version: 66.07
glider: 513
mission: 7
dive: 282
start: 8 17 111 14 58 2
data:
$ID,513
$MISSION,7
$DIVE,282
$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,-427710.78
$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,49
$R_STBD_OVSHOOT,45
$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,281
$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
$GPS1,170811,144645,1947.668,-15614.642,37,4.0,56,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-79.1
$GPS2,170811,145706,1947.520,-15614.548,11,1.5,27,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014,-0.239
$KALMAN_X,-107889.4,-1618.9,-1209.7,178944.5,8495.6
$KALMAN_Y,-9455.5,-17047.6,-11353.2,15450.3,71426.9
$MHEAD_RNG_PITCHd_Wd,188.0,88011,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.28,0.000,2,0.000,0.000,38,2013,3530,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.2,-4.8,8,108,9.55,2.15,-5.78,0.000,4,0.236,0.052,2340,605,3860,0,0,0,0,0,0
$GC,259,-0.80,-136.7,64.6,-32.5,29,263,0.00,2.15,0.00,0.000,6,0.000,0.047,2331,1996,3863,0,0,0,0,0,0
$GC,526,-0.80,-136.7,136.1,-22.8,53,530,0.00,2.20,0.00,0.000,4,0.000,0.051,2321,3411,3865,0,0,0,0,0,0
$GC,622,-0.80,-136.7,159.9,-22.6,61,626,0.00,2.12,0.00,0.000,6,0.000,0.033,2320,2002,3866,0,0,0,0,0,0
$GC,890,-0.80,-136.7,223.6,-21.3,81,895,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3419,3867,0,0,0,0,0,0
$GC,954,-0.80,-136.7,237.2,-21.1,84,959,0.12,2.15,0.00,0.000,6,0.170,0.031,2341,1991,3870,0,0,0,0,0,0
$GC,1218,-0.80,-136.7,286.5,-18.3,97,1222,0.00,2.10,0.00,0.000,4,0.000,0.044,2340,603,3868,0,0,0,0,0,0
$GC,1325,-0.80,-136.7,305.6,-16.6,101,1329,0.00,2.12,0.00,0.000,6,0.000,0.039,2332,2018,3869,0,0,0,0,0,0
$GC,1585,-0.80,-136.7,349.9,-17.4,108,1589,0.00,2.17,0.00,0.000,4,0.000,0.049,2321,3410,3869,0,0,0,0,0,0
$GC,1658,-0.80,-136.7,362.7,-17.1,109,1662,0.00,2.12,0.00,0.000,6,0.000,0.033,2321,2007,3869,0,0,0,0,0,0
$GC,1914,-0.80,-136.7,404.0,-16.1,116,1918,0.00,2.22,0.00,0.000,4,0.000,0.052,2310,3413,3866,0,0,0,0,0,0
$GC,1942,-0.80,-136.7,408.7,-15.9,116,1946,0.10,2.12,0.00,0.000,6,0.179,0.033,2334,1988,3869,0,0,0,0,0,0
$GC,2197,-0.80,-136.7,443.2,-13.6,123,2201,0.00,2.25,0.00,0.000,4,0.000,0.051,2325,3403,3867,0,0,0,0,0,0
$GC,2299,-0.80,-136.7,457.6,-13.2,125,2303,0.00,2.10,0.00,0.000,6,0.000,0.033,2325,2004,3866,0,0,0,0,0,0
$GC,2565,-0.80,-136.7,496.8,-14.9,132,2569,0.00,2.20,0.00,0.000,4,0.000,0.050,2312,3414,3863,0,0,0,0,0,0
$GC,2614,-0.80,-136.7,504.4,-15.3,133,2618,0.00,2.12,0.00,0.000,6,0.000,0.031,2314,1991,3863,0,0,0,0,0,0
$GC,2893,-0.80,-136.7,547.2,-15.7,140,2897,0.00,2.22,0.00,0.000,4,0.000,0.052,2309,3407,3863,0,0,0,0,0,0
$GC,2949,-0.80,-136.7,556.4,-15.8,141,2954,0.08,2.15,0.00,0.000,6,0.146,0.033,2339,2005,3860,0,0,0,0,0,0
$GC,3222,-0.80,-136.7,590.2,-12.3,148,3226,0.00,2.25,0.00,0.000,4,0.000,0.052,2336,3407,3857,0,0,0,0,0,0
$GC,3261,-0.80,-136.7,595.6,-13.2,149,3265,0.00,2.12,0.00,0.000,6,0.000,0.034,2330,2001,3857,0,0,0,0,0,0
$GC,3544,-0.80,-136.7,635.9,-14.5,156,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1995,3854,0,0,0,0,0,0
