version: 66.07
glider: 513
mission: 7
dive: 267
start: 8 15 111 5 59 39
data:
$ID,513
$MISSION,7
$DIVE,267
$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,-427298.16
$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,40
$R_STBD_OVSHOOT,31
$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,266
$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
$GPS1,150811,054152,2013.858,-15615.645,89,3.5,108,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.0
$GPS2,150811,055841,2013.567,-15615.765,11,2.4,30,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.001,0.239
$KALMAN_X,-129512.0,-61.1,-235.7,195860.3,1291.8
$KALMAN_Y,-97665.4,1028.4,1095.8,121204.6,-14771.9
$MHEAD_RNG_PITCHd_Wd,24.7,2968,-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,25,begin dive
$GC,27,-0.80,-136.7,0.0,0.0,0,87,0.00,0.00,-57.70,0.000,2,0.000,0.000,36,1996,3755,0,0,0,0,0,0
$GC,92,-0.80,-136.7,3.9,-6.9,9,113,10.02,2.17,-1.67,0.000,4,0.255,0.055,2337,579,3860,0,0,0,0,0,0
$GC,122,-0.80,-136.7,20.7,-44.6,13,130,0.00,2.25,0.00,0.000,6,0.000,0.045,2328,2012,3862,0,0,0,0,0,0
$GC,389,-0.80,-136.7,108.2,-31.3,39,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2016,3863,0,0,0,0,0,0
$GC,652,-0.80,-136.7,171.2,-21.0,64,656,0.00,2.12,0.00,0.000,4,0.000,0.040,2328,588,3867,0,0,0,0,0,0
$GC,717,-0.80,-136.7,184.5,-20.7,69,721,0.00,2.17,0.00,0.000,6,0.000,0.042,2318,2010,3865,0,0,0,0,0,0
$GC,972,-0.80,-136.7,239.9,-21.6,84,976,0.00,2.12,0.00,0.000,4,0.000,0.038,2318,585,3867,0,0,0,0,0,0
$GC,996,-0.80,-136.7,245.1,-22.6,85,1000,0.12,2.17,0.00,0.000,6,0.183,0.042,2333,2007,3867,0,0,0,0,0,0
$GC,1261,-0.80,-136.7,292.7,-17.5,98,1265,0.00,2.17,0.00,0.000,4,0.000,0.054,2329,3406,3864,0,0,0,0,0,0
$GC,1327,-0.80,-136.7,304.2,-15.6,101,1331,0.00,2.10,0.00,0.000,6,0.000,0.032,2327,1993,3867,0,0,0,0,0,0
$GC,1588,-0.80,-136.7,345.0,-15.3,108,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1986,3870,0,0,0,0,0,0
$GC,1833,-0.80,-136.7,384.2,-16.5,114,1837,0.00,2.22,0.00,0.000,4,0.000,0.054,2318,3402,3867,0,0,0,0,0,0
$GC,1938,-0.80,-136.7,401.1,-15.6,116,1942,0.00,2.10,0.00,0.000,6,0.000,0.033,2319,1996,3865,0,0,0,0,0,0
$GC,2205,-0.80,-136.7,442.3,-15.5,123,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1985,3862,0,0,0,0,0,0
$GC,2449,-0.80,-136.7,480.7,-15.8,129,2453,0.00,2.10,0.00,0.000,4,0.000,0.045,2318,600,3862,0,0,0,0,0,0
$GC,2495,-0.80,-136.7,487.9,-16.1,130,2499,0.12,2.12,0.00,0.000,6,0.173,0.045,2340,1992,3865,0,0,0,0,0,0
$GC,2784,-0.80,-136.7,526.3,-12.8,137,2788,0.00,2.20,0.00,0.000,4,0.000,0.054,2331,3402,3860,0,0,0,0,0,0
$GC,2857,-0.80,-136.7,536.2,-13.2,138,2861,0.00,2.12,0.00,0.000,6,0.000,0.035,2336,2000,3859,0,0,0,0,0,0
$GC,3107,-0.80,-136.7,568.5,-12.9,144,3111,0.00,2.22,0.00,0.000,4,0.000,0.055,2320,3410,3856,0,0,0,0,0,0
$GC,3162,-0.80,-136.7,575.9,-14.2,145,3165,0.00,2.12,0.00,0.000,6,0.000,0.036,2320,2002,3856,0,0,0,0,0,0
$GC,3435,-0.80,-136.7,614.8,-14.3,152,3439,0.00,2.12,0.00,0.000,4,0.000,0.044,2320,589,3853,0,0,0,0,0,0
