version: 66.07
glider: 513
mission: 7
dive: 32
start: 7 6 111 17 52 52
data:
$ID,513
$MISSION,7
$DIVE,32
$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,300
$T_MISSION,880
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,250
$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,-421171.72
$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,2615
$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,2180
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,2940
$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,31
$AR_SAMPLENUM,3
$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
$GPS1,060711,173936,1857.547,-15642.963,68,1.0,69,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.6
$GPS2,060711,175156,1857.236,-15642.999,13,1.1,13,9.6
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.028,0.242
$KALMAN_X,48035.9,-809.1,-436.0,-69735.3,2941.2
$KALMAN_Y,-52880.5,360.9,538.6,-25158.9,-9386.0
$MHEAD_RNG_PITCHd_Wd,356.9,6203,-18.9,-10.000
$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,23,begin dive
$GC,26,-0.91,-127.0,0.0,0.0,0,85,0.00,0.00,-54.95,0.000,6,0.000,0.000,35,2203,3459,0,0,0,0,0,0
$GC,89,-0.91,-127.0,2.7,-5.6,9,104,9.60,2.20,0.00,0.000,4,0.255,0.063,2306,3581,3461,0,0,0,0,0,0
$GC,278,-0.91,-127.0,62.3,-27.3,33,282,0.00,2.10,0.00,0.000,6,0.000,0.036,2302,2182,3463,0,0,0,0,0,0
$GC,544,-0.91,-127.0,134.3,-22.3,57,548,0.00,2.12,0.00,0.000,4,0.000,0.043,2302,771,3465,0,0,0,0,0,0
$GC,598,-0.91,-127.0,148.0,-23.8,61,606,0.00,2.20,0.00,0.000,6,0.000,0.059,2293,2164,3465,0,0,0,0,0,0
$GC,861,-0.91,-127.0,198.4,-17.3,86,865,0.00,2.20,0.00,0.000,4,0.000,0.058,2282,3597,3466,0,0,0,0,0,0
$GC,879,-0.91,-127.0,201.8,-17.7,87,884,0.15,2.10,0.00,0.000,6,0.199,0.035,2316,2167,3466,0,0,0,0,0,0
$GC,1145,-0.91,-127.0,242.4,-14.1,100,1149,0.00,2.05,0.00,0.000,4,0.000,0.040,2317,766,3468,0,0,0,0,0,0
$GC,1252,-0.91,-127.0,258.4,-13.8,105,1256,0.00,2.17,0.00,0.000,6,0.000,0.054,2308,2197,3468,0,0,0,0,0,0
$GC,1517,-0.91,-127.0,289.1,-11.3,118,1521,0.00,2.10,0.00,0.000,4,0.000,0.040,2308,772,3470,0,0,0,0,0,0
$GC,1680,-0.91,-127.0,310.7,-12.3,123,1685,0.00,2.15,0.00,0.000,6,0.000,0.053,2297,2182,3467,0,0,0,0,0,0
$GC,1930,-0.91,-127.0,337.5,-10.7,129,1934,0.00,2.10,0.00,0.000,4,0.000,0.041,2298,768,3468,0,0,0,0,0,0
$GC,1986,-0.91,-127.0,343.7,-11.2,130,1990,0.12,2.20,0.00,0.000,6,0.200,0.060,2316,2177,3472,0,0,0,0,0,0
$GC,2252,-0.91,-127.0,370.7,-9.8,137,2256,0.00,2.15,0.00,0.000,4,0.000,0.058,2306,3596,3469,0,0,0,0,0,0
