version: 66.07
glider: 513
mission: 7
dive: 263
start: 8 14 111 14 24 41
data:
$ID,513
$MISSION,7
$DIVE,263
$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,-427153.91
$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,37
$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,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
$GPS1,140811,140455,2013.442,-15616.652,62,1.2,62,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.9
$GPS2,140811,142344,2013.189,-15616.773,12,1.7,12,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.089,0.222
$KALMAN_X,-129952.0,297.1,921.5,193011.2,-2581.0
$KALMAN_Y,-81232.7,1281.0,-22.1,104951.4,-10883.1
$MHEAD_RNG_PITCHd_Wd,25.9,4555,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.80,-136.7,0.0,0.0,0,88,0.00,0.00,-56.47,0.000,2,0.000,0.000,36,1991,3715,0,0,0,0,0,0
$GC,92,-0.80,-136.7,3.7,-5.7,8,114,9.90,2.28,-2.47,0.000,4,0.249,0.065,2320,3399,3861,0,0,0,0,0,0
$GC,287,-0.80,-136.7,73.1,-28.3,30,291,0.00,2.15,0.00,0.000,6,0.000,0.037,2319,1994,3864,0,0,0,0,0,0
$GC,551,-0.80,-136.7,146.5,-25.1,54,555,0.00,2.12,0.00,0.000,4,0.000,0.044,2319,585,3863,0,0,0,0,0,0
$GC,571,-0.80,-136.7,152.5,-23.8,55,581,0.08,2.17,0.00,0.000,6,0.173,0.041,2336,1984,3865,0,0,0,0,0,0
$GC,833,-0.80,-136.7,209.9,-20.6,78,837,0.00,2.22,0.00,0.000,4,0.000,0.053,2322,3416,3866,0,0,0,0,0,0
$GC,957,-0.80,-136.7,234.0,-17.6,83,963,0.00,2.12,0.00,0.000,6,0.000,0.032,2322,1994,3866,0,0,0,0,0,0
$GC,1211,-0.80,-136.7,284.4,-21.4,96,1215,0.00,2.10,0.00,0.000,4,0.000,0.041,2322,595,3866,0,0,0,0,0,0
$GC,1250,-0.80,-136.7,292.4,-19.9,98,1254,0.00,2.15,0.00,0.000,6,0.000,0.042,2312,2004,3867,0,0,0,0,0,0
$GC,1512,-0.80,-136.7,343.9,-20.2,106,1516,0.00,2.17,0.00,0.000,4,0.000,0.053,2301,3405,3867,0,0,0,0,0,0
$GC,1589,-0.80,-136.7,357.5,-15.8,107,1597,0.15,2.12,0.00,0.000,6,0.163,0.032,2342,1990,3867,0,0,0,0,0,0
$GC,1840,-0.80,-136.7,394.4,-14.6,114,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1984,3866,0,0,0,0,0,0
$GC,2083,-0.80,-136.7,428.4,-13.9,120,2087,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,591,3865,0,0,0,0,0,0
$GC,2122,-0.80,-136.7,433.7,-13.0,120,2128,0.00,2.12,0.00,0.000,6,0.000,0.041,2332,1996,3865,0,0,0,0,0,0
$GC,2372,-0.80,-136.7,466.8,-13.5,127,2376,0.00,2.22,0.00,0.000,4,0.000,0.052,2321,3415,3866,0,0,0,0,0,0
$GC,2439,-0.80,-136.7,476.1,-13.5,128,2443,0.00,2.12,0.00,0.000,6,0.000,0.033,2321,1992,3862,0,0,0,0,0,0
$GC,2694,-0.80,-136.7,513.1,-14.6,135,2698,0.00,2.22,0.00,0.000,4,0.000,0.054,2310,3410,3860,0,0,0,0,0,0
$GC,2744,-0.80,-136.7,520.3,-13.1,136,2748,0.00,2.15,0.00,0.000,6,0.000,0.035,2310,1996,3858,0,0,0,0,0,0
$GC,3024,-0.80,-136.7,559.3,-14.4,143,3028,0.10,2.12,0.00,0.000,4,0.195,0.044,2334,601,3857,0,0,0,0,0,0
$GC,3073,-0.80,-136.7,566.5,-13.8,144,3077,0.00,2.15,0.00,0.000,6,0.000,0.044,2326,2012,3857,0,0,0,0,0,0
$GC,3351,-0.80,-136.7,603.9,-13.5,151,3355,0.00,2.17,0.00,0.000,4,0.000,0.054,2315,3402,3853,0,0,0,0,0,0
$GC,3446,-0.80,-136.7,616.5,-13.0,153,3450,0.00,2.10,0.00,0.000,6,0.000,0.034,2314,2002,3852,0,0,0,0,0,0
$GC,3718,-0.80,-136.7,653.2,-13.7,160,3722,0.00,2.22,0.00,0.000,4,0.000,0.054,2303,3403,3850,0,0,0,0,0,0