$GC,3787,-0.80,-136.7,669.3,-13.4,162,3791,0.00,2.20,0.00,0.000,4,0.000,0.050,2319,3404,3851,0,0,0,0,0,0
$GC,3822,-0.80,-136.7,673.9,-13.3,162,3828,0.00,2.15,0.00,0.000,6,0.000,0.033,2319,2001,3850,0,0,0,0,0,0
$GC,4071,-0.80,-136.7,707.9,-13.7,169,4075,0.00,2.20,0.00,0.000,4,0.000,0.049,2309,3404,3849,0,0,0,0,0,0
$GC,4088,-0.80,-136.7,710.4,-13.7,169,4092,0.00,2.12,0.00,0.000,6,0.000,0.033,2306,1999,3849,0,0,0,0,0,0
$GC,4350,-0.80,-136.7,746.9,-14.1,176,4354,0.12,2.22,0.00,0.000,4,0.189,0.051,2330,3406,3847,0,0,0,0,0,0
$GC,4377,-0.80,-136.7,750.8,-13.6,176,4380,0.00,2.12,0.00,0.000,6,0.000,0.034,2330,1999,3846,0,0,0,0,0,0
$GC,4633,-0.80,-136.7,782.8,-12.7,183,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1993,3849,0,0,0,0,0,0
$GC,4876,-0.80,-136.7,814.0,-12.9,189,4880,0.00,2.20,0.00,0.000,4,0.000,0.050,2320,3401,3843,0,0,0,0,0,0
$GC,4904,-0.80,-136.7,817.5,-13.4,189,4908,0.00,2.12,0.00,0.000,6,0.000,0.033,2320,1999,3841,0,0,0,0,0,0
$GC,5159,-0.80,-136.7,852.5,-13.8,196,5163,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3399,3840,0,0,0,0,0,0
$GC,5198,-0.80,-136.7,857.9,-13.8,197,5203,0.12,2.12,0.00,0.000,6,0.170,0.033,2340,1991,3839,0,0,0,0,0,0
$GC,5482,-0.80,-136.7,893.9,-12.6,204,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1987,3840,0,0,0,0,0,0
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5566,-0.28,0.0,903.8,12.4,206,5683,0.52,0.00,112.20,1.091,6,0.144,0.000,2499,1925,3301,0,0,0,0,0,0
$STATE,5685,end apogee,CONTROL_FINISHED_OK
$STATE,5685,begin climb
$GC,5688,0.80,136.7,908.9,0.0,209,5819,1.05,2.30,120.25,1.058,4,0.097,0.035,2857,521,2743,0,0,0,0,0,0
$GC,5846,0.80,136.7,891.5,18.0,212,5852,0.00,2.25,0.00,0.000,6,0.000,0.034,2859,1930,2738,0,0,0,0,0,0
$GC,6097,0.80,136.7,843.1,19.7,219,6101,0.00,2.30,0.00,0.000,4,0.000,0.054,2858,3341,2734,0,0,0,0,0,0
$GC,6125,0.80,136.7,837.4,21.0,219,6129,0.00,2.20,0.00,0.000,6,0.000,0.031,2869,1929,2734,0,0,0,0,0,0
$GC,6380,0.80,136.7,785.6,20.3,226,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1925,2731,0,0,0,0,0,0
$GC,6624,0.80,136.7,738.1,19.4,232,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1925,2729,0,0,0,0,0,0
$GC,6869,0.80,136.7,691.6,19.0,238,6873,0.00,2.12,0.00,0.000,4,0.000,0.039,2880,521,2728,0,0,0,0,0,0
$GC,6896,0.80,136.7,685.7,19.9,238,6900,0.00,2.15,0.00,0.000,6,0.000,0.035,2880,1942,2727,0,0,0,0,0,0
$GC,7157,0.80,136.7,635.1,19.3,245,7161,0.00,2.20,0.00,0.000,4,0.000,0.051,2880,3327,2728,0,0,0,0,0,0
$GC,7184,0.80,136.7,629.6,20.5,245,7189,0.15,2.12,0.00,0.000,6,0.206,0.031,2856,1921,2727,0,0,0,0,0,0
$GC,7436,0.80,136.7,585.9,17.4,251,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1917,2726,0,0,0,0,0,0
$GC,7677,0.80,136.7,544.1,17.1,257,7681,0.00,2.25,0.00,0.000,4,0.000,0.049,2846,3331,2726,0,0,0,0,0,0
$GC,7729,0.80,136.7,535.5,17.7,258,7733,0.00,2.12,0.00,0.000,6,0.000,0.031,2854,1931,2726,0,0,0,0,0,0
$GC,8007,0.80,136.7,492.2,15.3,265,8011,0.00,2.15,0.00,0.000,4,0.000,0.040,2866,514,2725,0,0,0,0,0,0
$GC,8085,0.80,136.7,479.6,16.1,266,8092,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1928,2723,0,0,0,0,0,0
