version: 66.07
glider: 513
mission: 7
dive: 293
start: 8 19 111 7 2 12
data:
$ID,513
$MISSION,7
$DIVE,293
$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,-427941.59
$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,55
$R_STBD_OVSHOOT,54
$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,292
$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
$GPS1,190811,065137,1919.558,-15614.577,28,1.5,28,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-80.4
$GPS2,190811,070114,1919.295,-15614.511,11,1.5,11,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.172,-0.161
$KALMAN_X,-99575.3,-331.1,-265.2,168448.8,3547.8
$KALMAN_Y,-46362.3,-744.6,-163.5,-27557.3,1158.6
$MHEAD_RNG_PITCHd_Wd,184.1,35744,-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,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-56.95,0.000,2,0.000,0.000,39,2023,3725,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.9,-5.9,9,112,9.43,2.20,-2.20,0.000,4,0.232,0.053,2337,608,3862,0,0,0,0,0,0
$GC,197,-0.80,-136.7,50.5,-32.1,22,201,0.00,2.12,0.00,0.000,6,0.000,0.043,2330,1976,3864,0,0,0,0,0,0
$GC,462,-0.80,-136.7,137.5,-27.7,46,466,0.00,2.28,0.00,0.000,4,0.000,0.049,2318,3414,3864,0,0,0,0,0,0
$GC,627,-0.80,-136.7,177.6,-21.7,60,635,0.00,2.15,0.00,0.000,6,0.000,0.031,2314,2010,3867,0,0,0,0,0,0
$GC,894,-0.80,-136.7,239.7,-24.5,78,898,0.00,2.22,0.00,0.000,4,0.000,0.050,2307,3417,3868,0,0,0,0,0,0
$GC,990,-0.80,-136.7,259.8,-18.5,82,994,0.12,2.12,0.00,0.000,6,0.170,0.031,2338,1981,3868,0,0,0,0,0,0
$GC,1263,-0.80,-136.7,309.1,-17.2,94,1267,0.00,2.25,0.00,0.000,4,0.000,0.048,2329,3423,3872,0,0,0,0,0,0
$GC,1290,-0.80,-136.7,313.8,-16.5,94,1294,0.00,2.15,0.00,0.000,6,0.000,0.030,2329,1996,3870,0,0,0,0,0,0
$GC,1553,-0.80,-136.7,354.6,-15.5,101,1557,0.00,2.08,0.00,0.000,4,0.000,0.041,2329,603,3870,0,0,0,0,0,0
$GC,1597,-0.80,-136.7,361.5,-14.8,102,1601,0.00,2.10,0.00,0.000,6,0.000,0.040,2319,2007,3870,0,0,0,0,0,0
$GC,1881,-0.80,-136.7,406.5,-16.3,109,1885,0.00,2.20,0.00,0.000,4,0.000,0.048,2308,3407,3869,0,0,0,0,0,0
$GC,2011,-0.80,-136.7,429.1,-17.7,112,2016,0.12,2.12,0.00,0.000,6,0.162,0.033,2340,1993,3868,0,0,0,0,0,0
$GC,2294,-0.80,-136.7,467.4,-12.8,119,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1987,3866,0,0,0,0,0,0
$GC,2540,-0.80,-136.7,498.0,-12.9,125,2544,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3403,3861,0,0,0,0,0,0
$GC,2583,-0.80,-136.7,504.2,-13.8,126,2587,0.00,2.12,0.00,0.000,6,0.000,0.034,2331,2007,3866,0,0,0,0,0,0
$GC,2867,-0.80,-136.7,542.2,-13.6,133,2871,0.00,2.22,0.00,0.000,4,0.000,0.049,2320,3409,3863,0,0,0,0,0,0
$GC,2908,-0.80,-136.7,548.2,-15.1,134,2912,0.00,2.15,0.00,0.000,6,0.000,0.033,2322,2001,3860,0,0,0,0,0,0
$GC,3192,-0.80,-136.7,592.0,-15.7,141,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1995,3857,0,0,0,0,0,0
$GC,3435,-0.80,-136.7,627.2,-14.1,147,3439,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3406,3855,0,0,0,0,0,0
$GC,3468,-0.80,-136.7,631.7,-13.9,147,3474,0.10,2.12,0.00,0.000,6,0.180,0.035,2335,1998,3855,0,0,0,0,0,0
$GC,3719,-0.80,-136.7,660.3,-11.2,154,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1992,3855,0,0,0,0,0,0
$GC,3962,-0.80,-136.7,687.2,-11.0,160,3966,0.00,2.25,0.00,0.000,4,0.000,0.055,2325,3405,3850,0,0,0,0,0,0
