version: 66.07
glider: 513
mission: 7
dive: 262
start: 8 14 111 10 39 23
data:
$ID,513
$MISSION,7
$DIVE,262
$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,-427138.56
$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,41
$R_STBD_OVSHOOT,58
$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,261
$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
$GPS1,140811,102725,2013.488,-15617.213,51,1.1,52,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.2
$GPS2,140811,103825,2013.401,-15617.304,9,1.1,14,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.049,0.234
$KALMAN_X,-132462.4,388.8,580.1,194855.0,-5575.4
$KALMAN_Y,-76417.5,675.5,577.1,100522.2,-9820.6
$MHEAD_RNG_PITCHd_Wd,38.6,4978,-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,-136.7,0.0,0.0,0,136,0.00,0.00,-106.93,0.000,2,0.000,0.000,39,2018,3570,0,0,0,0,0,0
$GC,141,-0.80,-136.7,3.2,-5.5,16,162,9.75,2.17,-5.12,0.000,4,0.246,0.064,2321,3391,3858,0,0,0,0,0,0
$GC,212,-0.80,-136.7,32.8,-35.4,28,217,0.00,2.15,0.00,0.000,6,0.000,0.040,2321,2003,3861,0,0,0,0,0,0
$GC,477,-0.80,-136.7,114.2,-27.2,52,481,0.00,2.20,0.00,0.000,4,0.000,0.051,2311,3391,3861,0,0,0,0,0,0
$GC,517,-0.80,-136.7,124.8,-24.6,55,522,0.10,2.15,0.00,0.000,6,0.184,0.034,2333,1977,3862,0,0,0,0,0,0
$GC,785,-0.80,-136.7,182.5,-20.0,79,789,0.00,2.08,0.00,0.000,4,0.000,0.040,2333,588,3859,0,0,0,0,0,0
$GC,836,-0.80,-136.7,193.7,-20.4,83,840,0.00,2.10,0.00,0.000,6,0.000,0.040,2325,1977,3861,0,0,0,0,0,0
$GC,1101,-0.80,-136.7,251.3,-21.3,97,1105,0.00,2.22,0.00,0.000,4,0.000,0.051,2313,3416,3862,0,0,0,0,0,0
$GC,1284,-0.80,-136.7,288.1,-19.0,105,1289,0.00,2.15,0.00,0.000,6,0.000,0.032,2313,2004,3860,0,0,0,0,0,0
$GC,1561,-0.80,-136.7,341.1,-19.1,114,1565,0.00,2.17,0.00,0.000,4,0.000,0.051,2302,3408,3862,0,0,0,0,0,0
$GC,1618,-0.80,-136.7,351.2,-18.2,115,1623,0.12,2.10,0.00,0.000,6,0.166,0.033,2334,2002,3863,0,0,0,0,0,0
$GC,1889,-0.80,-136.7,392.9,-15.3,122,1893,0.00,2.10,0.00,0.000,4,0.000,0.041,2335,593,3862,0,0,0,0,0,0
$GC,1939,-0.80,-136.7,400.4,-15.0,123,1943,0.00,2.12,0.00,0.000,6,0.000,0.041,2326,2002,3862,0,0,0,0,0,0
$GC,2218,-0.80,-136.7,444.4,-15.9,130,2222,0.00,2.20,0.00,0.000,4,0.000,0.051,2315,3405,3859,0,0,0,0,0,0
$GC,2268,-0.80,-136.7,453.0,-16.8,131,2272,0.00,2.10,0.00,0.000,6,0.000,0.032,2314,1997,3862,0,0,0,0,0,0
$GC,2546,-0.80,-136.7,498.7,-16.5,138,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1990,3857,0,0,0,0,0,0
$GC,2791,-0.80,-136.7,535.9,-15.0,144,2796,0.00,2.22,0.00,0.000,4,0.000,0.052,2300,3414,3854,0,0,0,0,0,0
$GC,2876,-0.80,-136.7,548.5,-14.2,146,2881,0.12,2.15,0.00,0.000,6,0.166,0.034,2336,1996,3854,0,0,0,0,0,0
$GC,3165,-0.80,-136.7,585.1,-12.7,153,3169,0.00,2.22,0.00,0.000,4,0.000,0.052,2327,3417,3850,0,0,0,0,0,0
$GC,3193,-0.80,-136.7,588.9,-13.3,153,3197,0.00,2.15,0.00,0.000,6,0.000,0.032,2327,1988,3850,0,0,0,0,0,0
$GC,3448,-0.80,-136.7,624.1,-13.9,160,3452,0.00,2.10,0.00,0.000,4,0.000,0.043,2327,594,3847,0,0,0,0,0,0
$GC,3498,-0.80,-136.7,631.3,-13.5,161,3502,0.00,2.15,0.00,0.000,6,0.000,0.044,2316,2003,3847,0,0,0,0,0,0
