version: 66.07
glider: 513
mission: 7
dive: 257
start: 8 13 111 15 52 35
data:
$ID,513
$MISSION,7
$DIVE,257
$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,-427059.41
$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,38
$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,256
$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
$GPS1,130811,153631,2013.088,-15622.907,54,0.9,54,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.0
$GPS2,130811,155137,2012.805,-15623.005,15,0.9,20,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.117
$KALMAN_X,-127651.3,588.3,41.6,180475.9,-8135.9
$KALMAN_Y,-63879.9,686.3,445.9,87010.8,-8340.8
$MHEAD_RNG_PITCHd_Wd,35.3,14490,-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,26,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-56.92,0.000,2,0.000,0.000,38,2009,3731,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.9,-6.7,9,112,9.68,2.28,-2.00,0.000,4,0.242,0.066,2323,3397,3857,0,0,0,0,0,0
$GC,137,-0.80,-136.7,27.5,-49.4,16,146,0.00,2.20,0.00,0.000,6,0.000,0.039,2325,2007,3860,0,0,0,0,0,0
$GC,402,-0.80,-136.7,109.3,-28.2,41,406,0.00,2.15,0.00,0.000,4,0.000,0.041,2325,573,3861,0,0,0,0,0,0
$GC,433,-0.80,-136.7,118.1,-27.3,43,438,0.00,2.17,0.00,0.000,6,0.000,0.041,2316,1999,3862,0,0,0,0,0,0
$GC,698,-0.80,-136.7,184.9,-24.4,67,702,0.00,2.22,0.00,0.000,4,0.000,0.053,2304,3407,3863,0,0,0,0,0,0
$GC,813,-0.80,-136.7,212.7,-22.6,74,818,0.12,2.15,0.00,0.000,6,0.176,0.032,2334,1985,3864,0,0,0,0,0,0
$GC,1067,-0.80,-136.7,261.7,-17.5,86,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1980,3865,0,0,0,0,0,0
$GC,1334,-0.80,-136.7,308.4,-16.8,98,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1980,3865,0,0,0,0,0,0
$GC,1579,-0.80,-136.7,349.3,-16.8,104,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1979,3866,0,0,0,0,0,0
$GC,1822,-0.80,-136.7,387.2,-15.7,110,1826,0.00,2.08,0.00,0.000,4,0.000,0.041,2335,589,3865,0,0,0,0,0,0
$GC,1922,-0.80,-136.7,402.8,-14.7,112,1926,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2002,3863,0,0,0,0,0,0
$GC,2196,-0.80,-136.7,442.1,-14.1,119,2200,0.00,2.20,0.00,0.000,4,0.000,0.050,2315,3408,3863,0,0,0,0,0,0
$GC,2291,-0.80,-136.7,456.0,-14.5,121,2295,0.00,2.12,0.00,0.000,6,0.000,0.034,2315,1992,3860,0,0,0,0,0,0
$GC,2563,-0.80,-136.7,497.9,-15.2,128,2567,0.00,2.10,0.00,0.000,4,0.000,0.042,2315,589,3860,0,0,0,0,0,0
$GC,2597,-0.80,-136.7,503.4,-17.2,128,2601,0.12,2.15,0.00,0.000,6,0.174,0.041,2337,2000,3861,0,0,0,0,0,0
$GC,2846,-0.80,-136.7,537.3,-13.3,134,2850,0.00,2.22,0.00,0.000,4,0.000,0.051,2328,3413,3858,0,0,0,0,0,0
$GC,2886,-0.80,-136.7,542.8,-13.2,135,2890,0.00,2.15,0.00,0.000,6,0.000,0.034,2327,2004,3857,0,0,0,0,0,0
$GC,3170,-0.80,-136.7,580.1,-13.2,142,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1997,3859,0,0,0,0,0,0
$GC,3412,-0.80,-136.7,611.4,-12.5,148,3416,0.00,2.20,0.00,0.000,4,0.000,0.052,2316,3406,3853,0,0,0,0,0,0
$GC,3485,-0.80,-136.7,620.0,-11.9,149,3489,0.00,2.12,0.00,0.000,6,0.000,0.035,2317,2002,3852,0,0,0,0,0,0
$GC,3736,-0.80,-136.7,650.1,-12.2,155,3740,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,585,3850,0,0,0,0,0,0
