version: 66.07
glider: 513
mission: 7
dive: 288
start: 8 18 111 12 59 35
data:
$ID,513
$MISSION,7
$DIVE,288
$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,-427828.81
$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,52
$R_STBD_OVSHOOT,35
$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,287
$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
$GPS1,180811,124901,1932.931,-15614.487,38,1.5,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.2
$GPS2,180811,125838,1932.769,-15614.396,11,1.4,11,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.031,-0.237
$KALMAN_X,-100471.7,-28.2,-238.9,169190.3,7938.6
$KALMAN_Y,-43426.9,-2646.5,-1968.8,-1771.8,8315.7
$MHEAD_RNG_PITCHd_Wd,182.5,60697,-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,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-56.97,0.000,2,0.000,0.000,38,1988,3724,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.8,-6.6,9,112,9.50,2.30,-2.20,0.000,4,0.235,0.065,2322,3404,3861,0,0,0,0,0,0
$GC,320,-0.80,-136.7,86.6,-30.6,34,327,0.00,2.17,0.00,0.000,6,0.000,0.035,2322,2007,3869,0,0,0,0,0,0
$GC,584,-0.80,-136.7,160.9,-24.6,59,588,0.00,2.22,0.00,0.000,4,0.000,0.051,2312,3410,3867,0,0,0,0,0,0
$GC,671,-0.80,-136.7,185.1,-24.3,66,678,0.00,2.15,0.00,0.000,6,0.000,0.031,2312,2011,3867,0,0,0,0,0,0
$GC,926,-0.80,-136.7,248.5,-24.7,82,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2000,3869,0,0,0,0,0,0
$GC,1175,-0.80,-136.7,298.0,-17.2,94,1179,0.00,2.20,0.00,0.000,4,0.000,0.051,2301,3413,3869,0,0,0,0,0,0
$GC,1218,-0.80,-136.7,306.9,-19.8,96,1223,0.15,2.12,0.00,0.000,6,0.168,0.032,2340,1983,3870,0,0,0,0,0,0
$GC,1496,-0.80,-136.7,350.1,-14.9,103,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1978,3871,0,0,0,0,0,0
$GC,1741,-0.80,-136.7,385.3,-14.4,109,1745,0.00,2.25,0.00,0.000,4,0.000,0.054,2331,3407,3871,0,0,0,0,0,0
$GC,1813,-0.80,-136.7,396.9,-14.8,110,1817,0.00,2.12,0.00,0.000,6,0.000,0.034,2331,2004,3871,0,0,0,0,0,0
$GC,2070,-0.80,-136.7,437.3,-16.0,117,2074,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3412,3867,0,0,0,0,0,0
$GC,2166,-0.80,-136.7,452.6,-14.6,119,2170,0.00,2.12,0.00,0.000,6,0.000,0.033,2320,1996,3869,0,0,0,0,0,0
$GC,2438,-0.80,-136.7,493.6,-14.9,126,2442,0.00,2.22,0.00,0.000,4,0.000,0.051,2310,3406,3869,0,0,0,0,0,0
$GC,2459,-0.80,-136.7,496.7,-14.0,126,2463,0.10,2.12,0.00,0.000,6,0.174,0.034,2334,1995,3866,0,0,0,0,0,0
$GC,2721,-0.80,-136.7,530.7,-13.0,133,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1989,3863,0,0,0,0,0,0
$GC,2963,-0.80,-136.7,562.9,-13.1,139,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1990,3860,0,0,0,0,0,0
$GC,3207,-0.80,-136.7,593.8,-12.5,145,3211,0.00,2.25,0.00,0.000,4,0.000,0.054,2326,3402,3859,0,0,0,0,0,0
$GC,3235,-0.80,-136.7,597.6,-12.8,145,3239,0.00,2.15,0.00,0.000,6,0.000,0.035,2325,1994,3859,0,0,0,0,0,0
$GC,3492,-0.80,-136.7,631.0,-13.1,152,3496,0.00,2.12,0.00,0.000,4,0.000,0.043,2326,602,3856,0,0,0,0,0,0
$GC,3513,-0.80,-136.7,634.3,-14.1,152,3517,0.00,2.15,0.00,0.000,6,0.000,0.042,2315,2012,3856,0,0,0,0,0,0
