version: 66.07
glider: 513
mission: 7
dive: 294
start: 8 19 111 10 47 0
data:
$ID,513
$MISSION,7
$DIVE,294
$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,-427958.28
$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,45
$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,293
$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
$GPS1,190811,103207,1916.549,-15614.730,38,1.3,39,9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.9
$GPS2,190811,104602,1916.194,-15614.708,12,1.4,12,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,-0.187
$KALMAN_X,-97649.2,509.9,167.4,164882.1,2972.0
$KALMAN_Y,-48574.8,-870.1,-561.2,-30532.0,781.3
$MHEAD_RNG_PITCHd_Wd,180.2,29996,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-56.78,0.000,2,0.000,0.000,38,2000,3742,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.2,-7.5,9,113,9.50,2.17,-1.88,0.000,4,0.235,0.053,2342,594,3864,0,0,0,0,0,0
$GC,154,-0.80,-136.7,36.5,-43.5,18,159,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,1998,3865,0,0,0,0,0,0
$GC,417,-0.80,-136.7,122.7,-32.7,42,421,0.00,2.25,0.00,0.000,4,0.000,0.048,2323,3431,3862,0,0,0,0,0,0
$GC,483,-0.80,-136.7,141.4,-24.1,47,490,0.00,2.20,0.00,0.000,6,0.000,0.032,2322,2009,3866,0,0,0,0,0,0
$GC,743,-0.80,-136.7,206.3,-22.1,71,747,0.00,2.22,0.00,0.000,4,0.000,0.050,2311,3424,3867,0,0,0,0,0,0
$GC,759,-0.80,-136.7,210.2,-21.3,71,765,0.00,2.15,0.00,0.000,6,0.000,0.032,2311,1996,3868,0,0,0,0,0,0
$GC,1014,-0.80,-136.7,266.4,-21.7,84,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1990,3869,0,0,0,0,0,0
$GC,1280,-0.80,-136.7,314.8,-17.6,95,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1990,3867,0,0,0,0,0,0
$GC,1524,-0.80,-136.7,360.8,-19.1,101,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1990,3870,0,0,0,0,0,0
$GC,1767,-0.80,-136.7,404.8,-17.5,107,1771,0.00,2.25,0.00,0.000,4,0.000,0.051,2301,3430,3869,0,0,0,0,0,0
$GC,1795,-0.80,-136.7,409.4,-16.9,107,1800,0.15,2.15,0.00,0.000,6,0.164,0.032,2340,1998,3870,0,0,0,0,0,0
$GC,2045,-0.80,-136.7,444.2,-13.6,113,2049,0.00,2.28,0.00,0.000,4,0.000,0.054,2331,3426,3869,0,0,0,0,0,0
$GC,2123,-0.80,-136.7,455.7,-14.2,114,2127,0.00,2.15,0.00,0.000,6,0.000,0.033,2331,2004,3867,0,0,0,0,0,0
$GC,2381,-0.80,-136.7,492.4,-14.3,121,2385,0.00,2.25,0.00,0.000,4,0.000,0.050,2321,3425,3864,0,0,0,0,0,0
$GC,2402,-0.80,-136.7,496.0,-15.0,121,2406,0.00,2.15,0.00,0.000,6,0.000,0.033,2321,1993,3864,0,0,0,0,0,0
$GC,2663,-0.80,-136.7,534.0,-14.3,128,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1986,3862,0,0,0,0,0,0
$GC,2908,-0.80,-136.7,568.7,-14.1,134,2912,0.00,2.25,0.00,0.000,4,0.000,0.054,2309,3416,3859,0,0,0,0,0,0
$GC,2958,-0.80,-136.7,576.2,-14.9,135,2963,0.10,2.12,0.00,0.000,6,0.173,0.033,2335,2004,3858,0,0,0,0,0,0
$GC,3230,-0.80,-136.7,609.7,-12.3,142,3234,0.00,2.12,0.00,0.000,4,0.000,0.044,2335,592,3856,0,0,0,0,0,0
$GC,3264,-0.80,-136.7,613.8,-12.9,142,3269,0.00,2.17,0.00,0.000,6,0.000,0.044,2327,2014,3856,0,0,0,0,0,0
