version: 66.07
glider: 513
mission: 7
dive: 422
start: 9 8 111 12 26 40
data:
$ID,513
$MISSION,7
$DIVE,422
$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,-431702.84
$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,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,64
$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,421
$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
$GPS1,080911,121431,1911.420,-15635.296,51,1.4,51,9.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.1
$GPS2,080911,122544,1911.269,-15635.290,20,1.5,20,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.120,0.207
$KALMAN_X,-125151.7,75.7,-391.6,157582.2,-710.2
$KALMAN_Y,-440019.0,1569.3,760.5,347976.8,-15173.1
$MHEAD_RNG_PITCHd_Wd,348.4,123182,-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,-136.7,0.0,0.0,0,83,0.00,0.00,-51.58,0.000,2,0.000,0.000,41,2134,3561,0,0,0,0,0,0
$GC,87,-0.80,-136.7,3.4,-5.9,8,109,9.95,2.17,-5.18,0.000,4,0.244,0.061,2319,3495,3859,0,0,0,0,0,0
$GC,335,-0.80,-136.7,83.0,-26.3,36,339,0.00,2.12,0.00,0.000,6,0.000,0.034,2319,2110,3864,0,0,0,0,0,0
$GC,603,-0.80,-136.7,150.1,-22.8,60,607,0.00,2.12,0.00,0.000,4,0.000,0.039,2324,692,3864,0,0,0,0,0,0
$GC,622,-0.80,-136.7,156.0,-24.1,61,627,0.12,2.10,0.00,0.000,6,0.184,0.040,2338,2067,3864,0,0,0,0,0,0
$GC,886,-0.80,-136.7,208.6,-19.1,83,890,0.00,2.28,0.00,0.000,4,0.000,0.049,2328,3518,3865,0,0,0,0,0,0
$GC,958,-0.80,-136.7,223.1,-16.8,86,962,0.00,2.15,0.00,0.000,6,0.000,0.031,2328,2081,3866,0,0,0,0,0,0
$GC,1218,-0.80,-136.7,272.7,-19.4,99,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2078,3867,0,0,0,0,0,0
$GC,1465,-0.80,-136.7,313.8,-16.3,109,1469,0.00,2.05,0.00,0.000,4,0.000,0.040,2328,706,3868,0,0,0,0,0,0
$GC,1498,-0.80,-136.7,320.2,-17.9,109,1502,0.00,2.15,0.00,0.000,6,0.000,0.041,2319,2114,3868,0,0,0,0,0,0
$GC,1754,-0.80,-136.7,362.0,-16.9,116,1758,0.00,2.17,0.00,0.000,4,0.000,0.048,2307,3514,3868,0,0,0,0,0,0
$GC,1793,-0.80,-136.7,368.9,-17.0,117,1798,0.12,2.10,0.00,0.000,6,0.161,0.031,2339,2104,3868,0,0,0,0,0,0
$GC,2078,-0.80,-136.7,410.4,-14.6,124,2082,0.00,2.08,0.00,0.000,4,0.000,0.039,2339,703,3866,0,0,0,0,0,0
$GC,2133,-0.80,-136.7,418.9,-14.5,125,2137,0.00,2.10,0.00,0.000,6,0.000,0.038,2330,2107,3867,0,0,0,0,0,0
$GC,2407,-0.80,-136.7,459.2,-15.0,132,2411,0.00,2.17,0.00,0.000,4,0.000,0.049,2320,3508,3865,0,0,0,0,0,0
$GC,2468,-0.80,-136.7,468.1,-13.3,133,2473,0.00,2.15,0.00,0.000,6,0.000,0.028,2321,2094,3862,0,0,0,0,0,0
$GC,2736,-0.80,-136.7,504.6,-13.6,140,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2089,3865,0,0,0,0,0,0
$GC,2980,-0.80,-136.7,535.6,-12.6,146,2984,0.00,2.10,0.00,0.000,4,0.000,0.040,2320,704,3859,0,0,0,0,0,0
$GC,3041,-0.80,-136.7,543.5,-11.5,147,3046,0.10,2.10,0.00,0.000,6,0.185,0.038,2334,2099,3859,0,0,0,0,0,0
$GC,3302,-0.80,-136.7,572.2,-11.1,154,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2098,3857,0,0,0,0,0,0
$GC,3546,-0.80,-136.7,601.6,-12.1,160,3550,0.00,2.22,0.00,0.000,4,0.000,0.052,2325,3510,3854,0,0,0,0,0,0
$GC,3591,-0.80,-136.7,607.6,-12.9,161,3595,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2102,3853,0,0,0,0,0,0
$GC,3869,-0.80,-136.7,645.7,-14.0,168,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2094,3850,0,0,0,0,0,0
