version: 66.07
glider: 513
mission: 7
dive: 290
start: 8 18 111 20 19 2
data:
$ID,513
$MISSION,7
$DIVE,290
$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,-427883.22
$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,40
$R_STBD_OVSHOOT,73
$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,289
$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
$GPS1,180811,195852,1927.774,-15614.296,6,2.1,25,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.5
$GPS2,180811,201806,1927.473,-15614.120,38,0.9,38,9.7
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040,-0.236
$KALMAN_X,-98993.0,-832.8,-427.8,169211.7,5955.0
$KALMAN_Y,-51073.9,2105.6,437.3,-11148.3,-6461.6
$MHEAD_RNG_PITCHd_Wd,191.4,50903,-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,25,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-56.97,0.000,2,0.000,0.000,39,2047,3745,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.1,-7.2,9,106,9.48,0.00,-1.88,0.000,6,0.235,0.000,2328,2044,3861,0,0,0,0,0,0
$GC,369,-0.80,-136.7,108.5,-29.8,39,373,0.00,2.12,0.00,0.000,4,0.000,0.051,2319,3371,3868,0,0,0,0,0,0
$GC,476,-0.80,-136.7,140.5,-28.1,48,480,0.00,2.10,0.00,0.000,6,0.000,0.035,2319,1989,3866,0,0,0,0,0,0
$GC,749,-0.80,-136.7,204.7,-21.3,72,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1984,3866,0,0,0,0,0,0
$GC,994,-0.80,-136.7,255.7,-20.3,84,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1983,3869,0,0,0,0,0,0
$GC,1261,-0.80,-136.7,310.0,-19.1,96,1265,0.00,2.20,0.00,0.000,4,0.000,0.051,2308,3381,3869,0,0,0,0,0,0
$GC,1428,-0.80,-136.7,338.3,-16.2,99,1435,0.12,2.10,0.00,0.000,6,0.163,0.034,2337,2004,3869,0,0,0,0,0,0
$GC,1678,-0.80,-136.7,373.0,-13.9,106,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1998,3869,0,0,0,0,0,0
$GC,1923,-0.80,-136.7,409.9,-15.2,112,1927,0.00,2.17,0.00,0.000,4,0.000,0.051,2332,3373,3868,0,0,0,0,0,0
$GC,1979,-0.80,-136.7,419.0,-15.8,113,1983,0.00,2.08,0.00,0.000,6,0.000,0.031,2332,1981,3865,0,0,0,0,0,0
$GC,2251,-0.80,-136.7,458.8,-14.4,120,2255,0.00,2.08,0.00,0.000,4,0.000,0.042,2332,593,3865,0,0,0,0,0,0
$GC,2272,-0.80,-136.7,461.9,-13.6,120,2276,0.00,2.10,0.00,0.000,6,0.000,0.041,2322,1975,3863,0,0,0,0,0,0
$GC,2535,-0.80,-136.7,501.6,-15.2,127,2539,0.00,2.22,0.00,0.000,4,0.000,0.049,2311,3400,3862,0,0,0,0,0,0
$GC,2618,-0.80,-136.7,514.9,-15.8,128,2625,0.00,2.12,0.00,0.000,6,0.000,0.034,2310,2005,3861,0,0,0,0,0,0
$GC,2868,-0.80,-136.7,553.3,-15.4,135,2872,0.10,2.25,0.00,0.000,4,0.190,0.050,2326,3413,3859,0,0,0,0,0,0
$GC,2918,-0.80,-136.7,560.2,-13.1,136,2922,0.00,2.15,0.00,0.000,6,0.000,0.031,2326,1997,3859,0,0,0,0,0,0
$GC,3190,-0.80,-136.7,594.2,-12.2,143,3194,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3410,3860,0,0,0,0,0,0
$GC,3240,-0.80,-136.7,600.7,-12.5,144,3244,0.00,2.12,0.00,0.000,6,0.000,0.034,2315,2002,3856,0,0,0,0,0,0
$GC,3520,-0.80,-136.7,638.7,-14.2,151,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1996,3853,0,0,0,0,0,0
$GC,3762,-0.80,-136.7,674.6,-14.8,157,3766,0.00,2.22,0.00,0.000,4,0.000,0.051,2304,3405,3850,0,0,0,0,0,0
