version: 66.07
glider: 513
mission: 7
dive: 289
start: 8 18 111 16 35 48
data:
$ID,513
$MISSION,7
$DIVE,289
$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,-427842.22
$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,46
$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,288
$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
$GPS1,180811,162524,1930.466,-15614.436,39,1.5,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-80.0
$GPS2,180811,163450,1930.323,-15614.350,10,1.9,10,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,-0.237
$KALMAN_X,-99932.8,-1.8,-833.1,169333.2,6801.2
$KALMAN_Y,-49429.1,390.0,573.1,-5884.0,-3069.1
$MHEAD_RNG_PITCHd_Wd,185.9,56171,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-57.88,0.000,2,0.000,0.000,42,2025,3769,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.3,-7.6,9,113,9.43,2.28,-1.45,0.000,4,0.232,0.064,2319,3412,3862,0,0,0,0,0,0
$GC,308,-0.80,-136.7,83.5,-30.6,32,312,0.00,2.17,0.00,0.000,6,0.000,0.041,2319,2004,3865,0,0,0,0,0,0
$GC,575,-0.80,-136.7,159.2,-21.5,56,579,0.00,2.20,0.00,0.000,4,0.000,0.050,2308,3405,3867,0,0,0,0,0,0
$GC,671,-0.80,-136.7,181.4,-20.2,64,676,0.12,2.17,0.00,0.000,6,0.173,0.034,2338,1987,3868,0,0,0,0,0,0
$GC,927,-0.80,-136.7,238.0,-22.0,80,931,0.00,2.20,0.00,0.000,4,0.000,0.048,2330,3406,3869,0,0,0,0,0,0
$GC,967,-0.80,-136.7,247.2,-22.9,82,971,0.00,2.10,0.00,0.000,6,0.000,0.031,2330,1999,3869,0,0,0,0,0,0
$GC,1232,-0.80,-136.7,295.7,-15.7,95,1236,0.00,2.10,0.00,0.000,4,0.000,0.041,2330,587,3870,0,0,0,0,0,0
$GC,1253,-0.80,-136.7,298.9,-14.4,96,1257,0.00,2.15,0.00,0.000,6,0.000,0.040,2320,1999,3870,0,0,0,0,0,0
$GC,1515,-0.80,-136.7,345.7,-17.7,103,1519,0.00,2.22,0.00,0.000,4,0.000,0.049,2308,3417,3869,0,0,0,0,0,0
$GC,1611,-0.80,-136.7,362.3,-17.3,105,1616,0.12,2.15,0.00,0.000,6,0.160,0.031,2340,1996,3870,0,0,0,0,0,0
$GC,1882,-0.80,-136.7,402.1,-14.5,112,1886,0.00,2.22,0.00,0.000,4,0.000,0.053,2332,3407,3871,0,0,0,0,0,0
$GC,1962,-0.80,-136.7,413.4,-14.2,113,1966,0.00,2.12,0.00,0.000,6,0.000,0.034,2331,2003,3868,0,0,0,0,0,0
$GC,2211,-0.80,-136.7,450.1,-14.9,119,2215,0.00,2.25,0.00,0.000,4,0.000,0.051,2321,3416,3869,0,0,0,0,0,0
$GC,2238,-0.80,-136.7,454.5,-15.8,119,2242,0.00,2.12,0.00,0.000,6,0.000,0.033,2321,1992,3868,0,0,0,0,0,0
$GC,2501,-0.80,-136.7,493.0,-14.8,126,2505,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3405,3867,0,0,0,0,0,0
$GC,2556,-0.80,-136.7,501.7,-14.8,127,2561,0.10,2.15,0.00,0.000,6,0.171,0.035,2334,2003,3866,0,0,0,0,0,0
$GC,2828,-0.80,-136.7,537.2,-13.1,134,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1997,3863,0,0,0,0,0,0
$GC,3073,-0.80,-136.7,570.8,-14.1,140,3077,0.00,2.22,0.00,0.000,4,0.000,0.055,2326,3399,3859,0,0,0,0,0,0
$GC,3095,-0.80,-136.7,574.1,-14.1,140,3099,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,1999,3861,0,0,0,0,0,0
$GC,3361,-0.80,-136.7,613.0,-14.7,147,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1993,3858,0,0,0,0,0,0
$GC,3605,-0.80,-136.7,648.7,-14.7,153,3609,0.00,2.22,0.00,0.000,4,0.000,0.054,2315,3402,3855,0,0,0,0,0,0