$GC,4112,-0.80,-136.7,681.2,-14.6,174,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2094,3846,0,0,0,0,0,0
$GC,4358,-0.80,-136.7,715.7,-14.2,180,4361,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,696,3845,0,0,0,0,0,0
$GC,4391,-0.80,-136.7,721.0,-16.0,180,4396,0.00,2.15,0.00,0.000,6,0.000,0.040,2315,2111,3845,0,0,0,0,0,0
$GC,4640,-0.80,-136.7,758.5,-15.0,187,4644,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3514,3841,0,0,0,0,0,0
$GC,4692,-0.80,-136.7,766.3,-14.8,188,4697,0.12,2.15,0.00,0.000,6,0.164,0.031,2335,2096,3845,0,0,0,0,0,0
$GC,4971,-0.80,-136.7,803.3,-13.2,195,4975,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,684,3840,0,0,0,0,0,0
$GC,5043,-0.80,-136.7,812.9,-12.9,196,5046,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2094,3839,0,0,0,0,0,0
$GC,5299,-0.80,-136.7,846.1,-13.1,203,5304,0.00,2.25,0.00,0.000,4,0.000,0.053,2318,3515,3837,0,0,0,0,0,0
$GC,5372,-0.80,-136.7,856.3,-13.5,204,5376,0.00,2.17,0.00,0.000,6,0.000,0.035,2316,2097,3836,0,0,0,0,0,0
$GC,5627,-0.80,-136.7,891.3,-13.9,211,5631,0.00,2.12,0.00,0.000,4,0.000,0.043,2316,695,3835,0,0,0,0,0,0
$GC,5684,-0.80,-136.7,899.4,-14.2,212,5687,0.00,2.08,0.00,0.000,3,0.000,0.043,2306,2047,3835,0,0,0,0,0,0
$STATE,5688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5688,begin apogee
$GC,5695,-0.28,0.0,900.1,14.4,212,5810,0.65,0.00,112.00,1.071,6,0.149,0.000,2499,1931,3302,0,0,0,0,0,0
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5849,0.80,136.7,905.4,0.0,215,5973,1.02,0.00,120.43,1.041,6,0.093,0.000,2847,1931,2744,0,0,0,0,0,0
$GC,6215,0.80,136.7,853.2,18.5,224,6219,0.00,2.38,0.00,0.000,4,0.000,0.055,2842,3363,2734,0,0,0,0,0,0
$GC,6249,0.80,136.7,846.9,18.7,224,6254,0.00,2.17,0.00,0.000,6,0.000,0.029,2854,1970,2734,0,0,0,0,0,0
$GC,6500,0.80,136.7,800.3,18.5,231,6504,0.00,2.15,0.00,0.000,4,0.000,0.039,2866,563,2732,0,0,0,0,0,0
$GC,6521,0.80,136.7,796.0,18.4,231,6525,0.00,2.17,0.00,0.000,6,0.000,0.038,2865,1968,2730,0,0,0,0,0,0
$GC,6783,0.80,136.7,746.2,19.0,238,6787,0.00,2.22,0.00,0.000,4,0.000,0.052,2865,3360,2730,0,0,0,0,0,0
$GC,6799,0.80,136.7,742.8,19.0,238,6802,0.00,2.12,0.00,0.000,6,0.000,0.028,2876,1958,2730,0,0,0,0,0,0
$GC,7072,0.80,136.7,689.6,19.9,245,7076,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,559,2729,0,0,0,0,0,0
$GC,7112,0.80,136.7,681.3,20.9,246,7117,0.12,2.12,0.00,0.000,6,0.198,0.034,2856,1966,2727,0,0,0,0,0,0
$GC,7395,0.80,136.7,630.2,17.9,253,7399,0.00,2.22,0.00,0.000,4,0.000,0.051,2858,3359,2726,0,0,0,0,0,0
$GC,7456,0.80,136.7,618.9,18.2,254,7460,0.00,2.12,0.00,0.000,6,0.000,0.029,2867,1955,2727,0,0,0,0,0,0
$GC,7722,0.80,136.7,571.2,18.0,261,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1949,2725,0,0,0,0,0,0
$GC,7966,0.80,136.7,530.2,16.5,267,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1950,2725,0,0,0,0,0,0
$GC,8210,0.80,136.7,491.5,15.8,273,8214,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,553,2724,0,0,0,0,0,0
$GC,8283,0.80,136.7,479.4,17.4,274,8287,0.00,2.12,0.00,0.000,6,0.000,0.032,2878,1958,2722,0,0,0,0,0,0
$GC,8538,0.80,136.7,438.5,16.1,281,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1959,2722,0,0,0,0,0,0
