version: 66.07
glider: 513
mission: 7
dive: 296
start: 8 19 111 18 9 54
data:
$ID,513
$MISSION,7
$DIVE,296
$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,-428008.25
$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,42
$R_STBD_OVSHOOT,39
$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,295
$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
$GPS1,190811,175536,1910.285,-15615.222,13,1.1,29,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.5
$GPS2,190811,180855,1909.952,-15615.236,10,1.6,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G6
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.114,-0.210
$KALMAN_X,-90324.5,-120.5,-171.2,157608.4,7259.1
$KALMAN_Y,-55764.2,235.4,111.7,-36698.6,-5767.4
$MHEAD_RNG_PITCHd_Wd,164.4,18436,-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,-57.70,0.000,2,0.000,0.000,41,2000,3770,0,0,0,0,0,0
$GC,91,-0.80,-136.7,4.1,-6.8,9,113,9.62,2.17,-1.45,0.000,4,0.238,0.049,2342,583,3862,0,0,0,0,0,0
$GC,253,-0.80,-136.7,63.4,-29.1,28,257,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2000,3864,0,0,0,0,0,0
$GC,519,-0.80,-136.7,142.7,-26.0,52,523,0.00,2.22,0.00,0.000,4,0.000,0.050,2322,3406,3866,0,0,0,0,0,0
$GC,628,-0.80,-136.7,169.4,-22.2,61,632,0.00,2.12,0.00,0.000,6,0.000,0.033,2322,2004,3867,0,0,0,0,0,0
$GC,895,-0.80,-136.7,233.3,-23.0,79,899,0.00,2.25,0.00,0.000,4,0.000,0.052,2311,3415,3869,0,0,0,0,0,0
$GC,973,-0.80,-136.7,249.7,-19.4,82,979,0.00,2.12,0.00,0.000,6,0.000,0.033,2311,1998,3869,0,0,0,0,0,0
$GC,1227,-0.80,-136.7,298.8,-18.7,95,1231,0.00,2.10,0.00,0.000,4,0.000,0.042,2317,590,3870,0,0,0,0,0,0
$GC,1244,-0.80,-136.7,301.9,-18.1,96,1249,0.15,2.15,0.00,0.000,6,0.168,0.044,2340,2004,3874,0,0,0,0,0,0
$GC,1510,-0.80,-136.7,342.1,-15.0,103,1514,0.00,2.22,0.00,0.000,4,0.000,0.052,2331,3407,3870,0,0,0,0,0,0
$GC,1605,-0.80,-136.7,357.8,-16.8,105,1609,0.00,2.15,0.00,0.000,6,0.000,0.033,2330,1996,3870,0,0,0,0,0,0
$GC,1877,-0.80,-136.7,404.6,-16.8,112,1881,0.00,2.12,0.00,0.000,4,0.000,0.044,2330,606,3867,0,0,0,0,0,0
$GC,1923,-0.80,-136.7,411.8,-15.5,113,1927,0.00,2.12,0.00,0.000,6,0.000,0.042,2320,1997,3870,0,0,0,0,0,0
$GC,2200,-0.80,-136.7,456.8,-16.1,120,2204,0.00,2.25,0.00,0.000,4,0.000,0.054,2309,3415,3867,0,0,0,0,0,0
$GC,2250,-0.80,-136.7,464.7,-14.8,121,2255,0.12,2.12,0.00,0.000,6,0.163,0.031,2341,1994,3867,0,0,0,0,0,0
$GC,2522,-0.80,-136.7,500.9,-13.3,128,2526,0.00,2.25,0.00,0.000,4,0.000,0.055,2332,3412,3864,0,0,0,0,0,0
$GC,2599,-0.80,-136.7,511.5,-12.9,129,2605,0.00,2.12,0.00,0.000,6,0.000,0.031,2332,2000,3863,0,0,0,0,0,0
$GC,2849,-0.80,-136.7,544.4,-13.2,136,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3862,0,0,0,0,0,0
$GC,3094,-0.80,-136.7,576.1,-13.0,142,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1992,3859,0,0,0,0,0,0
$GC,3337,-0.80,-136.7,608.6,-13.3,148,3341,0.00,2.25,0.00,0.000,4,0.000,0.055,2322,3414,3857,0,0,0,0,0,0
$GC,3364,-0.80,-136.7,612.6,-14.6,148,3367,0.00,2.12,0.00,0.000,6,0.000,0.032,2321,2001,3854,0,0,0,0,0,0
$GC,3619,-0.80,-136.7,646.7,-13.3,155,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1994,3854,0,0,0,0,0,0