$GC,3768,-0.80,-136.7,660.4,-13.7,161,3772,0.12,2.12,0.00,0.000,6,0.171,0.034,2335,1996,3850,0,0,0,0,0,0
$GC,4048,-0.80,-136.7,693.5,-11.8,168,4052,0.00,2.25,0.00,0.000,4,0.000,0.054,2327,3403,3847,0,0,0,0,0,0
$GC,4081,-0.80,-136.7,698.0,-12.9,168,4086,0.00,2.12,0.00,0.000,6,0.000,0.035,2327,1998,3847,0,0,0,0,0,0
$GC,4331,-0.80,-136.7,728.6,-12.2,175,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1991,3844,0,0,0,0,0,0
$GC,4575,-0.80,-136.7,758.5,-12.1,181,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1991,3843,0,0,0,0,0,0
$GC,4818,-0.80,-136.7,788.5,-12.3,187,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1991,3842,0,0,0,0,0,0
$GC,5062,-0.80,-136.7,819.1,-12.7,193,5066,0.00,2.25,0.00,0.000,4,0.000,0.055,2316,3405,3838,0,0,0,0,0,0
$GC,5158,-0.80,-136.7,831.6,-12.8,195,5162,0.00,2.15,0.00,0.000,6,0.000,0.036,2316,1999,3838,0,0,0,0,0,0
$GC,5435,-0.80,-136.7,867.4,-12.7,202,5439,0.00,2.25,0.00,0.000,4,0.000,0.054,2305,3402,3835,0,0,0,0,0,0
$GC,5457,-0.80,-136.7,870.3,-13.1,202,5462,0.12,2.15,0.00,0.000,6,0.173,0.035,2336,1981,3835,0,0,0,0,0,0
$GC,5713,-0.80,-136.7,898.5,-10.8,209,5717,0.00,2.10,0.00,0.000,4,0.000,0.045,2337,602,3833,0,0,0,0,0,0
$STATE,5727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5727,begin apogee
$GC,5735,-0.28,0.0,900.4,10.2,209,5849,0.57,0.00,110.90,1.088,6,0.151,0.000,2502,1942,3301,0,0,0,0,0,0
$STATE,5852,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5854,0.80,136.7,902.9,0.0,212,5982,1.08,2.35,120.85,1.054,4,0.097,0.051,2852,3325,2741,0,0,0,0,0,0
$GC,6004,0.80,136.7,884.1,18.9,216,6008,0.00,2.25,0.00,0.000,6,0.000,0.028,2859,1922,2736,0,0,0,0,0,0
$GC,6287,0.80,136.7,825.0,21.0,223,6291,0.00,2.15,0.00,0.000,4,0.000,0.040,2873,529,2730,0,0,0,0,0,0
$GC,6343,0.80,136.7,813.3,20.5,224,6347,0.00,2.15,0.00,0.000,6,0.000,0.036,2868,1924,2728,0,0,0,0,0,0
$GC,6609,0.80,136.7,759.5,20.0,231,6613,0.00,2.28,0.00,0.000,4,0.000,0.053,2868,3339,2728,0,0,0,0,0,0
$GC,6676,0.80,136.7,745.3,22.3,232,6680,0.00,2.20,0.00,0.000,6,0.000,0.032,2877,1928,2728,0,0,0,0,0,0
$GC,6938,0.80,136.7,692.2,20.6,239,6942,0.00,2.12,0.00,0.000,4,0.000,0.038,2888,528,2727,0,0,0,0,0,0
$GC,6960,0.80,136.7,687.0,21.6,239,6965,0.12,2.15,0.00,0.000,6,0.204,0.036,2859,1939,2726,0,0,0,0,0,0
$GC,7215,0.80,136.7,636.7,19.6,246,7219,0.00,2.22,0.00,0.000,4,0.000,0.054,2858,3333,2725,0,0,0,0,0,0
$GC,7288,0.80,136.7,621.7,21.3,247,7292,0.00,2.12,0.00,0.000,6,0.000,0.033,2867,1928,2725,0,0,0,0,0,0
$GC,7543,0.80,136.7,573.4,18.2,254,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1926,2724,0,0,0,0,0,0
$GC,7787,0.80,136.7,529.2,18.4,260,7791,0.00,2.12,0.00,0.000,4,0.000,0.040,2878,522,2723,0,0,0,0,0,0
$GC,7859,0.80,136.7,515.3,18.2,261,7864,0.00,2.17,0.00,0.000,6,0.000,0.036,2878,1927,2721,0,0,0,0,0,0
$GC,8117,0.80,136.7,470.6,17.3,268,8121,0.00,2.22,0.00,0.000,4,0.000,0.051,2878,3340,2721,0,0,0,0,0,0
$GC,8133,0.80,136.7,467.3,17.5,268,8138,0.15,2.15,0.00,0.000,6,0.204,0.032,2854,1928,2722,0,0,0,0,0,0
$GC,8393,0.80,136.7,423.8,16.3,275,8397,0.00,2.22,0.00,0.000,4,0.000,0.050,2843,3341,2721,0,0,0,0,0,0
$GC,8461,0.80,136.7,413.0,15.6,276,8465,0.00,2.12,0.00,0.000,6,0.000,0.031,2852,1931,2721,0,0,0,0,0,0
