version: 66.07
glider: 513
mission: 7
dive: 256
start: 8 13 111 12 16 56
data:
$ID,513
$MISSION,7
$DIVE,256
$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,-427036.31
$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,44
$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,255
$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
$GPS1,130811,115936,2013.311,-15623.176,36,1.0,36,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.5
$GPS2,130811,121558,2012.921,-15623.133,17,2.9,36,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209,0.116
$KALMAN_X,-124272.6,511.6,538.5,176436.2,-7355.9
$KALMAN_Y,-61650.3,723.1,230.7,85171.8,-8064.5
$MHEAD_RNG_PITCHd_Wd,23.6,14646,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,83,0.00,0.00,-53.50,0.000,2,0.000,0.000,37,2004,3585,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.1,-4.3,8,110,9.73,2.22,-4.88,0.000,4,0.243,0.058,2322,3412,3859,0,0,0,0,0,0
$GC,129,-0.80,-136.7,20.7,-43.7,14,137,0.00,2.20,0.00,0.000,6,0.000,0.038,2325,2015,3861,0,0,0,0,0,0
$GC,396,-0.80,-136.7,106.1,-29.8,41,400,0.00,2.17,0.00,0.000,4,0.000,0.044,2325,593,3863,0,0,0,0,0,0
$GC,437,-0.80,-136.7,117.5,-26.4,44,441,0.00,2.15,0.00,0.000,6,0.000,0.045,2316,1989,3863,0,0,0,0,0,0
$GC,700,-0.80,-136.7,182.9,-25.1,68,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1993,3865,0,0,0,0,0,0
$GC,949,-0.80,-136.7,239.6,-21.5,84,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1989,3865,0,0,0,0,0,0
$GC,1195,-0.80,-136.7,287.3,-18.6,96,1199,0.00,2.20,0.00,0.000,4,0.000,0.051,2305,3418,3867,0,0,0,0,0,0
$GC,1255,-0.80,-136.7,298.7,-17.3,98,1263,0.12,2.12,0.00,0.000,6,0.175,0.032,2335,1991,3866,0,0,0,0,0,0
$GC,1527,-0.80,-136.7,340.5,-15.0,106,1531,0.00,2.10,0.00,0.000,4,0.000,0.044,2336,594,3865,0,0,0,0,0,0
$GC,1554,-0.80,-136.7,344.7,-14.4,106,1558,0.00,2.15,0.00,0.000,6,0.000,0.045,2327,2006,3870,0,0,0,0,0,0
$GC,1815,-0.80,-136.7,383.5,-15.1,113,1819,0.00,2.12,0.00,0.000,4,0.000,0.044,2327,601,3866,0,0,0,0,0,0
$GC,1871,-0.80,-136.7,392.3,-15.0,114,1875,0.00,2.15,0.00,0.000,6,0.000,0.045,2317,1997,3867,0,0,0,0,0,0
$GC,2137,-0.80,-136.7,435.5,-16.6,121,2141,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3415,3865,0,0,0,0,0,0
$GC,2203,-0.80,-136.7,446.4,-15.3,122,2207,0.00,2.15,0.00,0.000,6,0.000,0.033,2305,2009,3865,0,0,0,0,0,0
$GC,2465,-0.80,-136.7,491.3,-17.6,129,2467,0.12,0.00,0.00,0.000,6,0.183,0.000,2337,2002,3862,0,0,0,0,0,0
$GC,2708,-0.80,-136.7,524.5,-13.4,135,2712,0.00,2.22,0.00,0.000,4,0.000,0.054,2328,3419,3861,0,0,0,0,0,0
$GC,2792,-0.80,-136.7,535.8,-12.5,137,2796,0.00,2.15,0.00,0.000,6,0.000,0.032,2328,1996,3859,0,0,0,0,0,0
$GC,3081,-0.80,-136.7,575.0,-13.7,144,3085,0.00,2.22,0.00,0.000,4,0.000,0.054,2317,3415,3857,0,0,0,0,0,0
$GC,3109,-0.80,-136.7,579.2,-14.4,144,3113,0.00,2.17,0.00,0.000,6,0.000,0.035,2317,2005,3857,0,0,0,0,0,0
$GC,3364,-0.80,-136.7,612.8,-13.1,151,3368,0.00,2.12,0.00,0.000,4,0.000,0.044,2317,591,3857,0,0,0,0,0,0
$GC,3398,-0.80,-136.7,617.7,-14.8,151,3405,0.12,2.17,0.00,0.000,6,0.179,0.044,2337,2017,3853,0,0,0,0,0,0
