version: 66.07
glider: 513
mission: 7
dive: 250
start: 8 12 111 14 33 18
data:
$ID,513
$MISSION,7
$DIVE,250
$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,-426901.03
$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,30
$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,249
$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
$GPS1,120811,140631,2014.687,-15630.066,64,0.8,64,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.7
$GPS2,120811,143207,2014.407,-15630.023,18,1.4,23,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G4
$TGT_LATLONG,2015.000,-15630.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.153,0.184
$KALMAN_X,-115745.7,1044.5,545.4,155377.2,-10827.3
$KALMAN_Y,-52242.0,1282.5,677.3,77505.5,-11969.5
$MHEAD_RNG_PITCHd_Wd,4.9,1099,-21.7,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.96,-76.0,0.0,0.0,0,75,0.00,0.00,-46.03,0.000,2,0.000,0.000,35,1994,3394,0,0,0,0,0,0
$GC,79,-1.03,-133.2,3.0,-4.2,7,102,9.38,2.33,-8.57,0.000,4,0.243,0.067,2246,3415,3847,0,0,0,0,0,0
$GC,293,-1.03,-133.2,89.8,-37.2,32,298,0.00,2.15,0.00,0.000,6,0.000,0.038,2251,2010,3849,0,0,0,0,0,0
$GC,559,-1.03,-133.2,178.0,-31.1,56,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2003,3851,0,0,0,0,0,0
$GC,825,-1.03,-133.2,252.0,-24.3,73,829,0.00,2.20,0.00,0.000,4,0.000,0.052,2236,3421,3852,0,0,0,0,0,0
$GC,887,-1.03,-133.2,268.1,-26.3,76,891,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,1991,3853,0,0,0,0,0,0
$GC,1152,-1.03,-133.2,334.7,-24.5,86,1156,0.00,2.22,0.00,0.000,4,0.000,0.054,2224,3414,3853,0,0,0,0,0,0
$GC,1224,-1.03,-133.2,353.4,-23.9,87,1229,0.15,2.15,0.00,0.000,6,0.189,0.034,2260,1982,3853,0,0,0,0,0,0
$GC,1475,-1.03,-133.2,404.5,-20.5,93,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1977,3852,0,0,0,0,0,0
$GC,1717,-1.03,-133.2,453.4,-19.6,99,1722,0.00,2.22,0.00,0.000,4,0.000,0.051,2251,3417,3852,0,0,0,0,0,0
$GC,1802,-1.03,-133.2,471.8,-19.7,101,1806,0.00,2.12,0.00,0.000,6,0.000,0.031,2250,2000,3849,0,0,0,0,0,0
$GC,2092,-1.03,-133.2,532.6,-20.8,108,2096,0.00,2.22,0.00,0.000,4,0.000,0.051,2240,3415,3849,0,0,0,0,0,0
$GC,2203,-1.03,-133.2,556.7,-21.0,110,2207,0.00,2.12,0.00,0.000,6,0.000,0.034,2240,2004,3848,0,0,0,0,0,0
$GC,2464,-1.03,-133.2,608.2,-19.5,117,2468,0.00,2.20,0.00,0.000,4,0.000,0.051,2229,3414,3845,0,0,0,0,0,0
$GC,2538,-1.03,-133.2,623.1,-20.3,118,2542,0.12,2.12,0.00,0.000,6,0.197,0.033,2258,1999,3844,0,0,0,0,0,0
$GC,2787,-1.03,-133.2,668.1,-17.9,124,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1993,3841,0,0,0,0,0,0
