version: 66.07
glider: 513
mission: 7
dive: 255
start: 8 13 111 8 37 29
data:
$ID,513
$MISSION,7
$DIVE,255
$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,-426996.19
$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,39
$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,254
$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
$GPS1,130811,082437,2013.785,-15624.615,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.2
$GPS2,130811,083632,2013.645,-15624.587,10,1.9,10,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.218,0.099
$KALMAN_X,-123422.4,687.8,771.3,172647.8,-8840.9
$KALMAN_Y,-59781.9,906.5,938.9,83741.7,-9105.1
$MHEAD_RNG_PITCHd_Wd,47.7,16845,-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,-136.7,0.0,0.0,0,88,0.00,0.00,-57.40,0.000,2,0.000,0.000,38,2003,3731,0,0,0,0,0,0
$GC,92,-0.80,-136.7,3.9,-6.5,9,114,9.65,2.28,-2.12,0.000,4,0.244,0.067,2318,3393,3861,0,0,0,0,0,0
$GC,154,-0.80,-136.7,32.9,-37.5,19,159,0.00,2.15,0.00,0.000,6,0.000,0.043,2324,2005,3864,0,0,0,0,0,0
$GC,419,-0.80,-136.7,114.9,-28.0,43,423,0.00,2.17,0.00,0.000,4,0.000,0.046,2319,585,3865,0,0,0,0,0,0
$GC,514,-0.80,-136.7,143.0,-27.0,51,519,0.10,2.17,0.00,0.000,6,0.192,0.044,2334,2001,3866,0,0,0,0,0,0
$GC,788,-0.80,-136.7,204.9,-20.8,75,792,0.00,2.22,0.00,0.000,4,0.000,0.052,2324,3410,3865,0,0,0,0,0,0
$GC,851,-0.80,-136.7,218.6,-20.6,78,855,0.00,2.17,0.00,0.000,6,0.000,0.033,2325,1984,3867,0,0,0,0,0,0
$GC,1117,-0.80,-136.7,269.6,-17.5,91,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1979,3868,0,0,0,0,0,0
$GC,1363,-0.80,-136.7,309.2,-15.6,102,1367,0.00,2.25,0.00,0.000,4,0.000,0.051,2315,3410,3869,0,0,0,0,0,0
$GC,1457,-0.80,-136.7,324.8,-16.5,104,1461,0.00,2.15,0.00,0.000,6,0.000,0.033,2311,1997,3869,0,0,0,0,0,0
$GC,1737,-0.80,-136.7,372.5,-17.4,111,1741,0.00,2.10,0.00,0.000,4,0.000,0.044,2316,595,3869,0,0,0,0,0,0
$GC,1792,-0.80,-136.7,383.3,-18.6,112,1797,0.12,2.15,0.00,0.000,6,0.173,0.043,2337,2004,3869,0,0,0,0,0,0
$GC,2059,-0.80,-136.7,427.7,-17.6,119,2063,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3414,3868,0,0,0,0,0,0
$GC,2194,-0.80,-136.7,449.9,-16.7,122,2198,0.00,2.15,0.00,0.000,6,0.000,0.032,2328,1985,3867,0,0,0,0,0,0
$GC,2472,-0.80,-136.7,492.3,-14.6,129,2476,0.00,2.25,0.00,0.000,4,0.000,0.052,2317,3405,3863,0,0,0,0,0,0
$GC,2550,-0.80,-136.7,502.9,-12.4,130,2556,0.00,2.12,0.00,0.000,6,0.000,0.033,2317,1989,3864,0,0,0,0,0,0
$GC,2801,-0.80,-136.7,535.5,-13.2,137,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1984,3862,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,567.9,-13.1,143,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1985,3860,0,0,0,0,0,0
$GC,3288,-0.80,-136.7,600.3,-13.5,149,3292,0.00,2.28,0.00,0.000,4,0.000,0.054,2306,3414,3858,0,0,0,0,0,0
$GC,3322,-0.80,-136.7,604.9,-14.6,149,3328,0.12,2.15,0.00,0.000,6,0.170,0.035,2338,2009,3860,0,0,0,0,0,0
$GC,3571,-0.80,-136.7,634.0,-11.6,156,3575,0.00,2.22,0.00,0.000,4,0.000,0.054,2326,3414,3855,0,0,0,0,0,0
$GC,3615,-0.80,-136.7,639.2,-11.8,157,3619,0.00,2.15,0.00,0.000,6,0.000,0.033,2330,1984,3855,0,0,0,0,0,0
$GC,3900,-0.80,-136.7,672.6,-11.7,164,3904,0.00,2.12,0.00,0.000,4,0.000,0.045,2329,593,3850,0,0,0,0,0,0
