version: 66.07
glider: 513
mission: 7
dive: 295
start: 8 19 111 14 32 2
data:
$ID,513
$MISSION,7
$DIVE,295
$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,-427990.22
$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,47
$R_STBD_OVSHOOT,55
$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,294
$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
$GPS1,190811,141300,1913.287,-15614.868,36,1.9,36,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-79.7
$GPS2,190811,143106,1912.830,-15614.860,13,1.7,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.207,-0.121
$KALMAN_X,-94641.3,503.2,-96.4,161879.8,4279.1
$KALMAN_Y,-52319.6,-348.1,22.9,-34125.4,-3102.6
$MHEAD_RNG_PITCHd_Wd,177.0,23763,-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,-57.38,0.000,2,0.000,0.000,38,2030,3747,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.1,-6.9,9,113,9.55,2.20,-1.80,0.000,4,0.236,0.049,2340,591,3860,0,0,0,0,0,0
$GC,243,-0.80,-136.7,64.0,-30.1,26,247,0.00,2.15,0.00,0.000,6,0.000,0.042,2331,1989,3863,0,0,0,0,0,0
$GC,509,-0.80,-136.7,141.6,-26.2,50,513,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3409,3864,0,0,0,0,0,0
$GC,714,-0.80,-136.7,192.6,-22.3,68,723,0.00,2.15,0.00,0.000,6,0.000,0.030,2320,1994,3865,0,0,0,0,0,0
$GC,980,-0.80,-136.7,248.9,-21.5,83,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1988,3864,0,0,0,0,0,0
$GC,1227,-0.80,-136.7,299.0,-19.9,95,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1988,3867,0,0,0,0,0,0
$GC,1491,-0.80,-136.7,346.6,-17.3,102,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1989,3867,0,0,0,0,0,0
$GC,1735,-0.80,-136.7,389.5,-18.1,108,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1988,3867,0,0,0,0,0,0
$GC,1980,-0.80,-136.7,431.5,-16.8,114,1984,0.00,2.25,0.00,0.000,4,0.000,0.054,2309,3407,3863,0,0,0,0,0,0
$GC,2041,-0.80,-136.7,441.0,-14.9,115,2046,0.12,2.12,0.00,0.000,6,0.163,0.033,2341,2009,3864,0,0,0,0,0,0
$GC,2307,-0.80,-136.7,473.4,-12.0,122,2311,0.00,2.12,0.00,0.000,4,0.000,0.041,2341,593,3862,0,0,0,0,0,0
$GC,2329,-0.80,-136.7,476.5,-14.1,122,2333,0.00,2.17,0.00,0.000,6,0.000,0.042,2333,2007,3862,0,0,0,0,0,0
$GC,2591,-0.80,-136.7,513.3,-14.4,129,2595,0.00,2.20,0.00,0.000,4,0.000,0.053,2322,3406,3860,0,0,0,0,0,0
$GC,2702,-0.80,-136.7,530.3,-14.8,131,2706,0.00,2.15,0.00,0.000,6,0.000,0.035,2322,1989,3859,0,0,0,0,0,0
$GC,2964,-0.80,-136.7,565.5,-13.0,138,2968,0.00,2.25,0.00,0.000,4,0.000,0.054,2311,3406,3856,0,0,0,0,0,0
$GC,2986,-0.80,-136.7,568.5,-12.1,138,2990,0.00,2.15,0.00,0.000,6,0.000,0.034,2311,1988,3856,0,0,0,0,0,0
$GC,3242,-0.80,-136.7,603.9,-14.2,145,3244,0.10,0.00,0.00,0.000,6,0.190,0.000,2335,1982,3853,0,0,0,0,0,0
$GC,3485,-0.80,-136.7,634.1,-12.3,151,3489,0.00,2.25,0.00,0.000,4,0.000,0.054,2326,3397,3851,0,0,0,0,0,0
$GC,3542,-0.80,-136.7,640.8,-11.6,152,3546,0.00,2.12,0.00,0.000,6,0.000,0.035,2326,2005,3851,0,0,0,0,0,0
$GC,3808,-0.80,-136.7,669.9,-10.8,159,3812,0.00,2.25,0.00,0.000,4,0.000,0.052,2316,3410,3848,0,0,0,0,0,0
