version: 66.07
glider: 513
mission: 7
dive: 269
start: 8 15 111 14 9 41
data:
$ID,513
$MISSION,7
$DIVE,269
$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,-427346.97
$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,64
$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,268
$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
$GPS1,150811,135707,2013.884,-15615.555,40,1.0,41,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.6
$GPS2,150811,140844,2013.713,-15615.650,12,1.3,12,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010,0.239
$KALMAN_X,-128618.1,448.0,-248.7,194684.6,538.2
$KALMAN_Y,-105048.2,1633.2,195.3,129150.5,-12344.6
$MHEAD_RNG_PITCHd_Wd,17.6,2637,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,142,0.00,0.00,-110.62,0.000,2,0.000,0.000,38,1993,3677,0,0,0,0,0,0
$GC,146,-0.80,-136.7,3.6,-6.3,17,168,9.90,2.33,-3.10,0.000,4,0.251,0.072,2319,3415,3860,0,0,0,0,0,0
$GC,279,-0.80,-136.7,54.7,-28.9,33,287,0.00,2.15,0.00,0.000,6,0.000,0.034,2323,2025,3862,0,0,0,0,0,0
$GC,542,-0.80,-136.7,127.5,-25.1,58,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2023,3864,0,0,0,0,0,0
$GC,798,-0.80,-136.7,192.1,-24.5,82,802,0.00,2.17,0.00,0.000,4,0.000,0.045,2323,598,3864,0,0,0,0,0,0
$GC,876,-0.80,-136.7,211.1,-20.7,86,881,0.00,2.15,0.00,0.000,6,0.000,0.046,2314,2013,3864,0,0,0,0,0,0
$GC,1129,-0.80,-136.7,264.5,-21.5,99,1133,0.00,2.12,0.00,0.000,4,0.000,0.041,2319,591,3864,0,0,0,0,0,0
$GC,1179,-0.80,-136.7,275.8,-21.1,101,1184,0.12,2.12,0.00,0.000,6,0.177,0.044,2331,1991,3864,0,0,0,0,0,0
$GC,1452,-0.80,-136.7,322.5,-16.1,111,1456,0.00,2.20,0.00,0.000,4,0.000,0.048,2326,3413,3864,0,0,0,0,0,0
$GC,1524,-0.80,-136.7,335.4,-17.2,112,1528,0.00,2.12,0.00,0.000,6,0.000,0.031,2327,1987,3864,0,0,0,0,0,0
$GC,1781,-0.80,-136.7,375.6,-15.9,119,1785,0.00,2.22,0.00,0.000,4,0.000,0.052,2315,3413,3864,0,0,0,0,0,0
$GC,1866,-0.80,-136.7,389.3,-15.4,121,1870,0.00,2.10,0.00,0.000,6,0.000,0.031,2316,2002,3864,0,0,0,0,0,0
$GC,2149,-0.80,-136.7,434.3,-15.6,128,2153,0.00,2.10,0.00,0.000,4,0.000,0.041,2315,590,3861,0,0,0,0,0,0
$GC,2171,-0.80,-136.7,437.7,-15.2,128,2176,0.12,2.15,0.00,0.000,6,0.175,0.044,2335,2008,3861,0,0,0,0,0,0
$GC,2426,-0.80,-136.7,471.8,-12.9,135,2430,0.00,2.17,0.00,0.000,4,0.000,0.053,2327,3405,3858,0,0,0,0,0,0
$GC,2472,-0.80,-136.7,477.9,-12.4,136,2476,0.00,2.10,0.00,0.000,6,0.000,0.033,2327,2002,3858,0,0,0,0,0,0
$GC,2762,-0.80,-136.7,517.5,-13.5,143,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1995,3856,0,0,0,0,0,0
$GC,3005,-0.80,-136.7,548.9,-12.7,149,3009,0.00,2.10,0.00,0.000,4,0.000,0.044,2327,600,3853,0,0,0,0,0,0
$GC,3044,-0.80,-136.7,554.1,-12.4,150,3048,0.00,2.15,0.00,0.000,6,0.000,0.045,2317,1995,3852,0,0,0,0,0,0
$GC,3328,-0.80,-136.7,591.1,-12.8,157,3332,0.00,2.22,0.00,0.000,4,0.000,0.052,2305,3407,3848,0,0,0,0,0,0
$GC,3475,-0.80,-136.7,609.5,-12.5,160,3480,0.12,2.12,0.00,0.000,6,0.170,0.035,2337,2000,3847,0,0,0,0,0,0
$GC,3743,-0.80,-136.7,638.9,-11.0,167,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1988,3848,0,0,0,0,0,0
$GC,3986,-0.80,-136.7,666.2,-11.3,173,3990,0.00,2.25,0.00,0.000,4,0.000,0.057,2329,3409,3842,0,0,0,0,0,0