$GC,3922,-0.80,-136.7,675.5,-12.1,164,3926,0.00,2.15,0.00,0.000,6,0.000,0.044,2319,2001,3852,0,0,0,0,0,0
$GC,4183,-0.80,-136.7,708.1,-12.7,171,4187,0.00,2.25,0.00,0.000,4,0.000,0.054,2308,3412,3850,0,0,0,0,0,0
$GC,4262,-0.80,-136.7,718.5,-12.5,172,4267,0.12,2.15,0.00,0.000,6,0.165,0.036,2340,2008,3849,0,0,0,0,0,0
$GC,4512,-0.80,-136.7,747.8,-11.9,178,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2002,3845,0,0,0,0,0,0
$GC,4756,-0.80,-136.7,777.4,-12.2,184,4760,0.00,2.22,0.00,0.000,4,0.000,0.056,2331,3404,3844,0,0,0,0,0,0
$GC,4823,-0.80,-136.7,785.7,-11.6,185,4828,0.00,2.17,0.00,0.000,6,0.000,0.035,2331,1984,3844,0,0,0,0,0,0
$GC,5084,-0.80,-136.7,817.4,-12.1,192,5088,0.00,2.25,0.00,0.000,4,0.000,0.053,2321,3406,3842,0,0,0,0,0,0
$GC,5151,-0.80,-136.7,825.9,-12.4,193,5155,0.00,2.15,0.00,0.000,6,0.000,0.035,2320,1998,3841,0,0,0,0,0,0
$GC,5408,-0.80,-136.7,858.5,-13.0,200,5412,0.00,2.25,0.00,0.000,4,0.000,0.054,2309,3411,3840,0,0,0,0,0,0
$GC,5440,-0.80,-136.7,863.2,-13.5,200,5447,0.12,2.17,0.00,0.000,6,0.170,0.035,2340,2000,3839,0,0,0,0,0,0
$GC,5690,-0.80,-136.7,892.7,-11.8,207,5694,0.00,2.28,0.00,0.000,4,0.000,0.054,2331,3413,3838,0,0,0,0,0,0
$GC,5731,-0.80,-136.7,897.4,-11.6,208,5735,0.00,2.17,0.00,0.000,6,0.000,0.035,2332,2000,3839,0,0,0,0,0,0
$STATE,5750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5750,begin apogee
$GC,5756,-0.28,0.0,900.3,12.3,208,5870,0.55,0.00,110.62,1.091,6,0.146,0.000,2498,1931,3304,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5873,begin climb
$GC,5875,0.80,136.7,904.1,0.0,211,6000,1.08,0.00,121.28,1.058,6,0.097,0.000,2850,1931,2742,0,0,0,0,0,0
$GC,6217,0.80,136.7,849.3,20.0,220,6221,0.00,2.30,0.00,0.000,4,0.000,0.052,2850,3338,2733,0,0,0,0,0,0
$GC,6267,0.80,136.7,838.4,21.0,221,6271,0.00,2.22,0.00,0.000,6,0.000,0.031,2861,1916,2733,0,0,0,0,0,0
$GC,6545,0.80,136.7,780.6,20.9,228,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1914,2730,0,0,0,0,0,0
$GC,6790,0.80,136.7,731.1,20.2,234,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1914,2728,0,0,0,0,0,0
$GC,7032,0.80,136.7,683.5,19.2,240,7036,0.00,2.10,0.00,0.000,4,0.000,0.040,2872,528,2728,0,0,0,0,0,0
$GC,7059,0.80,136.7,677.9,21.1,240,7063,0.00,2.15,0.00,0.000,6,0.000,0.036,2872,1938,2726,0,0,0,0,0,0
$GC,7314,0.80,136.7,629.1,18.5,247,7318,0.00,2.25,0.00,0.000,4,0.000,0.054,2872,3332,2723,0,0,0,0,0,0
$GC,7355,0.80,136.7,621.4,19.5,248,7359,0.00,2.15,0.00,0.000,6,0.000,0.033,2883,1918,2726,0,0,0,0,0,0
$GC,7639,0.80,136.7,565.5,19.6,255,7643,0.00,2.08,0.00,0.000,4,0.000,0.039,2894,528,2725,0,0,0,0,0,0
$GC,7683,0.80,136.7,556.5,19.8,256,7688,0.15,2.12,0.00,0.000,6,0.198,0.035,2859,1932,2723,0,0,0,0,0,0
$GC,7962,0.80,136.7,508.9,16.7,263,7965,0.00,2.12,0.00,0.000,4,0.000,0.040,2868,518,2720,0,0,0,0,0,0
$GC,7994,0.80,136.7,502.9,17.9,263,8000,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1929,2722,0,0,0,0,0,0
$GC,8244,0.80,136.7,461.8,16.2,270,8248,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3327,2722,0,0,0,0,0,0
$GC,8336,0.80,136.7,447.1,17.1,272,8340,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1919,2722,0,0,0,0,0,0
$GC,8619,0.80,136.7,397.9,16.6,279,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1915,2722,0,0,0,0,0,0