$GC,2308,-0.91,-127.0,376.6,-10.1,138,2312,0.00,2.10,0.00,0.000,6,0.000,0.034,2312,2168,3470,0,0,0,0,0,0
$GC,2581,-0.91,-127.0,400.8,-8.8,145,2585,0.00,2.20,0.00,0.000,4,0.000,0.059,2296,3603,3469,0,0,0,0,0,0
$GC,2699,-0.91,-127.0,412.7,-9.9,147,2703,0.00,2.08,0.00,0.000,6,0.000,0.035,2296,2178,3469,0,0,0,0,0,0
$GC,2955,-0.91,-127.0,438.3,-10.1,154,2959,0.00,2.20,0.00,0.000,4,0.000,0.061,2286,3603,3467,0,0,0,0,0,0
$GC,3043,-0.91,-127.0,448.8,-11.5,156,3048,0.12,2.10,0.00,0.000,6,0.206,0.036,2315,2182,3466,0,0,0,0,0,0
$GC,3327,-0.91,-127.0,476.2,-9.5,163,3331,0.00,2.17,0.00,0.000,4,0.000,0.060,2305,3597,3464,0,0,0,0,0,0
$GC,3497,-0.91,-127.0,492.6,-9.7,166,3503,0.00,2.08,0.00,0.000,6,0.000,0.035,2305,2178,3463,0,0,0,0,0,0
$GC,3747,-0.91,-127.0,514.9,-8.8,173,3751,0.00,2.10,0.00,0.000,4,0.000,0.047,2305,781,3462,0,0,0,0,0,0
$GC,3884,-0.91,-127.0,527.8,-9.4,176,3888,0.00,2.15,0.00,0.000,6,0.000,0.058,2295,2187,3461,0,0,0,0,0,0
$GC,4161,-0.91,-127.0,552.9,-8.8,183,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2187,3459,0,0,0,0,0,0
$GC,4406,-0.91,-127.0,573.4,-8.2,189,4410,0.00,2.12,0.00,0.000,4,0.000,0.046,2295,785,3456,0,0,0,0,0,0
$GC,4647,-0.91,-127.0,594.8,-9.1,194,4651,0.12,2.15,0.00,0.000,6,0.210,0.058,2314,2180,3454,0,0,0,0,0,0
$GC,4908,-0.91,-127.0,615.4,-7.9,201,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2179,3452,0,0,0,0,0,0
$GC,5151,-0.91,-127.0,636.0,-8.6,207,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2179,3454,0,0,0,0,0,0
$GC,5395,-0.91,-127.0,657.3,-8.9,213,5399,0.00,2.17,0.00,0.000,4,0.000,0.062,2302,3596,3449,0,0,0,0,0,0
$GC,5473,-0.91,-127.0,664.4,-9.1,214,5479,0.00,2.12,0.00,0.000,6,0.000,0.038,2304,2174,3449,0,0,0,0,0,0
$GC,5723,-0.91,-127.0,685.3,-8.0,221,5727,0.00,2.08,0.00,0.000,4,0.000,0.047,2304,779,3451,0,0,0,0,0,0
$GC,5859,-0.91,-127.0,696.7,-8.3,224,5863,0.00,2.15,0.00,0.000,6,0.000,0.057,2294,2179,3447,0,0,0,0,0,0
$GC,6138,-0.91,-127.0,717.4,-7.4,231,6142,0.00,2.20,0.00,0.000,4,0.000,0.062,2283,3596,3445,0,0,0,0,0,0
$GC,6161,-0.91,-127.0,719.2,-7.5,231,6166,0.15,2.10,0.00,0.000,6,0.200,0.039,2319,2168,3445,0,0,0,0,0,0
$GC,6416,-0.91,-127.0,735.2,-6.2,238,6420,0.00,2.08,0.00,0.000,4,0.000,0.046,2319,781,3444,0,0,0,0,0,0
$GC,6511,-0.91,-127.0,742.1,-7.2,240,6516,0.00,2.17,0.00,0.000,6,0.000,0.055,2311,2188,3443,0,0,0,0,0,0
$GC,6784,-0.91,-127.0,759.5,-6.2,247,6788,0.00,2.12,0.00,0.000,4,0.000,0.048,2310,772,3441,0,0,0,0,0,0
$GC,6845,-0.91,-127.0,763.8,-7.3,248,6850,0.00,2.17,0.00,0.000,6,0.000,0.058,2300,2176,3441,0,0,0,0,0,0