$GC,3857,-0.80,-136.7,675.7,-11.8,160,3861,0.00,2.15,0.00,0.000,6,0.000,0.035,2315,1996,3848,0,0,0,0,0,0
$GC,4136,-0.80,-136.7,707.9,-12.0,167,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1990,3844,0,0,0,0,0,0
$GC,4379,-0.80,-136.7,739.2,-13.0,173,4383,0.00,2.25,0.00,0.000,4,0.000,0.055,2305,3403,3845,0,0,0,0,0,0
$GC,4425,-0.80,-136.7,745.5,-13.2,174,4429,0.12,2.17,0.00,0.000,6,0.172,0.036,2336,1985,3841,0,0,0,0,0,0
$GC,4715,-0.80,-136.7,781.1,-12.4,181,4719,0.00,2.30,0.00,0.000,4,0.000,0.056,2329,3409,3834,0,0,0,0,0,0
$GC,4775,-0.80,-136.7,788.9,-11.7,182,4779,0.00,2.15,0.00,0.000,6,0.000,0.035,2327,2005,3838,0,0,0,0,0,0
$GC,5043,-0.80,-136.7,821.7,-12.3,189,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2000,3835,0,0,0,0,0,0
$GC,5286,-0.80,-136.7,851.0,-12.0,195,5290,0.00,2.28,0.00,0.000,4,0.000,0.058,2316,3396,3834,0,0,0,0,0,0
$GC,5307,-0.80,-136.7,853.8,-12.7,195,5311,0.00,2.12,0.00,0.000,6,0.000,0.034,2316,1998,3833,0,0,0,0,0,0
$GC,5568,-0.80,-136.7,884.9,-11.9,202,5572,0.00,2.28,0.00,0.000,4,0.000,0.058,2305,3397,3832,0,0,0,0,0,0
$GC,5597,-0.80,-136.7,888.4,-12.6,202,5602,0.12,2.15,0.00,0.000,6,0.173,0.035,2336,1983,3832,0,0,0,0,0,0
$STATE,5727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5727,begin apogee
$GC,5733,-0.28,0.0,902.2,10.3,206,5851,0.55,0.00,111.60,1.095,6,0.144,0.000,2502,1978,3300,0,0,0,0,0,0
$STATE,5854,end apogee,CONTROL_FINISHED_OK
$STATE,5854,begin climb
$GC,5856,0.80,136.7,904.4,0.0,209,5981,1.02,0.00,120.35,1.058,6,0.095,0.000,2845,1979,2743,0,0,0,0,0,0
$GC,6222,0.80,136.7,842.8,20.4,218,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1979,2734,0,0,0,0,0,0
$GC,6465,0.80,136.7,795.4,19.1,224,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1978,2732,0,0,0,0,0,0
$GC,6709,0.80,136.7,751.4,17.5,230,6713,0.00,2.20,0.00,0.000,4,0.000,0.054,2842,3332,2730,0,0,0,0,0,0
$GC,6754,0.80,136.7,743.6,17.6,231,6758,0.00,2.17,0.00,0.000,6,0.000,0.031,2851,1930,2730,0,0,0,0,0,0
$GC,7032,0.80,136.7,694.6,17.4,238,7036,0.00,2.12,0.00,0.000,4,0.000,0.040,2862,523,2728,0,0,0,0,0,0
$GC,7076,0.80,136.7,686.4,18.1,239,7080,0.00,2.15,0.00,0.000,6,0.000,0.036,2864,1933,2726,0,0,0,0,0,0
$GC,7360,0.80,136.7,632.6,18.9,246,7365,0.00,2.25,0.00,0.000,4,0.000,0.055,2862,3336,2726,0,0,0,0,0,0
$GC,7450,0.80,136.7,615.4,17.8,248,7453,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1930,2727,0,0,0,0,0,0
$GC,7733,0.80,136.7,565.1,17.7,255,7737,0.00,2.10,0.00,0.000,4,0.000,0.039,2884,532,2725,0,0,0,0,0,0
$GC,7777,0.80,136.7,556.9,18.2,256,7782,0.12,2.15,0.00,0.000,6,0.199,0.035,2856,1942,2724,0,0,0,0,0,0
$GC,8054,0.80,136.7,514.7,14.9,263,8058,0.00,2.22,0.00,0.000,4,0.000,0.053,2845,3326,2723,0,0,0,0,0,0
$GC,8076,0.80,136.7,511.1,15.6,263,8080,0.00,2.12,0.00,0.000,6,0.000,0.032,2854,1924,2724,0,0,0,0,0,0
$GC,8338,0.80,136.7,468.5,16.8,270,8342,0.00,2.25,0.00,0.000,4,0.000,0.051,2855,3326,2724,0,0,0,0,0,0
$GC,8456,0.80,136.7,446.7,17.8,272,8459,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1918,2725,0,0,0,0,0,0
