.4,95,1221,0.00,2.08,0.00,0.000,6,0.000,0.039,2337,1967,3869,0,0,0,0,0,0
$GC,1500,-0.80,-136.7,341.3,-16.8,103,1504,0.00,2.25,0.00,0.000,4,0.000,0.048,2321,3413,3870,0,0,0,0,0,0
$GC,1600,-0.80,-136.7,357.2,-15.6,105,1604,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,1983,3870,0,0,0,0,0,0
$GC,1874,-0.80,-136.7,401.0,-16.1,112,1878,0.00,2.25,0.00,0.000,4,0.000,0.051,2310,3402,3870,0,0,0,0,0,0
$GC,1980,-0.80,-136.7,419.6,-17.5,114,1984,0.10,2.12,0.00,0.000,6,0.177,0.033,2335,2001,3869,0,0,0,0,0,0
$GC,2246,-0.80,-136.7,462.0,-15.9,121,2250,0.00,2.12,0.00,0.000,4,0.000,0.040,2335,599,3867,0,0,0,0,0,0
$GC,2314,-0.80,-136.7,473.0,-15.7,122,2318,0.00,2.12,0.00,0.000,6,0.000,0.042,2327,1999,3865,0,0,0,0,0,0
$GC,2570,-0.80,-136.7,514.0,-15.8,129,2574,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3403,3863,0,0,0,0,0,0
$GC,2591,-0.80,-136.7,517.5,-15.9,129,2595,0.00,2.15,0.00,0.000,6,0.000,0.034,2315,2004,3863,0,0,0,0,0,0
$GC,2854,-0.80,-136.7,556.0,-14.5,136,2858,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3409,3861,0,0,0,0,0,0
$GC,2915,-0.80,-136.7,565.5,-14.6,137,2920,0.10,2.15,0.00,0.000,6,0.146,0.033,2336,2006,3860,0,0,0,0,0,0
$GC,3181,-0.80,-136.7,600.6,-13.4,144,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2001,3858,0,0,0,0,0,0
$GC,3426,-0.80,-136.7,633.6,-13.5,150,3430,0.00,2.22,0.00,0.000,4,0.000,0.051,2327,3404,3855,0,0,0,0,0,0
$GC,3460,-0.80,-136.7,638.3,-14.3,150,3465,0.00,2.12,0.00,0.000,6,0.000,0.034,2328,2002,3855,0,0,0,0,0,0
$GC,3710,-0.80,-136.7,671.7,-13.3,157,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1995,3853,0,0,0,0,0,0
$GC,3953,-0.80,-136.7,703.9,-13.1,163,3957,0.00,2.22,0.00,0.000,4,0.000,0.051,2317,3403,3851,0,0,0,0,0,0
$GC,4009,-0.80,-136.7,711.7,-13.9,164,4013,0.00,2.15,0.00,0.000,6,0.000,0.034,2316,2000,3850,0,0,0,0,0,0
$GC,4276,-0.80,-136.7,751.7,-15.2,171,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1994,3848,0,0,0,0,0,0
$GC,4520,-0.80,-136.7,789.2,-15.3,177,4524,0.00,2.22,0.00,0.000,4,0.000,0.051,2306,3412,3846,0,0,0,0,0,0
$GC,4548,-0.80,-136.7,793.4,-15.1,177,4553,0.12,2.15,0.00,0.000,6,0.174,0.032,2337,1990,3845,0,0,0,0,0,0
$GC,4798,-0.80,-136.7,825.4,-12.5,183,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1985,3846,0,0,0,0,0,0
$GC,5042,-0.80,-136.7,854.8,-11.9,189,5046,0.00,2.28,0.00,0.000,4,0.000,0.054,2328,3412,3842,0,0,0,0,0,0
$GC,5091,-0.80,-136.7,860.7,-11.9,190,5095,0.00,2.15,0.00,0.000,6,0.000,0.034,2328,2002,3842,0,0,0,0,0,0
$GC,5371,-0.80,-136.7,892.8,-11.4,197,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3842,0,0,0,0,0,0
