version: 66.07
glider: 513
mission: 7
dive: 344
start: 8 27 111 6 7 16
data:
$ID,513
$MISSION,7
$DIVE,344
$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,-429977.66
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,66
$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,343
$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
$GPS1,270811,055654,1900.027,-15645.596,25,1.7,42,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-80.0
$GPS2,270811,060616,1859.981,-15645.767,10,2.1,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.179,0.158
$KALMAN_X,-146020.8,1783.6,1015.9,157026.4,-13610.5
$KALMAN_Y,-203633.6,1671.5,776.6,90549.6,-13126.6
$MHEAD_RNG_PITCHd_Wd,33.9,1342,-43.0,-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,-1.74,-20.8,0.0,0.0,0,80,0.00,0.00,-50.58,0.000,6,0.000,0.000,37,2151,3385,0,0,0,0,0,0
$GC,84,-1.77,-42.7,2.4,-2.6,8,106,8.55,2.28,-1.85,0.000,4,0.245,0.052,2026,703,3476,0,0,0,0,0,0
$GC,160,-1.77,-42.7,35.8,-44.8,20,168,0.00,2.17,0.00,0.000,6,0.000,0.050,2017,2062,3477,0,0,0,0,0,0
$GC,423,-1.77,-42.7,147.2,-34.2,45,427,0.00,2.33,0.00,0.000,4,0.000,0.056,2006,3520,3480,0,0,0,0,0,0
$GC,680,-1.77,-42.7,224.3,-30.2,64,686,0.00,2.12,0.00,0.000,6,0.000,0.032,2014,2105,3481,0,0,0,0,0,0
$GC,934,-1.77,-42.7,287.1,-24.0,77,938,0.00,2.25,0.00,0.000,4,0.000,0.054,2007,3522,3484,0,0,0,0,0,0
$GC,1191,-1.77,-42.7,340.9,-19.8,84,1197,0.00,2.15,0.00,0.000,6,0.000,0.033,2014,2104,3485,0,0,0,0,0,0
$GC,1441,-1.77,-42.7,394.3,-21.4,91,1445,0.00,2.25,0.00,0.000,4,0.000,0.052,2006,3531,3486,0,0,0,0,0,0
$GC,1692,-1.77,-42.7,449.9,-20.8,96,1697,0.00,2.20,0.00,0.000,6,0.000,0.031,2014,2082,3486,0,0,0,0,0,0
$GC,1948,-1.77,-42.7,503.3,-21.0,103,1952,0.00,2.28,0.00,0.000,4,0.000,0.054,2005,3521,3484,0,0,0,0,0,0
$GC,2143,-1.77,-42.7,542.8,-20.0,107,2147,0.00,2.15,0.00,0.000,6,0.000,0.034,2014,2099,3484,0,0,0,0,0,0
$GC,2410,-1.77,-42.7,590.8,-17.6,114,2414,0.00,2.25,0.00,0.000,4,0.000,0.054,2005,3517,3481,0,0,0,0,0,0
$GC,2605,-1.77,-42.7,626.1,-18.7,118,2609,0.00,2.17,0.00,0.000,6,0.000,0.034,2019,2103,3479,0,0,0,0,0,0
$GC,2873,-1.77,-42.7,670.3,-17.0,125,2877,0.00,2.25,0.00,0.000,4,0.000,0.054,2005,3516,3480,0,0,0,0,0,0
$GC,2889,-1.77,-42.7,673.6,-16.3,125,2893,0.00,2.15,0.00,0.000,6,0.000,0.034,2013,2096,3476,0,0,0,0,0,0
$GC,3158,-1.77,-42.7,721.9,-18.5,132,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2091,3474,0,0,0,0,0,0
$GC,3400,-1.77,-42.7,765.2,-17.7,138,3404,0.00,2.28,0.00,0.000,4,0.000,0.054,2004,3529,3471,0,0,0,0,0,0
$GC,3579,-1.77,-42.7,798.1,-17.9,142,3583,0.00,2.17,0.00,0.000,6,0.000,0.035,2013,2098,3469,0,0,0,0,0,0
$GC,3857,-1.77,-42.7,842.5,-15.7,149,3861,0.00,2.28,0.00,0.000,4,0.000,0.054,2004,3528,3467,0,0,0,0,0,0
$GC,3913,-1.77,-42.7,851.4,-15.6,150,3917,0.00,2.20,0.00,0.000,6,0.000,0.035,2013,2102,3465,0,0,0,0,0,0