$GC,3648,-0.80,-136.7,647.1,-11.6,158,3652,0.00,2.20,0.00,0.000,4,0.000,0.054,2328,3405,3852,0,0,0,0,0,0
$GC,3714,-0.80,-136.7,654.6,-10.7,159,3718,0.00,2.15,0.00,0.000,6,0.000,0.035,2330,2004,3851,0,0,0,0,0,0
$GC,3982,-0.80,-136.7,687.5,-12.5,166,3986,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3407,3848,0,0,0,0,0,0
$GC,4031,-0.80,-136.7,694.5,-13.2,167,4035,0.00,2.15,0.00,0.000,6,0.000,0.036,2318,1996,3848,0,0,0,0,0,0
$GC,4309,-0.80,-136.7,734.0,-14.2,174,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1990,3845,0,0,0,0,0,0
$GC,4554,-0.80,-136.7,767.7,-13.8,180,4558,0.00,2.22,0.00,0.000,4,0.000,0.055,2307,3397,3844,0,0,0,0,0,0
$GC,4586,-0.80,-136.7,772.8,-15.6,180,4593,0.12,2.12,0.00,0.000,6,0.172,0.035,2338,2005,3843,0,0,0,0,0,0
$GC,4837,-0.80,-136.7,805.4,-13.0,187,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1993,3842,0,0,0,0,0,0
$GC,5080,-0.80,-136.7,836.4,-12.6,193,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1993,3839,0,0,0,0,0,0
$GC,5325,-0.80,-136.7,867.2,-12.6,199,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1993,3837,0,0,0,0,0,0
$GC,5568,-0.80,-136.7,897.2,-12.2,205,5572,0.00,2.22,0.00,0.000,4,0.000,0.055,2330,3396,3836,0,0,0,0,0,0
$STATE,5587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5587,begin apogee
$GC,5596,-0.28,0.0,900.1,12.7,205,5710,0.55,0.00,111.40,1.088,6,0.147,0.000,2496,1921,3300,0,0,0,0,0,0
$STATE,5713,end apogee,CONTROL_FINISHED_OK
$STATE,5713,begin climb
$GC,5716,0.80,136.7,904.8,0.0,208,5843,1.05,0.00,119.90,1.055,6,0.098,0.000,2844,1920,2746,0,0,0,0,0,0
$GC,6082,0.80,136.7,849.7,18.5,217,6086,0.00,2.30,0.00,0.000,4,0.000,0.053,2844,3333,2733,0,0,0,0,0,0
$GC,6104,0.80,136.7,845.4,20.0,217,6108,0.00,2.20,0.00,0.000,6,0.000,0.032,2854,1912,2733,0,0,0,0,0,0
$GC,6359,0.80,136.7,798.4,18.0,224,6363,0.00,2.10,0.00,0.000,4,0.000,0.039,2866,530,2730,0,0,0,0,0,0
$GC,6386,0.80,136.7,793.1,19.0,224,6390,0.00,2.12,0.00,0.000,6,0.000,0.036,2865,1926,2728,0,0,0,0,0,0
$GC,6637,0.80,136.7,744.8,19.3,230,6641,0.00,2.25,0.00,0.000,4,0.000,0.051,2865,3335,2728,0,0,0,0,0,0
$GC,6686,0.80,136.7,734.4,20.2,231,6690,0.00,2.15,0.00,0.000,6,0.000,0.031,2876,1922,2728,0,0,0,0,0,0
$GC,6964,0.80,136.7,680.1,19.9,238,6968,0.00,2.25,0.00,0.000,4,0.000,0.051,2874,3340,2727,0,0,0,0,0,0
$GC,7010,0.80,136.7,670.9,20.7,239,7014,0.00,2.15,0.00,0.000,6,0.000,0.032,2879,1928,2727,0,0,0,0,0,0
$GC,7287,0.80,136.7,614.9,20.1,246,7292,0.12,2.12,0.00,0.000,4,0.212,0.039,2865,515,2726,0,0,0,0,0,0
$GC,7314,0.80,136.7,609.1,20.8,246,7318,0.00,2.12,0.00,0.000,6,0.000,0.035,2865,1932,2724,0,0,0,0,0,0
$GC,7571,0.80,136.7,559.7,19.0,253,7575,0.00,2.25,0.00,0.000,4,0.000,0.052,2865,3341,2724,0,0,0,0,0,0
$GC,7627,0.80,136.7,548.1,19.4,254,7631,0.00,2.15,0.00,0.000,6,0.000,0.033,2876,1923,2724,0,0,0,0,0,0
$GC,7899,0.80,136.7,498.8,18.1,261,7903,0.00,2.25,0.00,0.000,4,0.000,0.050,2875,3333,2723,0,0,0,0,0,0
$GC,7926,0.80,136.7,493.6,18.7,261,7930,0.12,2.15,0.00,0.000,6,0.211,0.032,2856,1915,2723,0,0,0,0,0,0