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5454,-0.28,0.0,901.7,11.1,199,5570,0.57,0.00,112.93,1.085,6,0.146,0.000,2498,1922,3300,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5576,0.80,136.7,904.0,0.0,202,5705,1.08,2.30,121.20,1.048,4,0.096,0.038,2860,536,2741,0,0,0,0,0,0
$GC,5726,0.80,136.7,884.3,20.0,205,5732,0.00,2.25,0.00,0.000,6,0.000,0.033,2852,1936,2739,0,0,0,0,0,0
$GC,5976,0.80,136.7,834.1,20.0,212,5981,0.00,2.28,0.00,0.000,4,0.000,0.054,2851,3339,2733,0,0,0,0,0,0
$GC,6005,0.80,136.7,828.1,21.3,212,6009,0.00,2.17,0.00,0.000,6,0.000,0.037,2860,1934,2732,0,0,0,0,0,0
$GC,6260,0.80,136.7,776.5,20.1,219,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1932,2730,0,0,0,0,0,0
$GC,6504,0.80,136.7,728.6,19.6,225,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1932,2728,0,0,0,0,0,0
$GC,6747,0.80,136.7,683.0,18.4,231,6751,0.00,2.15,0.00,0.000,4,0.000,0.040,2872,518,2728,0,0,0,0,0,0
$GC,6792,0.80,136.7,674.7,18.3,232,6796,0.00,2.15,0.00,0.000,6,0.000,0.036,2869,1932,2729,0,0,0,0,0,0
$GC,7069,0.80,136.7,625.0,17.8,239,7073,0.00,2.22,0.00,0.000,4,0.000,0.053,2869,3338,2725,0,0,0,0,0,0
$GC,7135,0.80,136.7,612.6,19.3,240,7139,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1929,2725,0,0,0,0,0,0
$GC,7398,0.80,136.7,564.9,18.3,247,7402,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3336,2724,0,0,0,0,0,0
$GC,7437,0.80,136.7,557.3,19.6,248,7441,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1929,2724,0,0,0,0,0,0
$GC,7721,0.80,136.7,506.3,17.9,255,7725,0.00,2.22,0.00,0.000,4,0.000,0.048,2883,3342,2724,0,0,0,0,0,0
$GC,7761,0.80,136.7,498.8,19.5,256,7766,0.17,2.12,0.00,0.000,6,0.202,0.031,2852,1925,2724,0,0,0,0,0,0
$GC,8044,0.80,136.7,454.4,15.5,263,8049,0.00,2.22,0.00,0.000,4,0.000,0.048,2842,3339,2723,0,0,0,0,0,0
$GC,8066,0.80,136.7,450.6,17.5,263,8070,0.00,2.12,0.00,0.000,6,0.000,0.031,2856,1932,2723,0,0,0,0,0,0
$GC,8329,0.80,136.7,407.6,16.5,270,8333,0.00,2.12,0.00,0.000,4,0.000,0.039,2862,522,2722,0,0,0,0,0,0
$GC,8435,0.80,136.7,390.0,16.0,272,8439,0.00,2.17,0.00,0.000,6,0.000,0.035,2853,1935,2720,0,0,0,0,0,0
$GC,8706,0.80,136.7,346.9,15.8,279,8710,0.00,2.22,0.00,0.000,4,0.000,0.051,2843,3337,2720,0,0,0,0,0,0
$GC,8855,0.80,136.7,322.7,17.0,282,8859,0.00,2.12,0.00,0.000,6,0.000,0.031,2851,1931,2721,0,0,0,0,0,0
$GC,9122,0.80,136.7,284.7,14.2,291,9126,0.00,2.22,0.00,0.000,4,0.000,0.047,2843,3334,2717,0,0,0,0,0,0
$GC,9196,0.80,136.7,273.8,15.6,294,9200,0.00,2.12,0.00,0.000,6,0.000,0.030,2852,1917,2718,0,0,0,0,0,0
$GC,9449,0.80,136.7,243.5,11.6,306,9453,0.00,2.10,0.00,0.000,4,0.000,0.040,2863,532,2720,0,0,0,0,0,0