$GC,4022,-0.80,-136.7,694.2,-11.6,161,4026,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,1986,3850,0,0,0,0,0,0
$GC,4296,-0.80,-136.7,726.9,-12.1,168,4300,0.00,2.08,0.00,0.000,4,0.000,0.043,2326,605,3847,0,0,0,0,0,0
$GC,4340,-0.80,-136.7,732.7,-13.0,169,4344,0.00,2.12,0.00,0.000,6,0.000,0.043,2315,2000,3847,0,0,0,0,0,0
$GC,4623,-0.80,-136.7,768.8,-12.8,176,4627,0.00,2.28,0.00,0.000,4,0.000,0.052,2304,3410,3844,0,0,0,0,0,0
$GC,4731,-0.80,-136.7,783.1,-13.3,178,4735,0.12,2.15,0.00,0.000,6,0.170,0.033,2336,2004,3843,0,0,0,0,0,0
$GC,4992,-0.80,-136.7,812.7,-11.1,185,4996,0.00,2.15,0.00,0.000,4,0.000,0.046,2336,587,3841,0,0,0,0,0,0
$GC,5013,-0.80,-136.7,815.3,-11.3,185,5018,0.00,2.20,0.00,0.000,6,0.000,0.044,2328,2001,3842,0,0,0,0,0,0
$GC,5276,-0.80,-136.7,845.7,-11.8,192,5280,0.00,2.22,0.00,0.000,4,0.000,0.052,2318,3399,3839,0,0,0,0,0,0
$GC,5342,-0.80,-136.7,854.0,-12.2,193,5346,0.00,2.15,0.00,0.000,6,0.000,0.034,2317,1997,3839,0,0,0,0,0,0
$GC,5597,-0.80,-136.7,886.2,-12.7,200,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1989,3837,0,0,0,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5724,-0.28,0.0,901.1,12.3,203,5839,0.62,0.00,112.20,1.095,6,0.151,0.000,2500,1928,3301,0,0,0,0,0,0
$STATE,5862,end apogee,CONTROL_FINISHED_OK
$STATE,5862,begin climb
$GC,5864,0.80,136.7,904.6,0.0,206,5995,1.02,2.30,120.25,1.058,4,0.096,0.039,2856,520,2741,0,0,0,0,0,0
$GC,6017,0.80,136.7,886.0,18.9,209,6022,0.00,2.25,0.00,0.000,6,0.000,0.038,2847,1927,2736,0,0,0,0,0,0
$GC,6267,0.80,136.7,836.6,19.8,215,6271,0.00,2.30,0.00,0.000,4,0.000,0.052,2833,3348,2732,0,0,0,0,0,0
$GC,6320,0.80,136.7,826.5,19.8,216,6324,0.00,2.20,0.00,0.000,6,0.000,0.033,2849,1917,2732,0,0,0,0,0,0
$GC,6597,0.80,136.7,774.8,18.2,223,6601,0.00,2.15,0.00,0.000,4,0.000,0.042,2856,526,2730,0,0,0,0,0,0
$GC,6618,0.80,136.7,770.5,19.4,223,6622,0.00,2.15,0.00,0.000,6,0.000,0.035,2848,1943,2725,0,0,0,0,0,0
$GC,6880,0.80,136.7,723.9,17.8,230,6884,0.00,2.22,0.00,0.000,4,0.000,0.053,2837,3330,2728,0,0,0,0,0,0
$GC,6925,0.80,136.7,715.6,18.0,231,6929,0.00,2.15,0.00,0.000,6,0.000,0.032,2846,1927,2728,0,0,0,0,0,0
$GC,7202,0.80,136.7,669.4,16.6,238,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1922,2726,0,0,0,0,0,0
$GC,7446,0.80,136.7,629.0,16.5,244,7450,0.00,2.25,0.00,0.000,4,0.000,0.051,2838,3332,2726,0,0,0,0,0,0
$GC,7474,0.80,136.7,624.3,17.1,244,7478,0.00,2.15,0.00,0.000,6,0.000,0.032,2846,1926,2726,0,0,0,0,0,0
$GC,7729,0.80,136.7,581.3,16.8,251,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1922,2725,0,0,0,0,0,0
$GC,7973,0.80,136.7,539.4,17.4,257,7977,0.00,2.12,0.00,0.000,4,0.000,0.041,2857,520,2723,0,0,0,0,0,0
$GC,8012,0.80,136.7,532.2,17.9,258,8016,0.00,2.12,0.00,0.000,6,0.000,0.035,2849,1930,2723,0,0,0,0,0,0
$GC,8298,0.80,136.7,484.3,16.2,265,8302,0.00,2.22,0.00,0.000,4,0.000,0.051,2838,3333,2723,0,0,0,0,0,0
$GC,8359,0.80,136.7,473.9,15.9,266,8363,0.00,2.17,0.00,0.000,6,0.000,0.031,2847,1929,2722,0,0,0,0,0,0
$GC,8627,0.80,136.7,434.7,14.7,273,8631,0.00,2.25,0.00,0.000,4,0.000,0.050,2838,3342,2723,0,0,0,0,0,0
$GC,8648,0.80,136.7,431.0,15.5,273,8652,0.00,2.17,0.00,0.000,6,0.000,0.031,2847,1922,2723,0,0,0,0,0,0
$GC,8909,0.80,136.7,390.6,16.0,280,8913,0.00,2.12,0.00,0.000,4,0.000,0.041,2858,515,2723,0,0,0,0,0,0
