version: 66.07
glider: 513
mission: 7
dive: 276
start: 8 16 111 16 16 22
data:
$ID,513
$MISSION,7
$DIVE,276
$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,-427558.91
$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,34
$R_STBD_OVSHOOT,44
$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,275
$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
$GPS1,160811,155502,2002.973,-15615.480,16,1.9,16,9.7
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.7
$GPS2,160811,161527,2002.502,-15615.374,58,3.8,77,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.228,-0.228
$KALMAN_X,-121377.1,-219.7,-7.9,188354.5,4820.1
$KALMAN_Y,-108671.5,304.6,18.6,113544.2,-1923.1
$MHEAD_RNG_PITCHd_Wd,170.0,115755,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,89,0.00,0.00,-58.38,0.000,2,0.000,0.000,38,1947,3772,0,0,0,0,0,0
$GC,94,-0.80,-136.7,4.1,-6.9,9,115,9.62,2.15,-1.40,0.000,4,0.239,0.049,2339,566,3860,0,0,0,0,0,0
$GC,244,-0.80,-136.7,59.9,-33.6,27,248,0.00,2.17,0.00,0.000,6,0.000,0.039,2330,1991,3863,0,0,0,0,0,0
$GC,510,-0.80,-136.7,136.9,-28.5,51,514,0.00,2.22,0.00,0.000,4,0.000,0.048,2319,3410,3864,0,0,0,0,0,0
$GC,617,-0.80,-136.7,161.2,-22.0,60,621,0.00,2.12,0.00,0.000,6,0.000,0.031,2319,1984,3865,0,0,0,0,0,0
$GC,886,-0.80,-136.7,223.3,-23.0,80,890,0.00,2.22,0.00,0.000,4,0.000,0.048,2309,3416,3866,0,0,0,0,0,0
$GC,935,-0.80,-136.7,235.4,-20.9,82,940,0.10,2.12,0.00,0.000,6,0.183,0.030,2334,1994,3866,0,0,0,0,0,0
$GC,1194,-0.80,-136.7,286.6,-20.7,95,1198,0.00,2.20,0.00,0.000,4,0.000,0.048,2325,3412,3867,0,0,0,0,0,0
$GC,1359,-0.80,-136.7,312.2,-15.2,100,1363,0.00,2.10,0.00,0.000,6,0.000,0.030,2325,2003,3870,0,0,0,0,0,0
$GC,1613,-0.80,-136.7,355.0,-16.5,107,1617,0.00,2.12,0.00,0.000,4,0.000,0.040,2325,591,3867,0,0,0,0,0,0
$GC,1687,-0.80,-136.7,367.6,-17.1,108,1691,0.00,2.12,0.00,0.000,6,0.000,0.039,2314,2004,3867,0,0,0,0,0,0
$GC,1937,-0.80,-136.7,410.2,-17.5,114,1940,0.00,2.17,0.00,0.000,4,0.000,0.049,2304,3409,3866,0,0,0,0,0,0
$GC,1981,-0.80,-136.7,417.7,-16.3,115,1985,0.12,2.10,0.00,0.000,6,0.165,0.032,2335,1997,3866,0,0,0,0,0,0
$GC,2265,-0.80,-136.7,458.8,-14.3,122,2269,0.00,2.22,0.00,0.000,4,0.000,0.051,2327,3409,3863,0,0,0,0,0,0
$GC,2376,-0.80,-136.7,473.8,-12.6,124,2380,0.00,2.15,0.00,0.000,6,0.000,0.032,2326,2005,3863,0,0,0,0,0,0
$GC,2637,-0.80,-136.7,510.9,-14.4,131,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1999,3861,0,0,0,0,0,0
$GC,2882,-0.80,-136.7,542.0,-12.7,137,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1999,3858,0,0,0,0,0,0
$GC,3125,-0.80,-136.7,573.6,-13.0,143,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1999,3856,0,0,0,0,0,0
$GC,3369,-0.80,-136.7,604.5,-12.7,149,3373,0.00,2.20,0.00,0.000,4,0.000,0.050,2316,3400,3853,0,0,0,0,0,0
$GC,3412,-0.80,-136.7,610.4,-13.1,150,3416,0.00,2.10,0.00,0.000,6,0.000,0.032,2316,2001,3856,0,0,0,0,0,0
$GC,3698,-0.80,-136.7,648.4,-13.8,157,3702,0.00,2.20,0.00,0.000,4,0.000,0.050,2305,3403,3848,0,0,0,0,0,0
$GC,3725,-0.80,-136.7,652.6,-14.8,157,3729,0.12,2.12,0.00,0.000,6,0.170,0.033,2337,1996,3850,0,0,0,0,0,0
