version: 66.07
glider: 513
mission: 7
dive: 292
start: 8 19 111 3 24 23
data:
$ID,513
$MISSION,7
$DIVE,292
$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,-427927.16
$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,44
$R_STBD_OVSHOOT,48
$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,291
$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
$GPS1,190811,031407,1922.342,-15614.571,36,1.2,36,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-79.4
$GPS2,190811,032326,1922.165,-15614.486,9,1.4,9,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.047,-0.234
$KALMAN_X,-98444.5,-1315.8,-713.5,168789.7,6579.5
$KALMAN_Y,-48420.5,324.7,833.5,-22253.7,-3691.0
$MHEAD_RNG_PITCHd_Wd,185.7,41059,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.72,0.000,2,0.000,0.000,38,2012,3761,0,0,0,0,0,0
$GC,92,-0.80,-136.7,4.1,-6.8,9,114,9.43,2.25,-1.62,0.000,4,0.234,0.065,2318,3387,3861,0,0,0,0,0,0
$GC,277,-0.80,-136.7,69.7,-28.8,30,281,0.00,2.12,0.00,0.000,6,0.000,0.039,2318,2001,3865,0,0,0,0,0,0
$GC,543,-0.80,-136.7,151.9,-29.0,54,547,0.00,2.15,0.00,0.000,4,0.000,0.041,2318,587,3866,0,0,0,0,0,0
$GC,597,-0.80,-136.7,167.8,-29.8,58,602,0.12,2.12,0.00,0.000,6,0.186,0.041,2337,1988,3867,0,0,0,0,0,0
$GC,860,-0.80,-136.7,229.4,-22.1,77,864,0.00,2.22,0.00,0.000,4,0.000,0.049,2328,3411,3869,0,0,0,0,0,0
$GC,980,-0.80,-136.7,251.0,-15.6,82,984,0.00,2.12,0.00,0.000,6,0.000,0.030,2328,1981,3869,0,0,0,0,0,0
$GC,1233,-0.80,-136.7,295.3,-17.1,94,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1976,3870,0,0,0,0,0,0
$GC,1478,-0.80,-136.7,338.1,-18.0,101,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1976,3871,0,0,0,0,0,0
$GC,1722,-0.80,-136.7,381.6,-18.0,107,1726,0.00,2.22,0.00,0.000,4,0.000,0.050,2318,3406,3871,0,0,0,0,0,0
$GC,1762,-0.80,-136.7,389.1,-18.1,108,1766,0.00,2.12,0.00,0.000,6,0.000,0.033,2319,2001,3870,0,0,0,0,0,0
$GC,2045,-0.80,-136.7,436.1,-16.7,115,2049,0.00,2.20,0.00,0.000,4,0.000,0.048,2308,3408,3869,0,0,0,0,0,0
$GC,2096,-0.80,-136.7,444.3,-16.5,116,2101,0.12,2.12,0.00,0.000,6,0.161,0.032,2340,1986,3869,0,0,0,0,0,0
$GC,2368,-0.80,-136.7,477.8,-11.6,123,2371,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,602,3869,0,0,0,0,0,0
$GC,2412,-0.80,-136.7,483.2,-11.1,124,2416,0.00,2.10,0.00,0.000,6,0.000,0.041,2332,2003,3866,0,0,0,0,0,0
$GC,2697,-0.80,-136.7,521.3,-14.4,131,2701,0.00,2.17,0.00,0.000,4,0.000,0.051,2321,3398,3863,0,0,0,0,0,0
$GC,2736,-0.80,-136.7,527.3,-14.3,132,2740,0.00,2.10,0.00,0.000,6,0.000,0.034,2321,2005,3862,0,0,0,0,0,0
$GC,3020,-0.80,-136.7,569.1,-14.6,139,3024,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3406,3860,0,0,0,0,0,0
$GC,3070,-0.80,-136.7,576.3,-14.7,140,3075,0.10,2.15,0.00,0.000,6,0.170,0.034,2335,2001,3859,0,0,0,0,0,0
$GC,3342,-0.80,-136.7,611.8,-13.1,147,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1998,3857,0,0,0,0,0,0
$GC,3586,-0.80,-136.7,645.2,-13.8,153,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1991,3854,0,0,0,0,0,0
$GC,3831,-0.80,-136.7,676.4,-12.5,159,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1994,3852,0,0,0,0,0,0