$GC,4186,-1.77,-42.7,888.7,-13.2,157,4190,0.00,2.28,0.00,0.000,4,0.000,0.054,2006,3529,3464,0,0,0,0,0,0
$STATE,4268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4277,-0.28,0.0,900.8,14.4,159,4317,1.95,0.00,35.85,1.052,6,0.219,0.000,2496,1946,3300,0,0,0,0,0,0
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4323,1.77,42.7,903.1,0.0,160,4369,1.95,2.17,38.42,1.037,4,0.098,0.027,3170,535,3125,0,0,0,0,0,0
$GC,4375,1.77,42.7,897.4,14.2,161,4380,0.00,2.25,0.00,0.000,6,0.000,0.028,3161,1979,3123,0,0,0,0,0,0
$GC,4642,1.77,42.7,845.2,19.7,168,4646,0.00,2.20,0.00,0.000,4,0.000,0.043,3151,3368,3120,0,0,0,0,0,0
$GC,4675,1.77,42.7,838.4,19.6,168,4679,0.00,2.17,0.00,0.000,6,0.000,0.027,3160,1937,3122,0,0,0,0,0,0
$GC,4932,1.77,42.7,791.8,17.8,175,4936,0.00,2.28,0.00,0.000,4,0.000,0.043,3150,3374,3118,0,0,0,0,0,0
$GC,5043,1.77,42.7,771.9,17.1,177,5047,0.00,2.12,0.00,0.000,6,0.000,0.026,3159,1955,3117,0,0,0,0,0,0
$GC,5306,1.77,42.7,730.2,15.9,184,5310,0.00,2.22,0.00,0.000,4,0.000,0.041,3151,3373,3115,0,0,0,0,0,0
$GC,5513,1.77,42.7,698.3,14.7,188,5517,0.00,2.10,0.00,0.000,6,0.000,0.026,3160,1960,3114,0,0,0,0,0,0
$GC,5768,1.77,42.7,662.4,13.9,195,5772,0.00,2.20,0.00,0.000,4,0.000,0.041,3151,3364,3116,0,0,0,0,0,0
$GC,6026,1.77,42.7,624.6,14.4,200,6030,0.00,2.10,0.00,0.000,6,0.000,0.025,3160,1961,3112,0,0,0,0,0,0
$GC,6282,1.77,42.7,589.4,13.8,207,6286,0.00,2.08,0.00,0.000,4,0.000,0.033,3170,573,3110,0,0,0,0,0,0
$GC,6293,1.77,42.7,587.6,14.1,207,6297,0.00,2.10,0.00,0.000,6,0.000,0.029,3161,1971,3111,0,0,0,0,0,0
$GC,6571,1.77,42.7,552.6,12.3,214,6575,0.00,2.17,0.00,0.000,4,0.000,0.042,3151,3361,3109,0,0,0,0,0,0
$GC,6682,1.77,42.7,538.7,11.8,216,6687,0.00,2.10,0.00,0.000,6,0.000,0.024,3161,1961,3109,0,0,0,0,0,0
$GC,6945,1.77,42.7,512.1,9.6,223,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1956,3108,0,0,0,0,0,0
$GC,7187,1.77,42.7,490.4,8.7,229,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1956,3107,0,0,0,0,0,0
$GC,7431,1.78,45.9,471.1,7.7,235,7435,0.00,2.17,0.00,0.000,4,0.000,0.041,3151,3360,3106,0,0,0,0,0,0
$GC,7449,1.78,51.5,469.8,7.0,235,7458,0.00,2.10,5.15,0.607,6,0.000,0.024,3157,1953,3090,0,0,0,0,0,0
$GC,7715,1.78,51.5,445.0,9.4,242,7719,0.00,2.20,0.00,0.000,4,0.000,0.041,3151,3366,3089,0,0,0,0,0,0
$GC,7973,1.78,51.5,421.6,8.6,247,7980,0.00,2.10,0.00,0.000,6,0.000,0.025,3160,1962,3092,0,0,0,0,0,0
$GC,8223,1.79,60.6,405.2,6.1,254,8237,0.00,2.22,9.02,0.683,4,0.000,0.043,3147,3360,3052,0,0,0,0,0,0
$GC,8493,1.79,60.6,380.8,8.9,260,8497,0.00,2.10,0.00,0.000,6,0.000,0.023,3160,1953,3051,0,0,0,0,0,0
$GC,8776,1.80,69.1,360.4,6.2,267,8790,0.00,2.22,8.38,0.648,4,0.000,0.039,3147,3360,3018,0,0,0,0,0,0
$GC,8877,1.81,70.8,352.6,8.1,269,8881,0.00,2.10,0.00,0.000,6,0.000,0.023,3161,1944,3019,0,0,0,0,0,0