$GC,3520,-0.80,-136.7,628.1,-16.1,154,3525,0.12,2.20,0.00,0.000,6,0.175,0.047,2340,2007,3853,0,0,0,0,0,0
$GC,3805,-0.80,-136.7,664.6,-12.2,161,3808,0.00,2.22,0.00,0.000,4,0.000,0.056,2331,3403,3850,0,0,0,0,0,0
$GC,3877,-0.80,-136.7,674.8,-12.6,162,3881,0.00,2.17,0.00,0.000,6,0.000,0.036,2331,1989,3849,0,0,0,0,0,0
$GC,4132,-0.80,-136.7,708.4,-13.0,169,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1983,3847,0,0,0,0,0,0
$GC,4375,-0.80,-136.7,739.7,-13.0,175,4379,0.00,2.25,0.00,0.000,4,0.000,0.056,2321,3403,3845,0,0,0,0,0,0
$GC,4454,-0.80,-136.7,750.6,-13.1,176,4458,0.00,2.12,0.00,0.000,6,0.000,0.035,2324,2002,3844,0,0,0,0,0,0
$GC,4704,-0.80,-136.7,784.5,-13.5,182,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1996,3844,0,0,0,0,0,0
$GC,4948,-0.80,-136.7,817.2,-13.4,188,4952,0.00,2.25,0.00,0.000,4,0.000,0.056,2310,3403,3840,0,0,0,0,0,0
$GC,5039,-0.80,-136.7,829.6,-13.5,190,5044,0.12,2.12,0.00,0.000,6,0.168,0.035,2341,2002,3839,0,0,0,0,0,0
$GC,5317,-0.80,-136.7,861.3,-11.1,197,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1996,3837,0,0,0,0,0,0
$GC,5560,-0.80,-136.7,888.3,-11.1,203,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3836,0,0,0,0,0,0
$STATE,5679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5687,-0.28,0.0,901.6,11.0,206,5804,0.52,0.00,111.80,1.082,6,0.144,0.000,2500,1903,3300,0,0,0,0,0,0
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5809,0.80,136.7,905.4,0.0,209,5941,1.05,2.30,120.12,1.053,4,0.097,0.040,2859,534,2741,0,0,0,0,0,0
$GC,5964,0.80,136.7,887.6,18.0,212,5968,0.00,2.25,0.00,0.000,6,0.000,0.038,2859,1933,2736,0,0,0,0,0,0
$GC,6214,0.80,136.7,836.9,20.9,218,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1938,2733,0,0,0,0,0,0
$GC,6457,0.80,136.7,789.7,19.2,224,6461,0.00,2.25,0.00,0.000,4,0.000,0.054,2859,3338,2730,0,0,0,0,0,0
$GC,6531,0.80,136.7,775.1,20.6,225,6535,0.00,2.15,0.00,0.000,6,0.000,0.035,2870,1948,2731,0,0,0,0,0,0
$GC,6780,0.80,136.7,724.3,20.1,231,6784,0.00,2.17,0.00,0.000,4,0.000,0.041,2881,515,2728,0,0,0,0,0,0
$GC,6802,0.80,136.7,719.4,21.4,231,6806,0.00,2.20,0.00,0.000,6,0.000,0.037,2881,1944,2727,0,0,0,0,0,0
$GC,7064,0.80,136.7,663.4,21.7,238,7068,0.00,2.20,0.00,0.000,4,0.000,0.051,2881,3335,2727,0,0,0,0,0,0
$GC,7141,0.80,136.7,645.9,22.9,239,7148,0.15,2.17,0.00,0.000,6,0.206,0.034,2856,1910,2727,0,0,0,0,0,0
$GC,7391,0.80,136.7,600.5,18.1,246,7395,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,522,2726,0,0,0,0,0,0
$GC,7432,0.80,136.7,593.4,17.7,247,7436,0.00,2.17,0.00,0.000,6,0.000,0.038,2866,1942,2724,0,0,0,0,0,0
$GC,7716,0.80,136.7,540.5,18.6,254,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1944,2724,0,0,0,0,0,0
$GC,7959,0.80,136.7,496.8,17.7,260,7963,0.00,2.20,0.00,0.000,4,0.000,0.051,2866,3338,2723,0,0,0,0,0,0
$GC,8004,0.80,136.7,488.3,18.7,261,8008,0.00,2.12,0.00,0.000,6,0.000,0.031,2873,1931,2724,0,0,0,0,0,0
$GC,8282,0.80,136.7,438.9,17.9,268,8286,0.00,2.12,0.00,0.000,4,0.000,0.040,2887,524,2723,0,0,0,0,0,0