$GC,4035,-0.80,-136.7,672.4,-12.7,174,4039,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,1986,3841,0,0,0,0,0,0
$GC,4314,-0.80,-136.7,707.1,-12.6,181,4318,0.00,2.25,0.00,0.000,4,0.000,0.055,2318,3403,3839,0,0,0,0,0,0
$GC,4421,-0.80,-136.7,721.2,-12.8,183,4425,0.00,2.15,0.00,0.000,6,0.000,0.035,2318,2003,3838,0,0,0,0,0,0
$GC,4681,-0.80,-136.7,755.8,-13.5,190,4685,0.00,2.12,0.00,0.000,4,0.000,0.044,2318,592,3835,0,0,0,0,0,0
$GC,4702,-0.80,-136.7,759.1,-14.4,190,4707,0.12,2.20,0.00,0.000,6,0.179,0.046,2338,1994,3836,0,0,0,0,0,0
$GC,4965,-0.80,-136.7,790.0,-11.5,197,4969,0.00,2.22,0.00,0.000,4,0.000,0.054,2329,3410,3832,0,0,0,0,0,0
$GC,5042,-0.80,-136.7,800.0,-12.6,198,5048,0.00,2.15,0.00,0.000,6,0.000,0.035,2329,2003,3831,0,0,0,0,0,0
$GC,5294,-0.80,-136.7,831.4,-12.6,205,5298,0.00,2.15,0.00,0.000,4,0.000,0.044,2329,589,3830,0,0,0,0,0,0
$GC,5321,-0.80,-136.7,835.2,-13.0,205,5325,0.00,2.20,0.00,0.000,6,0.000,0.047,2319,2003,3830,0,0,0,0,0,0
$GC,5576,-0.80,-136.7,867.8,-13.0,212,5580,0.00,2.22,0.00,0.000,4,0.000,0.056,2307,3403,3828,0,0,0,0,0,0
$GC,5717,-0.80,-136.7,886.2,-13.2,215,5722,0.12,2.15,0.00,0.000,6,0.173,0.035,2339,1994,3826,0,0,0,0,0,0
$STATE,5870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5870,begin apogee
$GC,5877,-0.28,0.0,903.9,11.2,219,5993,0.55,0.00,109.18,1.090,6,0.145,0.000,2504,1928,3304,0,0,0,0,0,0
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5998,0.80,136.7,907.8,0.0,222,6127,1.05,2.33,121.62,1.055,4,0.094,0.039,2862,529,2742,0,0,0,0,0,0
$GC,6143,0.80,136.7,891.5,17.2,225,6147,0.00,2.25,0.00,0.000,6,0.000,0.037,2861,1933,2737,0,0,0,0,0,0
$GC,6399,0.80,136.7,841.2,19.7,232,6403,0.00,2.30,0.00,0.000,4,0.000,0.055,2861,3343,2732,0,0,0,0,0,0
$GC,6528,0.80,136.7,814.5,21.5,234,6534,0.00,2.20,0.00,0.000,6,0.000,0.033,2872,1921,2732,0,0,0,0,0,0
$GC,6778,0.80,136.7,766.3,19.1,241,6782,0.00,2.12,0.00,0.000,4,0.000,0.039,2883,523,2729,0,0,0,0,0,0
$GC,6810,0.80,136.7,762.9,10.0,241,6814,0.00,2.15,0.00,0.000,6,0.000,0.036,2881,1939,2727,0,0,0,0,0,0
$GC,7067,0.80,136.7,737.1,10.4,248,7071,0.00,2.15,0.00,0.000,4,0.000,0.040,2890,525,2727,0,0,0,0,0,0
$GC,7190,0.80,136.7,724.4,10.6,250,7196,0.15,2.17,0.00,0.000,6,0.203,0.038,2856,1941,2723,0,0,0,0,0,0
$GC,7440,0.80,136.7,695.9,12.0,257,7444,0.00,2.17,0.00,0.000,4,0.000,0.051,2845,3329,2725,0,0,0,0,0,0
$GC,7532,0.80,136.7,684.2,12.7,259,7536,0.00,2.15,0.00,0.000,6,0.000,0.033,2854,1929,2726,0,0,0,0,0,0
$GC,7810,0.80,136.7,648.0,13.2,266,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1925,2724,0,0,0,0,0,0
$GC,8054,0.80,136.7,613.8,14.1,272,8058,0.00,2.12,0.00,0.000,4,0.000,0.041,2865,521,2722,0,0,0,0,0,0
$GC,8121,0.80,136.7,603.7,15.2,273,8125,0.00,2.15,0.00,0.000,6,0.000,0.038,2865,1930,2720,0,0,0,0,0,0
$GC,8381,0.80,136.7,564.4,14.7,280,8385,0.00,2.22,0.00,0.000,4,0.000,0.053,2865,3335,2722,0,0,0,0,0,0
$GC,8448,0.80,136.7,553.6,15.6,281,8452,0.00,2.17,0.00,0.000,6,0.000,0.033,2875,1931,2722,0,0,0,0,0,0
$GC,8710,0.80,136.7,511.4,16.3,288,8714,0.00,2.12,0.00,0.000,4,0.000,0.041,2886,519,2721,0,0,0,0,0,0
$GC,8754,0.80,136.7,504.1,15.6,289,8759,0.12,2.12,0.00,0.000,6,0.199,0.036,2858,1932,2719,0,0,0,0,0,0