$GC,3778,-0.80,-136.7,671.1,-14.3,168,3782,0.00,2.20,0.00,0.000,4,0.000,0.054,2305,3409,3844,0,0,0,0,0,0
$GC,3811,-0.80,-136.7,676.3,-15.1,168,3817,0.12,2.15,0.00,0.000,6,0.170,0.036,2337,2002,3843,0,0,0,0,0,0
$GC,4061,-0.80,-136.7,706.9,-12.2,175,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1993,3841,0,0,0,0,0,0
$GC,4304,-0.80,-136.7,736.1,-11.9,181,4308,0.00,2.22,0.00,0.000,4,0.000,0.053,2328,3413,3837,0,0,0,0,0,0
$GC,4361,-0.80,-136.7,743.0,-12.4,182,4365,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,1991,3839,0,0,0,0,0,0
$GC,4627,-0.80,-136.7,775.9,-12.3,189,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1985,3835,0,0,0,0,0,0
$GC,4871,-0.80,-136.7,805.5,-12.1,195,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1985,3832,0,0,0,0,0,0
$GC,5116,-0.80,-136.7,834.6,-11.9,201,5120,0.00,2.25,0.00,0.000,4,0.000,0.053,2317,3414,3830,0,0,0,0,0,0
$GC,5206,-0.80,-136.7,845.2,-10.9,203,5210,0.00,2.15,0.00,0.000,6,0.000,0.035,2317,2001,3830,0,0,0,0,0,0
$GC,5483,-0.80,-136.7,878.2,-11.5,210,5487,0.00,2.12,0.00,0.000,4,0.000,0.044,2317,596,3827,0,0,0,0,0,0
$GC,5517,-0.80,-136.7,882.3,-12.9,210,5523,0.12,2.17,0.00,0.000,6,0.187,0.044,2337,1996,3827,0,0,0,0,0,0
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5683,begin apogee
$GC,5689,-0.28,0.0,901.4,11.3,215,5805,0.55,0.00,110.20,1.088,6,0.148,0.000,2502,1910,3299,0,0,0,0,0,0
$STATE,5808,end apogee,CONTROL_FINISHED_OK
$STATE,5808,begin climb
$GC,5810,0.80,136.7,904.6,0.0,218,5936,1.02,0.00,120.95,1.052,6,0.097,0.000,2843,1911,2742,0,0,0,0,0,0
$GC,6176,0.80,136.7,846.4,18.9,227,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1910,2731,0,0,0,0,0,0
$GC,6419,0.80,136.7,801.8,18.1,233,6423,0.00,2.30,0.00,0.000,4,0.000,0.054,2841,3338,2729,0,0,0,0,0,0
$GC,6460,0.80,136.7,794.3,18.6,234,6464,0.00,2.17,0.00,0.000,6,0.000,0.031,2850,1929,2730,0,0,0,0,0,0
$GC,6743,0.80,136.7,742.2,18.0,241,6747,0.00,2.15,0.00,0.000,4,0.000,0.040,2862,530,2727,0,0,0,0,0,0
$GC,6782,0.80,136.7,734.6,19.7,242,6787,0.00,2.15,0.00,0.000,6,0.000,0.036,2861,1941,2725,0,0,0,0,0,0
$GC,7067,0.80,136.7,682.2,18.6,249,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1944,2728,0,0,0,0,0,0
$GC,7309,0.80,136.7,637.1,18.2,255,7313,0.00,2.20,0.00,0.000,4,0.000,0.052,2862,3335,2724,0,0,0,0,0,0
$GC,7354,0.80,136.7,628.6,19.7,256,7358,0.00,2.15,0.00,0.000,6,0.000,0.032,2872,1923,2726,0,0,0,0,0,0
$GC,7637,0.80,136.7,576.8,18.4,263,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1919,2723,0,0,0,0,0,0
$GC,7882,0.80,136.7,533.4,17.8,269,7886,0.00,2.10,0.00,0.000,4,0.000,0.040,2883,529,2723,0,0,0,0,0,0
$GC,7943,0.80,136.7,522.2,17.9,270,7947,0.00,2.17,0.00,0.000,6,0.000,0.037,2883,1932,2720,0,0,0,0,0,0
$GC,8210,0.80,136.7,472.9,18.6,277,8214,0.00,2.20,0.00,0.000,4,0.000,0.051,2883,3334,2723,0,0,0,0,0,0
$GC,8300,0.80,136.7,454.3,22.1,279,8305,0.15,2.15,0.00,0.000,6,0.216,0.031,2860,1924,2721,0,0,0,0,0,0
$GC,8577,0.80,136.7,405.7,17.0,286,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1920,2719,0,0,0,0,0,0
