version: 66.07
glider: 513
mission: 7
dive: 291
start: 8 18 111 23 51 32
data:
$ID,513
$MISSION,7
$DIVE,291
$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,-427914.88
$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,46
$R_STBD_OVSHOOT,31
$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,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
$GPS1,180811,234022,1924.989,-15614.627,9,3.3,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.8
$GPS2,180811,235036,1924.839,-15614.537,13,1.0,29,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,-0.237
$KALMAN_X,-98827.5,-1684.5,-266.4,169012.7,5432.4
$KALMAN_Y,-49697.9,1788.8,146.5,-16812.7,-4166.0
$MHEAD_RNG_PITCHd_Wd,179.8,46009,-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,-136.7,0.0,0.0,0,87,0.00,0.00,-58.05,0.000,2,0.000,0.000,40,1999,3761,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.0,-6.5,9,113,9.43,2.30,-1.67,0.000,4,0.232,0.066,2320,3411,3862,0,0,0,0,0,0
$GC,189,-0.80,-136.7,44.8,-29.6,22,197,0.00,2.20,0.00,0.000,6,0.000,0.033,2320,2004,3865,0,0,0,0,0,0
$GC,454,-0.80,-136.7,130.8,-31.2,47,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1997,3866,0,0,0,0,0,0
$GC,726,-0.80,-136.7,204.8,-23.2,72,730,0.00,2.22,0.00,0.000,4,0.000,0.048,2308,3415,3868,0,0,0,0,0,0
$GC,788,-0.80,-136.7,219.0,-21.5,75,793,0.12,2.12,0.00,0.000,6,0.167,0.031,2340,1991,3867,0,0,0,0,0,0
$GC,1053,-0.80,-136.7,268.7,-19.5,88,1057,0.00,2.08,0.00,0.000,4,0.000,0.041,2340,598,3868,0,0,0,0,0,0
$GC,1071,-0.80,-136.7,272.2,-19.9,89,1075,0.00,2.12,0.00,0.000,6,0.000,0.040,2331,2011,3868,0,0,0,0,0,0
$GC,1354,-0.80,-136.7,324.1,-17.5,100,1358,0.00,2.17,0.00,0.000,4,0.000,0.050,2321,3407,3870,0,0,0,0,0,0
$GC,1500,-0.80,-136.7,346.4,-13.9,103,1504,0.00,2.10,0.00,0.000,6,0.000,0.033,2321,2001,3870,0,0,0,0,0,0
$GC,1772,-0.80,-136.7,391.4,-16.6,110,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1995,3870,0,0,0,0,0,0
$GC,2015,-0.80,-136.7,431.5,-16.6,116,2019,0.00,2.20,0.00,0.000,4,0.000,0.050,2309,3403,3869,0,0,0,0,0,0
$GC,2083,-0.80,-136.7,442.8,-16.0,117,2088,0.10,2.12,0.00,0.000,6,0.170,0.033,2335,1993,3868,0,0,0,0,0,0
$GC,2344,-0.80,-136.7,479.2,-13.7,124,2347,0.00,2.10,0.00,0.000,4,0.000,0.043,2335,596,3866,0,0,0,0,0,0
$GC,2388,-0.80,-136.7,485.4,-13.4,125,2392,0.00,2.15,0.00,0.000,6,0.000,0.042,2327,1997,3866,0,0,0,0,0,0
$GC,2672,-0.80,-136.7,525.7,-14.1,132,2676,0.00,2.22,0.00,0.000,4,0.000,0.052,2316,3407,3863,0,0,0,0,0,0
$GC,2728,-0.80,-136.7,533.9,-13.9,133,2732,0.00,2.12,0.00,0.000,6,0.000,0.034,2316,2002,3862,0,0,0,0,0,0
$GC,3000,-0.80,-136.7,576.4,-16.0,140,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1996,3859,0,0,0,0,0,0
$GC,3245,-0.80,-136.7,614.7,-15.5,146,3249,0.00,2.10,0.00,0.000,4,0.000,0.041,2319,599,3857,0,0,0,0,0,0
$GC,3266,-0.80,-136.7,618.5,-16.3,146,3271,0.12,2.15,0.00,0.000,6,0.179,0.042,2336,2013,3857,0,0,0,0,0,0
$GC,3527,-0.80,-136.7,652.0,-12.5,153,3531,0.00,2.22,0.00,0.000,4,0.000,0.054,2333,3414,3855,0,0,0,0,0,0
$GC,3595,-0.80,-136.7,660.7,-12.1,154,3599,0.00,2.12,0.00,0.000,6,0.000,0.033,2327,2003,3855,0,0,0,0,0,0
