version: 66.07
glider: 513
mission: 7
dive: 286
start: 8 18 111 5 39 36
data:
$ID,513
$MISSION,7
$DIVE,286
$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,-427780.72
$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,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,285
$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
$GPS1,180811,052854,1937.977,-15614.261,26,2.0,43,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.4
$GPS2,180811,053838,1937.877,-15614.104,12,2.0,12,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.150,-0.186
$KALMAN_X,-107417.2,-537.7,-15.8,176928.7,2973.4
$KALMAN_Y,-44263.8,-908.0,1658.7,3069.3,-3716.0
$MHEAD_RNG_PITCHd_Wd,196.7,70166,-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,-136.7,0.0,0.0,0,86,0.00,0.00,-56.83,0.000,2,0.000,0.000,42,2015,3744,0,0,0,0,0,0
$GC,90,-0.80,-136.7,4.3,-7.8,9,105,9.50,0.00,-1.88,0.000,6,0.235,0.000,2328,2012,3861,0,0,0,0,0,0
$GC,368,-0.80,-136.7,109.6,-32.2,39,372,0.00,2.22,0.00,0.000,4,0.000,0.054,2316,3400,3866,0,0,0,0,0,0
$GC,465,-0.80,-136.7,137.2,-25.4,47,473,0.00,2.15,0.00,0.000,6,0.000,0.033,2315,2004,3864,0,0,0,0,0,0
$GC,729,-0.80,-136.7,201.9,-23.9,72,733,0.00,2.12,0.00,0.000,4,0.000,0.037,2315,587,3868,0,0,0,0,0,0
$GC,740,-0.80,-136.7,205.6,-24.0,72,747,0.12,2.15,0.00,0.000,6,0.189,0.039,2334,2002,3868,0,0,0,0,0,0
$GC,995,-0.80,-136.7,257.9,-18.8,85,999,0.00,2.20,0.00,0.000,4,0.000,0.048,2329,3416,3870,0,0,0,0,0,0
$GC,1068,-0.80,-136.7,273.0,-20.0,88,1072,0.00,2.12,0.00,0.000,6,0.000,0.029,2326,1991,3870,0,0,0,0,0,0
$GC,1342,-0.80,-136.7,322.0,-17.5,98,1346,0.00,2.22,0.00,0.000,4,0.000,0.050,2317,3405,3872,0,0,0,0,0,0
$GC,1409,-0.80,-136.7,333.7,-15.9,99,1413,0.00,2.12,0.00,0.000,6,0.000,0.031,2317,1996,3872,0,0,0,0,0,0
$GC,1665,-0.80,-136.7,373.3,-15.7,106,1669,0.00,2.10,0.00,0.000,4,0.000,0.041,2317,591,3872,0,0,0,0,0,0
$GC,1714,-0.80,-136.7,380.9,-14.6,107,1719,0.12,2.15,0.00,0.000,6,0.173,0.041,2338,2013,3871,0,0,0,0,0,0
$GC,1988,-0.80,-136.7,418.2,-13.7,114,1992,0.00,2.17,0.00,0.000,4,0.000,0.049,2330,3404,3870,0,0,0,0,0,0
$GC,2027,-0.80,-136.7,423.8,-14.0,115,2031,0.00,2.10,0.00,0.000,6,0.000,0.031,2329,2000,3870,0,0,0,0,0,0
$GC,2311,-0.80,-136.7,467.0,-15.5,122,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1993,3868,0,0,0,0,0,0
$GC,2555,-0.80,-136.7,502.5,-14.5,128,2559,0.00,2.22,0.00,0.000,4,0.000,0.051,2314,3404,3865,0,0,0,0,0,0
$GC,2610,-0.80,-136.7,510.9,-14.9,129,2614,0.00,2.15,0.00,0.000,6,0.000,0.034,2318,2002,3864,0,0,0,0,0,0
$GC,2882,-0.80,-136.7,552.8,-15.7,136,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1995,3862,0,0,0,0,0,0
$GC,3125,-0.80,-136.7,590.5,-15.5,142,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1996,3860,0,0,0,0,0,0
$GC,3370,-0.80,-136.7,625.6,-13.9,148,3374,0.00,2.22,0.00,0.000,4,0.000,0.052,2308,3395,3857,0,0,0,0,0,0
$GC,3411,-0.80,-136.7,631.0,-13.3,149,3415,0.12,2.12,0.00,0.000,6,0.166,0.033,2339,1999,3857,0,0,0,0,0,0
$GC,3693,-0.80,-136.7,661.8,-10.5,156,3698,0.00,2.22,0.00,0.000,4,0.000,0.053,2331,3400,3854,0,0,0,0,0,0
$GC,3735,-0.80,-136.7,666.0,-11.3,157,3739,0.00,2.12,0.00,0.000,6,0.000,0.034,2330,1994,3853,0,0,0,0,0,0
