version: 66.07
glider: 513
mission: 7
dive: 274
start: 8 16 111 8 52 40
data:
$ID,513
$MISSION,7
$DIVE,274
$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,-427450.78
$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,37
$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,273
$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
$GPS1,160811,083900,2008.155,-15615.492,47,1.1,47,9.7
$_CALLS,1
$_XMS_NAKs,40
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.2
$GPS2,160811,085144,2007.966,-15615.437,10,1.8,10,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042,-0.230
$KALMAN_X,-126324.7,374.8,348.2,192238.7,963.5
$KALMAN_Y,-111831.4,2056.2,1168.9,123870.0,-7806.4
$MHEAD_RNG_PITCHd_Wd,170.7,125875,-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,-57.38,0.000,2,0.000,0.000,38,1993,3725,0,0,0,0,0,0
$GC,91,-0.80,-136.7,3.7,-5.9,9,113,9.98,2.20,-2.17,0.000,4,0.251,0.058,2340,587,3861,0,0,0,0,0,0
$GC,264,-0.80,-136.7,66.2,-28.0,29,268,0.00,2.15,0.00,0.000,6,0.000,0.039,2332,1998,3862,0,0,0,0,0,0
$GC,529,-0.80,-136.7,137.8,-24.4,53,533,0.00,2.20,0.00,0.000,4,0.000,0.045,2321,3408,3866,0,0,0,0,0,0
$GC,627,-0.80,-136.7,161.0,-20.2,61,635,0.00,2.17,0.00,0.000,6,0.000,0.031,2321,1988,3867,0,0,0,0,0,0
$GC,896,-0.80,-136.7,222.8,-21.9,82,900,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3408,3867,0,0,0,0,0,0
$GC,946,-0.80,-136.7,234.9,-23.6,84,951,0.10,2.12,0.00,0.000,6,0.176,0.033,2334,1997,3868,0,0,0,0,0,0
$GC,1199,-0.80,-136.7,283.0,-18.1,96,1203,0.00,2.10,0.00,0.000,4,0.000,0.039,2334,595,3872,0,0,0,0,0,0
$GC,1272,-0.80,-136.7,294.9,-16.5,99,1276,0.00,2.15,0.00,0.000,6,0.000,0.038,2326,2016,3868,0,0,0,0,0,0
$GC,1529,-0.80,-136.7,339.7,-18.2,107,1533,0.00,2.15,0.00,0.000,4,0.000,0.047,2314,3408,3869,0,0,0,0,0,0
$GC,1629,-0.80,-136.7,357.3,-16.9,109,1633,0.00,2.15,0.00,0.000,6,0.000,0.032,2314,2002,3868,0,0,0,0,0,0
$GC,1906,-0.80,-136.7,400.7,-15.5,116,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1995,3869,0,0,0,0,0,0
$GC,2151,-0.80,-136.7,439.8,-16.4,122,2155,0.00,2.22,0.00,0.000,4,0.000,0.051,2303,3408,3867,0,0,0,0,0,0
$GC,2206,-0.80,-136.7,449.4,-17.2,123,2211,0.12,2.12,0.00,0.000,6,0.166,0.033,2335,1992,3866,0,0,0,0,0,0
$GC,2472,-0.80,-136.7,487.0,-14.0,130,2476,0.00,2.20,0.00,0.000,4,0.000,0.050,2326,3397,3864,0,0,0,0,0,0
$GC,2500,-0.80,-136.7,490.7,-13.4,130,2504,0.00,2.12,0.00,0.000,6,0.000,0.032,2326,2003,3864,0,0,0,0,0,0
$GC,2750,-0.80,-136.7,525.9,-14.3,136,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1995,3862,0,0,0,0,0,0
$GC,2994,-0.80,-136.7,558.2,-13.1,142,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1995,3860,0,0,0,0,0,0
$GC,3237,-0.80,-136.7,590.5,-13.3,148,3241,0.00,2.12,0.00,0.000,4,0.000,0.045,2327,599,3857,0,0,0,0,0,0
$GC,3260,-0.80,-136.7,593.7,-14.3,148,3264,0.00,2.12,0.00,0.000,6,0.000,0.044,2316,1997,3856,0,0,0,0,0,0
$GC,3515,-0.80,-136.7,631.2,-14.7,155,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1997,3854,0,0,0,0,0,0
$GC,3759,-0.80,-136.7,665.3,-13.7,161,3763,0.00,2.20,0.00,0.000,4,0.000,0.052,2304,3395,3853,0,0,0,0,0,0
$GC,3827,-0.80,-136.7,674.5,-12.9,162,3831,0.12,2.12,0.00,0.000,6,0.171,0.033,2336,1991,3852,0,0,0,0,0,0
