version: 66.07
glider: 513
mission: 7
dive: 259
start: 8 13 111 23 23 37
data:
$ID,513
$MISSION,7
$DIVE,259
$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,-427083.66
$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,59
$R_STBD_OVSHOOT,61
$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,258
$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
$GPS1,130811,230131,2013.591,-15620.093,83,1.7,83,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.1
$GPS2,130811,232238,2013.281,-15620.180,9,1.7,9,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,0.220
$KALMAN_X,-131399.8,1056.7,881.7,187810.0,-8978.6
$KALMAN_Y,-66534.8,1035.7,152.4,90489.7,-7113.0
$MHEAD_RNG_PITCHd_Wd,49.1,9547,-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,-136.7,0.0,0.0,0,84,0.00,0.00,-55.00,0.000,2,0.000,0.000,35,2036,3646,0,0,0,0,0,0
$GC,89,-0.80,-136.7,3.3,-4.5,8,111,9.75,2.17,-3.70,0.000,4,0.244,0.063,2323,3384,3860,0,0,0,0,0,0
$GC,174,-0.80,-136.7,38.9,-29.0,20,182,0.00,2.15,0.00,0.000,6,0.000,0.035,2323,2010,3861,0,0,0,0,0,0
$GC,439,-0.80,-136.7,120.4,-27.5,45,442,0.00,2.12,0.00,0.000,4,0.000,0.041,2324,592,3863,0,0,0,0,0,0
$GC,469,-0.80,-136.7,128.2,-25.5,47,473,0.00,2.15,0.00,0.000,6,0.000,0.044,2313,1969,3863,0,0,0,0,0,0
$GC,733,-0.80,-136.7,196.3,-23.3,71,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,1969,3865,0,0,0,0,0,0
$GC,979,-0.80,-136.7,252.5,-21.6,84,983,0.10,2.22,0.00,0.000,4,0.202,0.050,2329,3411,3866,0,0,0,0,0,0
$GC,1153,-0.80,-136.7,284.8,-16.8,92,1157,0.00,2.12,0.00,0.000,6,0.000,0.031,2331,1981,3866,0,0,0,0,0,0
$GC,1416,-0.80,-136.7,329.2,-16.9,101,1420,0.00,2.08,0.00,0.000,4,0.000,0.043,2326,607,3868,0,0,0,0,0,0
$GC,1493,-0.80,-136.7,342.7,-16.7,102,1500,0.00,2.15,0.00,0.000,6,0.000,0.044,2315,2005,3866,0,0,0,0,0,0
$GC,1743,-0.80,-136.7,385.2,-17.0,109,1747,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3415,3866,0,0,0,0,0,0
$GC,1862,-0.80,-136.7,405.4,-16.5,111,1867,0.12,2.12,0.00,0.000,6,0.165,0.033,2337,2006,3865,0,0,0,0,0,0
$GC,2111,-0.80,-136.7,438.1,-12.6,117,2115,0.00,2.17,0.00,0.000,4,0.000,0.044,2337,586,3867,0,0,0,0,0,0
$GC,2139,-0.80,-136.7,441.8,-13.2,117,2143,0.00,2.20,0.00,0.000,6,0.000,0.044,2328,2027,3864,0,0,0,0,0,0
$GC,2395,-0.80,-136.7,474.6,-13.3,124,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2027,3862,0,0,0,0,0,0
$GC,2638,-0.80,-136.7,507.8,-13.6,130,2642,0.00,2.17,0.00,0.000,4,0.000,0.053,2318,3412,3859,0,0,0,0,0,0
$GC,2676,-0.80,-136.7,513.5,-14.3,130,2683,0.00,2.12,0.00,0.000,6,0.000,0.034,2317,2001,3859,0,0,0,0,0,0
$GC,2926,-0.80,-136.7,548.6,-14.1,137,2930,0.00,2.20,0.00,0.000,4,0.000,0.051,2306,3409,3857,0,0,0,0,0,0
$GC,3012,-0.80,-136.7,560.9,-14.3,139,3017,0.12,2.12,0.00,0.000,6,0.166,0.035,2338,2000,3856,0,0,0,0,0,0
$GC,3300,-0.80,-136.7,597.6,-12.8,146,3304,0.00,2.12,0.00,0.000,4,0.000,0.044,2338,599,3853,0,0,0,0,0,0
$GC,3323,-0.80,-136.7,600.6,-13.2,146,3327,0.00,2.15,0.00,0.000,6,0.000,0.045,2330,2001,3853,0,0,0,0,0,0
$GC,3579,-0.80,-136.7,634.3,-13.1,153,3583,0.00,2.20,0.00,0.000,4,0.000,0.054,2319,3406,3851,0,0,0,0,0,0
$GC,3673,-0.80,-136.7,647.5,-13.5,155,3677,0.00,2.12,0.00,0.000,6,0.000,0.036,2319,2002,3849,0,0,0,0,0,0