$GC,3864,-0.80,-136.7,680.6,-14.0,161,3869,0.00,2.25,0.00,0.000,4,0.000,0.054,2310,3416,3852,0,0,0,0,0,0
$GC,3904,-0.80,-136.7,686.8,-15.1,162,3909,0.10,2.15,0.00,0.000,6,0.179,0.033,2334,2000,3851,0,0,0,0,0,0
$GC,4188,-0.80,-136.7,723.7,-12.6,169,4192,0.00,2.25,0.00,0.000,4,0.000,0.055,2325,3411,3849,0,0,0,0,0,0
$GC,4212,-0.80,-136.7,726.8,-13.2,169,4216,0.00,2.15,0.00,0.000,6,0.000,0.033,2331,1993,3846,0,0,0,0,0,0
$GC,4467,-0.80,-136.7,759.6,-12.8,176,4471,0.00,2.15,0.00,0.000,4,0.000,0.045,2326,590,3846,0,0,0,0,0,0
$GC,4511,-0.80,-136.7,765.7,-13.5,177,4515,0.00,2.17,0.00,0.000,6,0.000,0.044,2315,2006,3846,0,0,0,0,0,0
$GC,4796,-0.80,-136.7,805.1,-14.4,184,4800,0.00,2.22,0.00,0.000,4,0.000,0.056,2304,3405,3843,0,0,0,0,0,0
$GC,4863,-0.80,-136.7,815.6,-14.9,185,4868,0.12,2.17,0.00,0.000,6,0.173,0.035,2335,2003,3843,0,0,0,0,0,0
$GC,5119,-0.80,-136.7,847.9,-12.3,192,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3841,0,0,0,0,0,0
$GC,5362,-0.80,-136.7,875.4,-11.2,198,5366,0.00,2.25,0.00,0.000,4,0.000,0.056,2326,3405,3838,0,0,0,0,0,0
$GC,5384,-0.80,-136.7,878.2,-12.2,198,5388,0.00,2.17,0.00,0.000,6,0.000,0.035,2326,1980,3839,0,0,0,0,0,0
$STATE,5602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5602,begin apogee
$GC,5608,-0.28,0.0,903.9,11.7,204,5725,0.60,0.00,112.60,1.095,6,0.147,0.000,2504,1975,3301,0,0,0,0,0,0
$STATE,5747,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5751,0.80,136.7,907.3,0.0,207,5877,1.05,0.00,121.07,1.060,6,0.092,0.000,2852,1974,2743,0,0,0,0,0,0
$GC,6089,0.80,136.7,851.7,20.4,216,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1976,2734,0,0,0,0,0,0
$GC,6332,0.80,136.7,802.6,20.1,222,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1974,2732,0,0,0,0,0,0
$GC,6576,0.80,136.7,754.3,19.9,228,6580,0.00,2.22,0.00,0.000,4,0.000,0.053,2852,3341,2732,0,0,0,0,0,0
$GC,6644,0.80,136.7,740.4,21.5,229,6647,0.00,2.15,0.00,0.000,6,0.000,0.031,2863,1929,2731,0,0,0,0,0,0
$GC,6899,0.80,136.7,685.2,21.8,236,6903,0.00,2.12,0.00,0.000,4,0.000,0.038,2874,521,2729,0,0,0,0,0,0
$GC,6926,0.80,136.7,678.9,21.6,236,6930,0.00,2.15,0.00,0.000,6,0.000,0.035,2874,1942,2727,0,0,0,0,0,0
$GC,7183,0.80,136.7,624.7,21.0,243,7187,0.00,2.22,0.00,0.000,4,0.000,0.052,2874,3338,2727,0,0,0,0,0,0
$GC,7244,0.80,136.7,611.4,22.0,244,7248,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1917,2728,0,0,0,0,0,0
$GC,7516,0.80,136.7,557.3,20.1,251,7521,0.12,2.10,0.00,0.000,4,0.204,0.038,2864,525,2727,0,0,0,0,0,0
$GC,7556,0.80,136.7,549.5,19.6,252,7561,0.00,2.15,0.00,0.000,6,0.000,0.035,2856,1928,2725,0,0,0,0,0,0
$GC,7840,0.80,136.7,494.5,19.5,259,7844,0.00,2.25,0.00,0.000,4,0.000,0.052,2845,3331,2725,0,0,0,0,0,0
$GC,7867,0.80,136.7,489.4,19.2,259,7871,0.00,2.12,0.00,0.000,6,0.000,0.031,2854,1930,2725,0,0,0,0,0,0
$GC,8118,0.80,136.7,448.1,16.1,265,8122,0.00,2.28,0.00,0.000,4,0.000,0.049,2845,3340,2724,0,0,0,0,0,0
$GC,8179,0.80,136.7,437.7,15.8,266,8184,0.00,2.17,0.00,0.000,6,0.000,0.030,2854,1931,2725,0,0,0,0,0,0
$GC,8447,0.80,136.7,396.3,15.4,273,8451,0.00,2.10,0.00,0.000,4,0.000,0.038,2865,528,2723,0,0,0,0,0,0