$GC,9150,1.81,71.4,330.3,8.4,276,9154,0.00,2.22,0.00,0.000,4,0.000,0.041,3151,3364,3017,0,0,0,0,0,0
$GC,9407,1.82,78.4,308.7,6.6,281,9422,0.00,2.10,9.38,0.624,6,0.000,0.026,3160,1951,2979,0,0,0,0,0,0
$GC,9684,1.83,92.5,290.9,4.7,292,9705,0.00,2.12,12.77,0.637,4,0.000,0.031,3171,565,2922,0,0,0,0,0,0
$GC,9958,1.83,92.5,264.9,9.8,304,9961,0.00,2.10,0.00,0.000,6,0.000,0.029,3162,1970,2920,0,0,0,0,0,0
$GC,10224,1.84,94.8,243.7,7.9,317,10228,0.00,2.17,0.00,0.000,4,0.000,0.041,3151,3368,2920,0,0,0,0,0,0
$GC,10437,1.85,105.4,229.1,5.7,326,10453,0.00,2.10,11.52,0.578,6,0.000,0.025,3160,1963,2873,0,0,0,0,0,0
$GC,10715,1.85,105.4,198.9,12.1,340,10718,0.00,2.08,0.00,0.000,4,0.000,0.032,3175,574,2870,0,0,0,0,0,0
$GC,10838,1.85,107.8,186.5,7.9,351,10852,0.00,2.08,4.07,0.400,6,0.000,0.028,3162,1967,2860,0,0,0,0,0,0
$GC,11107,1.85,108.1,162.1,8.5,376,11110,0.00,2.15,0.00,0.000,4,0.000,0.041,3151,3358,2860,0,0,0,0,0,0
$GC,11203,1.87,124.0,156.7,4.2,384,11228,0.10,2.08,15.15,0.527,6,0.126,0.023,3192,1949,2794,0,0,0,0,0,0
$GC,11483,1.89,139.7,142.2,4.3,410,11508,0.00,2.25,13.73,0.502,4,0.000,0.038,3179,3364,2731,0,0,0,0,0,0
$GC,11761,1.94,179.8,135.3,-2.5,434,11806,0.00,2.10,34.08,0.519,6,0.000,0.025,3192,1973,2568,0,0,0,0,0,0
$GC,12062,1.94,179.8,87.8,18.7,462,12066,0.00,2.15,0.00,0.000,4,0.000,0.038,3183,3358,2565,0,0,0,0,0,0
$GC,12072,1.94,179.8,85.1,18.2,462,12080,0.00,2.10,0.00,0.000,6,0.000,0.023,3192,1973,2565,0,0,0,0,0,0
$GC,12337,1.94,179.8,38.0,19.8,487,12341,0.00,2.08,0.00,0.000,4,0.000,0.032,3203,567,2565,0,0,0,0,0,0
$STATE,12515,end climb,SURFACE_DEPTH_REACHED
$STATE,12515,begin surface coast
$FINISH,0.5,1.022718
$STATE,12527,end surface coast,CONTROL_FINISHED_OK
$STATE,12528,begin surface
$SM_CCo,12550,64.03,0.423,0,0,2075,300.24
$SM_GC,1.66,0.00,0.00,64.03,0.000,0.000,0.423,55,2082,2075,-7.94,-0.51,300.24
$IRIDIUM_FIX,1850.98,-15645.99,180213,202029
$TT8_MAMPS,0.297596
$HUMID,1078875474
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,26.10
$XPDR_PINGS,77
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6296469504
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,27197374464
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.2,47.967
$10V_AH,9.8,43.874
$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,20.950,126.350,197.525,64.025,0.000,27.942,38.124,258.749,19.250,0.000,37.780,1254.280,8604.116,341.349,2584.939,403.284,33.360,1303.352,0.000,2209.827,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,55.991,1052.324,423.384,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,352.310,0.000,781.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26910,516
$CAP_FILE_SIZE,127193,0
$CFSIZE,260165632,180617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,233.0,1
$GPS,270811,093906,1859.438,-15646.525,36,1.2,36,9.6