$GC,3780,-0.80,-136.7,671.8,-14.0,159,3784,0.00,2.20,0.00,0.000,4,0.000,0.054,2304,3400,3853,0,0,0,0,0,0
$GC,3853,-0.80,-136.7,682.3,-14.0,160,3858,0.12,2.12,0.00,0.000,6,0.169,0.035,2335,2001,3855,0,0,0,0,0,0
$GC,4108,-0.80,-136.7,712.9,-11.9,167,4112,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3400,3850,0,0,0,0,0,0
$GC,4140,-0.80,-136.7,716.9,-12.2,167,4146,0.00,2.12,0.00,0.000,6,0.000,0.036,2327,2002,3850,0,0,0,0,0,0
$GC,4391,-0.80,-136.7,746.8,-12.1,174,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1994,3848,0,0,0,0,0,0
$GC,4634,-0.80,-136.7,776.9,-12.4,180,4638,0.00,2.22,0.00,0.000,4,0.000,0.053,2322,3402,3844,0,0,0,0,0,0
$GC,4667,-0.80,-136.7,781.1,-12.5,180,4673,0.00,2.15,0.00,0.000,6,0.000,0.035,2316,1997,3845,0,0,0,0,0,0
$GC,4917,-0.80,-136.7,813.4,-12.9,187,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1991,3844,0,0,0,0,0,0
$GC,5162,-0.80,-136.7,844.9,-13.0,193,5166,0.00,2.25,0.00,0.000,4,0.000,0.054,2312,3400,3842,0,0,0,0,0,0
$GC,5195,-0.80,-136.7,849.8,-14.0,193,5200,0.12,2.17,0.00,0.000,6,0.173,0.035,2337,1986,3841,0,0,0,0,0,0
$GC,5445,-0.80,-136.7,877.9,-11.1,199,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1981,3840,0,0,0,0,0,0
$STATE,5687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5687,begin apogee
$GC,5695,-0.28,0.0,903.9,10.6,205,5810,0.55,0.00,112.43,1.098,6,0.144,0.000,2502,1927,3301,0,0,0,0,0,0
$STATE,5813,end apogee,CONTROL_FINISHED_OK
$STATE,5813,begin climb
$GC,5815,0.80,136.7,906.9,0.0,208,5945,1.02,2.30,120.22,1.061,4,0.096,0.041,2854,531,2742,0,0,0,0,0,0
$GC,5991,0.80,136.7,883.8,19.6,212,5995,0.00,2.22,0.00,0.000,6,0.000,0.038,2850,1921,2735,0,0,0,0,0,0
$GC,6263,0.80,136.7,829.7,20.0,219,6267,0.00,2.30,0.00,0.000,4,0.000,0.055,2846,3339,2733,0,0,0,0,0,0
$GC,6295,0.80,136.7,822.7,20.5,219,6301,0.00,2.20,0.00,0.000,6,0.000,0.033,2858,1923,2733,0,0,0,0,0,0
$GC,6546,0.80,136.7,773.1,19.8,226,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1919,2730,0,0,0,0,0,0
$GC,6789,0.80,136.7,724.6,19.9,232,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1919,2729,0,0,0,0,0,0
$GC,7032,0.80,136.7,677.7,19.2,238,7036,0.00,2.28,0.00,0.000,4,0.000,0.053,2850,3344,2728,0,0,0,0,0,0
$GC,7073,0.80,136.7,670.0,18.9,239,7077,0.00,2.17,0.00,0.000,6,0.000,0.033,2859,1926,2728,0,0,0,0,0,0
$GC,7357,0.80,136.7,618.6,17.9,246,7361,0.00,2.28,0.00,0.000,4,0.000,0.051,2855,3349,2727,0,0,0,0,0,0
$GC,7373,0.80,136.7,615.4,18.4,246,7377,0.00,2.17,0.00,0.000,6,0.000,0.035,2870,1929,2727,0,0,0,0,0,0
$GC,7640,0.80,136.7,567.1,18.4,253,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1927,2726,0,0,0,0,0,0
$GC,7884,0.80,136.7,523.7,17.7,259,7888,0.00,2.28,0.00,0.000,4,0.000,0.051,2869,3341,2726,0,0,0,0,0,0
$GC,7900,0.80,136.7,520.5,17.4,259,7904,0.00,2.17,0.00,0.000,6,0.000,0.032,2877,1909,2726,0,0,0,0,0,0
$GC,8167,0.80,136.7,475.4,16.4,266,8171,0.00,2.28,0.00,0.000,4,0.000,0.054,2875,3338,2723,0,0,0,0,0,0
$GC,8224,0.80,136.7,465.8,18.2,267,8229,0.12,2.15,0.00,0.000,6,0.209,0.033,2856,1931,2725,0,0,0,0,0,0
$GC,8490,0.80,136.7,424.2,15.5,274,8494,0.00,2.28,0.00,0.000,4,0.000,0.054,2845,3349,2724,0,0,0,0,0,0