$GC,3795,-0.80,-136.7,679.7,-15.1,157,3800,0.12,2.12,0.00,0.000,6,0.168,0.034,2336,2002,3850,0,0,0,0,0,0
$GC,4046,-0.80,-136.7,711.8,-12.7,163,4050,0.00,2.20,0.00,0.000,4,0.000,0.050,2328,3400,3848,0,0,0,0,0,0
$GC,4074,-0.80,-136.7,715.6,-12.8,163,4078,0.00,2.17,0.00,0.000,6,0.000,0.034,2333,1999,3847,0,0,0,0,0,0
$GC,4329,-0.80,-136.7,747.3,-12.3,170,4333,0.00,2.22,0.00,0.000,4,0.000,0.052,2317,3404,3845,0,0,0,0,0,0
$GC,4374,-0.80,-136.7,753.3,-13.1,171,4378,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,1988,3844,0,0,0,0,0,0
$GC,4651,-0.80,-136.7,789.8,-13.2,178,4655,0.00,2.28,0.00,0.000,4,0.000,0.052,2306,3408,3842,0,0,0,0,0,0
$GC,4718,-0.80,-136.7,799.2,-13.6,179,4723,0.12,2.15,0.00,0.000,6,0.173,0.034,2337,2002,3841,0,0,0,0,0,0
$GC,4974,-0.80,-136.7,829.7,-11.9,186,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1995,3839,0,0,0,0,0,0
$GC,5217,-0.80,-136.7,858.8,-11.9,192,5221,0.00,2.15,0.00,0.000,4,0.000,0.044,2336,581,3838,0,0,0,0,0,0
$GC,5244,-0.80,-136.7,862.2,-12.2,192,5248,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2004,3838,0,0,0,0,0,0
$GC,5499,-0.80,-136.7,893.2,-12.1,199,5503,0.00,2.25,0.00,0.000,4,0.000,0.055,2318,3407,3835,0,0,0,0,0,0
$GC,5550,-0.80,-136.7,899.4,-12.2,200,5554,0.00,2.08,0.00,0.000,3,0.000,0.035,2318,2052,3835,0,0,0,0,0,0
$STATE,5554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5554,begin apogee
$GC,5561,-0.28,0.0,900.1,12.3,200,5676,0.60,0.00,111.45,1.091,6,0.150,0.000,2499,1884,3300,0,0,0,0,0,0
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5682,0.80,136.7,903.9,0.0,203,5807,1.08,0.00,120.90,1.052,6,0.096,0.000,2850,1884,2742,0,0,0,0,0,0
$GC,6033,0.80,136.7,846.5,20.4,212,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1884,2734,0,0,0,0,0,0
$GC,6275,0.80,136.7,796.5,20.7,218,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1884,2731,0,0,0,0,0,0
$GC,6520,0.80,136.7,745.7,20.8,224,6524,0.00,2.33,0.00,0.000,4,0.000,0.053,2850,3335,2730,0,0,0,0,0,0
$GC,6592,0.80,136.7,730.2,21.3,225,6596,0.00,2.12,0.00,0.000,6,0.000,0.032,2861,1946,2728,0,0,0,0,0,0
$GC,6852,0.80,136.7,677.6,19.9,232,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1942,2732,0,0,0,0,0,0
$GC,7096,0.80,136.7,628.8,20.0,238,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1942,2727,0,0,0,0,0,0
$GC,7341,0.80,136.7,582.9,18.5,244,7345,0.00,2.17,0.00,0.000,4,0.000,0.040,2878,518,2726,0,0,0,0,0,0
$GC,7385,0.80,136.7,574.6,17.8,245,7389,0.00,2.17,0.00,0.000,6,0.000,0.035,2872,1945,2719,0,0,0,0,0,0
$GC,7668,0.80,136.7,522.6,18.4,252,7672,0.00,2.20,0.00,0.000,4,0.000,0.051,2872,3334,2724,0,0,0,0,0,0
$GC,7702,0.80,136.7,516.4,19.0,252,7709,0.00,2.15,0.00,0.000,6,0.000,0.031,2886,1919,2724,0,0,0,0,0,0
$GC,7952,0.80,136.7,472.7,17.3,259,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1916,2725,0,0,0,0,0,0
$GC,8196,0.80,136.7,430.0,17.4,265,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1916,2723,0,0,0,0,0,0
$GC,8439,0.80,136.7,387.8,17.3,271,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1919,2723,0,0,0,0,0,0
$GC,8685,0.80,136.7,349.5,15.3,277,8689,0.00,2.25,0.00,0.000,4,0.000,0.051,2883,3337,2722,0,0,0,0,0,0