$GC,8721,0.80,136.7,370.0,16.9,283,8725,0.00,2.12,0.00,0.000,4,0.000,0.038,2863,526,2720,0,0,0,0,0,0
$GC,8868,0.80,136.7,345.0,17.4,286,8872,0.00,2.17,0.00,0.000,6,0.000,0.037,2863,1946,2719,0,0,0,0,0,0
$GC,9139,0.80,136.7,302.1,14.3,293,9143,0.00,2.17,0.00,0.000,4,0.000,0.049,2863,3334,2717,0,0,0,0,0,0
$GC,9293,0.80,136.7,280.6,14.3,299,9297,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,1930,2719,0,0,0,0,0,0
$GC,9560,0.80,136.7,247.8,12.5,312,9564,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,518,2719,0,0,0,0,0,0
$GC,9790,0.80,136.7,218.4,12.9,322,9795,0.12,2.12,0.00,0.000,6,0.196,0.035,2854,1944,2716,0,0,0,0,0,0
$GC,10048,0.80,136.7,190.3,9.7,338,10052,0.00,2.17,0.00,0.000,4,0.000,0.049,2843,3336,2716,0,0,0,0,0,0
$GC,10113,0.80,136.7,183.8,9.4,343,10122,0.00,2.15,0.00,0.000,6,0.000,0.031,2853,1926,2718,0,0,0,0,0,0
$GC,10381,0.80,136.7,161.2,9.0,368,10385,0.00,2.20,0.00,0.000,4,0.000,0.048,2853,3337,2718,0,0,0,0,0,0
$GC,10392,0.80,136.7,159.4,9.4,368,10400,0.00,2.12,0.00,0.000,6,0.000,0.030,2865,1932,2718,0,0,0,0,0,0
$GC,10658,0.80,136.7,129.1,10.9,393,10662,0.00,2.10,0.00,0.000,4,0.000,0.036,2874,535,2718,0,0,0,0,0,0
$GC,10799,0.80,136.7,114.1,10.5,405,10803,0.00,2.08,0.00,0.000,6,0.000,0.032,2875,1932,2718,0,0,0,0,0,0
$GC,11071,0.80,136.7,89.5,9.4,430,11074,0.00,2.10,0.00,0.000,4,0.000,0.037,2885,531,2720,0,0,0,0,0,0
$GC,11112,0.80,136.7,85.8,8.8,433,11116,0.12,2.10,0.00,0.000,6,0.182,0.031,2855,1936,2720,0,0,0,0,0,0
$GC,11376,0.89,210.9,68.6,5.4,457,11439,0.00,2.17,56.97,0.495,4,0.000,0.038,2864,546,2442,0,0,0,0,0,0
$GC,11546,0.89,210.9,50.4,14.4,472,11550,0.00,2.10,0.00,0.000,6,0.000,0.032,2864,1936,2434,0,0,0,0,0,0
$GC,11811,0.89,210.9,21.5,11.7,503,11819,0.00,2.20,0.00,0.000,4,0.000,0.045,2864,3323,2435,0,0,0,0,0,0
$GC,11869,0.92,235.8,16.1,7.5,513,11898,0.00,2.12,20.83,0.437,6,0.000,0.027,2875,1933,2336,0,0,0,0,0,0
$STATE,11987,end climb,SURFACE_DEPTH_REACHED
$STATE,11987,begin surface coast
$FINISH,0.3,1.011122
$STATE,12010,end surface coast,CONTROL_FINISHED_OK
$STATE,12010,begin surface
$SM_CCo,12030,28.42,0.426,0,0,2075,300.24
$SM_GC,1.28,0.00,0.00,28.42,0.000,0.000,0.426,50,2036,2075,-7.96,1.02,300.24
$IRIDIUM_FIX,2004.18,-15615.54,060213,080816
$TT8_MAMPS,0.271518
$HUMID,1078883216
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.50
$XPDR_PINGS,94
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6260686848
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,39488389120
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,37.991
$10V_AH,10.1,34.476
$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,20.150,138.400,309.550,28.425,0.000,84.010,119.097,561.239,23.500,0.000,14.706,1192.038,8465.246,413.248,2651.412,473.597,33.349,1236.870,0.000,1917.017,0.000,0.542,0.000
$DEVICE_MAMPS,248.508,98.943,1087.606,426.452,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.475,0.000,932.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,26872,537
$CAP_FILE_SIZE,130902,0
$CFSIZE,260165632,186572800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,234.7,1
$GPS,140811,174710,2013.821,-15616.640,11,4.6,30,9.8