$GC,8545,0.80,136.7,415.3,15.3,275,8549,0.00,2.20,0.00,0.000,6,0.000,0.034,2855,1927,2728,0,0,0,0,0,0
$GC,8819,0.80,136.7,374.7,14.7,282,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1927,2723,0,0,0,0,0,0
$GC,9061,0.80,136.7,339.8,14.2,288,9065,0.00,2.15,0.00,0.000,4,0.000,0.041,2866,512,2723,0,0,0,0,0,0
$GC,9155,0.80,136.7,326.3,14.4,290,9159,0.00,2.17,0.00,0.000,6,0.000,0.035,2866,1941,2720,0,0,0,0,0,0
$GC,9421,0.80,136.7,290.3,14.0,298,9425,0.00,2.20,0.00,0.000,4,0.000,0.051,2866,3331,2721,0,0,0,0,0,0
$GC,9533,0.80,136.7,274.1,12.7,303,9538,0.00,2.12,0.00,0.000,6,0.000,0.031,2877,1925,2721,0,0,0,0,0,0
$GC,9800,0.80,136.7,243.0,12.0,316,9804,0.00,2.15,0.00,0.000,4,0.000,0.040,2888,519,2721,0,0,0,0,0,0
$GC,9884,0.80,136.7,232.0,13.2,320,9889,0.12,2.15,0.00,0.000,6,0.192,0.036,2859,1941,2719,0,0,0,0,0,0
$GC,10149,0.80,136.7,203.6,10.8,333,10153,0.00,2.20,0.00,0.000,4,0.000,0.050,2848,3339,2719,0,0,0,0,0,0
$GC,10310,0.80,136.7,186.6,9.5,345,10318,0.00,2.17,0.00,0.000,6,0.000,0.030,2857,1921,2722,0,0,0,0,0,0
$GC,10577,0.80,136.7,163.2,9.2,370,10581,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,526,2720,0,0,0,0,0,0
$GC,10641,0.80,136.7,156.0,11.2,375,10645,0.00,2.12,0.00,0.000,6,0.000,0.037,2868,1929,2719,0,0,0,0,0,0
$GC,10906,0.88,207.2,136.0,5.6,399,10966,0.00,2.25,54.50,0.560,4,0.000,0.048,2868,3337,2455,0,0,0,0,0,0
$GC,11016,0.88,207.2,128.7,10.6,408,11020,0.00,2.17,0.00,0.000,6,0.000,0.031,2879,1932,2454,0,0,0,0,0,0
$GC,11281,0.88,207.2,97.9,12.2,432,11285,0.00,2.25,0.00,0.000,4,0.000,0.051,2878,3333,2452,0,0,0,0,0,0
$GC,11464,0.88,207.2,77.5,10.2,448,11468,0.00,2.15,0.00,0.000,6,0.000,0.032,2890,1918,2454,0,0,0,0,0,0
$GC,11731,0.88,207.2,50.1,11.3,472,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1917,2452,0,0,0,0,0,0
$GC,11995,0.88,207.2,19.9,11.3,505,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1917,2453,0,0,0,0,0,0
$STATE,12146,end climb,SURFACE_DEPTH_REACHED
$STATE,12146,begin surface coast
$FINISH,0.3,1.010204
$STATE,12178,end surface coast,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$SM_CCo,12197,46.58,0.433,0,0,2075,300.49
$SM_GC,2.14,0.00,0.00,46.58,0.000,0.000,0.433,49,2024,2075,-7.96,0.68,300.49
$IRIDIUM_FIX,1927.51,-15610.84,100213,030322
$TT8_MAMPS,0.252343
$HUMID,1078844506
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.30
$XPDR_PINGS,92
$AR_DIVENUM,288
$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,23.8,41.151
$10V_AH,10.0,37.494
$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,19.325,114.225,287.150,46.575,0.000,28.085,34.689,289.834,23.000,0.000,13.196,1160.622,8712.417,396.741,2172.302,394.264,33.354,1162.473,0.000,1799.890,0.000,0.541,0.000
$DEVICE_MAMPS,234.702,204.022,1097.577,432.588,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.358,0.000,909.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26948,538
$CAP_FILE_SIZE,114319,0
$CFSIZE,260165632,184713216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,154.8,1
$GPS,180811,162524,1930.466,-15614.436,39,1.5,39,9.7