$GC,3032,-1.03,-133.2,710.2,-17.3,130,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1993,3839,0,0,0,0,0,0
$GC,3275,-1.03,-133.2,751.7,-16.8,136,3279,0.00,2.22,0.00,0.000,4,0.000,0.052,2246,3416,3836,0,0,0,0,0,0
$GC,3337,-1.03,-133.2,762.4,-16.4,137,3341,0.00,2.15,0.00,0.000,6,0.000,0.034,2249,1985,3834,0,0,0,0,0,0
$GC,3603,-1.03,-133.2,809.4,-17.6,144,3607,0.00,2.25,0.00,0.000,4,0.000,0.054,2235,3421,3831,0,0,0,0,0,0
$GC,3675,-1.03,-133.2,822.4,-17.9,145,3678,0.00,2.12,0.00,0.000,6,0.000,0.035,2238,2003,3830,0,0,0,0,0,0
$GC,3931,-1.03,-133.2,869.8,-18.7,152,3935,0.00,2.12,0.00,0.000,4,0.000,0.045,2238,593,3828,0,0,0,0,0,0
$GC,3947,-1.03,-133.2,873.3,-18.2,152,3952,0.08,2.20,0.00,0.000,6,0.192,0.047,2259,1996,3828,0,0,0,0,0,0
$STATE,4130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4130,begin apogee
$GC,4137,-0.28,0.0,905.2,17.3,157,4252,0.85,0.00,107.68,1.088,6,0.167,0.000,2509,1913,3300,0,0,0,0,0,0
$STATE,4254,end apogee,CONTROL_FINISHED_OK
$STATE,4255,begin climb
$GC,4257,1.03,133.2,910.7,0.0,160,4382,1.25,2.30,115.80,1.049,4,0.094,0.039,2933,529,2757,0,0,0,0,0,0
$GC,4388,1.03,133.2,894.4,15.6,163,4392,0.00,2.25,0.00,0.000,6,0.000,0.033,2933,1948,2755,0,0,0,0,0,0
$GC,4661,1.03,133.2,829.9,23.4,170,4665,0.00,2.20,0.00,0.000,4,0.000,0.038,2942,527,2750,0,0,0,0,0,0
$GC,4677,1.03,133.2,825.4,23.5,170,4681,0.00,2.15,0.00,0.000,6,0.000,0.035,2944,1934,2748,0,0,0,0,0,0
$GC,4949,1.03,133.2,758.6,24.6,177,4953,0.00,2.20,0.00,0.000,4,0.000,0.051,2944,3332,2746,0,0,0,0,0,0
$GC,4994,1.03,133.2,747.3,24.8,178,4998,0.00,2.12,0.00,0.000,6,0.000,0.030,2953,1926,2746,0,0,0,0,0,0
$GC,5272,1.03,133.2,678.8,24.8,185,5276,0.00,2.22,0.00,0.000,4,0.000,0.046,2945,3345,2744,0,0,0,0,0,0
$GC,5294,1.03,133.2,673.1,24.9,185,5298,0.00,2.12,0.00,0.000,6,0.000,0.028,2958,1917,2746,0,0,0,0,0,0
$GC,5555,1.03,133.2,608.7,24.6,192,5559,0.00,2.10,0.00,0.000,4,0.000,0.037,2964,531,2741,0,0,0,0,0,0
$GC,5577,1.03,133.2,603.2,24.8,192,5581,0.00,2.10,0.00,0.000,6,0.000,0.031,2956,1943,2738,0,0,0,0,0,0
$GC,5837,1.03,133.2,539.8,24.3,199,5841,0.00,2.15,0.00,0.000,4,0.000,0.047,2945,3335,2738,0,0,0,0,0,0
$GC,5898,1.03,133.2,524.5,24.7,200,5902,0.00,2.10,0.00,0.000,6,0.000,0.029,2954,1929,2738,0,0,0,0,0,0
$GC,6166,1.03,133.2,462.8,22.9,207,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1926,2736,0,0,0,0,0,0
$GC,6409,1.03,133.2,409.2,22.0,213,6413,0.00,2.17,0.00,0.000,4,0.000,0.044,2946,3329,2735,0,0,0,0,0,0
$GC,6436,1.03,133.2,402.8,23.6,213,6439,0.00,2.10,0.00,0.000,6,0.000,0.029,2955,1920,2735,0,0,0,0,0,0
$GC,6697,1.03,133.2,346.4,21.5,220,6701,0.00,2.20,0.00,0.000,4,0.000,0.045,2946,3342,2733,0,0,0,0,0,0