$GC,8745,0.80,136.7,338.5,17.9,278,8750,0.15,2.12,0.00,0.000,6,0.202,0.031,2856,1923,2723,0,0,0,0,0,0
$GC,9007,0.80,136.7,302.4,13.8,285,9011,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3331,2723,0,0,0,0,0,0
$GC,9052,0.80,136.7,295.0,16.9,286,9056,0.00,2.15,0.00,0.000,6,0.000,0.031,2866,1924,2722,0,0,0,0,0,0
$GC,9311,0.80,136.7,259.4,13.0,299,9315,0.00,2.22,0.00,0.000,4,0.000,0.048,2857,3338,2721,0,0,0,0,0,0
$GC,9351,0.80,136.7,255.3,11.0,301,9355,0.00,2.12,0.00,0.000,6,0.000,0.029,2866,1926,2722,0,0,0,0,0,0
$GC,9617,0.80,136.7,225.0,12.1,314,9620,0.00,2.08,0.00,0.000,4,0.000,0.037,2877,528,2720,0,0,0,0,0,0
$GC,9627,0.80,136.7,223.6,11.9,314,9634,0.00,2.12,0.00,0.000,6,0.000,0.033,2877,1933,2719,0,0,0,0,0,0
$GC,9885,0.80,136.7,192.6,11.0,330,9888,0.00,2.15,0.00,0.000,4,0.000,0.038,2888,520,2719,0,0,0,0,0,0
$GC,9916,0.80,136.7,189.2,10.9,332,9921,0.12,2.12,0.00,0.000,6,0.194,0.033,2859,1944,2718,0,0,0,0,0,0
$GC,10179,0.82,154.2,167.7,7.8,356,10196,0.00,2.22,11.55,0.550,4,0.000,0.048,2849,3330,2672,0,0,0,0,0,0
$GC,10217,0.84,169.6,164.9,7.9,359,10242,0.00,2.10,14.68,0.558,6,0.000,0.029,2858,1922,2607,0,0,0,0,0,0
$GC,10497,0.84,169.6,137.0,9.3,385,10501,0.00,2.20,0.00,0.000,4,0.000,0.048,2857,3327,2605,0,0,0,0,0,0
$GC,10583,0.85,179.8,129.6,8.1,392,10597,0.00,2.12,9.70,0.499,6,0.000,0.029,2868,1924,2569,0,0,0,0,0,0
$GC,10852,0.85,179.8,107.0,9.7,417,10856,0.00,2.22,0.00,0.000,4,0.000,0.046,2868,3332,2565,0,0,0,0,0,0
$GC,11070,0.85,179.8,85.9,9.5,436,11074,0.00,2.10,0.00,0.000,6,0.000,0.029,2879,1932,2566,0,0,0,0,0,0
$GC,11337,0.88,205.7,66.5,7.5,460,11364,0.00,2.15,22.90,0.479,4,0.000,0.037,2890,516,2461,0,0,0,0,0,0
$GC,11396,0.88,205.7,61.2,9.8,465,11400,0.00,2.12,0.00,0.000,6,0.000,0.030,2890,1929,2458,0,0,0,0,0,0
$GC,11663,0.88,205.7,31.5,11.3,489,11667,0.00,2.17,0.00,0.000,4,0.000,0.046,2890,3331,2459,0,0,0,0,0,0
$GC,11726,0.88,205.7,23.6,12.6,498,11733,0.00,2.15,0.00,0.000,6,0.000,0.029,2901,1929,2460,0,0,0,0,0,0
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,0.2,1.008481
$STATE,11918,end surface coast,CONTROL_FINISHED_OK
$STATE,11918,begin surface
$SM_CCo,11939,42.72,0.429,0,0,2077,300.24
$SM_GC,2.01,0.00,0.00,42.72,0.000,0.000,0.429,49,1997,2077,-7.96,-0.06,300.24
$IRIDIUM_FIX,1918.37,-15611.77,100213,141435
$TT8_MAMPS,0.247741
$HUMID,1078853539
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.50
$XPDR_PINGS,98
$AR_DIVENUM,290
$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,23.8,41.388
$10V_AH,10.0,37.669
$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,19.425,112.825,291.175,42.725,0.000,88.392,112.417,559.133,24.500,0.000,40.380,1148.956,8643.187,407.456,2504.296,449.341,33.355,1124.304,0.000,1729.186,0.000,0.541,0.000
$DEVICE_MAMPS,235.469,99.710,1091.441,428.753,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,364.034,0.000,922.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,26872,533
$CAP_FILE_SIZE,121133,0
$CFSIZE,260165632,184561664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,168.9,1
$GPS,180811,234022,1924.989,-15614.627,9,3.3,28,9.6