$GC,3952,-0.80,-136.7,685.8,-13.7,162,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1996,3847,0,0,0,0,0,0
$GC,4195,-0.80,-136.7,720.5,-14.3,168,4199,0.00,2.22,0.00,0.000,4,0.000,0.053,2308,3405,3842,0,0,0,0,0,0
$GC,4244,-0.80,-136.7,727.9,-14.4,169,4249,0.12,2.12,0.00,0.000,6,0.170,0.036,2339,2002,3843,0,0,0,0,0,0
$GC,4517,-0.80,-136.7,763.6,-13.0,176,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2000,3842,0,0,0,0,0,0
$GC,4760,-0.80,-136.7,795.4,-13.0,182,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1997,3839,0,0,0,0,0,0
$GC,5003,-0.80,-136.7,826.2,-12.4,188,5007,0.00,2.22,0.00,0.000,4,0.000,0.056,2326,3402,3837,0,0,0,0,0,0
$GC,5036,-0.80,-136.7,830.4,-12.7,188,5042,0.00,2.15,0.00,0.000,6,0.000,0.035,2331,2000,3837,0,0,0,0,0,0
$GC,5288,-0.80,-136.7,862.3,-12.8,195,5292,0.00,2.15,0.00,0.000,4,0.000,0.048,2330,592,3835,0,0,0,0,0,0
$GC,5320,-0.80,-136.7,867.1,-13.8,195,5326,0.00,2.20,0.00,0.000,6,0.000,0.048,2320,1995,3836,0,0,0,0,0,0
$GC,5570,-0.80,-136.7,898.4,-12.4,202,5574,0.00,2.25,0.00,0.000,4,0.000,0.055,2309,3414,3832,0,0,0,0,0,0
$STATE,5584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5584,begin apogee
$GC,5594,-0.28,0.0,900.7,12.3,202,5707,0.62,0.00,109.62,1.093,6,0.156,0.000,2495,1922,3302,0,0,0,0,0,0
$STATE,5730,end apogee,CONTROL_FINISHED_OK
$STATE,5730,begin climb
$GC,5732,0.80,136.7,904.8,0.0,205,5861,1.05,2.30,119.38,1.060,4,0.098,0.039,2856,513,2741,0,0,0,0,0,0
$GC,5907,0.80,136.7,881.6,21.3,209,5911,0.00,2.28,0.00,0.000,6,0.000,0.040,2850,1927,2734,0,0,0,0,0,0
$GC,6179,0.80,136.7,828.6,19.4,216,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1929,2729,0,0,0,0,0,0
$GC,6422,0.80,136.7,782.1,19.1,222,6426,0.00,2.30,0.00,0.000,4,0.000,0.058,2851,3339,2732,0,0,0,0,0,0
$GC,6475,0.80,136.7,772.1,19.2,223,6479,0.00,2.20,0.00,0.000,6,0.000,0.034,2860,1917,2730,0,0,0,0,0,0
$GC,6753,0.80,136.7,717.9,19.4,230,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1913,2728,0,0,0,0,0,0
$GC,6996,0.80,136.7,671.6,18.8,236,7000,0.00,2.15,0.00,0.000,4,0.000,0.044,2871,525,2727,0,0,0,0,0,0
$GC,7019,0.80,136.7,667.0,20.5,236,7024,0.00,2.17,0.00,0.000,6,0.000,0.040,2870,1941,2725,0,0,0,0,0,0
$GC,7275,0.80,136.7,618.5,18.7,243,7279,0.00,2.22,0.00,0.000,4,0.000,0.055,2870,3345,2722,0,0,0,0,0,0
$GC,7352,0.80,136.7,603.3,20.0,244,7358,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1926,2725,0,0,0,0,0,0
$GC,7604,0.80,136.7,557.0,18.3,251,7608,0.00,2.12,0.00,0.000,4,0.000,0.041,2891,516,2724,0,0,0,0,0,0
$GC,7648,0.80,136.7,548.5,18.6,252,7652,0.15,2.15,0.00,0.000,6,0.196,0.039,2853,1934,2722,0,0,0,0,0,0
$GC,7925,0.80,136.7,502.9,16.2,259,7929,0.00,2.22,0.00,0.000,4,0.000,0.053,2845,3339,2722,0,0,0,0,0,0
$GC,8005,0.80,136.7,489.4,17.5,260,8010,0.00,2.15,0.00,0.000,6,0.000,0.032,2854,1930,2722,0,0,0,0,0,0
$GC,8255,0.80,136.7,447.7,16.5,267,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1927,2722,0,0,0,0,0,0
$GC,8498,0.80,136.7,406.1,17.0,273,8502,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,526,2721,0,0,0,0,0,0
$GC,8593,0.80,136.7,390.3,17.0,275,8598,0.00,2.17,0.00,0.000,6,0.000,0.038,2865,1941,2719,0,0,0,0,0,0
