version: 66.07
glider: 513
mission: 7
dive: 284
start: 8 17 111 22 10 59
data:
$ID,513
$MISSION,7
$DIVE,284
$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,-427749.47
$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,49
$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,283
$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
$GPS1,170811,215204,1943.011,-15614.702,12,2.4,31,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.3
$GPS2,170811,221002,1942.789,-15614.589,12,1.4,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.017,-0.230
$KALMAN_X,-110890.9,1003.5,327.0,177678.4,-615.9
$KALMAN_Y,-58529.9,7665.3,3128.8,16560.0,-24165.0
$MHEAD_RNG_PITCHd_Wd,184.9,79248,-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,-136.7,0.0,0.0,0,82,0.00,0.00,-53.05,0.000,2,0.000,0.000,50,1994,3596,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.2,-4.6,8,107,9.48,0.00,-4.70,0.000,6,0.238,0.000,2331,1991,3862,0,0,0,0,0,0
$GC,366,-0.80,-136.7,103.8,-32.6,39,370,0.00,2.25,0.00,0.000,4,0.000,0.051,2322,3413,3864,0,0,0,0,0,0
$GC,439,-0.80,-136.7,125.4,-29.2,45,443,0.00,2.15,0.00,0.000,6,0.000,0.034,2321,2001,3864,0,0,0,0,0,0
$GC,707,-0.80,-136.7,194.5,-24.8,69,711,0.00,2.08,0.00,0.000,4,0.000,0.039,2322,597,3869,0,0,0,0,0,0
$GC,717,-0.80,-136.7,198.6,-23.5,69,725,0.00,2.17,0.00,0.000,6,0.000,0.039,2311,2011,3866,0,0,0,0,0,0
$GC,981,-0.80,-136.7,256.1,-19.4,83,985,0.00,2.17,0.00,0.000,4,0.000,0.051,2300,3405,3867,0,0,0,0,0,0
$GC,1072,-0.80,-136.7,274.3,-18.1,87,1076,0.15,2.10,0.00,0.000,6,0.163,0.035,2339,2003,3867,0,0,0,0,0,0
$GC,1349,-0.80,-136.7,319.6,-15.9,98,1353,0.00,2.20,0.00,0.000,4,0.000,0.051,2331,3405,3868,0,0,0,0,0,0
$GC,1405,-0.80,-136.7,329.3,-16.7,99,1409,0.00,2.12,0.00,0.000,6,0.000,0.033,2335,1982,3868,0,0,0,0,0,0
$GC,1677,-0.80,-136.7,372.9,-16.2,106,1680,0.00,2.08,0.00,0.000,4,0.000,0.041,2331,598,3868,0,0,0,0,0,0
$GC,1698,-0.80,-136.7,376.7,-17.0,106,1702,0.00,2.10,0.00,0.000,6,0.000,0.040,2321,1999,3868,0,0,0,0,0,0
$GC,1959,-0.80,-136.7,420.5,-17.1,113,1963,0.00,2.17,0.00,0.000,4,0.000,0.050,2309,3408,3867,0,0,0,0,0,0
$GC,2012,-0.80,-136.7,428.8,-16.1,114,2017,0.10,2.10,0.00,0.000,6,0.170,0.032,2334,2002,3866,0,0,0,0,0,0
$GC,2289,-0.80,-136.7,470.1,-14.5,121,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1996,3863,0,0,0,0,0,0
$GC,2533,-0.80,-136.7,502.0,-12.9,127,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1996,3861,0,0,0,0,0,0
$GC,2778,-0.80,-136.7,532.1,-12.4,133,2782,0.00,2.20,0.00,0.000,4,0.000,0.050,2325,3407,3858,0,0,0,0,0,0
$GC,2811,-0.80,-136.7,536.6,-13.2,133,2814,0.00,2.10,0.00,0.000,6,0.000,0.033,2325,2001,3858,0,0,0,0,0,0
$GC,3067,-0.80,-136.7,571.5,-14.1,140,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1995,3855,0,0,0,0,0,0
$GC,3310,-0.80,-136.7,606.2,-14.1,146,3314,0.00,2.20,0.00,0.000,4,0.000,0.049,2315,3412,3851,0,0,0,0,0,0
$GC,3338,-0.80,-136.7,610.3,-15.7,146,3342,0.00,2.15,0.00,0.000,6,0.000,0.032,2316,1999,3852,0,0,0,0,0,0
$GC,3588,-0.80,-136.7,645.2,-13.9,152,3592,0.00,2.10,0.00,0.000,4,0.000,0.041,2314,602,3850,0,0,0,0,0,0
$GC,3615,-0.80,-136.7,649.1,-14.0,152,3619,0.12,2.15,0.00,0.000,6,0.186,0.042,2335,2005,3850,0,0,0,0,0,0