$GC,4074,-0.80,-136.7,705.9,-12.2,165,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1995,3850,0,0,0,0,0,0
$GC,4317,-0.80,-136.7,735.1,-12.0,171,4321,0.00,2.22,0.00,0.000,4,0.000,0.052,2326,3401,3848,0,0,0,0,0,0
$GC,4373,-0.80,-136.7,742.2,-12.3,172,4376,0.00,2.10,0.00,0.000,6,0.000,0.032,2327,2001,3847,0,0,0,0,0,0
$GC,4646,-0.80,-136.7,776.4,-12.7,179,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1993,3845,0,0,0,0,0,0
$GC,4889,-0.80,-136.7,806.3,-12.1,185,4893,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3410,3843,0,0,0,0,0,0
$GC,4932,-0.80,-136.7,812.1,-12.3,186,4936,0.00,2.12,0.00,0.000,6,0.000,0.033,2315,2000,3842,0,0,0,0,0,0
$GC,5218,-0.80,-136.7,845.9,-11.7,193,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1994,3840,0,0,0,0,0,0
$GC,5460,-0.80,-136.7,875.5,-12.4,199,5464,0.00,2.25,0.00,0.000,4,0.000,0.051,2305,3403,3839,0,0,0,0,0,0
$GC,5509,-0.80,-136.7,882.0,-12.6,200,5514,0.12,2.15,0.00,0.000,6,0.171,0.034,2336,1995,3838,0,0,0,0,0,0
$STATE,5698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5698,begin apogee
$GC,5705,-0.28,0.0,903.9,11.4,205,5821,0.55,0.00,112.10,1.091,6,0.143,0.000,2503,1924,3302,0,0,0,0,0,0
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5826,0.80,136.7,907.9,0.0,208,5952,1.08,0.00,121.93,1.060,6,0.095,0.000,2854,1924,2740,0,0,0,0,0,0
$GC,6184,0.80,136.7,850.3,19.8,217,6188,0.00,2.28,0.00,0.000,4,0.000,0.050,2854,3329,2734,0,0,0,0,0,0
$GC,6240,0.80,136.7,838.7,20.8,218,6244,0.00,2.20,0.00,0.000,6,0.000,0.028,2865,1913,2734,0,0,0,0,0,0
$GC,6506,0.80,136.7,785.8,19.8,225,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1909,2731,0,0,0,0,0,0
$GC,6750,0.80,136.7,738.0,19.9,231,6754,0.00,2.28,0.00,0.000,4,0.000,0.052,2856,3330,2730,0,0,0,0,0,0
$GC,6772,0.80,136.7,733.5,19.6,231,6777,0.00,2.12,0.00,0.000,6,0.000,0.031,2865,1931,2731,0,0,0,0,0,0
$GC,7028,0.80,136.7,684.0,19.4,238,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1931,2728,0,0,0,0,0,0
$GC,7271,0.80,136.7,636.6,19.3,244,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1931,2728,0,0,0,0,0,0
$GC,7515,0.80,136.7,590.7,19.1,250,7519,0.00,2.12,0.00,0.000,4,0.000,0.039,2876,525,2727,0,0,0,0,0,0
$GC,7556,0.80,136.7,583.2,19.0,251,7560,0.00,2.15,0.00,0.000,6,0.000,0.035,2876,1929,2724,0,0,0,0,0,0
$GC,7839,0.80,136.7,528.4,19.5,258,7843,0.00,2.28,0.00,0.000,4,0.000,0.053,2876,3342,2725,0,0,0,0,0,0
$GC,7923,0.80,136.7,511.7,20.0,260,7928,0.12,2.12,0.00,0.000,6,0.210,0.029,2859,1924,2725,0,0,0,0,0,0
$GC,8207,0.80,136.7,465.4,16.2,267,8211,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,535,2728,0,0,0,0,0,0
$GC,8273,0.80,136.7,454.3,16.7,268,8277,0.00,2.10,0.00,0.000,6,0.000,0.033,2860,1941,2723,0,0,0,0,0,0
$GC,8534,0.80,136.7,413.2,15.8,275,8538,0.00,2.22,0.00,0.000,4,0.000,0.051,2860,3339,2723,0,0,0,0,0,0
$GC,8580,0.80,136.7,406.1,16.7,276,8584,0.00,2.15,0.00,0.000,6,0.000,0.030,2869,1925,2723,0,0,0,0,0,0
$GC,8858,0.80,136.7,366.1,13.7,283,8862,0.00,2.25,0.00,0.000,4,0.000,0.049,2868,3335,2724,0,0,0,0,0,0
$GC,8890,0.80,136.7,360.9,15.6,283,8896,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1924,2720,0,0,0,0,0,0
