version: 66.07
glider: 513
mission: 7
dive: 279
start: 8 17 111 3 49 41
data:
$ID,513
$MISSION,7
$DIVE,279
$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,-427629.44
$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,45
$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,278
$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
$GPS1,170811,032824,1955.263,-15614.633,42,1.0,59,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.0
$GPS2,170811,034843,1954.847,-15614.517,15,1.7,15,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.020,-0.238
$KALMAN_X,-106455.2,-712.0,-1504.6,176970.6,11785.5
$KALMAN_Y,-22183.5,6825.8,-9550.9,16136.3,50993.8
$MHEAD_RNG_PITCHd_Wd,196.3,101579,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-57.65,0.000,2,0.000,0.000,36,2027,3739,0,0,0,0,0,0
$GC,92,-0.80,-136.7,3.8,-6.3,9,115,9.57,2.20,-1.98,0.000,4,0.237,0.066,2322,3386,3862,0,0,0,0,0,0
$GC,364,-0.80,-136.7,93.9,-29.1,38,368,0.00,2.15,0.00,0.000,6,0.000,0.044,2324,2007,3864,0,0,0,0,0,0
$GC,631,-0.80,-136.7,163.9,-24.8,62,634,0.00,2.17,0.00,0.000,4,0.000,0.049,2312,3386,3866,0,0,0,0,0,0
$GC,695,-0.80,-136.7,179.4,-23.9,67,699,0.00,2.08,0.00,0.000,6,0.000,0.031,2312,1995,3866,0,0,0,0,0,0
$GC,951,-0.80,-136.7,239.5,-22.2,83,955,0.00,2.17,0.00,0.000,4,0.000,0.048,2301,3385,3867,0,0,0,0,0,0
$GC,1073,-0.80,-136.7,265.6,-19.0,88,1080,0.15,2.10,0.00,0.000,6,0.171,0.031,2340,1993,3868,0,0,0,0,0,0
$GC,1328,-0.80,-136.7,310.0,-17.0,100,1332,0.00,2.17,0.00,0.000,4,0.000,0.048,2331,3389,3868,0,0,0,0,0,0
$GC,1383,-0.80,-136.7,318.9,-15.1,101,1387,0.00,2.08,0.00,0.000,6,0.000,0.030,2327,1997,3868,0,0,0,0,0,0
$GC,1657,-0.80,-136.7,365.6,-17.6,108,1661,0.00,2.17,0.00,0.000,4,0.000,0.049,2321,3375,3868,0,0,0,0,0,0
$GC,1706,-0.80,-136.7,374.7,-17.6,109,1710,0.00,2.08,0.00,0.000,6,0.000,0.032,2320,1990,3868,0,0,0,0,0,0
$GC,1985,-0.80,-136.7,420.9,-15.8,116,1989,0.00,2.10,0.00,0.000,4,0.000,0.044,2320,601,3867,0,0,0,0,0,0
$GC,2013,-0.80,-136.7,425.2,-14.5,116,2017,0.00,2.08,0.00,0.000,6,0.000,0.044,2310,1970,3867,0,0,0,0,0,0
$GC,2263,-0.80,-136.7,463.6,-15.4,122,2268,0.10,2.25,0.00,0.000,4,0.193,0.048,2325,3413,3865,0,0,0,0,0,0
$GC,2393,-0.80,-136.7,480.8,-12.4,124,2398,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,1999,3864,0,0,0,0,0,0
$GC,2643,-0.80,-136.7,514.2,-13.3,131,2647,0.00,2.22,0.00,0.000,4,0.000,0.052,2315,3413,3861,0,0,0,0,0,0
$GC,2744,-0.80,-136.7,528.4,-13.1,133,2748,0.00,2.17,0.00,0.000,6,0.000,0.034,2314,1976,3861,0,0,0,0,0,0
$GC,3022,-0.80,-136.7,567.9,-14.5,140,3024,0.10,0.00,0.00,0.000,6,0.194,0.000,2338,1971,3858,0,0,0,0,0,0
$GC,3266,-0.80,-136.7,600.1,-13.1,146,3270,0.00,2.25,0.00,0.000,4,0.000,0.052,2329,3408,3854,0,0,0,0,0,0
$GC,3338,-0.80,-136.7,610.6,-13.6,147,3342,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,2003,3854,0,0,0,0,0,0
$GC,3594,-0.80,-136.7,646.1,-13.9,154,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1996,3852,0,0,0,0,0,0
$GC,3839,-0.80,-136.7,678.2,-12.9,160,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1998,3849,0,0,0,0,0,0