$GC,8781,0.80,136.7,399.6,15.6,287,8785,0.00,2.25,0.00,0.000,4,0.000,0.051,2879,3362,2721,0,0,0,0,0,0
$GC,8844,0.80,136.7,388.9,16.9,288,8849,0.15,2.12,0.00,0.000,6,0.194,0.030,2853,1958,2722,0,0,0,0,0,0
$GC,9110,0.80,136.7,351.6,13.7,295,9114,0.00,2.12,0.00,0.000,4,0.000,0.038,2862,554,2720,0,0,0,0,0,0
$GC,9165,0.80,136.7,344.3,13.3,296,9169,0.00,2.12,0.00,0.000,6,0.000,0.034,2859,1968,2720,0,0,0,0,0,0
$GC,9439,0.80,136.7,307.5,13.4,303,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1969,2720,0,0,0,0,0,0
$GC,9683,0.80,136.7,274.9,12.7,313,9687,0.00,2.22,0.00,0.000,4,0.000,0.049,2859,3359,2719,0,0,0,0,0,0
$GC,9755,0.80,136.7,265.0,13.7,316,9759,0.00,2.15,0.00,0.000,6,0.000,0.028,2868,1964,2721,0,0,0,0,0,0
$GC,10016,0.80,136.7,234.3,10.2,329,10020,0.00,2.12,0.00,0.000,4,0.000,0.038,2879,558,2724,0,0,0,0,0,0
$GC,10110,0.80,136.7,225.0,10.5,333,10114,0.00,2.12,0.00,0.000,6,0.000,0.033,2879,1967,2719,0,0,0,0,0,0
$GC,10374,0.80,136.7,194.1,12.2,348,10378,0.00,2.17,0.00,0.000,4,0.000,0.048,2879,3357,2720,0,0,0,0,0,0
$GC,10415,0.80,136.7,188.9,12.0,351,10420,0.15,2.10,0.00,0.000,6,0.185,0.026,2853,1942,2719,0,0,0,0,0,0
$GC,10682,0.82,160.0,168.2,7.6,375,10707,0.00,2.12,17.08,0.548,4,0.000,0.038,2862,575,2646,0,0,0,0,0,0
$GC,10874,0.82,160.0,149.6,11.5,392,10878,0.00,2.08,0.00,0.000,6,0.000,0.033,2858,1958,2648,0,0,0,0,0,0
$GC,11143,0.86,191.6,125.5,7.2,416,11178,0.00,2.28,27.15,0.522,4,0.000,0.049,2861,3357,2520,0,0,0,0,0,0
$GC,11427,0.86,191.6,97.2,11.4,441,11434,0.00,2.15,0.00,0.000,6,0.000,0.028,2870,1977,2520,0,0,0,0,0,0
$GC,11692,0.94,252.3,76.3,6.0,466,11751,0.00,2.25,50.42,0.479,4,0.000,0.046,2870,3354,2271,0,0,0,0,0,0
$GC,11819,0.94,252.3,65.1,10.5,477,11823,0.00,2.15,0.00,0.000,6,0.000,0.028,2879,1956,2271,0,0,0,0,0,0
$GC,12084,0.94,252.3,37.1,11.2,501,12088,0.00,2.22,0.00,0.000,4,0.000,0.044,2879,3361,2269,0,0,0,0,0,0
$GC,12137,0.94,252.3,30.7,11.9,505,12141,0.00,2.12,0.00,0.000,6,0.000,0.028,2889,1951,2269,0,0,0,0,0,0
$STATE,12372,end climb,SURFACE_DEPTH_REACHED
$STATE,12372,begin surface coast
$FINISH,0.3,1.022800
$STATE,12400,end surface coast,CONTROL_FINISHED_OK
$STATE,12400,begin surface
$SM_CCo,12421,23.12,0.403,0,0,2074,300.24
$SM_GC,0.97,0.00,0.00,23.12,0.000,0.000,0.403,56,2124,2074,-7.94,0.68,300.24
$IRIDIUM_FIX,1904.66,-15637.00,030313,020240
$TT8_MAMPS,0.246207
$HUMID,1078906442
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.70
$XPDR_PINGS,99
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255476736
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,15443001344
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,57.522
$10V_AH,9.7,51.904
$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,20.125,125.250,327.075,23.125,0.000,29.617,38.188,364.728,24.750,0.000,22.228,1211.547,8706.521,398.322,2356.127,449.461,33.363,1202.368,0.000,1894.183,0.000,0.541,0.000
$DEVICE_MAMPS,243.906,73.632,1070.732,403.442,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,377.506,0.000,955.729,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,26910,553
$CAP_FILE_SIZE,121380,0
$CFSIZE,260165632,174964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,172.5,1
$GPS,080911,155538,1911.466,-15635.163,32,1.8,32,9.6