$GC,3876,-0.80,-136.7,680.1,-11.8,159,3880,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3407,3846,0,0,0,0,0,0
$GC,3988,-0.80,-136.7,694.5,-12.5,161,3992,0.00,2.12,0.00,0.000,6,0.000,0.035,2325,2003,3846,0,0,0,0,0,0
$GC,4249,-0.80,-136.7,728.3,-12.9,168,4253,0.00,2.15,0.00,0.000,4,0.000,0.043,2326,590,3843,0,0,0,0,0,0
$GC,4305,-0.80,-136.7,735.9,-13.8,169,4309,0.00,2.17,0.00,0.000,6,0.000,0.043,2315,1992,3846,0,0,0,0,0,0
$GC,4571,-0.80,-136.7,772.0,-13.6,176,4576,0.00,2.25,0.00,0.000,4,0.000,0.054,2303,3408,3844,0,0,0,0,0,0
$GC,4649,-0.80,-136.7,782.8,-13.0,177,4656,0.12,2.12,0.00,0.000,6,0.170,0.035,2335,2002,3839,0,0,0,0,0,0
$GC,4901,-0.80,-136.7,811.7,-11.4,184,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3838,0,0,0,0,0,0
$GC,5143,-0.80,-136.7,839.3,-11.3,190,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1996,3836,0,0,0,0,0,0
$GC,5387,-0.80,-136.7,865.4,-10.6,196,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3837,0,0,0,0,0,0
$GC,5630,-0.80,-136.7,890.8,-10.4,202,5634,0.00,2.25,0.00,0.000,4,0.000,0.053,2327,3411,3832,0,0,0,0,0,0
$GC,5659,-0.80,-136.7,893.9,-10.8,202,5663,0.00,2.15,0.00,0.000,6,0.000,0.034,2327,1999,3828,0,0,0,0,0,0
$STATE,5749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5749,begin apogee
$GC,5755,-0.28,0.0,904.5,11.4,205,5873,0.57,0.00,110.53,1.095,6,0.147,0.000,2499,1913,3302,0,0,0,0,0,0
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5878,0.80,136.7,908.1,0.0,208,6004,1.08,0.00,121.45,1.059,6,0.097,0.000,2850,1913,2744,0,0,0,0,0,0
$GC,6236,0.80,136.7,851.4,19.4,217,6240,0.00,2.30,0.00,0.000,4,0.000,0.052,2844,3336,2735,0,0,0,0,0,0
$GC,6258,0.80,136.7,846.7,19.4,217,6262,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1940,2735,0,0,0,0,0,0
$GC,6520,0.80,136.7,798.3,18.7,224,6524,0.00,2.20,0.00,0.000,4,0.000,0.041,2864,528,2733,0,0,0,0,0,0
$GC,6570,0.80,136.7,788.6,18.4,225,6574,0.00,2.15,0.00,0.000,6,0.000,0.035,2855,1936,2733,0,0,0,0,0,0
$GC,6843,0.80,136.7,737.5,18.8,232,6847,0.00,2.25,0.00,0.000,4,0.000,0.052,2845,3339,2729,0,0,0,0,0,0
$GC,6864,0.80,136.7,733.1,19.6,232,6868,0.00,2.15,0.00,0.000,6,0.000,0.032,2853,1921,2730,0,0,0,0,0,0
$GC,7126,0.80,136.7,682.1,19.6,239,7130,0.00,2.12,0.00,0.000,4,0.000,0.040,2862,531,2728,0,0,0,0,0,0
$GC,7199,0.80,136.7,668.1,19.0,240,7202,0.00,2.12,0.00,0.000,6,0.000,0.035,2856,1933,2724,0,0,0,0,0,0
$GC,7460,0.80,136.7,620.2,18.5,247,7464,0.00,2.22,0.00,0.000,4,0.000,0.051,2845,3339,2727,0,0,0,0,0,0
$GC,7538,0.80,136.7,605.0,18.9,248,7544,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,1930,2726,0,0,0,0,0,0
$GC,7788,0.80,136.7,560.2,17.7,255,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1928,2726,0,0,0,0,0,0
$GC,8031,0.80,136.7,518.8,16.9,261,8035,0.00,2.15,0.00,0.000,4,0.000,0.041,2866,527,2726,0,0,0,0,0,0
$GC,8072,0.80,136.7,511.9,17.9,262,8076,0.00,2.15,0.00,0.000,6,0.000,0.036,2853,1943,2724,0,0,0,0,0,0
$GC,8356,0.80,136.7,464.2,17.0,269,8360,0.00,2.20,0.00,0.000,4,0.000,0.050,2846,3339,2724,0,0,0,0,0,0
$GC,8388,0.80,136.7,458.4,17.8,269,8394,0.00,2.15,0.00,0.000,6,0.000,0.031,2855,1923,2724,0,0,0,0,0,0
$GC,8639,0.80,136.7,416.5,16.9,276,8643,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,530,2724,0,0,0,0,0,0
$GC,8655,0.80,136.7,413.5,16.8,276,8660,0.00,2.15,0.00,0.000,6,0.000,0.035,2858,1940,2719,0,0,0,0,0,0