$GC,3974,-0.80,-136.7,683.8,-12.3,163,3978,0.00,2.12,0.00,0.000,4,0.000,0.044,2337,593,3848,0,0,0,0,0,0
$GC,3997,-0.80,-136.7,686.7,-12.6,163,4001,0.00,2.17,0.00,0.000,6,0.000,0.043,2329,2003,3849,0,0,0,0,0,0
$GC,4258,-0.80,-136.7,719.4,-12.5,170,4262,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3400,3845,0,0,0,0,0,0
$GC,4319,-0.80,-136.7,727.1,-12.1,171,4323,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,2002,3844,0,0,0,0,0,0
$GC,4587,-0.80,-136.7,760.9,-12.6,178,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1995,3841,0,0,0,0,0,0
$GC,4829,-0.80,-136.7,790.4,-11.8,184,4833,0.00,2.25,0.00,0.000,4,0.000,0.054,2306,3408,3840,0,0,0,0,0,0
$GC,4856,-0.80,-136.7,793.6,-11.5,184,4860,0.12,2.15,0.00,0.000,6,0.172,0.035,2338,1989,3840,0,0,0,0,0,0
$GC,5112,-0.80,-136.7,818.7,-9.9,191,5116,0.00,2.12,0.00,0.000,4,0.000,0.046,2338,595,3838,0,0,0,0,0,0
$GC,5183,-0.80,-136.7,826.8,-11.2,192,5187,0.00,2.20,0.00,0.000,6,0.000,0.045,2330,1989,3833,0,0,0,0,0,0
$GC,5439,-0.80,-136.7,855.4,-11.3,199,5443,0.00,2.22,0.00,0.000,4,0.000,0.053,2318,3401,3835,0,0,0,0,0,0
$GC,5495,-0.80,-136.7,862.1,-11.4,200,5499,0.00,2.15,0.00,0.000,6,0.000,0.034,2318,1984,3835,0,0,0,0,0,0
$GC,5761,-0.80,-136.7,894.2,-12.2,207,5765,0.00,2.25,0.00,0.000,4,0.000,0.054,2307,3402,3833,0,0,0,0,0,0
$STATE,5808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5808,begin apogee
$GC,5817,-0.28,0.0,900.8,12.6,208,5930,0.62,0.00,109.93,1.095,6,0.153,0.000,2495,1925,3300,0,0,0,0,0,0
$STATE,5933,end apogee,CONTROL_FINISHED_OK
$STATE,5933,begin climb
$GC,5936,0.80,136.7,904.3,0.0,211,6060,1.05,0.00,119.30,1.058,6,0.098,0.000,2844,1924,2743,0,0,0,0,0,0
$GC,6302,0.80,136.7,842.5,20.7,220,6306,0.00,2.28,0.00,0.000,4,0.000,0.051,2844,3331,2734,0,0,0,0,0,0
$GC,6347,0.80,136.7,832.7,22.7,221,6351,0.00,2.20,0.00,0.000,6,0.000,0.036,2854,1912,2734,0,0,0,0,0,0
$GC,6624,0.80,136.7,776.1,20.2,228,6628,0.00,2.15,0.00,0.000,4,0.000,0.041,2866,533,2728,0,0,0,0,0,0
$GC,6696,0.80,136.7,761.0,20.1,229,6700,0.00,2.17,0.00,0.000,6,0.000,0.035,2865,1930,2728,0,0,0,0,0,0
$GC,6953,0.80,136.7,709.3,20.4,236,6957,0.00,2.25,0.00,0.000,4,0.000,0.053,2865,3345,2728,0,0,0,0,0,0
$GC,6996,0.80,136.7,699.9,21.9,237,7000,0.00,2.15,0.00,0.000,6,0.000,0.030,2876,1930,2729,0,0,0,0,0,0
$GC,7280,0.80,136.7,643.0,19.6,244,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1927,2727,0,0,0,0,0,0
$GC,7525,0.80,136.7,597.8,17.9,250,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1927,2726,0,0,0,0,0,0
$GC,7767,0.80,136.7,552.0,19.2,256,7771,0.00,2.22,0.00,0.000,4,0.000,0.049,2873,3348,2726,0,0,0,0,0,0
$GC,7783,0.80,136.7,548.6,19.1,256,7787,0.00,2.17,0.00,0.000,6,0.000,0.031,2882,1916,2726,0,0,0,0,0,0
$GC,8050,0.80,136.7,497.1,19.5,263,8054,0.00,2.10,0.00,0.000,4,0.000,0.040,2893,530,2724,0,0,0,0,0,0
$GC,8097,0.80,136.7,488.6,20.1,264,8101,0.15,2.15,0.00,0.000,6,0.200,0.037,2854,1946,2723,0,0,0,0,0,0
$GC,8385,0.80,136.7,437.8,17.4,271,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1950,2723,0,0,0,0,0,0
$GC,8629,0.80,136.7,400.7,15.0,277,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1950,2723,0,0,0,0,0,0