$GC,8371,0.80,136.7,422.4,18.6,270,8375,0.12,2.15,0.00,0.000,6,0.197,0.038,2860,1931,2721,0,0,0,0,0,0
$GC,8650,0.80,136.7,378.6,15.2,277,8654,0.00,2.20,0.00,0.000,4,0.000,0.052,2858,3330,2721,0,0,0,0,0,0
$GC,8716,0.80,136.7,366.4,17.5,278,8720,0.00,2.10,0.00,0.000,6,0.000,0.033,2867,1931,2720,0,0,0,0,0,0
$GC,8978,0.80,136.7,322.9,16.6,285,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1927,2721,0,0,0,0,0,0
$GC,9224,0.80,136.7,286.3,14.4,293,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1927,2721,0,0,0,0,0,0
$GC,9470,0.80,136.7,254.5,13.1,305,9474,0.00,2.22,0.00,0.000,4,0.000,0.050,2867,3333,2721,0,0,0,0,0,0
$GC,9605,0.80,136.7,238.0,12.5,311,9609,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,1929,2721,0,0,0,0,0,0
$GC,9870,0.80,136.7,205.9,12.2,324,9874,0.00,2.12,0.00,0.000,4,0.000,0.040,2888,521,2720,0,0,0,0,0,0
$GC,10047,0.80,136.7,183.9,11.7,337,10056,0.10,2.15,0.00,0.000,6,0.173,0.036,2859,1929,2718,0,0,0,0,0,0
$GC,10311,0.80,136.7,153.1,10.6,362,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1930,2718,0,0,0,0,0,0
$GC,10567,0.80,137.7,127.9,8.5,386,10571,0.00,2.12,0.00,0.000,4,0.000,0.041,2868,526,2718,0,0,0,0,0,0
$GC,10610,0.81,145.1,124.6,8.3,389,10623,0.00,2.12,4.00,0.380,6,0.000,0.037,2868,1923,2707,0,0,0,0,0,0
$GC,10878,0.81,145.1,100.2,8.7,414,10882,0.00,2.12,0.00,0.000,4,0.000,0.041,2878,527,2710,0,0,0,0,0,0
$GC,11063,0.81,145.1,85.9,8.7,430,11070,0.00,2.17,0.00,0.000,6,0.000,0.038,2879,1936,2712,0,0,0,0,0,0
$GC,11327,0.81,145.1,64.1,9.3,455,11331,0.00,2.15,0.00,0.000,4,0.000,0.041,2895,522,2712,0,0,0,0,0,0
$GC,11498,0.82,153.4,48.7,8.2,470,11514,0.00,2.12,9.93,0.433,6,0.000,0.038,2889,1931,2673,0,0,0,0,0,0
$GC,11778,0.87,195.7,29.6,6.8,496,11821,0.00,2.25,34.78,0.456,4,0.000,0.049,2890,3341,2503,0,0,0,0,0,0
$GC,11850,0.87,195.7,23.3,10.8,507,11858,0.00,2.17,0.00,0.000,6,0.000,0.030,2901,1927,2503,0,0,0,0,0,0
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.2,1.010654
$STATE,12021,end surface coast,CONTROL_FINISHED_OK
$STATE,12021,begin surface
$SM_CCo,12041,46.78,0.431,0,0,2077,300.24
$SM_GC,1.64,0.00,0.00,46.78,0.000,0.000,0.431,46,2027,2077,-7.97,0.76,300.24
$IRIDIUM_FIX,2006.47,-15614.61,070213,000001
$TT8_MAMPS,0.252343
$HUMID,1078898700
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.40
$XPDR_PINGS,96
$AR_DIVENUM,267
$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,23.9,38.521
$10V_AH,10.1,35.096
$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,20.125,112.975,280.625,46.775,0.000,57.540,64.128,577.661,24.000,0.000,33.351,1165.345,8564.880,389.193,2577.848,416.696,33.348,1179.273,0.000,1863.793,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,100.477,1082.237,431.054,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,367.242,0.000,942.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,26956,538
$CAP_FILE_SIZE,122483,0
$CFSIZE,260165632,186269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,198.1,1
$GPS,150811,092337,2014.685,-15614.849,82,1.5,82,9.8