version: 66.07
glider: 513
mission: 7
dive: 251
start: 8 12 111 17 36 54
data:
$ID,513
$MISSION,7
$DIVE,251
$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,712.8302
$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,-426914.59
$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,53
$R_STBD_OVSHOOT,45
$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,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
$GPS1,120811,171237,2014.935,-15629.882,11,1.7,28,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-79.6
$GPS2,120811,173556,2014.769,-15629.918,10,1.9,10,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.223,0.086
$KALMAN_X,-118431.1,1224.4,811.5,157794.9,-13210.4
$KALMAN_Y,-54936.8,1355.6,992.1,80471.8,-14560.7
$MHEAD_RNG_PITCHd_Wd,49.0,25923,-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,-136.7,0.0,0.0,0,81,0.00,0.00,-51.62,0.000,2,0.000,0.000,36,1989,3558,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.2,-4.7,8,106,9.77,2.22,-5.35,0.000,4,0.247,0.063,2318,3404,3860,0,0,0,0,0,0
$GC,159,-0.80,-136.7,34.4,-39.5,19,163,0.00,2.15,0.00,0.000,6,0.000,0.044,2318,2017,3863,0,0,0,0,0,0
$GC,422,-0.80,-136.7,128.6,-29.4,43,426,0.00,2.15,0.00,0.000,4,0.000,0.042,2318,583,3863,0,0,0,0,0,0
$GC,462,-0.80,-136.7,140.3,-28.6,46,467,0.12,2.15,0.00,0.000,6,0.186,0.041,2337,1990,3864,0,0,0,0,0,0
$GC,730,-0.80,-136.7,201.4,-21.7,70,734,0.00,2.20,0.00,0.000,4,0.000,0.049,2333,3411,3865,0,0,0,0,0,0
$GC,836,-0.80,-136.7,224.3,-19.1,75,841,0.00,2.12,0.00,0.000,6,0.000,0.033,2328,1986,3866,0,0,0,0,0,0
$GC,1103,-0.80,-136.7,274.8,-18.6,88,1107,0.00,2.22,0.00,0.000,4,0.000,0.052,2319,3412,3866,0,0,0,0,0,0
$GC,1152,-0.80,-136.7,284.4,-17.6,90,1157,0.00,2.10,0.00,0.000,6,0.000,0.032,2319,2002,3867,0,0,0,0,0,0
$GC,1409,-0.80,-136.7,334.6,-20.0,99,1413,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3417,3865,0,0,0,0,0,0
$GC,1437,-0.80,-136.7,340.4,-21.3,99,1442,0.12,2.10,0.00,0.000,6,0.170,0.031,2340,1996,3866,0,0,0,0,0,0
$GC,1692,-0.80,-136.7,383.8,-16.5,106,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1989,3867,0,0,0,0,0,0
$GC,1936,-0.80,-136.7,421.9,-15.6,112,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1989,3865,0,0,0,0,0,0
$GC,2179,-0.80,-136.7,459.2,-15.1,118,2183,0.00,2.20,0.00,0.000,4,0.000,0.051,2330,3407,3863,0,0,0,0,0,0
$GC,2232,-0.80,-136.7,467.2,-15.1,119,2236,0.00,2.10,0.00,0.000,6,0.000,0.033,2331,2001,3863,0,0,0,0,0,0
$GC,2509,-0.80,-136.7,509.2,-14.7,126,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3860,0,0,0,0,0,0
$GC,2753,-0.80,-136.7,543.3,-13.8,132,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3858,0,0,0,0,0,0
$GC,2998,-0.80,-136.7,574.9,-12.7,138,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3855,0,0,0,0,0,0
$GC,3241,-0.80,-136.7,605.0,-12.3,144,3245,0.00,2.22,0.00,0.000,4,0.000,0.049,2320,3415,3856,0,0,0,0,0,0
$GC,3290,-0.80,-136.7,612.0,-13.2,145,3294,0.00,2.15,0.00,0.000,6,0.000,0.032,2320,1998,3852,0,0,0,0,0,0
$GC,3569,-0.80,-136.7,652.5,-14.9,152,3573,0.00,2.10,0.00,0.000,4,0.000,0.042,2320,600,3849,0,0,0,0,0,0
$GC,3597,-0.80,-136.7,657.0,-16.1,152,3602,0.12,2.15,0.00,0.000,6,0.177,0.043,2341,2001,3849,0,0,0,0,0,0