$GC,9142,0.80,136.7,324.0,14.7,290,9146,0.00,2.22,0.00,0.000,4,0.000,0.048,2875,3331,2722,0,0,0,0,0,0
$GC,9193,0.80,136.7,316.3,14.5,291,9197,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1925,2723,0,0,0,0,0,0
$GC,9451,0.80,136.7,280.2,14.0,300,9455,0.00,2.25,0.00,0.000,4,0.000,0.048,2884,3336,2722,0,0,0,0,0,0
$GC,9519,0.80,136.7,270.7,14.0,303,9524,0.15,2.12,0.00,0.000,6,0.200,0.029,2859,1928,2725,0,0,0,0,0,0
$GC,9778,0.80,136.7,239.9,11.2,316,9782,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,525,2722,0,0,0,0,0,0
$GC,9870,0.80,136.7,229.9,11.3,320,9874,0.00,2.10,0.00,0.000,6,0.000,0.032,2865,1933,2719,0,0,0,0,0,0
$GC,10129,0.80,136.7,200.5,11.6,333,10133,0.00,2.22,0.00,0.000,4,0.000,0.050,2864,3328,2720,0,0,0,0,0,0
$GC,10236,0.80,136.7,188.4,11.6,342,10241,0.00,2.10,0.00,0.000,6,0.000,0.030,2873,1923,2721,0,0,0,0,0,0
$GC,10502,0.80,136.7,162.7,8.7,366,10507,0.00,2.25,0.00,0.000,4,0.000,0.048,2874,3334,2721,0,0,0,0,0,0
$GC,10609,0.80,136.7,151.9,8.9,375,10614,0.12,2.12,0.00,0.000,6,0.195,0.028,2855,1917,2722,0,0,0,0,0,0
$GC,10872,0.85,183.9,136.0,6.6,399,10913,0.00,2.15,36.03,0.556,4,0.000,0.038,2865,540,2550,0,0,0,0,0,0
$GC,10974,0.85,183.9,128.0,9.8,407,10978,0.00,2.10,0.00,0.000,6,0.000,0.033,2863,1929,2547,0,0,0,0,0,0
$GC,11244,0.86,189.6,103.1,8.3,432,11258,0.00,2.25,5.90,0.422,4,0.000,0.046,2863,3330,2529,0,0,0,0,0,0
$GC,11319,0.87,194.8,96.3,8.4,438,11331,0.00,2.15,6.57,0.430,6,0.000,0.028,2872,1937,2506,0,0,0,0,0,0
$GC,11590,0.90,217.8,76.8,7.6,463,11618,0.00,0.00,20.02,0.482,6,0.000,0.000,2872,1938,2410,0,0,0,0,0,0
$GC,11878,0.90,217.8,46.3,11.2,490,11882,0.00,2.10,0.00,0.000,4,0.000,0.038,2883,535,2411,0,0,0,0,0,0
$GC,11919,0.90,217.8,41.2,11.7,493,11923,0.00,2.10,0.00,0.000,6,0.000,0.031,2883,1937,2410,0,0,0,0,0,0
$GC,12181,0.90,217.8,11.2,9.6,533,12189,0.00,2.20,0.00,0.000,4,0.000,0.046,2883,3323,2411,0,0,0,0,0,0
$GC,12235,0.90,224.5,5.9,8.3,542,12249,0.00,2.12,7.47,0.377,6,0.000,0.028,2894,1922,2383,0,0,0,0,0,0
$STATE,12262,end climb,SURFACE_DEPTH_REACHED
$STATE,12262,begin surface coast
$FINISH,0.2,1.011089
$STATE,12290,end surface coast,CONTROL_FINISHED_OK
$STATE,12290,begin surface
$SM_CCo,12311,34.17,0.424,0,0,2075,300.24
$SM_GC,1.99,0.00,0.00,34.17,0.000,0.000,0.424,52,2025,2075,-7.95,0.68,300.24
$IRIDIUM_FIX,1918.37,-15614.78,100213,181830
$TT8_MAMPS,0.251576
$HUMID,1078839345
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259736576
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,35058876416
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,41.606
$10V_AH,10.1,37.842
$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,19.500,117.125,310.025,34.175,0.000,31.182,31.914,276.338,23.500,0.000,11.659,1199.580,8735.342,427.970,2148.944,403.037,33.354,1174.780,0.000,1807.987,0.000,0.543,0.000
$DEVICE_MAMPS,233.935,104.312,1091.441,424.151,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.265,0.000,949.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,26884,551
$CAP_FILE_SIZE,117274,0
$CFSIZE,260165632,184418304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,163.9,1
$GPS,190811,065137,1919.558,-15614.577,28,1.5,28,9.6