$GC,8821,0.80,136.7,367.5,15.0,292,8825,0.00,2.12,0.00,0.000,4,0.000,0.040,2869,520,2719,0,0,0,0,0,0
$GC,8895,0.80,136.7,355.4,16.8,293,8899,0.00,2.15,0.00,0.000,6,0.000,0.035,2869,1940,2717,0,0,0,0,0,0
$GC,9150,0.80,136.7,315.8,14.7,300,9154,0.00,2.17,0.00,0.000,4,0.000,0.051,2868,3328,2717,0,0,0,0,0,0
$GC,9171,0.80,136.7,312.2,16.2,300,9175,0.00,2.10,0.00,0.000,6,0.000,0.031,2879,1928,2718,0,0,0,0,0,0
$GC,9436,0.80,136.7,276.1,12.2,311,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1925,2717,0,0,0,0,0,0
$GC,9682,0.80,136.7,244.3,11.6,323,9686,0.00,2.10,0.00,0.000,4,0.000,0.038,2891,525,2717,0,0,0,0,0,0
$GC,9710,0.80,136.7,240.9,11.8,324,9714,0.15,2.10,0.00,0.000,6,0.196,0.033,2855,1934,2716,0,0,0,0,0,0
$GC,9975,0.80,136.7,211.5,11.3,337,9979,0.00,2.12,0.00,0.000,4,0.000,0.038,2865,524,2716,0,0,0,0,0,0
$GC,10019,0.80,136.7,206.8,10.0,339,10023,0.00,2.10,0.00,0.000,6,0.000,0.033,2864,1928,2715,0,0,0,0,0,0
$GC,10281,0.80,136.7,178.6,11.0,360,10285,0.00,2.22,0.00,0.000,4,0.000,0.050,2864,3339,2716,0,0,0,0,0,0
$GC,10535,0.80,136.7,151.8,10.6,382,10543,0.00,2.15,0.00,0.000,6,0.000,0.030,2875,1927,2717,0,0,0,0,0,0
$GC,10801,0.80,136.7,125.3,9.2,407,10805,0.00,2.10,0.00,0.000,4,0.000,0.037,2886,528,2717,0,0,0,0,0,0
$GC,11030,0.80,136.7,101.5,10.0,427,11035,0.12,2.12,0.00,0.000,6,0.187,0.037,2855,1934,2717,0,0,0,0,0,0
$GC,11295,0.83,162.6,82.1,7.5,451,11320,0.00,2.17,18.48,0.486,4,0.000,0.049,2855,3336,2638,0,0,0,0,0,0
$GC,11424,0.83,162.6,70.7,11.3,462,11428,0.00,2.10,0.00,0.000,6,0.000,0.030,2864,1930,2638,0,0,0,0,0,0
$GC,11694,0.83,165.3,44.6,8.5,487,11708,0.00,2.15,4.30,0.341,4,0.000,0.038,2875,520,2622,0,0,0,0,0,0
$GC,11801,0.89,216.3,35.4,6.4,496,11851,0.00,2.10,41.47,0.464,6,0.000,0.031,2875,1939,2418,0,0,0,0,0,0
$GC,12102,0.89,216.3,3.9,12.8,545,12109,0.00,2.20,0.00,0.000,4,0.000,0.049,2875,3316,2415,0,0,0,0,0,0
$STATE,12115,end climb,SURFACE_DEPTH_REACHED
$STATE,12115,begin surface coast
$FINISH,0.2,1.010713
$STATE,12138,end surface coast,CONTROL_FINISHED_OK
$STATE,12138,begin surface
$SM_CCo,12160,40.70,0.432,0,0,2076,300.24
$SM_GC,1.56,0.00,0.00,40.70,0.000,0.000,0.432,54,1991,2076,-7.95,-0.25,300.24
$IRIDIUM_FIX,2006.47,-15619.74,060213,010127
$TT8_MAMPS,0.243906
$HUMID,1078880635
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.40
$XPDR_PINGS,89
$AR_DIVENUM,262
$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,23.9,37.861
$10V_AH,10.1,34.381
$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,20.225,120.675,295.400,40.700,0.000,28.566,32.180,376.439,22.250,0.000,16.173,1183.970,8497.772,430.672,2338.048,428.739,33.351,1239.869,0.000,1908.253,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,86.671,1088.373,431.821,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,375.777,0.000,968.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,26917,551
$CAP_FILE_SIZE,118918,0
$CFSIZE,260165632,186654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,212.2,1
$GPS,140811,140455,2013.442,-15616.652,62,1.2,62,9.8