$GC,8866,0.80,136.7,346.0,16.1,282,8870,0.00,2.17,0.00,0.000,4,0.000,0.038,2876,523,2720,0,0,0,0,0,0
$GC,8882,0.80,136.7,343.3,15.2,282,8885,0.00,2.17,0.00,0.000,6,0.000,0.039,2876,1938,2719,0,0,0,0,0,0
$GC,9150,0.80,136.7,302.6,14.9,289,9154,0.00,2.15,0.00,0.000,4,0.000,0.040,2885,524,2719,0,0,0,0,0,0
$GC,9261,0.80,136.7,286.4,15.4,293,9266,0.12,2.12,0.00,0.000,6,0.197,0.038,2858,1933,2718,0,0,0,0,0,0
$GC,9526,0.80,136.7,252.1,14.3,306,9530,0.00,2.17,0.00,0.000,4,0.000,0.043,2867,526,2718,0,0,0,0,0,0
$GC,9544,0.80,136.7,249.8,12.7,307,9548,0.00,2.15,0.00,0.000,6,0.000,0.038,2868,1939,2717,0,0,0,0,0,0
$GC,9809,0.80,136.7,216.4,11.6,320,9813,0.00,2.20,0.00,0.000,4,0.000,0.052,2867,3328,2718,0,0,0,0,0,0
$GC,9836,0.80,136.7,213.1,11.7,321,9840,0.00,2.15,0.00,0.000,6,0.000,0.031,2877,1925,2718,0,0,0,0,0,0
$GC,10103,0.80,136.7,182.0,10.8,341,10107,0.00,2.12,0.00,0.000,4,0.000,0.041,2889,515,2718,0,0,0,0,0,0
$GC,10167,0.80,136.7,174.3,11.4,346,10176,0.10,2.20,0.00,0.000,6,0.171,0.039,2860,1924,2717,0,0,0,0,0,0
$GC,10431,0.81,149.0,151.4,8.1,371,10444,0.00,2.20,7.32,0.499,4,0.000,0.050,2860,3341,2692,0,0,0,0,0,0
$GC,10491,0.81,149.0,145.8,10.2,376,10495,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1927,2692,0,0,0,0,0,0
$GC,10757,0.81,149.0,118.4,11.5,400,10760,0.00,2.10,0.00,0.000,4,0.000,0.040,2880,533,2693,0,0,0,0,0,0
$GC,10767,0.81,149.0,116.5,11.0,400,10775,0.00,2.17,0.00,0.000,6,0.000,0.038,2880,1934,2692,0,0,0,0,0,0
$GC,11032,0.83,164.6,93.0,7.9,425,11058,0.00,2.20,14.65,0.493,4,0.000,0.041,2891,528,2628,0,0,0,0,0,0
$GC,11248,0.83,164.6,71.9,10.6,444,11252,0.00,2.15,0.00,0.000,6,0.000,0.038,2890,1937,2630,0,0,0,0,0,0
$GC,11514,0.86,191.5,52.5,7.4,468,11542,0.00,2.15,23.17,0.469,4,0.000,0.038,2900,525,2521,0,0,0,0,0,0
$GC,11648,0.86,191.5,40.1,11.3,479,11655,0.00,2.17,0.00,0.000,6,0.000,0.035,2901,1929,2516,0,0,0,0,0,0
$GC,11915,0.86,191.5,7.8,12.3,520,11922,0.00,2.22,0.00,0.000,4,0.000,0.050,2901,3328,2518,0,0,0,0,0,0
$STATE,11960,end climb,SURFACE_DEPTH_REACHED
$STATE,11960,begin surface coast
$FINISH,0.1,1.023140
$STATE,11978,end surface coast,CONTROL_FINISHED_OK
$STATE,11978,begin surface
$SM_CCo,12011,49.15,0.434,0,0,2076,300.24
$SM_GC,1.60,0.00,0.00,49.15,0.000,0.000,0.434,47,1979,2076,-7.96,-0.59,300.24
$IRIDIUM_FIX,2004.18,-15619.74,050213,171756
$TT8_MAMPS,0.155701
$HUMID,1078863861
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,95
$AR_DIVENUM,259
$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,24.0,37.430
$10V_AH,10.1,33.975
$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,19.875,134.650,274.150,49.150,0.000,85.331,116.832,712.868,23.750,0.000,11.403,1161.162,8566.681,406.143,2714.027,493.338,33.382,1193.728,0.000,1838.728,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,62.894,1092.975,434.122,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,362.479,0.000,912.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,26867,531
$CAP_FILE_SIZE,129056,0
$CFSIZE,260165632,186875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,211.1,1
$GPS,140811,024731,2013.144,-15619.151,111,1.1,111,9.8