$GC,7112,-0.91,-127.0,781.2,-6.4,255,7116,0.00,2.17,0.00,0.000,4,0.000,0.062,2289,3594,3440,0,0,0,0,0,0
$GC,7129,-0.91,-127.0,782.2,-6.4,255,7133,0.12,2.10,0.00,0.000,6,0.209,0.038,2318,2180,3443,0,0,0,0,0,0
$GC,7391,-0.91,-127.0,797.9,-5.9,262,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2171,3440,0,0,0,0,0,0
$GC,7634,-0.91,-127.0,812.1,-5.9,268,7638,0.00,2.20,0.00,0.000,4,0.000,0.064,2308,3594,3438,0,0,0,0,0,0
$GC,7661,-0.91,-127.0,813.9,-6.5,268,7665,0.00,2.12,0.00,0.000,6,0.000,0.039,2308,2177,3438,0,0,0,0,0,0
$GC,7917,-0.91,-127.0,828.6,-5.6,275,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2171,3438,0,0,0,0,0,0
$GC,8160,-0.91,-127.0,842.2,-5.6,281,8164,0.00,2.10,0.00,0.000,4,0.000,0.050,2308,776,3436,0,0,0,0,0,0
$GC,8211,-0.91,-127.0,845.4,-6.4,282,8215,0.00,2.17,0.00,0.000,6,0.000,0.058,2298,2179,3436,0,0,0,0,0,0
$GC,8489,-0.91,-127.0,863.0,-6.3,289,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2178,3435,0,0,0,0,0,0
$GC,8732,-0.91,-127.0,878.7,-6.4,295,8736,0.00,2.10,0.00,0.000,4,0.000,0.047,2298,775,3434,0,0,0,0,0,0
$GC,8862,-0.91,-127.0,887.6,-7.7,298,8867,0.12,2.17,0.00,0.000,6,0.214,0.058,2315,2190,3434,0,0,0,0,0,0
$STATE,9102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9102,begin apogee
$GC,9109,-0.28,0.0,901.6,5.6,304,9217,0.70,0.00,103.95,1.176,6,0.176,0.000,2521,1973,2940,0,0,0,0,0,0
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9221,0.91,127.0,902.2,0.0,306,9346,1.15,2.42,112.15,1.130,4,0.094,0.054,2903,3383,2422,0,0,0,0,0,0
$GC,9357,0.91,127.0,871.5,29.7,309,9361,0.00,2.20,0.00,0.000,6,0.000,0.035,2914,2001,2420,0,0,0,0,0,0
$GC,9635,0.91,127.0,782.6,32.3,316,9639,0.00,2.20,0.00,0.000,4,0.000,0.045,2924,574,2415,0,0,0,0,0,0
$GC,9663,0.91,127.0,773.2,33.2,316,9667,0.00,2.20,0.00,0.000,6,0.000,0.041,2925,1989,2413,0,0,0,0,0,0
$GC,9919,0.91,127.0,690.1,32.5,323,9923,0.00,2.22,0.00,0.000,4,0.000,0.051,2924,3408,2412,0,0,0,0,0,0
$GC,9946,0.91,127.0,680.9,32.7,323,9950,0.00,2.17,0.00,0.000,6,0.000,0.036,2936,1976,2413,0,0,0,0,0,0
$GC,10201,0.91,127.0,599.3,32.4,330,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1975,2411,0,0,0,0,0,0
$GC,10446,0.91,127.0,522.4,31.2,336,10450,0.00,2.15,0.00,0.000,4,0.000,0.046,2947,574,2410,0,0,0,0,0,0
$GC,10489,0.91,127.0,507.4,32.0,337,10494,0.15,2.15,0.00,0.000,6,0.221,0.041,2913,1989,2406,0,0,0,0,0,0
$GC,10773,0.91,127.0,424.9,28.1,344,10777,0.00,2.20,0.00,0.000,4,0.000,0.052,2917,3398,2408,0,0,0,0,0,0
$GC,10806,0.91,127.0,414.8,29.1,344,10812,0.00,2.12,0.00,0.000,6,0.000,0.037,2921,1985,2408,0,0,0,0,0,0