$GC,4082,-0.80,-136.7,702.9,-11.0,169,4086,0.00,2.28,0.00,0.000,4,0.000,0.055,2328,3398,3850,0,0,0,0,0,0
$GC,4131,-0.80,-136.7,708.5,-10.8,170,4135,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,2010,3849,0,0,0,0,0,0
$GC,4411,-0.80,-136.7,741.5,-12.4,177,4415,0.00,2.15,0.00,0.000,4,0.000,0.043,2327,590,3847,0,0,0,0,0,0
$GC,4450,-0.80,-136.7,746.9,-12.3,178,4454,0.00,2.15,0.00,0.000,6,0.000,0.044,2317,1996,3848,0,0,0,0,0,0
$GC,4734,-0.80,-136.7,784.0,-13.4,185,4738,0.00,2.25,0.00,0.000,4,0.000,0.053,2305,3409,3842,0,0,0,0,0,0
$GC,4763,-0.80,-136.7,788.1,-13.9,185,4767,0.12,2.17,0.00,0.000,6,0.173,0.035,2336,1990,3844,0,0,0,0,0,0
$GC,5012,-0.80,-136.7,819.3,-12.5,191,5016,0.00,2.28,0.00,0.000,4,0.000,0.054,2324,3403,3844,0,0,0,0,0,0
$GC,5039,-0.80,-136.7,823.0,-13.4,191,5043,0.00,2.15,0.00,0.000,6,0.000,0.036,2327,1996,3841,0,0,0,0,0,0
$GC,5302,-0.80,-136.7,857.3,-13.2,198,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1989,3843,0,0,0,0,0,0
$GC,5544,-0.80,-136.7,888.5,-12.7,204,5548,0.00,2.28,0.00,0.000,4,0.000,0.054,2317,3404,3838,0,0,0,0,0,0
$GC,5577,-0.80,-136.7,892.9,-12.9,204,5584,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,1999,3838,0,0,0,0,0,0
$STATE,5662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5662,begin apogee
$GC,5669,-0.28,0.0,904.4,13.3,207,5785,0.62,0.00,112.43,1.092,6,0.152,0.000,2500,1933,3300,0,0,0,0,0,0
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5788,begin climb
$GC,5791,0.80,136.7,908.6,0.0,210,5917,1.05,0.00,121.03,1.057,6,0.096,0.000,2849,1933,2742,0,0,0,0,0,0
$GC,6156,0.80,136.7,851.8,18.3,219,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1933,2731,0,0,0,0,0,0
$GC,6402,0.80,136.7,807.3,18.3,225,6406,0.00,2.30,0.00,0.000,4,0.000,0.051,2849,3344,2729,0,0,0,0,0,0
$GC,6428,0.80,136.7,801.7,19.3,225,6432,0.00,2.17,0.00,0.000,6,0.000,0.029,2859,1920,2730,0,0,0,0,0,0
$GC,6684,0.80,136.7,753.8,18.7,232,6688,0.00,2.12,0.00,0.000,4,0.000,0.040,2871,530,2728,0,0,0,0,0,0
$GC,6712,0.80,136.7,748.5,18.9,232,6716,0.00,2.15,0.00,0.000,6,0.000,0.037,2868,1937,2726,0,0,0,0,0,0
$GC,6967,0.80,136.7,701.5,18.3,239,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1939,2726,0,0,0,0,0,0
$GC,7211,0.80,136.7,657.1,18.2,245,7215,0.00,2.28,0.00,0.000,4,0.000,0.054,2871,3345,2725,0,0,0,0,0,0
$GC,7316,0.80,136.7,636.9,18.4,247,7320,0.00,2.15,0.00,0.000,6,0.000,0.031,2882,1935,2726,0,0,0,0,0,0
$GC,7584,0.80,136.7,586.8,19.2,254,7588,0.00,2.25,0.00,0.000,4,0.000,0.050,2881,3344,2724,0,0,0,0,0,0
$GC,7611,0.80,136.7,580.8,21.2,254,7616,0.15,2.15,0.00,0.000,6,0.202,0.031,2855,1923,2724,0,0,0,0,0,0
$GC,7861,0.80,136.7,537.0,17.1,260,7865,0.00,2.12,0.00,0.000,4,0.000,0.040,2865,518,2724,0,0,0,0,0,0
$GC,7908,0.80,136.7,529.2,17.5,261,7912,0.00,2.15,0.00,0.000,6,0.000,0.035,2864,1934,2722,0,0,0,0,0,0
$GC,8197,0.80,136.7,481.3,15.9,268,8201,0.00,2.25,0.00,0.000,4,0.000,0.052,2864,3334,2722,0,0,0,0,0,0
$GC,8263,0.80,136.7,469.7,17.7,269,8267,0.00,2.15,0.00,0.000,6,0.000,0.032,2875,1933,2722,0,0,0,0,0,0
$GC,8526,0.80,136.7,427.1,16.6,276,8530,0.00,2.22,0.00,0.000,4,0.000,0.051,2872,3335,2721,0,0,0,0,0,0