$GC,3514,-0.80,-136.7,645.7,-12.8,149,3518,0.00,2.22,0.00,0.000,4,0.000,0.055,2316,3406,3853,0,0,0,0,0,0
$GC,3608,-0.80,-136.7,658.3,-13.7,151,3612,0.00,2.15,0.00,0.000,6,0.000,0.035,2316,1991,3853,0,0,0,0,0,0
$GC,3893,-0.80,-136.7,696.3,-13.5,158,3897,0.00,2.28,0.00,0.000,4,0.000,0.054,2305,3404,3850,0,0,0,0,0,0
$GC,3964,-0.80,-136.7,706.7,-13.4,159,3969,0.12,2.17,0.00,0.000,6,0.168,0.036,2337,2005,3850,0,0,0,0,0,0
$GC,4215,-0.80,-136.7,736.3,-11.7,165,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2000,3847,0,0,0,0,0,0
$GC,4459,-0.80,-136.7,764.3,-11.6,171,4463,0.00,2.28,0.00,0.000,4,0.000,0.058,2329,3405,3845,0,0,0,0,0,0
$GC,4509,-0.80,-136.7,770.6,-11.8,172,4513,0.00,2.17,0.00,0.000,6,0.000,0.038,2328,1988,3844,0,0,0,0,0,0
$GC,4787,-0.80,-136.7,803.1,-11.8,179,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1986,3842,0,0,0,0,0,0
$GC,5031,-0.80,-136.7,831.4,-11.7,185,5035,0.00,2.28,0.00,0.000,4,0.000,0.055,2318,3400,3840,0,0,0,0,0,0
$GC,5060,-0.80,-136.7,835.0,-12.4,185,5064,0.00,2.15,0.00,0.000,6,0.000,0.039,2314,2003,3840,0,0,0,0,0,0
$GC,5310,-0.80,-136.7,865.8,-12.2,191,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2002,3838,0,0,0,0,0,0
$GC,5554,-0.80,-136.7,895.8,-12.2,197,5558,0.00,2.25,0.00,0.000,4,0.000,0.054,2307,3401,3837,0,0,0,0,0,0
$GC,5587,-0.80,-136.7,899.8,-12.1,197,5594,0.12,2.17,0.00,0.000,6,0.171,0.035,2338,1986,3836,0,0,0,0,0,0
$STATE,5631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5632,begin apogee
$GC,5637,-0.28,0.0,905.0,11.1,199,5754,0.55,0.00,112.50,1.095,6,0.146,0.000,2504,1978,3299,0,0,0,0,0,0
$STATE,5777,end apogee,CONTROL_FINISHED_OK
$STATE,5777,begin climb
$GC,5779,0.80,136.7,907.4,0.0,202,5905,1.05,0.00,121.03,1.060,6,0.093,0.000,2852,1980,2743,0,0,0,0,0,0
$GC,6119,0.80,136.7,851.8,19.9,211,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2735,0,0,0,0,0,0
$GC,6362,0.80,136.7,803.7,19.6,217,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2733,0,0,0,0,0,0
$GC,6605,0.80,136.7,757.9,18.6,223,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2734,0,0,0,0,0,0
$GC,6850,0.80,136.7,714.1,17.6,229,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2730,0,0,0,0,0,0
$GC,7094,0.80,136.7,670.8,17.8,235,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2728,0,0,0,0,0,0
$GC,7337,0.80,136.7,625.5,18.7,241,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1981,2727,0,0,0,0,0,0
$GC,7580,0.80,136.7,581.9,17.7,247,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1980,2727,0,0,0,0,0,0
$GC,7825,0.80,136.7,542.3,15.9,253,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2726,0,0,0,0,0,0
$GC,8068,0.80,136.7,502.3,16.6,259,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1980,2726,0,0,0,0,0,0
$GC,8312,0.80,136.7,460.4,17.2,265,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1980,2725,0,0,0,0,0,0
$GC,8555,0.80,136.7,420.0,16.6,271,8559,0.00,2.20,0.00,0.000,4,0.000,0.055,2851,3333,2725,0,0,0,0,0,0