$GC,3850,-0.80,-136.7,693.1,-12.9,161,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1997,3852,0,0,0,0,0,0
$GC,4093,-0.80,-136.7,724.8,-13.2,167,4098,0.00,2.25,0.00,0.000,4,0.000,0.052,2316,3409,3850,0,0,0,0,0,0
$GC,4162,-0.80,-136.7,734.3,-13.5,168,4166,0.00,2.15,0.00,0.000,6,0.000,0.034,2316,2001,3849,0,0,0,0,0,0
$GC,4417,-0.80,-136.7,769.1,-13.5,175,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1995,3847,0,0,0,0,0,0
$GC,4661,-0.80,-136.7,801.3,-13.2,181,4665,0.00,2.25,0.00,0.000,4,0.000,0.051,2306,3411,3844,0,0,0,0,0,0
$GC,4727,-0.80,-136.7,810.3,-13.3,182,4732,0.12,2.17,0.00,0.000,6,0.170,0.033,2337,1991,3843,0,0,0,0,0,0
$GC,4984,-0.80,-136.7,839.2,-11.4,189,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1986,3842,0,0,0,0,0,0
$GC,5226,-0.80,-136.7,866.4,-11.1,195,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1986,3844,0,0,0,0,0,0
$GC,5470,-0.80,-136.7,893.0,-11.0,201,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1985,3839,0,0,0,0,0,0
$STATE,5548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5548,begin apogee
$GC,5556,-0.28,0.0,901.8,11.0,203,5671,0.55,0.00,111.93,1.091,6,0.143,0.000,2503,1929,3302,0,0,0,0,0,0
$STATE,5673,end apogee,CONTROL_FINISHED_OK
$STATE,5674,begin climb
$GC,5676,0.80,136.7,904.8,0.0,206,5806,1.00,2.30,120.32,1.055,4,0.095,0.038,2848,529,2742,0,0,0,0,0,0
$GC,5818,0.80,136.7,888.4,18.6,209,5822,0.00,2.25,0.00,0.000,6,0.000,0.035,2848,1930,2740,0,0,0,0,0,0
$GC,6078,0.80,136.7,836.0,20.1,216,6082,0.00,2.30,0.00,0.000,4,0.000,0.054,2848,3342,2734,0,0,0,0,0,0
$GC,6100,0.80,136.7,831.3,20.8,216,6104,0.00,2.17,0.00,0.000,6,0.000,0.031,2859,1929,2733,0,0,0,0,0,0
$GC,6368,0.80,136.7,778.7,19.5,223,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1926,2731,0,0,0,0,0,0
$GC,6611,0.80,136.7,732.6,18.9,229,6615,0.00,2.25,0.00,0.000,4,0.000,0.051,2859,3341,2730,0,0,0,0,0,0
$GC,6632,0.80,136.7,728.2,19.6,229,6636,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1928,2730,0,0,0,0,0,0
$GC,6893,0.80,136.7,678.4,19.1,236,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1924,2728,0,0,0,0,0,0
$GC,7138,0.80,136.7,630.2,20.1,242,7142,0.00,2.25,0.00,0.000,4,0.000,0.049,2869,3343,2727,0,0,0,0,0,0
$GC,7193,0.80,136.7,618.0,21.3,243,7197,0.00,2.15,0.00,0.000,6,0.000,0.030,2878,1921,2727,0,0,0,0,0,0
$GC,7465,0.80,136.7,564.1,19.4,250,7469,0.00,2.12,0.00,0.000,4,0.000,0.039,2889,523,2727,0,0,0,0,0,0
$GC,7506,0.80,136.7,556.7,18.5,251,7511,0.15,2.12,0.00,0.000,6,0.199,0.034,2855,1936,2727,0,0,0,0,0,0
$GC,7789,0.80,136.7,508.0,16.8,258,7793,0.00,2.22,0.00,0.000,4,0.000,0.051,2844,3334,2724,0,0,0,0,0,0
$GC,7907,0.80,136.7,487.2,17.9,260,7911,0.00,2.17,0.00,0.000,6,0.000,0.031,2853,1932,2724,0,0,0,0,0,0
$GC,8163,0.80,136.7,443.6,17.0,267,8167,0.00,2.15,0.00,0.000,4,0.000,0.038,2864,519,2724,0,0,0,0,0,0
$GC,8258,0.80,136.7,428.2,15.4,269,8262,0.00,2.12,0.00,0.000,6,0.000,0.035,2864,1929,2722,0,0,0,0,0,0
$GC,8537,0.80,136.7,387.2,14.2,276,8541,0.00,2.22,0.00,0.000,4,0.000,0.051,2864,3335,2722,0,0,0,0,0,0