$GC,8558,0.80,136.7,420.7,18.4,276,8565,0.00,2.12,0.00,0.000,6,0.000,0.030,2884,1923,2721,0,0,0,0,0,0
$GC,8808,0.80,136.7,378.3,16.6,283,8812,0.00,2.10,0.00,0.000,4,0.000,0.039,2894,526,2721,0,0,0,0,0,0
$GC,8910,0.80,136.7,360.0,18.2,285,8915,0.15,2.12,0.00,0.000,6,0.196,0.033,2859,1936,2719,0,0,0,0,0,0
$GC,9176,0.80,136.7,319.6,15.3,292,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1936,2718,0,0,0,0,0,0
$GC,9421,0.80,136.7,287.2,12.4,300,9425,0.00,2.20,0.00,0.000,4,0.000,0.051,2850,3327,2719,0,0,0,0,0,0
$GC,9551,0.80,136.7,272.3,9.5,306,9555,0.00,2.10,0.00,0.000,6,0.000,0.031,2857,1935,2720,0,0,0,0,0,0
$GC,9815,0.80,136.7,241.3,12.2,319,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1932,2719,0,0,0,0,0,0
$GC,10064,0.80,136.7,211.3,10.5,331,10068,0.00,2.20,0.00,0.000,4,0.000,0.048,2856,3334,2717,0,0,0,0,0,0
$GC,10141,0.80,136.7,201.7,12.4,334,10147,0.00,2.12,0.00,0.000,6,0.000,0.030,2874,1926,2719,0,0,0,0,0,0
$GC,10407,0.80,136.7,173.0,10.9,358,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1924,2719,0,0,0,0,0,0
$GC,10671,0.80,136.7,145.3,11.0,383,10675,0.00,2.10,0.00,0.000,4,0.000,0.038,2879,521,2719,0,0,0,0,0,0
$GC,10845,0.80,140.2,128.1,8.4,398,10849,0.00,2.10,0.00,0.000,6,0.000,0.032,2882,1936,2719,0,0,0,0,0,0
$GC,11110,0.80,144.1,107.7,8.4,422,11114,0.00,2.10,0.00,0.000,4,0.000,0.037,2890,523,2720,0,0,0,0,0,0
$GC,11163,0.80,144.1,102.2,10.3,426,11168,0.12,2.10,0.00,0.000,6,0.185,0.033,2859,1940,2720,0,0,0,0,0,0
$GC,11426,0.84,170.9,79.5,7.4,450,11463,0.00,2.22,25.62,0.492,4,0.000,0.047,2859,3328,2606,0,0,0,0,0,0
$GC,11521,0.84,170.9,71.6,10.2,458,11525,0.00,2.10,0.00,0.000,6,0.000,0.029,2869,1923,2603,0,0,0,0,0,0
$GC,11788,0.86,186.0,50.3,7.9,482,11812,0.00,2.15,13.73,0.448,4,0.000,0.038,2885,537,2540,0,0,0,0,0,0
$GC,11882,0.86,186.0,41.6,9.4,490,11886,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,1933,2537,0,0,0,0,0,0
$GC,12146,0.86,186.0,16.1,9.9,527,12153,0.00,2.22,0.00,0.000,4,0.000,0.047,2879,3327,2540,0,0,0,0,0,0
$STATE,12254,end climb,SURFACE_DEPTH_REACHED
$STATE,12254,begin surface coast
$FINISH,0.5,1.023162
$STATE,12275,end surface coast,CONTROL_FINISHED_OK
$STATE,12275,begin surface
$SM_CCo,12297,54.67,0.434,0,0,2080,300.49
$SM_GC,1.20,0.00,0.00,54.67,0.000,0.000,0.434,51,2000,2080,-7.96,0.00,300.49
$IRIDIUM_FIX,2004.18,-15453.43,070213,232338
$TT8_MAMPS,0.148798
$HUMID,1078848377
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.60
$XPDR_PINGS,96
$AR_DIVENUM,274
$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
$24V_AH,23.8,39.401
$10V_AH,10.0,35.945
$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,20.125,125.625,272.800,54.675,0.000,27.756,31.517,486.143,24.000,0.000,14.993,1197.869,8715.578,418.187,2396.812,393.011,33.354,1185.881,0.000,1843.208,0.000,0.542,0.000
$DEVICE_MAMPS,250.809,105.846,1092.208,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.901,0.000,959.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,26988,550
$CAP_FILE_SIZE,122721,0
$CFSIZE,260165632,185737216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,167.7,1
$GPS,160811,122007,2005.719,-15615.327,37,1.0,37,9.7