$GC,3639,-0.80,-136.7,653.8,-15.4,153,3645,0.00,2.17,0.00,0.000,6,0.000,0.037,2315,2001,3855,0,0,0,0,0,0
$GC,3889,-0.80,-136.7,688.4,-13.6,160,3893,0.00,2.25,0.00,0.000,4,0.000,0.055,2304,3403,3853,0,0,0,0,0,0
$GC,3933,-0.80,-136.7,694.4,-13.5,161,3937,0.15,2.15,0.00,0.000,6,0.163,0.038,2343,2001,3853,0,0,0,0,0,0
$GC,4211,-0.80,-136.7,723.5,-10.3,168,4215,0.00,2.25,0.00,0.000,4,0.000,0.056,2334,3409,3850,0,0,0,0,0,0
$GC,4244,-0.80,-136.7,727.4,-11.1,168,4251,0.00,2.15,0.00,0.000,6,0.000,0.036,2334,2001,3850,0,0,0,0,0,0
$GC,4494,-0.80,-136.7,756.4,-12.0,175,4498,0.00,2.25,0.00,0.000,4,0.000,0.055,2324,3399,3848,0,0,0,0,0,0
$GC,4523,-0.80,-136.7,760.0,-12.5,175,4527,0.00,2.17,0.00,0.000,6,0.000,0.038,2320,1992,3847,0,0,0,0,0,0
$GC,4777,-0.80,-136.7,793.9,-13.6,182,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1986,3846,0,0,0,0,0,0
$GC,5021,-0.80,-136.7,827.4,-13.7,188,5025,0.00,2.30,0.00,0.000,4,0.000,0.058,2313,3406,3843,0,0,0,0,0,0
$GC,5065,-0.80,-136.7,833.7,-14.1,189,5069,0.00,2.17,0.00,0.000,6,0.000,0.039,2313,2003,3843,0,0,0,0,0,0
$GC,5350,-0.80,-136.7,873.2,-13.9,196,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1997,3841,0,0,0,0,0,0
$STATE,5549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5550,begin apogee
$GC,5556,-0.28,0.0,900.8,13.6,201,5672,0.65,0.00,112.75,1.091,6,0.152,0.000,2503,1904,3300,0,0,0,0,0,0
$STATE,5674,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5678,0.80,136.7,905.4,0.0,204,5807,1.02,2.25,119.60,1.058,4,0.096,0.041,2855,536,2740,0,0,0,0,0,0
$GC,5829,0.80,136.7,889.3,17.4,207,5833,0.00,2.25,0.00,0.000,6,0.000,0.039,2853,1929,2738,0,0,0,0,0,0
$GC,6086,0.80,136.7,842.1,18.3,214,6090,0.00,2.33,0.00,0.000,4,0.000,0.056,2853,3349,2734,0,0,0,0,0,0
$GC,6125,0.80,136.7,834.3,19.1,214,6131,0.00,2.20,0.00,0.000,6,0.000,0.038,2862,1936,2734,0,0,0,0,0,0
$GC,6375,0.80,136.7,788.5,18.1,221,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1931,2732,0,0,0,0,0,0
$GC,6618,0.80,136.7,745.1,17.8,227,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1932,2730,0,0,0,0,0,0
$GC,6864,0.80,136.7,702.1,17.7,233,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1932,2729,0,0,0,0,0,0
$GC,7106,0.80,136.7,657.7,18.3,239,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1931,2728,0,0,0,0,0,0
$GC,7350,0.80,136.7,614.0,18.0,245,7354,0.00,2.25,0.00,0.000,4,0.000,0.053,2853,3341,2727,0,0,0,0,0,0
$GC,7371,0.80,136.7,609.9,18.3,245,7375,0.00,2.15,0.00,0.000,6,0.000,0.031,2862,1926,2728,0,0,0,0,0,0
$GC,7633,0.80,136.7,566.5,16.5,252,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1923,2727,0,0,0,0,0,0
$GC,7876,0.80,136.7,524.3,17.7,258,7880,0.00,2.12,0.00,0.000,4,0.000,0.040,2874,514,2726,0,0,0,0,0,0
$GC,7908,0.80,136.7,518.0,18.9,258,7914,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1943,2724,0,0,0,0,0,0
$GC,8160,0.80,136.7,474.8,17.0,265,8164,0.00,2.22,0.00,0.000,4,0.000,0.051,2874,3339,2724,0,0,0,0,0,0
$GC,8244,0.80,136.7,460.7,17.1,267,8249,0.12,2.17,0.00,0.000,6,0.210,0.031,2857,1916,2724,0,0,0,0,0,0