$GC,8874,0.80,136.7,364.5,14.9,283,8878,0.00,2.17,0.00,0.000,4,0.000,0.041,2867,535,2724,0,0,0,0,0,0
$GC,8906,0.80,136.7,359.4,14.9,283,8912,0.00,2.10,0.00,0.000,6,0.000,0.034,2868,1936,2721,0,0,0,0,0,0
$GC,9156,0.80,136.7,322.7,14.7,290,9160,0.00,2.17,0.00,0.000,4,0.000,0.040,2878,519,2720,0,0,0,0,0,0
$GC,9177,0.80,136.7,319.3,15.9,290,9181,0.00,2.15,0.00,0.000,6,0.000,0.035,2884,1935,2720,0,0,0,0,0,0
$GC,9447,0.80,136.7,282.3,13.8,300,9451,0.00,2.20,0.00,0.000,4,0.000,0.051,2878,3337,2720,0,0,0,0,0,0
$GC,9705,0.80,136.7,243.9,13.7,311,9711,0.12,2.12,0.00,0.000,6,0.199,0.030,2859,1931,2721,0,0,0,0,0,0
$GC,9959,0.80,136.7,216.1,10.8,324,9963,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,519,2720,0,0,0,0,0,0
$GC,9992,0.80,136.7,212.0,12.2,325,9996,0.00,2.12,0.00,0.000,6,0.000,0.034,2868,1939,2718,0,0,0,0,0,0
$GC,10259,0.80,136.7,180.5,11.2,346,10263,0.00,2.17,0.00,0.000,4,0.000,0.048,2868,3323,2719,0,0,0,0,0,0
$GC,10511,0.80,136.7,153.2,12.0,368,10519,0.00,2.12,0.00,0.000,6,0.000,0.028,2878,1916,2721,0,0,0,0,0,0
$GC,10779,0.80,136.7,125.1,10.0,393,10783,0.00,2.08,0.00,0.000,4,0.000,0.038,2889,528,2720,0,0,0,0,0,0
$GC,10843,0.80,136.7,117.6,10.8,398,10852,0.10,2.12,0.00,0.000,6,0.169,0.032,2861,1925,2721,0,0,0,0,0,0
$GC,11111,0.80,141.4,95.4,8.4,423,11115,0.00,2.17,0.00,0.000,4,0.000,0.047,2850,3334,2724,0,0,0,0,0,0
$GC,11132,0.82,154.6,93.5,8.0,424,11149,0.00,2.08,12.48,0.482,6,0.000,0.029,2859,1926,2671,0,0,0,0,0,0
$GC,11413,0.83,168.1,70.3,8.0,450,11432,0.00,0.00,13.12,0.465,6,0.000,0.000,2859,1926,2613,0,0,0,0,0,0
$GC,11691,0.87,193.5,46.2,7.5,476,11719,0.00,2.25,21.52,0.463,4,0.000,0.045,2859,3332,2511,0,0,0,0,0,0
$GC,11740,0.88,204.4,42.6,8.1,480,11757,0.00,2.10,10.45,0.429,6,0.000,0.028,2868,1917,2466,0,0,0,0,0,0
$GC,12019,0.88,204.4,12.3,13.4,520,12028,0.00,2.08,0.00,0.000,4,0.000,0.032,2880,537,2463,0,0,0,0,0,0
$STATE,12124,end climb,SURFACE_DEPTH_REACHED
$STATE,12124,begin surface coast
$FINISH,0.3,1.023234
$STATE,12165,end surface coast,CONTROL_FINISHED_OK
$STATE,12165,begin surface
$SM_CCo,12186,41.25,0.432,0,0,2077,300.24
$SM_GC,1.62,0.00,0.00,41.25,0.000,0.000,0.432,51,2017,2077,-7.95,0.48,300.24
$IRIDIUM_FIX,1952.70,-15616.46,080213,101008
$TT8_MAMPS,0.255411
$HUMID,1078843216
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.60
$XPDR_PINGS,87
$AR_DIVENUM,276
$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,23.8,39.643
$10V_AH,10.1,36.125
$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,19.750,125.575,286.800,41.250,0.000,91.553,106.974,604.470,21.750,0.000,80.936,1196.460,8683.039,397.341,2742.374,448.470,33.354,1188.733,0.000,1884.525,0.000,0.542,0.000
$DEVICE_MAMPS,239.304,54.457,1094.509,431.821,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,373.076,0.000,959.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353704
$DATA_FILE_SIZE,26912,546
$CAP_FILE_SIZE,128142,0
$CFSIZE,260165632,185581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,153.2,1
$GPS,160811,194155,2000.375,-15615.103,32,1.6,37,9.7