$GC,3847,-0.80,-136.7,690.5,-13.2,158,3851,0.00,2.20,0.00,0.000,4,0.000,0.055,2332,3402,3847,0,0,0,0,0,0
$GC,3902,-0.80,-136.7,698.3,-14.4,159,3906,0.00,2.15,0.00,0.000,6,0.000,0.035,2331,2006,3845,0,0,0,0,0,0
$GC,4175,-0.80,-136.7,736.2,-13.9,166,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2000,3847,0,0,0,0,0,0
$GC,4418,-0.80,-136.7,769.0,-13.2,172,4422,0.00,2.25,0.00,0.000,4,0.000,0.054,2321,3416,3840,0,0,0,0,0,0
$GC,4467,-0.80,-136.7,776.0,-13.9,173,4471,0.00,2.15,0.00,0.000,6,0.000,0.035,2321,1992,3838,0,0,0,0,0,0
$GC,4747,-0.80,-136.7,813.7,-13.4,180,4751,0.00,2.22,0.00,0.000,4,0.000,0.054,2310,3402,3838,0,0,0,0,0,0
$GC,4796,-0.80,-136.7,820.5,-13.5,181,4801,0.10,2.15,0.00,0.000,6,0.178,0.035,2334,1998,3839,0,0,0,0,0,0
$GC,5075,-0.80,-136.7,853.9,-11.8,188,5079,0.00,2.15,0.00,0.000,4,0.000,0.046,2334,584,3835,0,0,0,0,0,0
$GC,5120,-0.80,-136.7,859.1,-11.9,189,5124,0.00,2.17,0.00,0.000,6,0.000,0.043,2326,1997,3834,0,0,0,0,0,0
$GC,5398,-0.80,-136.7,892.1,-12.0,196,5402,0.00,2.22,0.00,0.000,4,0.000,0.055,2318,3406,3835,0,0,0,0,0,0
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5462,begin apogee
$GC,5472,-0.28,0.0,900.7,12.2,197,5585,0.60,0.00,109.35,1.091,6,0.152,0.000,2498,1915,3301,0,0,0,0,0,0
$STATE,5587,end apogee,CONTROL_FINISHED_OK
$STATE,5587,begin climb
$GC,5590,0.80,136.7,904.6,0.0,200,5714,1.10,0.00,120.20,1.055,6,0.099,0.000,2853,1915,2743,0,0,0,0,0,0
$GC,5932,0.80,136.7,847.7,20.5,209,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1914,2736,0,0,0,0,0,0
$GC,6177,0.80,136.7,798.8,19.9,215,6181,0.00,2.17,0.00,0.000,4,0.000,0.040,2864,510,2734,0,0,0,0,0,0
$GC,6198,0.80,136.7,794.1,20.6,215,6202,0.00,2.17,0.00,0.000,6,0.000,0.037,2864,1935,2729,0,0,0,0,0,0
$GC,6459,0.80,136.7,740.8,20.3,222,6463,0.00,2.25,0.00,0.000,4,0.000,0.055,2864,3335,2729,0,0,0,0,0,0
$GC,6497,0.80,136.7,732.5,21.0,222,6503,0.00,2.17,0.00,0.000,6,0.000,0.032,2875,1924,2729,0,0,0,0,0,0
$GC,6748,0.80,136.7,681.1,20.7,229,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1921,2727,0,0,0,0,0,0
$GC,6991,0.80,136.7,631.0,20.4,235,6995,0.00,2.12,0.00,0.000,4,0.000,0.038,2885,519,2726,0,0,0,0,0,0
$GC,7031,0.80,136.7,622.4,21.8,236,7035,0.15,2.15,0.00,0.000,6,0.202,0.038,2851,1933,2724,0,0,0,0,0,0
$GC,7315,0.80,136.7,567.6,19.1,243,7319,0.00,2.22,0.00,0.000,4,0.000,0.054,2851,3340,2724,0,0,0,0,0,0
$GC,7376,0.80,136.7,555.4,19.9,244,7380,0.00,2.17,0.00,0.000,6,0.000,0.033,2856,1932,2724,0,0,0,0,0,0
$GC,7642,0.80,136.7,506.2,18.4,251,7646,0.00,2.10,0.00,0.000,4,0.000,0.038,2871,527,2723,0,0,0,0,0,0
$GC,7664,0.80,136.7,502.0,19.1,251,7668,0.00,2.12,0.00,0.000,6,0.000,0.036,2872,1935,2720,0,0,0,0,0,0
$GC,7920,0.80,136.7,456.7,17.4,258,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1935,2722,0,0,0,0,0,0
$GC,8164,0.80,136.7,412.2,18.2,264,8168,0.00,2.12,0.00,0.000,4,0.000,0.039,2882,529,2721,0,0,0,0,0,0
$GC,8191,0.80,136.7,407.2,16.6,264,8195,0.00,2.15,0.00,0.000,6,0.000,0.037,2882,1926,2720,0,0,0,0,0,0
$GC,8448,0.80,136.7,364.3,16.5,271,8452,0.00,2.12,0.00,0.000,4,0.000,0.041,2893,518,2720,0,0,0,0,0,0