$GC,6741,1.03,133.2,337.2,20.0,221,6745,0.00,2.10,0.00,0.000,6,0.000,0.028,2955,1919,2733,0,0,0,0,0,0
$GC,7005,1.03,133.2,289.6,17.4,228,7009,0.00,2.22,0.00,0.000,4,0.000,0.045,2946,3342,2732,0,0,0,0,0,0
$GC,7056,1.03,133.2,280.0,18.3,230,7060,0.00,2.10,0.00,0.000,6,0.000,0.028,2955,1925,2733,0,0,0,0,0,0
$GC,7310,1.03,133.2,238.1,15.7,242,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1919,2731,0,0,0,0,0,0
$GC,7557,1.03,133.2,202.7,14.0,254,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1921,2731,0,0,0,0,0,0
$GC,7815,1.03,133.2,165.8,14.2,277,7819,0.00,2.10,0.00,0.000,4,0.000,0.035,2966,520,2730,0,0,0,0,0,0
$GC,7858,1.03,133.2,158.8,14.9,280,7866,0.00,2.12,0.00,0.000,6,0.000,0.031,2957,1927,2729,0,0,0,0,0,0
$GC,8124,1.03,133.2,125.0,11.8,305,8128,0.00,2.20,0.00,0.000,4,0.000,0.045,2946,3340,2729,0,0,0,0,0,0
$GC,8256,1.06,153.7,112.0,7.0,316,8280,0.00,2.08,13.18,0.518,6,0.000,0.026,2955,1926,2671,0,0,0,0,0,0
$GC,8536,1.06,153.7,89.5,9.7,342,8540,0.00,2.08,0.00,0.000,4,0.000,0.035,2966,522,2670,0,0,0,0,0,0
$GC,8786,1.09,179.9,70.1,6.6,364,8818,0.00,2.12,22.55,0.489,6,0.000,0.031,2963,1933,2565,0,0,0,0,0,0
$GC,9074,1.09,179.9,43.2,11.1,391,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1935,2564,0,0,0,0,0,0
$GC,9329,1.09,179.9,11.2,13.6,429,9338,0.00,2.17,0.00,0.000,4,0.000,0.041,2964,3337,2565,0,0,0,0,0,0
$STATE,9383,end climb,SURFACE_DEPTH_REACHED
$STATE,9383,begin surface coast
$FINISH,0.2,1.022803
$STATE,9400,end surface coast,CONTROL_FINISHED_OK
$STATE,9400,begin surface
$SM_CCo,9421,51.58,0.435,0,0,2080,300.24
$SM_GC,1.13,0.00,0.00,51.58,0.000,0.000,0.435,58,1993,2080,-7.93,-0.20,300.24
$IRIDIUM_FIX,2008.77,-15632.10,040213,080841
$TT8_MAMPS,0.16874
$HUMID,1078918055
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,26.00
$XPDR_PINGS,43
$AR_DIVENUM,250
$AR_SAMPLENUM,2
$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,24.1,36.147
$10V_AH,10.2,32.977
$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,19.650,95.250,259.200,51.575,0.000,87.837,110.455,975.356,10.750,0.000,25.479,972.389,6603.709,390.513,2505.072,558.132,33.346,1006.654,0.000,1520.646,0.000,0.542,0.000
$DEVICE_MAMPS,243.139,86.671,1088.373,434.889,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,300.786,0.000,823.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354188
$DATA_FILE_SIZE,23577,441
$CAP_FILE_SIZE,106544,0
$CFSIZE,260165632,187551744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,199.3,1
$GPS,120811,171237,2014.935,-15629.882,11,1.7,28,9.8