$GC,8931,0.80,136.7,387.1,15.3,280,8935,0.00,2.12,0.00,0.000,6,0.000,0.036,2850,1932,2720,0,0,0,0,0,0
$GC,9199,0.80,136.7,348.6,14.6,287,9203,0.00,2.22,0.00,0.000,4,0.000,0.049,2839,3341,2720,0,0,0,0,0,0
$GC,9310,0.80,136.7,332.8,13.0,289,9314,0.00,2.15,0.00,0.000,6,0.000,0.030,2848,1917,2721,0,0,0,0,0,0
$GC,9566,0.80,136.7,300.8,12.6,296,9570,0.00,2.12,0.00,0.000,4,0.000,0.041,2859,527,2720,0,0,0,0,0,0
$GC,9617,0.80,136.7,294.6,12.0,297,9621,0.00,2.10,0.00,0.000,6,0.000,0.034,2851,1932,2718,0,0,0,0,0,0
$GC,9871,0.80,136.7,263.3,11.6,309,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1933,2719,0,0,0,0,0,0
$GC,10118,0.80,137.7,239.2,8.5,321,10122,0.00,2.20,0.00,0.000,4,0.000,0.050,2840,3329,2719,0,0,0,0,0,0
$GC,10175,0.80,137.7,234.0,9.2,323,10181,0.00,2.15,0.00,0.000,6,0.000,0.030,2848,1916,2720,0,0,0,0,0,0
$GC,10428,0.80,137.7,206.9,11.3,336,10432,0.00,2.10,0.00,0.000,4,0.000,0.039,2859,536,2719,0,0,0,0,0,0
$GC,10485,0.80,137.7,199.6,13.0,338,10489,0.00,2.08,0.00,0.000,6,0.000,0.031,2851,1930,2718,0,0,0,0,0,0
$GC,10750,0.80,137.7,172.3,9.7,362,10754,0.00,2.22,0.00,0.000,4,0.000,0.049,2840,3336,2720,0,0,0,0,0,0
$GC,10859,0.80,137.7,161.8,9.1,371,10866,0.00,2.15,0.00,0.000,6,0.000,0.030,2850,1933,2720,0,0,0,0,0,0
$GC,11124,0.83,163.6,142.3,7.5,396,11151,0.00,0.00,19.85,0.549,6,0.000,0.000,2850,1933,2630,0,0,0,0,0,0
$GC,11412,0.89,215.7,117.5,6.4,423,11461,0.10,2.25,43.38,0.538,4,0.116,0.044,2886,3341,2420,0,0,0,0,0,0
$GC,11501,0.89,215.7,109.3,10.1,430,11508,0.00,2.20,0.00,0.000,6,0.000,0.028,2895,1927,2419,0,0,0,0,0,0
$GC,11767,0.89,215.7,82.0,10.5,455,11771,0.00,2.25,0.00,0.000,4,0.000,0.047,2893,3339,2419,0,0,0,0,0,0
$GC,11841,0.89,215.7,73.0,12.3,461,11845,0.00,2.12,0.00,0.000,6,0.000,0.028,2902,1933,2417,0,0,0,0,0,0
$GC,12107,0.89,215.7,41.3,12.4,485,12111,0.00,2.12,0.00,0.000,4,0.000,0.038,2917,524,2416,0,0,0,0,0,0
$GC,12158,0.89,215.7,34.1,14.5,489,12163,0.00,2.10,0.00,0.000,6,0.000,0.033,2913,1935,2416,0,0,0,0,0,0
$STATE,12413,end climb,SURFACE_DEPTH_REACHED
$STATE,12413,begin surface coast
$FINISH,0.3,1.022896
$STATE,12435,end surface coast,CONTROL_FINISHED_OK
$STATE,12435,begin surface
$SM_CCo,12457,39.62,0.430,0,0,2075,300.73
$SM_GC,1.97,0.00,0.00,39.62,0.000,0.000,0.430,48,1999,2075,-7.96,-0.06,300.73
$IRIDIUM_FIX,1913.80,-15612.69,100213,212116
$TT8_MAMPS,0.25311
$HUMID,1078862571
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,85
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259703808
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,34902474752
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,41.716
$10V_AH,9.9,37.929
$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,19.300,134.975,295.675,39.625,0.000,25.211,38.720,292.763,21.250,0.000,13.821,1189.536,8854.873,399.312,2228.291,411.120,33.355,1206.645,0.000,1842.260,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,119.652,1095.276,430.287,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.970,0.000,886.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353732
$DATA_FILE_SIZE,27007,537
$CAP_FILE_SIZE,122356,0
$CFSIZE,260165632,184340480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,169.5,1
$GPS,190811,103207,1916.549,-15614.730,38,1.3,39,9.6