$GC,11056,0.91,127.0,345.8,27.5,351,11060,0.00,2.20,0.00,0.000,4,0.000,0.055,2921,3402,2408,0,0,0,0,0,0
$GC,11088,0.91,127.0,337.3,25.9,351,11094,0.00,2.12,0.00,0.000,6,0.000,0.036,2931,1976,2407,0,0,0,0,0,0
$GC,11340,0.91,127.0,270.7,26.7,360,11344,0.00,2.08,0.00,0.000,4,0.000,0.043,2943,590,2407,0,0,0,0,0,0
$GC,11390,0.91,127.0,256.9,29.6,362,11395,0.12,2.10,0.00,0.000,6,0.220,0.040,2919,2000,2410,0,0,0,0,0,0
$GC,11649,0.91,127.0,198.7,22.6,375,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2004,2404,0,0,0,0,0,0
$GC,11907,0.91,127.0,145.6,18.2,399,11911,0.00,2.12,0.00,0.000,4,0.000,0.051,2916,3385,2403,0,0,0,0,0,0
$GC,11917,0.91,127.0,142.9,18.5,399,11925,0.00,2.12,0.00,0.000,6,0.000,0.033,2925,1986,2404,0,0,0,0,0,0
$GC,12183,0.91,127.0,98.1,14.3,424,12187,0.00,2.08,0.00,0.000,4,0.000,0.042,2936,578,2406,0,0,0,0,0,0
$GC,12309,0.91,127.0,78.2,16.6,435,12313,0.00,2.10,0.00,0.000,6,0.000,0.038,2936,1994,2402,0,0,0,0,0,0
$GC,12575,0.91,127.0,34.2,15.9,459,12579,0.00,2.15,0.00,0.000,4,0.000,0.048,2937,3406,2405,0,0,0,0,0,0
$GC,12720,0.91,127.0,7.9,17.1,483,12729,0.12,2.12,0.00,0.000,6,0.187,0.031,2911,1987,2407,0,0,0,0,0,0
$STATE,12755,end climb,SURFACE_DEPTH_REACHED
$STATE,12755,begin surface coast
$FINISH,-0.0,1.023064
$STATE,12773,end surface coast,CONTROL_FINISHED_OK
$STATE,12773,begin surface
$SM_CCo,12794,60.30,0.512,0,0,1920,250.69
$SM_GC,1.09,0.00,0.00,60.30,0.000,0.000,0.512,54,2178,1920,-8.00,-0.06,250.69
$IRIDIUM_FIX,1848.70,-15641.80,291212,121216
$TT8_MAMPS,0.060593
$HUMID,1078981281
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.00
$XPDR_PINGS,6
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,6344671232
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59990605824
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,5.968
$10V_AH,10.4,6.438
$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,20.425,133.650,216.100,60.300,0.000,56.113,68.649,354.710,1.500,0.000,15.941,1101.323,9493.219,368.548,2258.585,377.300,33.373,1165.897,0.000,1768.487,0.000,0.541,0.000
$DEVICE_MAMPS,254.644,70.564,1175.811,511.589,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,337.461,0.000,672.294,0.000,0.000,0.000,0.000,14444.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,4.065,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,23664,492
$CAP_FILE_SIZE,129634,0
$CFSIZE,260165632,204333056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,212836,1857.117,-15642.913,35,0.9,36,9.6