$GC,8649,0.80,136.7,369.0,16.0,278,8653,0.00,2.12,0.00,0.000,6,0.000,0.031,2874,1924,2722,0,0,0,0,0,0
$GC,8910,0.80,136.7,328.0,15.8,285,8914,0.00,2.22,0.00,0.000,4,0.000,0.049,2875,3331,2722,0,0,0,0,0,0
$GC,8977,0.80,136.7,317.2,15.2,286,8982,0.12,2.12,0.00,0.000,6,0.208,0.031,2856,1921,2722,0,0,0,0,0,0
$GC,9233,0.80,136.7,285.5,11.8,295,9237,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,532,2721,0,0,0,0,0,0
$GC,9334,0.80,136.7,274.9,11.9,299,9339,0.00,2.12,0.00,0.000,6,0.000,0.034,2869,1939,2720,0,0,0,0,0,0
$GC,9589,0.80,136.7,244.5,11.5,312,9592,0.00,2.20,0.00,0.000,4,0.000,0.050,2865,3331,2721,0,0,0,0,0,0
$GC,9702,0.80,136.7,229.4,12.1,317,9706,0.00,2.10,0.00,0.000,6,0.000,0.030,2876,1929,2720,0,0,0,0,0,0
$GC,9968,0.80,136.7,199.0,11.2,330,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1925,2720,0,0,0,0,0,0
$GC,10225,0.80,136.7,171.6,11.5,354,10229,0.00,2.20,0.00,0.000,4,0.000,0.046,2876,3339,2720,0,0,0,0,0,0
$GC,10323,0.80,136.7,161.4,10.6,362,10327,0.00,2.10,0.00,0.000,6,0.000,0.028,2886,1913,2721,0,0,0,0,0,0
$GC,10589,0.86,185.8,139.4,6.5,386,10631,0.00,2.30,37.62,0.561,4,0.000,0.046,2886,3333,2541,0,0,0,0,0,0
$GC,10658,0.86,185.8,134.4,8.9,392,10662,0.00,2.10,0.00,0.000,6,0.000,0.029,2896,1942,2542,0,0,0,0,0,0
$GC,10922,0.86,185.8,105.6,9.7,416,10926,0.00,2.20,0.00,0.000,4,0.000,0.046,2897,3341,2539,0,0,0,0,0,0
$GC,11021,0.86,185.8,94.2,10.9,424,11030,0.10,2.17,0.00,0.000,6,0.173,0.028,2879,1917,2538,0,0,0,0,0,0
$GC,11284,0.89,210.9,76.4,7.5,449,11313,0.00,0.00,21.75,0.486,6,0.000,0.000,2879,1917,2439,0,0,0,0,0,0
$GC,11573,0.89,210.9,47.2,10.3,476,11577,0.00,2.08,0.00,0.000,4,0.000,0.038,2888,536,2440,0,0,0,0,0,0
$GC,11614,0.89,210.9,42.3,11.0,479,11618,0.00,2.08,0.00,0.000,6,0.000,0.030,2888,1933,2437,0,0,0,0,0,0
$GC,11878,0.89,210.9,11.7,10.6,517,11885,0.00,2.20,0.00,0.000,4,0.000,0.045,2887,3323,2439,0,0,0,0,0,0
$GC,11910,0.89,210.9,7.7,12.3,522,11917,0.00,2.12,0.00,0.000,6,0.000,0.030,2898,1936,2439,0,0,0,0,0,0
$STATE,11944,end climb,SURFACE_DEPTH_REACHED
$STATE,11945,begin surface coast
$FINISH,0.3,1.022736
$STATE,11974,end surface coast,CONTROL_FINISHED_OK
$STATE,11974,begin surface
$SM_CCo,12005,46.22,0.432,0,0,2078,300.24
$SM_GC,2.06,0.00,0.00,46.22,0.000,0.000,0.432,40,2012,2078,-7.99,0.34,300.24
$IRIDIUM_FIX,1920.65,-15611.77,100213,141408
$TT8_MAMPS,0.247741
$HUMID,1078856119
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.30
$XPDR_PINGS,86
$AR_DIVENUM,291
$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,23.8,41.498
$10V_AH,10.0,37.755
$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,19.350,117.325,291.625,46.225,0.000,25.652,33.443,313.803,21.500,0.000,31.023,1163.725,8515.789,400.099,2209.755,390.688,33.360,1173.391,0.000,1790.009,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,135.759,1091.441,431.821,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.884,0.000,903.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26982,533
$CAP_FILE_SIZE,116685,0
$CFSIZE,260165632,184492032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,160.2,1
$GPS,190811,031407,1922.342,-15614.571,36,1.2,36,9.6