$GC,8587,0.80,136.7,414.2,18.1,271,8593,0.00,2.17,0.00,0.000,6,0.000,0.033,2862,1930,2725,0,0,0,0,0,0
$GC,8839,0.80,136.7,373.5,16.3,278,8843,0.00,2.28,0.00,0.000,4,0.000,0.055,2862,3339,2725,0,0,0,0,0,0
$GC,8911,0.80,136.7,361.7,14.9,279,8915,0.00,2.15,0.00,0.000,6,0.000,0.031,2873,1926,2724,0,0,0,0,0,0
$GC,9171,0.80,136.7,322.1,15.5,286,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1924,2723,0,0,0,0,0,0
$GC,9418,0.80,136.7,286.6,13.7,294,9422,0.00,2.12,0.00,0.000,4,0.000,0.041,2883,522,2723,0,0,0,0,0,0
$GC,9462,0.80,136.7,280.2,13.6,296,9467,0.12,2.15,0.00,0.000,6,0.194,0.038,2856,1928,2720,0,0,0,0,0,0
$GC,9721,0.80,136.7,246.9,12.2,309,9725,0.00,2.25,0.00,0.000,4,0.000,0.052,2854,3344,2724,0,0,0,0,0,0
$GC,9784,0.80,136.7,239.9,11.7,312,9788,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1925,2721,0,0,0,0,0,0
$GC,10049,0.80,136.7,214.3,10.5,325,10052,0.00,2.10,0.00,0.000,4,0.000,0.041,2871,533,2721,0,0,0,0,0,0
$GC,10205,0.80,136.7,197.2,10.7,332,10214,0.00,2.15,0.00,0.000,6,0.000,0.037,2875,1931,2717,0,0,0,0,0,0
$GC,10472,0.80,136.7,165.1,8.9,357,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1937,2723,0,0,0,0,0,0
$GC,10737,0.80,143.5,144.0,8.3,382,10741,0.00,2.22,0.00,0.000,4,0.000,0.052,2877,3338,2720,0,0,0,0,0,0
$GC,10988,0.88,203.3,124.6,6.0,404,11046,0.00,2.15,51.55,0.545,6,0.000,0.030,2886,1938,2470,0,0,0,0,0,0
$GC,11310,0.88,203.3,91.6,11.8,434,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1938,2467,0,0,0,0,0,0
$GC,11566,0.88,203.3,68.8,9.7,458,11570,0.00,2.25,0.00,0.000,4,0.000,0.051,2886,3341,2465,0,0,0,0,0,0
$GC,11759,0.88,203.3,46.1,11.4,475,11763,0.00,2.15,0.00,0.000,6,0.000,0.031,2897,1930,2469,0,0,0,0,0,0
$GC,12023,0.88,203.3,17.9,9.3,510,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1928,2469,0,0,0,0,0,0
$STATE,12162,end climb,SURFACE_DEPTH_REACHED
$STATE,12162,begin surface coast
$FINISH,0.2,1.022953
$STATE,12193,end surface coast,CONTROL_FINISHED_OK
$STATE,12193,begin surface
$SM_CCo,12213,45.40,0.428,0,0,2076,300.24
$SM_GC,1.99,0.00,0.00,45.40,0.000,0.000,0.428,58,2030,2076,-7.96,0.85,300.24
$IRIDIUM_FIX,1909.23,-15616.62,110213,040419
$TT8_MAMPS,0.289926
$HUMID,1078827732
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.60
$XPDR_PINGS,93
$AR_DIVENUM,294
$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,23.8,41.833
$10V_AH,9.9,38.016
$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,19.200,87.825,285.075,45.400,0.000,60.901,69.832,409.352,23.250,0.000,16.052,1129.281,8919.629,416.675,2241.693,399.304,33.355,1088.824,0.000,1682.578,0.000,0.542,0.000
$DEVICE_MAMPS,235.469,92.807,1095.276,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,369.317,0.000,919.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26952,541
$CAP_FILE_SIZE,108971,0
$CFSIZE,260165632,184279040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,173.6,1
$GPS,190811,141300,1913.287,-15614.868,36,1.9,36,9.6