$GC,3757,-0.80,-136.7,653.3,-13.2,155,3762,0.12,2.15,0.00,0.000,6,0.177,0.043,2337,2000,3850,0,0,0,0,0,0
$GC,4012,-0.80,-136.7,679.6,-10.2,162,4016,0.00,2.25,0.00,0.000,4,0.000,0.054,2328,3416,3848,0,0,0,0,0,0
$GC,4108,-0.80,-136.7,689.9,-11.1,164,4113,0.00,2.15,0.00,0.000,6,0.000,0.034,2325,1991,3846,0,0,0,0,0,0
$GC,4386,-0.80,-136.7,722.2,-11.7,171,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1985,3848,0,0,0,0,0,0
$GC,4630,-0.80,-136.7,751.7,-12.2,177,4635,0.00,2.25,0.00,0.000,4,0.000,0.054,2318,3413,3842,0,0,0,0,0,0
$GC,4675,-0.80,-136.7,757.5,-13.2,178,4679,0.00,2.15,0.00,0.000,6,0.000,0.035,2323,2003,3841,0,0,0,0,0,0
$GC,4960,-0.80,-136.7,795.5,-13.4,185,4964,0.00,2.22,0.00,0.000,4,0.000,0.052,2307,3413,3839,0,0,0,0,0,0
$GC,4999,-0.80,-136.7,801.0,-13.2,186,5003,0.00,2.17,0.00,0.000,6,0.000,0.035,2307,2005,3839,0,0,0,0,0,0
$GC,5282,-0.80,-136.7,839.1,-13.5,193,5287,0.12,2.15,0.00,0.000,4,0.186,0.044,2338,587,3837,0,0,0,0,0,0
$GC,5344,-0.80,-136.7,846.8,-12.6,194,5348,0.00,2.17,0.00,0.000,6,0.000,0.041,2330,1999,3837,0,0,0,0,0,0
$GC,5605,-0.80,-136.7,878.1,-11.9,201,5609,0.00,2.22,0.00,0.000,4,0.000,0.054,2319,3409,3835,0,0,0,0,0,0
$GC,5661,-0.80,-136.7,885.4,-12.6,202,5665,0.00,2.17,0.00,0.000,6,0.000,0.035,2318,1981,3834,0,0,0,0,0,0
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5804,begin apogee
$GC,5809,-0.28,0.0,905.0,13.5,206,5927,0.62,0.00,111.00,1.097,6,0.150,0.000,2503,1975,3301,0,0,0,0,0,0
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5930,begin climb
$GC,5932,0.80,136.7,909.9,0.0,209,6058,1.02,0.00,120.85,1.060,6,0.099,0.000,2842,1975,2743,0,0,0,0,0,0
$GC,6300,0.80,136.7,854.8,18.7,218,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1975,2735,0,0,0,0,0,0
$GC,6541,0.80,136.7,807.9,19.4,224,6545,0.00,2.22,0.00,0.000,4,0.000,0.039,2854,517,2732,0,0,0,0,0,0
$GC,6607,0.80,136.7,793.8,20.9,225,6611,0.00,2.22,0.00,0.000,6,0.000,0.036,2850,1934,2727,0,0,0,0,0,0
$GC,6869,0.80,136.7,739.5,20.8,232,6873,0.00,2.25,0.00,0.000,4,0.000,0.054,2856,3343,2729,0,0,0,0,0,0
$GC,6936,0.80,136.7,724.6,21.2,233,6940,0.00,2.20,0.00,0.000,6,0.000,0.032,2864,1917,2729,0,0,0,0,0,0
$GC,7192,0.80,136.7,672.6,20.2,240,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1916,2728,0,0,0,0,0,0
$GC,7436,0.80,136.7,625.3,19.5,246,7440,0.00,2.25,0.00,0.000,4,0.000,0.051,2856,3340,2727,0,0,0,0,0,0
$GC,7452,0.80,136.7,621.6,19.9,246,7456,0.00,2.15,0.00,0.000,6,0.000,0.033,2865,1929,2727,0,0,0,0,0,0
$GC,7720,0.80,136.7,572.1,18.3,253,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1925,2726,0,0,0,0,0,0
$GC,7963,0.80,136.7,529.7,17.5,259,7967,0.00,2.22,0.00,0.000,4,0.000,0.049,2856,3340,2726,0,0,0,0,0,0
$GC,8054,0.80,136.7,512.9,18.0,261,8058,0.00,2.15,0.00,0.000,6,0.000,0.031,2865,1919,2726,0,0,0,0,0,0
$GC,8337,0.80,136.7,464.7,16.8,268,8341,0.00,2.10,0.00,0.000,4,0.000,0.041,2876,533,2725,0,0,0,0,0,0
$GC,8369,0.80,136.7,459.2,16.6,268,8376,0.00,2.15,0.00,0.000,6,0.000,0.035,2880,1950,2723,0,0,0,0,0,0
$GC,8620,0.80,136.7,414.3,17.8,275,8624,0.00,2.17,0.00,0.000,4,0.000,0.051,2877,3335,2723,0,0,0,0,0,0
