version: 66.07
glider: 513
mission: 7
dive: 252
start: 8 12 111 21 15 59
data:
$ID,513
$MISSION,7
$DIVE,252
$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,-426928
$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,51
$R_STBD_OVSHOOT,40
$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,251
$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
$GPS1,120811,210031,2014.854,-15628.316,38,1.8,38,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.6
$GPS2,120811,211502,2014.724,-15628.228,10,1.8,10,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.226,0.077
$KALMAN_X,-118915.7,1216.9,981.8,161047.7,-10818.2
$KALMAN_Y,-55068.4,1259.6,917.2,80680.4,-11033.4
$MHEAD_RNG_PITCHd_Wd,54.7,22989,-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,-136.7,0.0,0.0,0,140,0.00,0.00,-107.93,0.000,2,0.000,0.000,37,1992,3592,0,0,0,0,0,0
$GC,144,-0.80,-136.7,3.2,-5.0,16,167,9.68,2.12,-4.72,0.000,4,0.247,0.053,2339,606,3860,0,0,0,0,0,0
$GC,175,-0.80,-136.7,17.6,-36.7,20,183,0.00,2.20,0.00,0.000,6,0.000,0.049,2331,1985,3861,0,0,0,0,0,0
$GC,443,-0.80,-136.7,113.3,-32.9,47,447,0.00,2.25,0.00,0.000,4,0.000,0.049,2319,3431,3862,0,0,0,0,0,0
$GC,453,-0.80,-136.7,118.1,-31.7,47,461,0.00,2.17,0.00,0.000,6,0.000,0.035,2320,2025,3862,0,0,0,0,0,0
$GC,716,-0.80,-136.7,187.6,-25.1,72,720,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3423,3863,0,0,0,0,0,0
$GC,823,-0.80,-136.7,212.9,-21.5,79,828,0.12,2.17,0.00,0.000,6,0.173,0.034,2339,1976,3864,0,0,0,0,0,0
$GC,1093,-0.80,-136.7,264.3,-17.5,92,1097,0.00,2.22,0.00,0.000,4,0.000,0.051,2331,3417,3864,0,0,0,0,0,0
$GC,1137,-0.80,-136.7,272.0,-17.7,94,1141,0.00,2.12,0.00,0.000,6,0.000,0.032,2331,2004,3864,0,0,0,0,0,0
$GC,1402,-0.80,-136.7,316.8,-17.0,105,1405,0.00,2.12,0.00,0.000,4,0.000,0.042,2331,594,3864,0,0,0,0,0,0
$GC,1434,-0.80,-136.7,322.8,-17.0,105,1440,0.00,2.17,0.00,0.000,6,0.000,0.041,2320,2017,3864,0,0,0,0,0,0
$GC,1684,-0.80,-136.7,365.2,-17.2,112,1688,0.00,2.15,0.00,0.000,4,0.000,0.050,2308,3410,3864,0,0,0,0,0,0
$GC,1758,-0.80,-136.7,376.8,-15.3,113,1763,0.12,2.12,0.00,0.000,6,0.163,0.032,2341,1997,3863,0,0,0,0,0,0
$GC,2013,-0.80,-136.7,413.5,-14.0,120,2016,0.00,2.08,0.00,0.000,4,0.000,0.041,2341,597,3861,0,0,0,0,0,0
$GC,2052,-0.80,-136.7,419.3,-14.7,121,2057,0.00,2.15,0.00,0.000,6,0.000,0.041,2333,2007,3861,0,0,0,0,0,0
$GC,2337,-0.80,-136.7,461.6,-15.2,128,2341,0.00,2.15,0.00,0.000,4,0.000,0.051,2322,3405,3857,0,0,0,0,0,0
$GC,2421,-0.80,-136.7,475.0,-15.3,130,2425,0.00,2.10,0.00,0.000,6,0.000,0.032,2322,1995,3857,0,0,0,0,0,0
$GC,2710,-0.80,-136.7,520.2,-15.3,137,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1988,3854,0,0,0,0,0,0
$GC,2955,-0.80,-136.7,556.8,-14.8,143,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1988,3852,0,0,0,0,0,0
$GC,3197,-0.80,-136.7,590.2,-13.4,149,3201,0.00,2.22,0.00,0.000,4,0.000,0.054,2312,3413,3848,0,0,0,0,0,0
$GC,3242,-0.80,-136.7,596.5,-13.6,150,3246,0.10,2.12,0.00,0.000,6,0.174,0.034,2335,1999,3848,0,0,0,0,0,0
$GC,3531,-0.80,-136.7,630.7,-11.6,157,3535,0.00,2.10,0.00,0.000,4,0.000,0.042,2336,599,3844,0,0,0,0,0,0