$GC,4018,-0.80,-136.7,696.6,-10.7,164,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1987,3851,0,0,0,0,0,0
$GC,4262,-0.80,-136.7,724.6,-11.6,170,4266,0.00,2.25,0.00,0.000,4,0.000,0.053,2318,3401,3850,0,0,0,0,0,0
$GC,4284,-0.80,-136.7,727.2,-11.5,170,4288,0.00,2.12,0.00,0.000,6,0.000,0.034,2322,1999,3848,0,0,0,0,0,0
$GC,4540,-0.80,-136.7,759.9,-13.0,177,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1993,3847,0,0,0,0,0,0
$GC,4783,-0.80,-136.7,793.2,-13.8,183,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1994,3845,0,0,0,0,0,0
$GC,5028,-0.80,-136.7,825.1,-13.0,189,5032,0.00,2.22,0.00,0.000,4,0.000,0.051,2309,3404,3840,0,0,0,0,0,0
$GC,5090,-0.80,-136.7,833.2,-13.6,190,5094,0.12,2.12,0.00,0.000,6,0.168,0.035,2340,2000,3841,0,0,0,0,0,0
$GC,5356,-0.80,-136.7,860.6,-10.0,197,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3841,0,0,0,0,0,0
$GC,5600,-0.80,-136.7,884.8,-9.8,203,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3841,0,0,0,0,0,0
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5767,-0.28,0.0,901.2,10.1,207,5882,0.52,0.00,111.88,1.096,6,0.144,0.000,2498,1922,3303,0,0,0,0,0,0
$STATE,5897,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5900,0.80,136.7,904.4,0.0,210,6032,1.05,2.33,120.55,1.061,4,0.097,0.037,2858,533,2740,0,0,0,0,0,0
$GC,6050,0.80,136.7,887.3,18.6,213,6054,0.00,2.22,0.00,0.000,6,0.000,0.035,2850,1927,2736,0,0,0,0,0,0
$GC,6305,0.80,136.7,837.9,19.2,220,6309,0.00,2.30,0.00,0.000,4,0.000,0.054,2835,3335,2732,0,0,0,0,0,0
$GC,6326,0.80,136.7,833.4,20.9,220,6330,0.00,2.20,0.00,0.000,6,0.000,0.035,2844,1930,2732,0,0,0,0,0,0
$GC,6594,0.80,136.7,783.8,18.4,227,6598,0.00,2.25,0.00,0.000,4,0.000,0.051,2839,3336,2729,0,0,0,0,0,0
$GC,6637,0.80,136.7,774.9,19.6,228,6641,0.00,2.15,0.00,0.000,6,0.000,0.031,2848,1927,2729,0,0,0,0,0,0
$GC,6921,0.80,136.7,723.1,18.7,235,6925,0.00,2.12,0.00,0.000,4,0.000,0.039,2859,528,2728,0,0,0,0,0,0
$GC,6972,0.80,136.7,713.2,20.1,236,6976,0.00,2.17,0.00,0.000,6,0.000,0.036,2846,1941,2726,0,0,0,0,0,0
$GC,7244,0.80,136.7,663.5,18.0,243,7248,0.00,2.22,0.00,0.000,4,0.000,0.053,2836,3329,2726,0,0,0,0,0,0
$GC,7265,0.80,136.7,659.2,18.7,243,7269,0.00,2.12,0.00,0.000,6,0.000,0.031,2848,1928,2726,0,0,0,0,0,0
$GC,7528,0.80,136.7,615.2,16.6,250,7532,0.00,2.22,0.00,0.000,4,0.000,0.049,2840,3329,2729,0,0,0,0,0,0
$GC,7554,0.80,136.7,610.6,16.4,250,7558,0.00,2.15,0.00,0.000,6,0.000,0.031,2849,1923,2725,0,0,0,0,0,0
$GC,7816,0.80,136.7,567.7,16.6,257,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1921,2725,0,0,0,0,0,0
$GC,8059,0.80,136.7,528.3,16.1,263,8063,0.00,2.12,0.00,0.000,4,0.000,0.040,2860,532,2724,0,0,0,0,0,0
$GC,8100,0.80,136.7,521.8,16.0,264,8104,0.00,2.12,0.00,0.000,6,0.000,0.035,2851,1938,2722,0,0,0,0,0,0
$GC,8383,0.80,136.7,477.1,15.6,271,8387,0.00,2.22,0.00,0.000,4,0.000,0.053,2841,3336,2720,0,0,0,0,0,0
$GC,8427,0.80,136.7,470.0,15.9,272,8431,0.00,2.15,0.00,0.000,6,0.000,0.031,2849,1931,2722,0,0,0,0,0,0
$GC,8711,0.80,136.7,427.7,15.2,279,8715,0.00,2.22,0.00,0.000,4,0.000,0.049,2841,3338,2722,0,0,0,0,0,0