$GC,4081,-0.80,-136.7,707.9,-12.1,166,4085,0.00,2.25,0.00,0.000,4,0.000,0.054,2322,3413,3847,0,0,0,0,0,0
$GC,4126,-0.80,-136.7,712.9,-11.0,167,4130,0.00,2.15,0.00,0.000,6,0.000,0.034,2317,1986,3846,0,0,0,0,0,0
$GC,4409,-0.80,-136.7,744.5,-11.2,174,4413,0.00,2.28,0.00,0.000,4,0.000,0.054,2307,3408,3843,0,0,0,0,0,0
$GC,4511,-0.80,-136.7,756.4,-11.5,176,4516,0.12,2.15,0.00,0.000,6,0.171,0.036,2338,2017,3842,0,0,0,0,0,0
$GC,4777,-0.80,-136.7,781.6,-9.3,183,4781,0.00,2.22,0.00,0.000,4,0.000,0.057,2329,3399,3840,0,0,0,0,0,0
$GC,4810,-0.80,-136.7,785.0,-10.1,183,4817,0.00,2.17,0.00,0.000,6,0.000,0.035,2330,1981,3840,0,0,0,0,0,0
$GC,5060,-0.80,-136.7,812.0,-11.0,190,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1976,3838,0,0,0,0,0,0
$GC,5304,-0.80,-136.7,838.9,-11.1,196,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1976,3836,0,0,0,0,0,0
$GC,5547,-0.80,-136.7,866.8,-11.5,202,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1979,3835,0,0,0,0,0,0
$GC,5793,-0.80,-136.7,894.2,-11.1,208,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1976,3833,0,0,0,0,0,0
$STATE,5870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5870,begin apogee
$GC,5876,-0.28,0.0,903.2,11.2,210,5993,0.57,0.00,111.62,1.088,6,0.147,0.000,2500,1975,3300,0,0,0,0,0,0
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5998,0.80,136.7,907.2,0.0,213,6122,1.05,0.00,120.50,1.057,6,0.097,0.000,2848,1974,2745,0,0,0,0,0,0
$GC,6363,0.80,136.7,852.5,18.4,222,6367,0.00,2.25,0.00,0.000,4,0.000,0.041,2859,528,2735,0,0,0,0,0,0
$GC,6412,0.80,136.7,843.2,18.4,223,6416,0.00,2.17,0.00,0.000,6,0.000,0.036,2859,1931,2731,0,0,0,0,0,0
$GC,6692,0.80,136.7,793.4,17.8,230,6696,0.00,2.28,0.00,0.000,4,0.000,0.053,2859,3340,2734,0,0,0,0,0,0
$GC,6708,0.80,136.7,790.2,16.9,230,6712,0.00,2.20,0.00,0.000,6,0.000,0.032,2869,1931,2731,0,0,0,0,0,0
$GC,6974,0.80,136.7,742.3,18.1,237,6978,0.00,2.25,0.00,0.000,4,0.000,0.051,2868,3342,2729,0,0,0,0,0,0
$GC,7001,0.80,136.7,736.8,19.6,237,7005,0.00,2.17,0.00,0.000,6,0.000,0.031,2877,1928,2727,0,0,0,0,0,0
$GC,7258,0.80,136.7,686.6,20.1,244,7262,0.00,2.25,0.00,0.000,4,0.000,0.053,2874,3335,2728,0,0,0,0,0,0
$GC,7304,0.80,136.7,676.6,21.9,245,7308,0.00,2.17,0.00,0.000,6,0.000,0.033,2883,1926,2727,0,0,0,0,0,0
$GC,7593,0.80,136.7,615.2,21.0,252,7598,0.12,2.12,0.00,0.000,4,0.208,0.041,2864,522,2727,0,0,0,0,0,0
$GC,7621,0.80,136.7,609.3,21.4,252,7625,0.00,2.15,0.00,0.000,6,0.000,0.038,2864,1931,2725,0,0,0,0,0,0
$GC,7876,0.80,136.7,559.9,19.1,259,7880,0.00,2.25,0.00,0.000,4,0.000,0.050,2864,3340,2726,0,0,0,0,0,0
$GC,7970,0.80,136.7,541.2,19.0,261,7974,0.00,2.15,0.00,0.000,6,0.000,0.032,2875,1928,2726,0,0,0,0,0,0
$GC,8250,0.80,136.7,490.3,18.2,268,8254,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3335,2725,0,0,0,0,0,0
$GC,8305,0.80,136.7,479.6,18.8,269,8309,0.00,2.17,0.00,0.000,6,0.000,0.034,2883,1910,2726,0,0,0,0,0,0
$GC,8578,0.80,136.7,431.9,17.4,276,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1907,2723,0,0,0,0,0,0