$GC,3566,-0.80,-136.7,634.9,-12.7,157,3571,0.00,2.15,0.00,0.000,6,0.000,0.042,2327,1997,3844,0,0,0,0,0,0
$GC,3815,-0.80,-136.7,665.6,-12.4,164,3819,0.00,2.20,0.00,0.000,4,0.000,0.054,2312,3406,3841,0,0,0,0,0,0
$GC,3866,-0.80,-136.7,672.3,-13.0,165,3870,0.00,2.15,0.00,0.000,6,0.000,0.035,2316,1998,3841,0,0,0,0,0,0
$GC,4138,-0.80,-136.7,708.1,-13.3,172,4142,0.00,2.22,0.00,0.000,4,0.000,0.054,2305,3415,3838,0,0,0,0,0,0
$GC,4194,-0.80,-136.7,715.9,-13.7,173,4199,0.12,2.15,0.00,0.000,6,0.170,0.033,2337,1999,3840,0,0,0,0,0,0
$GC,4461,-0.80,-136.7,747.2,-11.7,180,4465,0.00,2.12,0.00,0.000,4,0.000,0.042,2337,582,3834,0,0,0,0,0,0
$GC,4488,-0.80,-136.7,751.0,-12.5,180,4492,0.00,2.17,0.00,0.000,6,0.000,0.041,2329,2001,3835,0,0,0,0,0,0
$GC,4745,-0.80,-136.7,783.2,-12.9,187,4748,0.00,2.20,0.00,0.000,4,0.000,0.053,2319,3405,3831,0,0,0,0,0,0
$GC,4806,-0.80,-136.7,791.7,-13.7,188,4809,0.00,2.12,0.00,0.000,6,0.000,0.035,2315,1999,3830,0,0,0,0,0,0
$GC,5080,-0.80,-136.7,830.9,-14.4,195,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1992,3828,0,0,0,0,0,0
$GC,5322,-0.80,-136.7,865.1,-13.7,201,5326,0.00,2.25,0.00,0.000,4,0.000,0.054,2307,3413,3827,0,0,0,0,0,0
$GC,5349,-0.80,-136.7,869.3,-13.7,201,5354,0.12,2.17,0.00,0.000,6,0.173,0.033,2337,1984,3826,0,0,0,0,0,0
$GC,5601,-0.80,-136.7,899.1,-11.8,207,5605,0.00,2.03,0.00,0.000,3,0.000,0.052,2330,3274,3825,0,0,0,0,0,0
$STATE,5605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5605,begin apogee
$GC,5614,-0.28,0.0,900.0,11.8,207,5729,0.55,0.00,108.10,1.089,6,0.147,0.000,2497,1913,3300,0,0,0,0,0,0
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5731,begin climb
$GC,5734,0.80,136.7,904.6,0.0,210,5864,1.05,2.25,120.12,1.055,4,0.098,0.038,2857,523,2739,0,0,0,0,0,0
$GC,5875,0.80,136.7,889.0,15.6,213,5879,0.00,2.28,0.00,0.000,6,0.000,0.035,2856,1930,2737,0,0,0,0,0,0
$GC,6142,0.80,136.7,836.2,20.0,220,6146,0.00,2.30,0.00,0.000,4,0.000,0.054,2855,3344,2733,0,0,0,0,0,0
$GC,6233,0.80,136.7,817.4,21.5,222,6237,0.00,2.17,0.00,0.000,6,0.000,0.031,2864,1927,2733,0,0,0,0,0,0
$GC,6516,0.80,136.7,758.9,20.9,229,6520,0.00,2.12,0.00,0.000,4,0.000,0.039,2875,523,2728,0,0,0,0,0,0
$GC,6559,0.80,136.7,749.6,21.2,230,6563,0.00,2.15,0.00,0.000,6,0.000,0.035,2875,1933,2726,0,0,0,0,0,0
$GC,6844,0.80,136.7,689.3,21.4,237,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1936,2725,0,0,0,0,0,0
$GC,7087,0.80,136.7,639.1,20.2,243,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1936,2724,0,0,0,0,0,0
$GC,7331,0.80,136.7,590.7,19.7,249,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1936,2723,0,0,0,0,0,0
$GC,7575,0.80,136.7,544.4,18.8,255,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1936,2722,0,0,0,0,0,0
$GC,7818,0.80,136.7,498.9,18.8,261,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1936,2720,0,0,0,0,0,0
$GC,8062,0.80,136.7,453.8,18.6,267,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1936,2721,0,0,0,0,0,0
$GC,8305,0.80,136.7,409.9,17.7,273,8309,0.00,2.22,0.00,0.000,4,0.000,0.053,2872,3338,2720,0,0,0,0,0,0