$GC,8733,0.80,136.7,423.8,16.7,279,8737,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1925,2722,0,0,0,0,0,0
$GC,8994,0.80,136.7,383.0,15.5,286,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1921,2722,0,0,0,0,0,0
$GC,9239,0.80,136.7,349.3,13.3,292,9243,0.00,2.10,0.00,0.000,4,0.000,0.040,2862,527,2721,0,0,0,0,0,0
$GC,9329,0.80,136.7,336.9,13.8,294,9333,0.00,2.12,0.00,0.000,6,0.000,0.034,2852,1936,2715,0,0,0,0,0,0
$GC,9607,0.80,136.7,302.0,12.5,301,9611,0.00,2.22,0.00,0.000,4,0.000,0.051,2841,3337,2720,0,0,0,0,0,0
$GC,9680,0.80,136.7,292.6,13.3,303,9684,0.00,2.15,0.00,0.000,6,0.000,0.031,2850,1928,2720,0,0,0,0,0,0
$GC,9933,0.80,136.7,264.9,9.6,315,9937,0.00,2.12,0.00,0.000,4,0.000,0.038,2861,519,2720,0,0,0,0,0,0
$GC,9988,0.80,136.7,259.0,11.2,317,9992,0.00,2.15,0.00,0.000,6,0.000,0.033,2857,1940,2716,0,0,0,0,0,0
$GC,10248,0.80,136.7,229.6,11.7,330,10252,0.00,2.20,0.00,0.000,4,0.000,0.050,2857,3321,2718,0,0,0,0,0,0
$GC,10343,0.80,136.7,217.8,12.5,334,10347,0.00,2.08,0.00,0.000,6,0.000,0.028,2866,1927,2719,0,0,0,0,0,0
$GC,10608,0.80,136.7,191.0,9.0,351,10612,0.00,2.20,0.00,0.000,4,0.000,0.048,2862,3335,2719,0,0,0,0,0,0
$GC,10672,0.80,136.7,184.2,10.3,356,10676,0.00,2.12,0.00,0.000,6,0.000,0.029,2872,1929,2719,0,0,0,0,0,0
$GC,10936,0.80,136.7,158.7,10.6,380,10940,0.00,2.17,0.00,0.000,4,0.000,0.047,2872,3327,2720,0,0,0,0,0,0
$GC,11191,0.82,159.3,130.2,7.6,402,11213,0.00,2.12,16.02,0.529,6,0.000,0.029,2883,1926,2650,0,0,0,0,0,0
$GC,11478,0.86,188.1,107.5,7.4,429,11513,0.00,2.28,24.92,0.518,4,0.000,0.045,2883,3336,2531,0,0,0,0,0,0
$GC,11628,0.86,188.1,90.3,11.6,442,11632,0.00,2.10,0.00,0.000,6,0.000,0.029,2893,1934,2533,0,0,0,0,0,0
$GC,11894,0.89,209.6,66.5,7.7,466,11919,0.00,2.17,18.83,0.471,4,0.000,0.043,2893,3327,2450,0,0,0,0,0,0
$GC,11978,0.89,209.6,58.3,10.2,473,11982,0.00,2.10,0.00,0.000,6,0.000,0.028,2903,1926,2446,0,0,0,0,0,0
$GC,12242,0.89,209.6,27.7,12.3,498,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1926,2443,0,0,0,0,0,0
$STATE,12435,end climb,SURFACE_DEPTH_REACHED
$STATE,12435,begin surface coast
$FINISH,0.1,1.022937
$STATE,12459,end surface coast,CONTROL_FINISHED_OK
$STATE,12459,begin surface
$SM_CCo,12479,44.58,0.432,0,0,2075,300.49
$SM_GC,1.94,0.00,0.00,44.58,0.000,0.000,0.432,57,2021,2075,-7.94,0.59,300.49
$IRIDIUM_FIX,1934.38,-15612.01,090213,202014
$TT8_MAMPS,0.244673
$HUMID,1078862571
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.10
$XPDR_PINGS,82
$AR_DIVENUM,286
$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,23.8,40.933
$10V_AH,10.0,37.321
$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,19.125,121.725,292.200,44.575,0.000,30.745,34.668,298.801,20.500,0.000,14.020,1177.964,8967.087,392.567,2184.587,400.894,33.360,1169.999,0.000,1794.611,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,108.914,1096.043,431.821,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.188,0.000,876.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353748
$DATA_FILE_SIZE,26850,537
$CAP_FILE_SIZE,118391,0
$CFSIZE,260165632,184856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,156.1,1
$GPS,180811,091007,1935.433,-15614.419,41,1.4,41,9.7