$GC,8863,0.80,136.7,357.8,15.9,285,8867,0.00,2.10,0.00,0.000,4,0.000,0.040,2889,534,2724,0,0,0,0,0,0
$GC,8905,0.80,136.7,350.9,18.3,286,8909,0.15,2.12,0.00,0.000,6,0.192,0.035,2853,1932,2720,0,0,0,0,0,0
$GC,9188,0.80,136.7,312.1,13.2,293,9192,0.00,2.22,0.00,0.000,4,0.000,0.051,2853,3339,2719,0,0,0,0,0,0
$GC,9272,0.80,136.7,299.9,15.5,295,9276,0.00,2.12,0.00,0.000,6,0.000,0.031,2862,1930,2720,0,0,0,0,0,0
$GC,9538,0.80,136.7,265.1,12.4,308,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1927,2720,0,0,0,0,0,0
$GC,9784,0.80,136.7,235.3,11.1,320,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1927,2719,0,0,0,0,0,0
$GC,10032,0.80,136.7,210.1,9.4,332,10036,0.00,2.12,0.00,0.000,4,0.000,0.038,2873,522,2720,0,0,0,0,0,0
$GC,10082,0.80,136.7,205.0,9.9,334,10087,0.00,2.10,0.00,0.000,6,0.000,0.032,2873,1938,2718,0,0,0,0,0,0
$GC,10352,0.80,136.7,176.7,9.9,357,10356,0.00,2.17,0.00,0.000,4,0.000,0.049,2873,3323,2719,0,0,0,0,0,0
$GC,10437,0.80,136.7,166.6,13.1,364,10442,0.12,2.10,0.00,0.000,6,0.194,0.029,2856,1915,2720,0,0,0,0,0,0
$GC,10702,0.80,136.7,138.8,9.5,388,10706,0.00,2.08,0.00,0.000,4,0.000,0.038,2864,527,2720,0,0,0,0,0,0
$GC,10744,0.81,147.8,135.2,8.1,391,10758,0.00,2.10,6.55,0.466,6,0.000,0.032,2861,1930,2697,0,0,0,0,0,0
$GC,11013,0.82,154.8,114.1,8.3,416,11027,0.00,2.17,7.65,0.469,4,0.000,0.047,2864,3326,2668,0,0,0,0,0,0
$GC,11055,0.82,154.8,109.9,9.3,419,11063,0.00,2.12,0.00,0.000,6,0.000,0.030,2874,1932,2670,0,0,0,0,0,0
$GC,11322,0.92,238.4,92.2,5.0,444,11396,0.00,2.20,67.93,0.515,4,0.000,0.038,2886,527,2327,0,0,0,0,0,0
$GC,11591,0.92,238.4,61.7,16.9,468,11595,0.00,2.12,0.00,0.000,6,0.000,0.032,2882,1927,2320,0,0,0,0,0,0
$GC,11855,0.92,238.4,20.0,15.2,497,11863,0.00,2.15,0.00,0.000,4,0.000,0.040,2896,538,2322,0,0,0,0,0,0
$GC,11915,0.92,238.4,11.0,14.5,507,11922,0.00,2.10,0.00,0.000,6,0.000,0.028,2896,1928,2322,0,0,0,0,0,0
$STATE,11965,end climb,SURFACE_DEPTH_REACHED
$STATE,11965,begin surface coast
$FINISH,0.2,1.021292
$STATE,11983,end surface coast,CONTROL_FINISHED_OK
$STATE,11983,begin surface
$SM_CCo,12003,27.77,0.430,0,0,2075,300.24
$SM_GC,1.25,0.00,0.00,27.77,0.000,0.000,0.430,59,2002,2075,-7.95,0.06,300.24
$IRIDIUM_FIX,2006.47,-15624.87,040213,232319
$TT8_MAMPS,0.26845
$HUMID,1078897410
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.60
$XPDR_PINGS,98
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260948992
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,40718827520
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,36.913
$10V_AH,10.1,33.613
$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,19.750,126.025,314.025,27.775,0.000,27.241,34.681,436.401,24.500,0.000,12.152,1145.397,8545.153,426.636,2212.356,424.915,33.346,1179.698,0.000,1735.114,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,118.885,1091.441,429.520,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,354.349,0.000,843.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,26917,519
$CAP_FILE_SIZE,120158,0
$CFSIZE,260165632,187174912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,181.0,1
$GPS,130811,115936,2013.311,-15623.176,36,1.0,36,9.8