$GC,8822,0.80,136.7,391.2,16.1,282,8826,0.00,2.12,0.00,0.000,4,0.000,0.040,2892,511,2724,0,0,0,0,0,0
$GC,8837,0.80,136.7,388.5,14.9,282,8842,0.15,2.15,0.00,0.000,6,0.199,0.035,2859,1939,2722,0,0,0,0,0,0
$GC,9098,0.80,136.7,350.9,15.2,289,9102,0.00,2.17,0.00,0.000,4,0.000,0.041,2869,524,2723,0,0,0,0,0,0
$GC,9154,0.80,136.7,342.0,14.9,290,9158,0.00,2.15,0.00,0.000,6,0.000,0.038,2868,1937,2721,0,0,0,0,0,0
$GC,9420,0.80,136.7,300.7,15.5,297,9424,0.00,2.22,0.00,0.000,4,0.000,0.052,2869,3335,2721,0,0,0,0,0,0
$GC,9578,0.80,136.7,280.3,9.9,303,9582,0.00,2.15,0.00,0.000,6,0.000,0.030,2879,1928,2722,0,0,0,0,0,0
$GC,9838,0.80,136.7,248.2,13.3,316,9842,0.00,2.20,0.00,0.000,4,0.000,0.048,2872,3332,2721,0,0,0,0,0,0
$GC,9925,0.80,136.7,237.3,11.3,320,9929,0.00,2.15,0.00,0.000,6,0.000,0.032,2881,1923,2721,0,0,0,0,0,0
$GC,10190,0.80,136.7,207.3,10.9,333,10195,0.12,2.10,0.00,0.000,4,0.199,0.038,2861,523,2721,0,0,0,0,0,0
$GC,10324,0.80,136.7,192.1,11.0,341,10332,0.00,2.17,0.00,0.000,6,0.000,0.037,2861,1927,2720,0,0,0,0,0,0
$GC,10590,0.80,136.7,164.5,10.5,366,10594,0.00,2.22,0.00,0.000,4,0.000,0.052,2861,3334,2720,0,0,0,0,0,0
$GC,10845,0.80,136.7,138.0,10.2,388,10853,0.00,2.15,0.00,0.000,6,0.000,0.031,2871,1932,2722,0,0,0,0,0,0
$GC,11111,0.80,136.7,112.5,9.6,413,11115,0.00,2.12,0.00,0.000,4,0.000,0.039,2883,526,2723,0,0,0,0,0,0
$GC,11345,0.80,136.7,89.7,9.2,433,11352,0.00,2.15,0.00,0.000,6,0.000,0.036,2883,1925,2723,0,0,0,0,0,0
$GC,11610,0.86,191.2,72.1,6.3,458,11659,0.00,2.25,41.78,0.495,4,0.000,0.048,2882,3341,2521,0,0,0,0,0,0
$GC,11828,0.86,191.2,50.4,9.6,477,11832,0.00,2.15,0.00,0.000,6,0.000,0.030,2893,1931,2521,0,0,0,0,0,0
$GC,12095,0.86,191.2,26.2,9.5,504,12102,0.00,2.15,0.00,0.000,4,0.000,0.039,2904,535,2518,0,0,0,0,0,0
$GC,12132,0.86,191.2,22.4,10.4,510,12140,0.08,2.15,0.00,0.000,6,0.156,0.032,2877,1946,2518,0,0,0,0,0,0
$STATE,12309,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,0.3,1.014374
$STATE,12338,end surface coast,CONTROL_FINISHED_OK
$STATE,12338,begin surface
$SM_CCo,12358,50.40,0.433,0,0,2076,300.73
$SM_GC,1.26,0.00,0.00,50.40,0.000,0.000,0.433,54,1950,2076,-7.95,-1.41,300.73
$IRIDIUM_FIX,1948.12,-15612.26,080213,222221
$TT8_MAMPS,0.151866
$HUMID,1078866442
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.80
$XPDR_PINGS,88
$AR_DIVENUM,279
$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,23.8,40.072
$10V_AH,10.0,36.585
$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,19.750,121.750,273.900,50.400,0.000,87.955,101.187,669.760,22.000,0.000,17.323,1214.402,8772.420,407.472,2782.999,462.755,33.357,1218.991,0.000,1949.057,0.000,0.542,0.000
$DEVICE_MAMPS,237.003,65.962,1088.373,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.398,0.000,942.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353676
$DATA_FILE_SIZE,26952,548
$CAP_FILE_SIZE,130042,0
$CFSIZE,260165632,185360384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,144.2,1
$GPS,170811,071807,1952.789,-15614.710,34,1.1,34,9.7