$GC,8665,0.80,136.7,406.0,18.8,276,8669,0.12,2.12,0.00,0.000,6,0.209,0.033,2859,1925,2723,0,0,0,0,0,0
$GC,8948,0.80,136.7,361.1,15.3,283,8952,0.00,2.10,0.00,0.000,4,0.000,0.039,2868,522,2723,0,0,0,0,0,0
$GC,9038,0.80,136.7,347.6,15.2,285,9042,0.00,2.10,0.00,0.000,6,0.000,0.035,2866,1930,2721,0,0,0,0,0,0
$GC,9315,0.80,136.7,312.1,12.4,292,9319,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,526,2721,0,0,0,0,0,0
$GC,9383,0.80,136.7,303.4,14.0,293,9387,0.00,2.10,0.00,0.000,6,0.000,0.034,2874,1926,2720,0,0,0,0,0,0
$GC,9641,0.80,136.7,266.8,14.1,305,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1928,2721,0,0,0,0,0,0
$GC,9889,0.80,136.7,231.7,13.3,317,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1927,2720,0,0,0,0,0,0
$GC,10137,0.80,136.7,203.6,10.9,329,10141,0.00,2.20,0.00,0.000,4,0.000,0.049,2874,3337,2721,0,0,0,0,0,0
$GC,10305,0.80,136.7,184.9,10.5,342,10310,0.00,2.12,0.00,0.000,6,0.000,0.030,2880,1920,2721,0,0,0,0,0,0
$GC,10577,0.80,136.7,156.8,10.8,367,10581,0.00,2.20,0.00,0.000,4,0.000,0.047,2883,3338,2724,0,0,0,0,0,0
$GC,10618,0.80,136.7,151.5,12.2,370,10622,0.15,2.10,0.00,0.000,6,0.189,0.030,2857,1929,2722,0,0,0,0,0,0
$GC,10882,0.80,137.0,126.2,8.6,394,10886,0.00,2.20,0.00,0.000,4,0.000,0.047,2855,3337,2722,0,0,0,0,0,0
$GC,10948,0.80,137.0,119.9,10.3,399,10955,0.00,2.15,0.00,0.000,6,0.000,0.029,2864,1926,2722,0,0,0,0,0,0
$GC,11214,0.84,174.5,100.9,7.0,424,11251,0.00,2.15,28.80,0.518,4,0.000,0.037,2875,527,2586,0,0,0,0,0,0
$GC,11446,0.84,174.5,78.8,9.8,444,11455,0.00,2.15,0.00,0.000,6,0.000,0.033,2873,1931,2584,0,0,0,0,0,0
$GC,11715,0.88,208.7,56.6,7.1,469,11750,0.00,2.17,28.55,0.477,4,0.000,0.037,2886,525,2447,0,0,0,0,0,0
$GC,11844,0.88,208.7,42.8,11.6,480,11853,0.00,2.15,0.00,0.000,6,0.000,0.032,2887,1926,2445,0,0,0,0,0,0
$GC,12111,0.88,208.7,9.2,16.0,519,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1933,2443,0,0,0,0,0,0
$STATE,12160,end climb,SURFACE_DEPTH_REACHED
$STATE,12161,begin surface coast
$FINISH,0.3,1.011099
$STATE,12183,end surface coast,CONTROL_FINISHED_OK
$STATE,12184,begin surface
$SM_CCo,12204,42.95,0.434,0,0,2077,300.24
$SM_GC,1.69,0.00,0.00,42.95,0.000,0.000,0.434,53,2048,2077,-7.95,1.36,300.24
$IRIDIUM_FIX,2004.18,-15632.10,050213,101039
$TT8_MAMPS,0.243906
$HUMID,1078852248
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.80
$XPDR_PINGS,88
$AR_DIVENUM,257
$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,23.9,37.163
$10V_AH,10.1,33.790
$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,19.600,117.225,289.200,42.950,0.000,55.509,82.411,482.204,22.000,0.000,22.464,1163.114,8734.797,420.599,2404.122,447.771,33.353,1184.731,0.000,1810.622,0.000,0.543,0.000
$DEVICE_MAMPS,242.372,88.972,1096.810,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,363.488,0.000,899.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353744
$DATA_FILE_SIZE,26953,532
$CAP_FILE_SIZE,120473,0
$CFSIZE,260165632,187031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,207.2,1
$GPS,130811,191907,2013.638,-15621.887,77,1.3,77,9.8