$GC,8492,0.80,136.7,389.0,16.2,274,8496,0.00,2.12,0.00,0.000,6,0.000,0.034,2857,1943,2719,0,0,0,0,0,0
$GC,8770,0.80,136.7,347.5,14.8,281,8774,0.00,2.15,0.00,0.000,4,0.000,0.038,2866,528,2722,0,0,0,0,0,0
$GC,8842,0.80,136.7,335.3,16.8,282,8845,0.00,2.10,0.00,0.000,6,0.000,0.034,2866,1929,2722,0,0,0,0,0,0
$GC,9099,0.80,136.7,293.2,16.0,290,9103,0.00,2.22,0.00,0.000,4,0.000,0.051,2873,3337,2721,0,0,0,0,0,0
$GC,9234,0.80,136.7,273.0,14.3,296,9238,0.00,2.12,0.00,0.000,6,0.000,0.030,2877,1924,2722,0,0,0,0,0,0
$GC,9500,0.80,136.7,240.4,11.1,309,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1920,2721,0,0,0,0,0,0
$GC,9746,0.80,136.7,216.6,8.9,321,9750,0.00,2.08,0.00,0.000,4,0.000,0.037,2887,528,2721,0,0,0,0,0,0
$GC,9756,0.80,136.7,215.6,9.2,321,9762,0.12,2.12,0.00,0.000,6,0.194,0.034,2859,1933,2720,0,0,0,0,0,0
$GC,10015,0.80,136.7,191.5,10.7,337,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1935,2719,0,0,0,0,0,0
$GC,10279,0.80,136.7,163.1,8.9,362,10283,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,520,2720,0,0,0,0,0,0
$GC,10342,0.80,136.7,157.3,10.3,367,10346,0.00,2.10,0.00,0.000,6,0.000,0.032,2868,1930,2720,0,0,0,0,0,0
$GC,10608,0.88,206.5,138.5,5.6,391,10668,0.00,2.22,53.97,0.560,4,0.000,0.047,2868,3335,2458,0,0,0,0,0,0
$GC,10706,0.88,206.5,131.5,9.9,399,10710,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1934,2458,0,0,0,0,0,0
$GC,10977,0.88,206.5,103.1,11.7,424,10981,0.00,2.12,0.00,0.000,4,0.000,0.038,2890,524,2455,0,0,0,0,0,0
$GC,11018,0.88,206.5,98.4,9.8,427,11022,0.00,2.15,0.00,0.000,6,0.000,0.031,2889,1943,2453,0,0,0,0,0,0
$GC,11284,0.88,206.5,72.5,10.6,451,11288,0.00,2.17,0.00,0.000,4,0.000,0.046,2889,3327,2454,0,0,0,0,0,0
$GC,11391,0.88,206.5,59.0,13.1,460,11395,0.00,2.10,0.00,0.000,6,0.000,0.029,2901,1924,2455,0,0,0,0,0,0
$GC,11657,0.88,206.5,29.4,11.4,484,11666,0.00,2.12,0.00,0.000,4,0.000,0.037,2911,530,2455,0,0,0,0,0,0
$GC,11738,0.88,206.5,19.6,11.8,498,11746,0.08,2.12,0.00,0.000,6,0.155,0.029,2889,1938,2456,0,0,0,0,0,0
$STATE,11893,end climb,SURFACE_DEPTH_REACHED
$STATE,11893,begin surface coast
$FINISH,0.3,1.017962
$STATE,11927,end surface coast,CONTROL_FINISHED_OK
$STATE,11927,begin surface
$SM_CCo,11959,48.80,0.430,0,0,2075,300.73
$SM_GC,2.03,0.00,0.00,48.80,0.000,0.000,0.430,52,1993,2075,-7.96,-0.20,300.73
$IRIDIUM_FIX,1902.38,-15614.53,110213,121237
$TT8_MAMPS,0.146497
$HUMID,1078834184
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,26.50
$XPDR_PINGS,89
$AR_DIVENUM,296
$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,23.8,42.082
$10V_AH,10.0,38.191
$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,19.625,125.600,287.650,48.800,0.000,61.522,67.641,385.984,22.250,0.000,17.398,1160.552,8518.583,434.352,2301.746,412.048,33.354,1164.285,0.000,1754.035,0.000,0.542,0.000
$DEVICE_MAMPS,237.770,154.934,1095.276,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.231,0.000,899.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26922,532
$CAP_FILE_SIZE,119034,0
$CFSIZE,260165632,184127488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,184.5,1
$GPS,190811,213154,1907.363,-15615.222,26,0.9,43,9.6