$GC,9505,0.80,136.7,237.0,11.3,308,9511,0.00,2.10,0.00,0.000,6,0.000,0.032,2861,1933,2718,0,0,0,0,0,0
$GC,9760,0.80,136.7,210.9,10.2,321,9764,0.00,2.20,0.00,0.000,4,0.000,0.050,2861,3333,2718,0,0,0,0,0,0
$GC,9944,0.80,136.7,190.1,10.3,332,9953,0.00,2.15,0.00,0.000,6,0.000,0.031,2871,1935,2719,0,0,0,0,0,0
$GC,10212,0.81,146.2,166.0,8.2,357,10225,0.00,2.22,5.12,0.456,4,0.000,0.047,2871,3326,2704,0,0,0,0,0,0
$GC,10283,0.81,146.2,158.5,10.7,363,10287,0.00,2.10,0.00,0.000,6,0.000,0.030,2880,1925,2704,0,0,0,0,0,0
$GC,10550,0.81,146.2,132.8,10.9,387,10554,0.00,2.10,0.00,0.000,4,0.000,0.036,2891,526,2701,0,0,0,0,0,0
$GC,10614,0.81,146.2,124.8,12.4,392,10619,0.12,2.12,0.00,0.000,6,0.186,0.032,2860,1939,2703,0,0,0,0,0,0
$GC,10877,0.89,215.7,107.5,5.6,416,10941,0.00,2.25,57.72,0.531,4,0.000,0.048,2861,3330,2418,0,0,0,0,0,0
$GC,11030,0.89,215.7,94.4,10.0,429,11037,0.00,2.17,0.00,0.000,6,0.000,0.030,2870,1930,2419,0,0,0,0,0,0
$GC,11296,0.89,215.7,68.7,11.0,454,11300,0.00,2.20,0.00,0.000,4,0.000,0.045,2871,3337,2417,0,0,0,0,0,0
$GC,11381,0.89,215.7,58.7,12.1,461,11385,0.00,2.15,0.00,0.000,6,0.000,0.029,2882,1918,2418,0,0,0,0,0,0
$GC,11648,0.89,215.7,30.1,11.2,485,11652,0.00,2.08,0.00,0.000,4,0.000,0.038,2892,532,2418,0,0,0,0,0,0
$GC,11695,0.89,215.7,24.4,11.7,492,11703,0.00,2.12,0.00,0.000,6,0.000,0.029,2892,1939,2418,0,0,0,0,0,0
$STATE,11866,end climb,SURFACE_DEPTH_REACHED
$STATE,11866,begin surface coast
$FINISH,0.3,1.022897
$STATE,11889,end surface coast,CONTROL_FINISHED_OK
$STATE,11889,begin surface
$SM_CCo,11909,40.83,0.430,0,0,2076,300.73
$SM_GC,1.93,0.00,0.00,40.83,0.000,0.000,0.430,59,1994,2076,-7.93,-0.20,300.73
$IRIDIUM_FIX,1941.24,-15616.21,090213,090959
$TT8_MAMPS,0.297596
$HUMID,1078867732
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,90
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260031488
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,36440997888
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,40.538
$10V_AH,10.0,36.941
$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,19.575,130.275,296.975,40.825,0.000,27.404,33.062,310.556,22.500,0.000,15.222,1170.703,8346.901,420.447,2197.478,413.717,33.355,1194.465,0.000,1825.142,0.000,0.542,0.000
$DEVICE_MAMPS,237.770,151.099,1085.305,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,359.926,0.000,903.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,26943,527
$CAP_FILE_SIZE,118611,0
$CFSIZE,260165632,185073664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,147.4,1
$GPS,170811,215204,1943.011,-15614.702,12,2.4,31,9.7