$GC,8922,0.80,136.7,370.2,15.6,283,8926,0.00,2.17,0.00,0.000,4,0.000,0.048,2847,3340,2723,0,0,0,0,0,0
$GC,8943,0.80,136.7,366.7,15.7,283,8947,0.00,2.15,0.00,0.000,6,0.000,0.031,2857,1931,2726,0,0,0,0,0,0
$GC,9205,0.80,136.7,328.8,14.6,290,9209,0.00,2.15,0.00,0.000,4,0.000,0.039,2867,525,2722,0,0,0,0,0,0
$GC,9238,0.80,136.7,324.4,12.6,290,9244,0.00,2.15,0.00,0.000,6,0.000,0.034,2864,1933,2722,0,0,0,0,0,0
$GC,9490,0.80,136.7,291.8,12.8,298,9494,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3335,2719,0,0,0,0,0,0
$GC,9554,0.80,136.7,284.0,12.4,301,9558,0.00,2.12,0.00,0.000,6,0.000,0.031,2873,1924,2722,0,0,0,0,0,0
$GC,9818,0.80,136.7,247.6,14.2,314,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1919,2722,0,0,0,0,0,0
$GC,10066,0.80,136.7,215.8,12.2,326,10070,0.00,2.15,0.00,0.000,4,0.000,0.037,2885,513,2721,0,0,0,0,0,0
$GC,10084,0.80,136.7,213.6,11.7,327,10089,0.12,2.15,0.00,0.000,6,0.196,0.032,2856,1935,2720,0,0,0,0,0,0
$GC,10352,0.80,136.7,187.4,10.6,345,10356,0.00,2.17,0.00,0.000,4,0.000,0.048,2845,3329,2721,0,0,0,0,0,0
$GC,10415,0.80,136.7,179.3,12.2,350,10419,0.00,2.10,0.00,0.000,6,0.000,0.029,2851,1916,2721,0,0,0,0,0,0
$GC,10681,0.80,136.7,153.4,10.6,374,10685,0.00,2.25,0.00,0.000,4,0.000,0.048,2853,3336,2721,0,0,0,0,0,0
$GC,10778,0.80,136.7,142.8,9.9,382,10786,0.00,2.12,0.00,0.000,6,0.000,0.030,2863,1941,2721,0,0,0,0,0,0
$GC,11046,0.86,190.8,120.9,6.3,407,11091,0.00,0.00,41.38,0.542,6,0.000,0.000,2863,1937,2521,0,0,0,0,0,0
$GC,11348,0.86,190.8,95.0,9.0,435,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1937,2519,0,0,0,0,0,0
$GC,11612,0.95,264.6,76.0,5.4,460,11684,0.12,2.28,60.10,0.497,4,0.094,0.046,2917,3329,2221,0,0,0,0,0,0
$GC,11756,0.95,264.6,58.0,16.7,472,11760,0.00,2.12,0.00,0.000,6,0.000,0.030,2928,1935,2218,0,0,0,0,0,0
$GC,12019,0.95,264.6,11.4,18.1,505,12028,0.00,2.17,0.00,0.000,4,0.000,0.038,2939,528,2214,0,0,0,0,0,0
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FINISH,1.2,1.022636
$STATE,12073,end surface coast,CONTROL_FINISHED_OK
$STATE,12073,begin surface
$SM_CCo,12097,257.58,0.431,0,0,396,712.83
$SM_GC,1.09,0.00,0.00,257.58,0.000,0.000,0.431,52,2009,396,-7.93,0.40,712.83
$IRIDIUM_FIX,1936.66,-15614.11,090213,161608
$TT8_MAMPS,0.060593
$HUMID,1078772248
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,25.70
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6336872448
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,36248420352
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,40.685
$10V_AH,10.0,37.143
$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,19.600,125.575,333.450,257.575,0.000,149.544,301.633,145.672,23.500,0.000,14.802,1125.358,8993.985,678.717,2257.101,381.090,33.350,1400.929,0.000,1624.812,0.000,0.541,0.000
$DEVICE_MAMPS,237.770,106.613,1095.276,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,350.962,0.000,827.209,0.000,0.000,0.000,0.000,27641.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.169,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,26981,514
$CAP_FILE_SIZE,114709,0
$CFSIZE,260165632,184975360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,139.2,1
$GPS,180811,013831,1940.643,-15614.455,41,1.3,41,9.7