$GC,8497,0.80,136.7,355.8,17.0,272,8502,0.15,2.15,0.00,0.000,6,0.199,0.035,2857,1941,2719,0,0,0,0,0,0
$GC,8769,0.80,136.7,316.0,14.4,279,8773,0.00,2.17,0.00,0.000,4,0.000,0.051,2856,3336,2719,0,0,0,0,0,0
$GC,8887,0.80,136.7,299.2,14.2,281,8891,0.00,2.12,0.00,0.000,6,0.000,0.031,2866,1923,2719,0,0,0,0,0,0
$GC,9145,0.80,136.7,264.7,13.1,294,9149,0.00,2.10,0.00,0.000,4,0.000,0.038,2877,514,2719,0,0,0,0,0,0
$GC,9174,0.80,136.7,260.8,14.3,295,9178,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1930,2717,0,0,0,0,0,0
$GC,9429,0.80,136.7,227.5,12.4,307,9433,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3332,2718,0,0,0,0,0,0
$GC,9507,0.80,136.7,217.2,12.0,310,9513,0.12,2.10,0.00,0.000,6,0.190,0.031,2857,1921,2718,0,0,0,0,0,0
$GC,9766,0.80,136.7,190.3,10.3,327,9770,0.00,2.10,0.00,0.000,4,0.000,0.037,2870,525,2718,0,0,0,0,0,0
$GC,9841,0.80,136.7,182.4,9.4,333,9849,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1931,2717,0,0,0,0,0,0
$GC,10107,0.80,136.7,158.4,9.2,358,10111,0.00,2.20,0.00,0.000,4,0.000,0.048,2866,3333,2717,0,0,0,0,0,0
$GC,10359,0.80,136.7,130.6,10.0,380,10366,0.00,2.12,0.00,0.000,6,0.000,0.030,2875,1927,2720,0,0,0,0,0,0
$GC,10627,0.85,179.7,111.1,6.8,405,10664,0.00,2.17,32.05,0.529,4,0.000,0.037,2886,529,2567,0,0,0,0,0,0
$GC,10722,0.86,187.5,104.4,8.2,413,10735,0.00,2.12,7.82,0.454,6,0.000,0.032,2889,1934,2535,0,0,0,0,0,0
$GC,10991,0.86,187.5,77.1,9.8,438,10995,0.00,2.15,0.00,0.000,4,0.000,0.038,2897,523,2534,0,0,0,0,0,0
$GC,11134,0.86,187.5,63.4,8.6,450,11142,0.00,2.15,0.00,0.000,6,0.000,0.031,2897,1932,2533,0,0,0,0,0,0
$GC,11400,0.86,187.5,40.4,9.4,475,11404,0.00,2.17,0.00,0.000,4,0.000,0.047,2897,3334,2534,0,0,0,0,0,0
$GC,11512,0.86,187.5,28.6,9.5,485,11520,0.10,2.12,0.00,0.000,6,0.170,0.030,2878,1933,2537,0,0,0,0,0,0
$GC,11783,0.86,187.5,4.2,9.6,534,11790,0.00,2.20,0.00,0.000,4,0.000,0.045,2878,3340,2537,0,0,0,0,0,0
$STATE,11797,end climb,SURFACE_DEPTH_REACHED
$STATE,11797,begin surface coast
$FINISH,1.8,1.022940
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11827,296.35,0.428,0,0,394,712.83
$SM_GC,1.09,0.00,0.00,296.35,0.000,0.000,0.428,42,1993,394,-7.96,-0.23,712.83
$IRIDIUM_FIX,2008.77,-15632.10,040213,111127
$TT8_MAMPS,0.059826
$HUMID,1078718055
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,26.50
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6337953792
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,41288269824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,36.311
$10V_AH,10.1,33.130
$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,19.900,125.300,269.425,296.350,0.000,147.329,161.773,622.242,24.250,0.000,12.931,1172.943,8563.587,663.606,2534.672,596.469,33.341,1393.431,0.000,1795.710,0.000,0.543,0.000
$DEVICE_MAMPS,246.974,62.894,1090.674,427.986,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.820,0.000,949.143,0.000,0.000,0.000,0.000,14420.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,14.337,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,26937,537
$CAP_FILE_SIZE,122655,0
$CFSIZE,260165632,187432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,164.2,1
$GPS,120811,210031,2014.854,-15628.316,38,1.8,38,9.8