$GC,8188,0.80,136.7,452.0,15.7,268,8192,0.00,2.08,0.00,0.000,4,0.000,0.040,2866,524,2722,0,0,0,0,0,0
$GC,8232,0.80,136.7,444.6,16.0,269,8236,0.00,2.10,0.00,0.000,6,0.000,0.035,2854,1933,2721,0,0,0,0,0,0
$GC,8515,0.80,136.7,401.7,14.6,276,8519,0.00,2.20,0.00,0.000,4,0.000,0.051,2847,3328,2721,0,0,0,0,0,0
$GC,8647,0.80,136.7,382.3,15.5,279,8651,0.00,2.15,0.00,0.000,6,0.000,0.031,2856,1917,2721,0,0,0,0,0,0
$GC,8930,0.80,136.7,341.4,14.6,286,8934,0.00,2.08,0.00,0.000,4,0.000,0.039,2868,531,2721,0,0,0,0,0,0
$GC,9181,0.80,136.7,306.4,12.5,291,9185,0.00,2.10,0.00,0.000,6,0.000,0.034,2859,1935,2718,0,0,0,0,0,0
$GC,9434,0.80,136.7,273.2,14.0,301,9438,0.00,2.22,0.00,0.000,4,0.000,0.051,2859,3338,2719,0,0,0,0,0,0
$GC,9535,0.80,136.7,260.0,13.1,305,9541,0.00,2.12,0.00,0.000,6,0.000,0.030,2868,1925,2719,0,0,0,0,0,0
$GC,9789,0.80,136.7,226.0,11.9,318,9792,0.00,2.12,0.00,0.000,4,0.000,0.039,2879,514,2720,0,0,0,0,0,0
$GC,9857,0.80,136.7,217.6,12.8,321,9861,0.00,2.12,0.00,0.000,6,0.000,0.032,2885,1940,2721,0,0,0,0,0,0
$GC,10122,0.80,136.7,185.9,12.8,339,10126,0.00,2.20,0.00,0.000,4,0.000,0.050,2879,3331,2716,0,0,0,0,0,0
$GC,10297,0.80,136.7,163.0,12.5,354,10301,0.12,2.10,0.00,0.000,6,0.200,0.031,2860,1928,2719,0,0,0,0,0,0
$GC,10559,0.80,136.7,135.9,9.1,378,10563,0.00,2.20,0.00,0.000,4,0.000,0.046,2849,3343,2719,0,0,0,0,0,0
$GC,10803,0.80,136.7,110.1,12.1,399,10811,0.00,2.15,0.00,0.000,6,0.000,0.028,2864,1934,2720,0,0,0,0,0,0
$GC,11070,0.80,139.4,86.9,8.5,424,11074,0.00,2.10,0.00,0.000,4,0.000,0.038,2869,522,2721,0,0,0,0,0,0
$GC,11321,0.95,265.6,68.9,3.2,446,11430,0.05,2.12,98.95,0.503,6,0.084,0.032,2900,1932,2217,0,0,0,0,0,0
$GC,11687,0.95,265.6,21.9,17.0,484,11695,0.00,2.17,0.00,0.000,4,0.000,0.037,2911,526,2211,0,0,0,0,0,0
$STATE,11800,end climb,SURFACE_DEPTH_REACHED
$STATE,11801,begin surface coast
$FINISH,0.3,1.023144
$STATE,11822,end surface coast,CONTROL_FINISHED_OK
$STATE,11822,begin surface
$SM_CCo,11844,16.45,0.424,0,0,2074,300.24
$SM_GC,1.62,0.00,0.00,16.45,0.000,0.000,0.424,54,2006,2074,-7.95,0.20,300.24
$IRIDIUM_FIX,2006.47,-15623.95,050213,060638
$TT8_MAMPS,0.248508
$HUMID,1078920635
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.90
$XPDR_PINGS,88
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260916224
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,40570552320
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,37.041
$10V_AH,10.1,33.700
$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,19.825,125.850,330.250,16.450,0.000,48.148,78.395,536.027,22.000,0.000,39.506,1120.546,8432.926,389.026,2475.072,436.195,33.347,1189.169,0.000,1803.180,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,58.292,1087.606,424.151,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,346.175,0.000,837.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,26838,507
$CAP_FILE_SIZE,122172,0
$CFSIZE,260165632,187101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,213.4,1
$GPS,130811,153631,2013.088,-15622.907,54,0.9,54,9.8