$GC,9038,0.80,136.7,463.0,14.7,296,9042,0.00,2.22,0.00,0.000,4,0.000,0.051,2848,3335,2720,0,0,0,0,0,0
$GC,9227,0.80,136.7,434.1,15.5,300,9231,0.00,2.12,0.00,0.000,6,0.000,0.033,2857,1930,2720,0,0,0,0,0,0
$GC,9500,0.80,136.7,393.6,14.5,307,9504,0.00,2.25,0.00,0.000,4,0.000,0.052,2857,3343,2720,0,0,0,0,0,0
$GC,9601,0.80,136.7,376.7,17.3,309,9605,0.00,2.15,0.00,0.000,6,0.000,0.032,2867,1918,2717,0,0,0,0,0,0
$GC,9868,0.80,136.7,335.7,14.9,316,9872,0.00,2.28,0.00,0.000,4,0.000,0.053,2867,3339,2719,0,0,0,0,0,0
$GC,10096,0.80,136.7,303.1,12.8,321,10100,0.00,2.15,0.00,0.000,6,0.000,0.033,2878,1929,2719,0,0,0,0,0,0
$GC,10358,0.80,136.7,269.1,12.8,333,10362,0.00,2.12,0.00,0.000,4,0.000,0.039,2889,521,2719,0,0,0,0,0,0
$GC,10398,0.80,136.7,263.9,13.7,335,10403,0.15,2.15,0.00,0.000,6,0.194,0.035,2853,1935,2717,0,0,0,0,0,0
$GC,10662,0.80,136.7,228.9,12.6,348,10666,0.00,2.22,0.00,0.000,4,0.000,0.051,2853,3339,2716,0,0,0,0,0,0
$GC,10925,0.80,136.7,198.5,13.3,360,10929,0.00,2.12,0.00,0.000,6,0.000,0.032,2862,1929,2718,0,0,0,0,0,0
$GC,11189,0.80,136.7,171.6,10.6,384,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1925,2718,0,0,0,0,0,0
$GC,11454,0.80,136.7,143.5,10.7,409,11458,0.00,2.10,0.00,0.000,4,0.000,0.040,2873,526,2718,0,0,0,0,0,0
$GC,11706,0.80,138.9,118.7,8.5,431,11713,0.00,2.15,0.00,0.000,6,0.000,0.035,2873,1932,2716,0,0,0,0,0,0
$GC,11971,0.80,143.1,98.0,8.4,456,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1932,2720,0,0,0,0,0,0
$GC,12236,0.81,145.8,73.7,8.5,481,12249,0.00,2.17,5.22,0.387,4,0.000,0.039,2884,519,2706,0,0,0,0,0,0
$GC,12274,0.81,145.8,70.3,8.6,484,12278,0.00,2.10,0.00,0.000,6,0.000,0.035,2884,1934,2705,0,0,0,0,0,0
$GC,12539,0.82,155.3,48.0,8.2,508,12555,0.00,2.20,10.23,0.433,4,0.000,0.047,2884,3322,2666,0,0,0,0,0,0
$GC,12568,0.88,201.8,45.7,6.6,510,12612,0.00,2.12,38.22,0.472,6,0.000,0.028,2895,1930,2476,0,0,0,0,0,0
$GC,12868,0.88,201.8,13.2,8.9,550,12875,0.00,2.22,0.00,0.000,4,0.000,0.045,2894,3327,2473,0,0,0,0,0,0
$GC,12894,0.88,201.8,9.6,12.3,554,12902,0.00,2.15,0.00,0.000,6,0.000,0.031,2905,1932,2472,0,0,0,0,0,0
$STATE,12940,end climb,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FINISH,0.2,1.023274
$STATE,12964,end surface coast,CONTROL_FINISHED_OK
$STATE,12964,begin surface
$SM_CCo,12984,43.17,0.433,0,0,2074,300.24
$SM_GC,1.40,0.00,0.00,43.17,0.000,0.000,0.433,56,2005,2074,-7.94,0.14,300.24
$IRIDIUM_FIX,2008.77,-15614.61,070213,040430
$TT8_MAMPS,0.251576
$HUMID,1078890958
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.20
$XPDR_PINGS,101
$AR_DIVENUM,269
$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,23.9,38.768
$10V_AH,10.1,35.374
$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,20.075,139.175,284.475,43.175,0.000,29.846,33.047,402.150,25.250,0.000,16.042,1266.424,8973.208,452.635,2611.632,432.915,33.356,1376.075,0.000,2133.494,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,105.846,1089.907,433.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,385.879,0.000,959.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,30211,566
$CAP_FILE_SIZE,132501,0
$CFSIZE,260165632,186097664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,224.7,1
$GPS,150811,174837,2014.171,-15615.853,40,1.0,40,9.8