$GC,8392,0.80,136.7,395.4,18.8,275,8396,0.00,2.15,0.00,0.000,6,0.000,0.032,2881,1922,2721,0,0,0,0,0,0
$GC,8675,0.80,136.7,345.5,17.6,282,8679,0.00,2.22,0.00,0.000,4,0.000,0.049,2881,3336,2719,0,0,0,0,0,0
$GC,8742,0.80,136.7,333.4,18.8,283,8747,0.08,2.15,0.00,0.000,6,0.175,0.031,2858,1938,2719,0,0,0,0,0,0
$GC,9005,0.80,136.7,293.2,14.8,291,9009,0.00,2.12,0.00,0.000,4,0.000,0.039,2868,521,2718,0,0,0,0,0,0
$GC,9060,0.80,136.7,285.4,14.0,293,9065,0.00,2.15,0.00,0.000,6,0.000,0.034,2866,1938,2716,0,0,0,0,0,0
$GC,9313,0.80,136.7,252.5,11.9,306,9317,0.00,2.15,0.00,0.000,4,0.000,0.048,2866,3330,2716,0,0,0,0,0,0
$GC,9342,0.80,136.7,248.9,13.3,307,9346,0.00,2.10,0.00,0.000,6,0.000,0.030,2875,1922,2717,0,0,0,0,0,0
$GC,9596,0.80,136.7,218.4,11.5,319,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1918,2716,0,0,0,0,0,0
$GC,9848,0.80,136.7,188.7,12.2,335,9852,0.00,2.08,0.00,0.000,4,0.000,0.037,2886,529,2716,0,0,0,0,0,0
$GC,9868,0.80,136.7,186.3,13.1,336,9873,0.12,2.12,0.00,0.000,6,0.191,0.033,2855,1937,2715,0,0,0,0,0,0
$GC,10132,0.80,136.7,155.8,10.6,360,10136,0.00,2.15,0.00,0.000,4,0.000,0.036,2866,522,2715,0,0,0,0,0,0
$GC,10285,0.80,136.7,140.5,10.5,373,10288,0.00,2.12,0.00,0.000,6,0.000,0.033,2866,1929,2715,0,0,0,0,0,0
$GC,10549,0.80,136.7,113.2,9.8,397,10553,0.00,2.15,0.00,0.000,4,0.000,0.048,2866,3327,2717,0,0,0,0,0,0
$GC,10581,0.80,136.7,109.8,11.2,399,10585,0.00,2.10,0.00,0.000,6,0.000,0.030,2877,1921,2718,0,0,0,0,0,0
$GC,10846,0.90,222.8,91.4,4.9,423,10918,0.00,2.12,65.25,0.519,4,0.000,0.036,2888,532,2392,0,0,0,0,0,0
$GC,10960,0.90,222.8,79.9,14.8,432,10968,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,1918,2387,0,0,0,0,0,0
$GC,11225,0.90,222.8,45.0,10.2,457,11229,0.00,2.12,0.00,0.000,4,0.000,0.038,2899,530,2385,0,0,0,0,0,0
$GC,11288,0.90,222.8,38.1,11.9,462,11292,0.00,2.12,0.00,0.000,6,0.000,0.031,2899,1942,2385,0,0,0,0,0,0
$STATE,11546,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.3,1.022919
$STATE,11565,end surface coast,CONTROL_FINISHED_OK
$STATE,11565,begin surface
$SM_CCo,11586,37.30,0.438,0,0,2074,300.24
$SM_GC,1.38,0.00,0.00,37.30,0.000,0.000,0.438,50,1990,2074,-7.96,-0.31,300.24
$IRIDIUM_FIX,2008.77,-15629.08,040213,111122
$TT8_MAMPS,0.24544
$HUMID,1078946442
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.30
$XPDR_PINGS,111
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6261047296
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,41173942272
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,36.438
$10V_AH,10.1,33.215
$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,19.600,120.875,293.475,37.300,0.000,24.770,33.332,597.460,27.750,0.000,12.782,1093.316,8262.728,417.307,2264.559,465.253,33.346,1170.048,0.000,1682.999,0.000,0.542,0.000
$DEVICE_MAMPS,246.974,159.536,1089.140,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,345.471,0.000,843.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,26930,507
$CAP_FILE_SIZE,116693,0
$CFSIZE,260165632,187396096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,186.5,1
$GPS,130811,003145,2014.431,-15626.819,43,2.7,62,9.8