$GC,8335,0.80,136.7,440.8,15.6,273,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1930,2723,0,0,0,0,0,0
$GC,8581,0.80,136.7,403.5,15.7,279,8585,0.00,2.22,0.00,0.000,4,0.000,0.052,2866,3336,2723,0,0,0,0,0,0
$GC,8681,0.80,136.7,386.4,17.0,281,8685,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1922,2723,0,0,0,0,0,0
$GC,8953,0.80,136.7,343.7,15.6,288,8957,0.00,2.22,0.00,0.000,4,0.000,0.049,2870,3338,2723,0,0,0,0,0,0
$GC,8998,0.80,136.7,337.5,13.6,289,9002,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1923,2723,0,0,0,0,0,0
$GC,9275,0.80,136.7,295.1,15.8,296,9279,0.00,2.25,0.00,0.000,4,0.000,0.048,2877,3333,2722,0,0,0,0,0,0
$GC,9315,0.80,136.7,288.3,17.6,298,9320,0.12,2.12,0.00,0.000,6,0.206,0.031,2858,1923,2722,0,0,0,0,0,0
$GC,9581,0.80,136.7,250.0,15.0,311,9585,0.00,2.08,0.00,0.000,4,0.000,0.039,2868,531,2721,0,0,0,0,0,0
$GC,9749,0.80,136.7,228.3,11.4,318,9755,0.00,2.12,0.00,0.000,6,0.000,0.031,2859,1940,2719,0,0,0,0,0,0
$GC,10004,0.80,136.7,202.2,9.5,331,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1940,2719,0,0,0,0,0,0
$GC,10258,0.80,136.7,176.1,11.2,353,10262,0.00,2.17,0.00,0.000,4,0.000,0.048,2859,3327,2720,0,0,0,0,0,0
$GC,10489,0.80,136.7,153.4,9.2,373,10493,0.00,2.10,0.00,0.000,6,0.000,0.029,2868,1921,2721,0,0,0,0,0,0
$GC,10754,0.87,198.3,133.5,6.0,397,10806,0.00,2.22,47.40,0.555,4,0.000,0.045,2867,3329,2491,0,0,0,0,0,0
$GC,10896,0.87,198.3,119.6,11.3,409,10900,0.00,2.12,0.00,0.000,6,0.000,0.030,2876,1930,2492,0,0,0,0,0,0
$GC,11164,0.87,198.3,84.7,14.5,433,11168,0.00,2.20,0.00,0.000,4,0.000,0.045,2876,3336,2488,0,0,0,0,0,0
$GC,11204,0.87,198.3,79.5,10.6,436,11209,0.00,2.12,0.00,0.000,6,0.000,0.028,2886,1925,2489,0,0,0,0,0,0
$GC,11469,0.87,198.3,53.6,9.4,460,11473,0.00,2.20,0.00,0.000,4,0.000,0.045,2887,3340,2489,0,0,0,0,0,0
$GC,11653,0.87,198.3,35.6,9.9,476,11660,0.00,2.15,0.00,0.000,6,0.000,0.028,2897,1930,2490,0,0,0,0,0,0
$GC,11919,0.87,198.3,6.6,12.6,520,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1927,2491,0,0,0,0,0,0
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.2,1.022957
$STATE,11981,end surface coast,CONTROL_FINISHED_OK
$STATE,11981,begin surface
$SM_CCo,12001,53.30,0.436,0,0,2075,300.24
$SM_GC,1.83,0.00,0.00,53.30,0.000,0.000,0.436,58,2046,2075,-7.94,1.27,300.24
$IRIDIUM_FIX,1941.24,-15618.30,090213,050556
$TT8_MAMPS,0.144963
$HUMID,1078849668
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.20
$XPDR_PINGS,87
$AR_DIVENUM,282
$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,23.8,40.428
$10V_AH,10.0,36.854
$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,19.500,126.100,279.850,53.300,0.000,30.451,36.852,316.312,21.750,0.000,31.428,1176.627,8449.673,401.280,2246.281,410.125,33.353,1182.827,0.000,1845.292,0.000,0.541,0.000
$DEVICE_MAMPS,236.236,104.312,1091.441,435.656,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.934,0.000,903.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353756
$DATA_FILE_SIZE,26932,531
$CAP_FILE_SIZE,119711,0
$CFSIZE,260165632,185143296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,150.3,1
$GPS,170811,182036,1945.209,-15614.561,30,1.0,30,9.7