$GC,8718,0.80,136.7,402.1,17.0,279,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1917,2723,0,0,0,0,0,0
$GC,8961,0.80,136.7,364.4,15.6,285,8965,0.00,2.10,0.00,0.000,4,0.000,0.039,2876,529,2723,0,0,0,0,0,0
$GC,8982,0.80,136.7,361.1,14.9,285,8986,0.00,2.10,0.00,0.000,6,0.000,0.035,2876,1931,2723,0,0,0,0,0,0
$GC,9243,0.80,136.7,321.5,15.6,292,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1933,2721,0,0,0,0,0,0
$GC,9489,0.80,136.7,285.0,13.7,300,9493,0.00,2.22,0.00,0.000,4,0.000,0.051,2876,3332,2721,0,0,0,0,0,0
$GC,9625,0.80,136.7,267.4,12.0,306,9629,0.12,2.12,0.00,0.000,6,0.203,0.031,2858,1925,2721,0,0,0,0,0,0
$GC,9890,0.80,136.7,235.7,13.4,319,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1921,2721,0,0,0,0,0,0
$GC,10136,0.80,136.7,207.2,10.1,331,10140,0.00,2.22,0.00,0.000,4,0.000,0.050,2864,3331,2721,0,0,0,0,0,0
$GC,10335,0.80,136.7,185.7,9.3,345,10339,0.00,2.12,0.00,0.000,6,0.000,0.030,2867,1928,2719,0,0,0,0,0,0
$GC,10603,0.80,137.4,164.5,8.5,369,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1925,2721,0,0,0,0,0,0
$GC,10868,0.80,144.0,141.0,8.3,394,10872,0.00,2.20,0.00,0.000,4,0.000,0.048,2866,3332,2722,0,0,0,0,0,0
$GC,11106,0.96,266.4,127.9,3.4,415,11218,0.00,2.10,101.47,0.551,6,0.000,0.028,2875,1927,2212,0,0,0,0,0,0
$GC,11482,0.96,266.4,82.5,12.8,449,11486,0.00,2.22,0.00,0.000,4,0.000,0.046,2875,3333,2206,0,0,0,0,0,0
$GC,11513,0.96,266.4,78.5,12.7,451,11517,0.00,2.15,0.00,0.000,6,0.000,0.031,2886,1930,2207,0,0,0,0,0,0
$GC,11778,0.96,266.4,42.3,12.7,475,11781,0.00,2.12,0.00,0.000,4,0.000,0.038,2897,515,2207,0,0,0,0,0,0
$GC,11819,0.96,266.4,36.7,12.6,478,11823,0.00,2.15,0.00,0.000,6,0.000,0.031,2898,1942,2205,0,0,0,0,0,0
$STATE,12064,end climb,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$FINISH,0.3,0.999980
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12087,begin surface
$SM_CCo,12107,16.77,0.417,0,0,2077,300.24
$SM_GC,1.53,0.00,0.00,16.77,0.000,0.000,0.417,53,1999,2077,-7.96,-0.03,300.24
$IRIDIUM_FIX,1906.95,-15616.62,110213,080817
$TT8_MAMPS,0.266149
$HUMID,1078938700
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.00
$XPDR_PINGS,79
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6259638272
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,34608873472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,41.964
$10V_AH,10.0,38.104
$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,19.450,104.575,333.425,16.775,0.000,83.983,103.435,526.795,19.750,0.000,31.325,1132.783,8794.024,391.459,2455.842,444.408,33.357,1147.785,0.000,1760.127,0.000,0.541,0.000
$DEVICE_MAMPS,236.236,157.235,1095.276,417.248,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,357.482,0.000,856.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,26958,523
$CAP_FILE_SIZE,119758,0
$CFSIZE,260165632,184197120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,186.0,1
$GPS,190811,175536,1910.285,-15615.222,13,1.1,29,9.6