$GC,8527,0.80,136.7,415.3,15.8,274,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1912,2724,0,0,0,0,0,0
$GC,8772,0.80,136.7,377.6,15.4,280,8776,0.00,2.10,0.00,0.000,4,0.000,0.040,2866,530,2724,0,0,0,0,0,0
$GC,8799,0.80,136.7,373.2,14.8,280,8803,0.00,2.10,0.00,0.000,6,0.000,0.035,2866,1929,2721,0,0,0,0,0,0
$GC,9060,0.80,136.7,334.7,14.9,287,9064,0.00,2.25,0.00,0.000,4,0.000,0.051,2866,3333,2722,0,0,0,0,0,0
$GC,9166,0.80,136.7,319.1,15.3,289,9170,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1933,2722,0,0,0,0,0,0
$GC,9429,0.80,136.7,284.3,13.3,298,9433,0.00,2.25,0.00,0.000,4,0.000,0.051,2873,3342,2722,0,0,0,0,0,0
$GC,9552,0.80,136.7,267.0,12.9,303,9557,0.00,2.12,0.00,0.000,6,0.000,0.030,2882,1928,2722,0,0,0,0,0,0
$GC,9805,0.80,136.7,235.6,11.6,316,9809,0.00,2.12,0.00,0.000,4,0.000,0.037,2893,521,2721,0,0,0,0,0,0
$GC,9917,0.80,136.7,222.0,11.6,321,9922,0.15,2.12,0.00,0.000,6,0.191,0.033,2858,1943,2719,0,0,0,0,0,0
$GC,10180,0.80,136.7,193.8,11.3,336,10184,0.00,2.20,0.00,0.000,4,0.000,0.049,2857,3337,2720,0,0,0,0,0,0
$GC,10333,0.80,136.7,174.9,12.6,349,10337,0.00,2.12,0.00,0.000,6,0.000,0.030,2866,1926,2721,0,0,0,0,0,0
$GC,10604,0.80,138.1,149.1,8.5,374,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1923,2721,0,0,0,0,0,0
$GC,10868,0.89,214.8,132.2,5.3,399,10940,0.00,2.30,60.67,0.555,4,0.000,0.047,2866,3328,2422,0,0,0,0,0,0
$GC,10947,0.89,214.8,125.8,11.4,405,10954,0.00,2.20,0.00,0.000,6,0.000,0.031,2876,1929,2425,0,0,0,0,0,0
$GC,11213,0.89,214.8,96.0,10.5,430,11217,0.00,2.25,0.00,0.000,4,0.000,0.049,2877,3338,2418,0,0,0,0,0,0
$GC,11359,0.89,214.8,78.7,10.9,442,11367,0.00,2.17,0.00,0.000,6,0.000,0.030,2888,1932,2418,0,0,0,0,0,0
$GC,11625,0.89,214.8,48.8,11.8,467,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1928,2419,0,0,0,0,0,0
$GC,11892,0.89,214.8,16.6,11.6,502,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1926,2420,0,0,0,0,0,0
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.4,1.022907
$STATE,12028,end surface coast,CONTROL_FINISHED_OK
$STATE,12029,begin surface
$SM_CCo,12058,39.45,0.431,0,0,2076,300.24
$SM_GC,1.86,0.00,0.00,39.45,0.000,0.000,0.431,55,2047,2076,-7.95,1.30,300.24
$IRIDIUM_FIX,1922.94,-15615.95,100213,070708
$TT8_MAMPS,0.29146
$HUMID,1078857410
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,82
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259834880
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,35518382080
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,41.258
$10V_AH,10.0,37.578
$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,19.275,114.100,293.025,39.450,0.000,30.345,36.019,276.635,20.500,0.000,12.790,1136.366,8631.470,398.784,2109.055,397.350,33.362,1155.947,0.000,1752.137,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,97.409,1090.674,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,358.958,0.000,876.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,26909,526
$CAP_FILE_SIZE,112975,0
$CFSIZE,260165632,184639488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,155.7,1
$GPS,180811,195852,1927.774,-15614.296,6,2.1,25,9.7