version: 66.07
glider: 513
mission: 7
dive: 423
start: 9 8 111 16 7 32
data:
$ID,513
$MISSION,7
$DIVE,423
$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,-431733.81
$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,47
$R_STBD_OVSHOOT,55
$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,422
$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
$GPS1,080911,155538,1911.466,-15635.163,32,1.8,32,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.4
$GPS2,080911,160636,1911.352,-15635.187,28,2.0,28,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.049,0.234
$KALMAN_X,-124368.2,1147.8,768.9,154703.6,-2452.9
$KALMAN_Y,-443782.0,1856.9,1172.7,351175.7,-16602.3
$MHEAD_RNG_PITCHd_Wd,346.5,122985,-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,-136.7,0.0,0.0,0,89,0.00,0.00,-57.72,0.000,2,0.000,0.000,38,2125,3776,0,0,0,0,0,0
$GC,93,-0.80,-136.7,4.5,-8.1,9,115,9.95,2.22,-1.30,0.000,4,0.244,0.062,2319,3495,3862,0,0,0,0,0,0
$GC,286,-0.80,-136.7,74.5,-29.5,30,290,0.00,2.15,0.00,0.000,6,0.000,0.033,2319,2100,3868,0,0,0,0,0,0
$GC,553,-0.80,-136.7,148.1,-25.4,54,557,0.00,2.15,0.00,0.000,4,0.000,0.041,2319,690,3864,0,0,0,0,0,0
$GC,596,-0.80,-136.7,161.6,-25.3,57,604,0.08,2.15,0.00,0.000,6,0.166,0.044,2331,2066,3866,0,0,0,0,0,0
$GC,855,-0.80,-136.7,212.3,-18.0,79,859,0.00,2.28,0.00,0.000,4,0.000,0.050,2322,3509,3868,0,0,0,0,0,0
$GC,884,-0.80,-136.7,218.1,-20.2,80,888,0.00,2.12,0.00,0.000,6,0.000,0.031,2322,2090,3868,0,0,0,0,0,0
$GC,1137,-0.80,-136.7,264.0,-17.9,92,1141,0.00,2.10,0.00,0.000,4,0.000,0.041,2322,698,3870,0,0,0,0,0,0
$GC,1157,-0.80,-136.7,267.4,-18.4,93,1161,0.00,2.12,0.00,0.000,6,0.000,0.043,2312,2094,3870,0,0,0,0,0,0
$GC,1421,-0.80,-136.7,314.6,-17.5,104,1425,0.00,2.25,0.00,0.000,4,0.000,0.049,2300,3522,3870,0,0,0,0,0,0
$GC,1494,-0.80,-136.7,328.0,-17.6,105,1498,0.15,2.17,0.00,0.000,6,0.160,0.031,2340,2103,3870,0,0,0,0,0,0
$GC,1749,-0.80,-136.7,366.9,-15.2,112,1752,0.00,2.10,0.00,0.000,4,0.000,0.041,2339,693,3870,0,0,0,0,0,0
$GC,1794,-0.80,-136.7,373.9,-15.8,113,1798,0.00,2.17,0.00,0.000,6,0.000,0.041,2332,2113,3870,0,0,0,0,0,0
$GC,2071,-0.80,-136.7,419.2,-16.1,120,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2113,3872,0,0,0,0,0,0
$GC,2315,-0.80,-136.7,455.6,-14.5,126,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2113,3867,0,0,0,0,0,0
$GC,2560,-0.80,-136.7,489.2,-13.8,132,2564,0.00,2.17,0.00,0.000,4,0.000,0.050,2321,3507,3863,0,0,0,0,0,0
$GC,2601,-0.80,-136.7,494.9,-13.5,133,2604,0.00,2.12,0.00,0.000,6,0.000,0.029,2321,2090,3866,0,0,0,0,0,0
$GC,2884,-0.80,-136.7,533.4,-13.7,140,2888,0.00,2.10,0.00,0.000,4,0.000,0.042,2321,691,3861,0,0,0,0,0,0
$GC,2963,-0.80,-136.7,544.2,-13.2,141,2968,0.00,2.17,0.00,0.000,6,0.000,0.042,2310,2099,3860,0,0,0,0,0,0
$GC,3212,-0.80,-136.7,578.8,-14.0,148,3217,0.10,2.25,0.00,0.000,4,0.181,0.054,2326,3510,3858,0,0,0,0,0,0
$GC,3239,-0.80,-136.7,582.7,-13.9,148,3244,0.00,2.17,0.00,0.000,6,0.000,0.032,2326,2095,3857,0,0,0,0,0,0
$GC,3496,-0.80,-136.7,613.7,-12.3,155,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3854,0,0,0,0,0,0
$GC,3739,-0.80,-136.7,642.4,-11.7,161,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3853,0,0,0,0,0,0
$GC,3982,-0.80,-136.7,669.6,-10.9,167,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3851,0,0,0,0,0,0
$GC,4226,-0.80,-136.7,695.5,-10.3,173,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3849,0,0,0,0,0,0
$GC,4470,-0.80,-136.7,720.5,-10.3,179,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3846,0,0,0,0,0,0
$GC,4715,-0.80,-136.7,746.3,-10.7,185,4719,0.00,2.12,0.00,0.000,4,0.000,0.045,2326,705,3844,0,0,0,0,0,0
$GC,4737,-0.80,-136.7,749.0,-11.2,185,4741,0.00,2.15,0.00,0.000,6,0.000,0.042,2316,2113,3844,0,0,0,0,0,0
$GC,4998,-0.80,-136.7,779.0,-11.7,192,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2113,3839,0,0,0,0,0,0
$GC,5243,-0.80,-136.7,806.6,-11.3,198,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2113,3840,0,0,0,0,0,0
$GC,5486,-0.80,-136.7,834.0,-11.1,204,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2113,3839,0,0,0,0,0,0
$GC,5729,-0.80,-136.7,860.1,-10.6,210,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2119,3837,0,0,0,0,0,0
$GC,5973,-0.80,-136.7,885.7,-10.6,216,5977,0.00,2.22,0.00,0.000,4,0.000,0.053,2305,3513,3832,0,0,0,0,0,0
$GC,6007,-0.80,-136.7,889.5,-11.4,216,6014,0.12,2.15,0.00,0.000,6,0.168,0.031,2338,2093,3834,0,0,0,0,0,0
$STATE,6132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6132,begin apogee
$GC,6139,-0.28,0.0,901.2,9.2,220,6255,0.55,0.00,112.55,1.075,6,0.140,0.000,2502,1930,3300,0,0,0,0,0,0
$STATE,6257,end apogee,CONTROL_FINISHED_OK
$STATE,6257,begin climb
$GC,6260,0.80,136.7,903.3,0.0,223,6389,1.05,2.50,120.88,1.042,4,0.092,0.050,2849,3359,2742,0,0,0,0,0,0
$GC,6400,0.80,136.7,887.1,18.0,226,6404,0.00,2.22,0.00,0.000,6,0.000,0.027,2859,1978,2740,0,0,0,0,0,0
$GC,6662,0.80,136.7,833.1,20.8,233,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1971,2733,0,0,0,0,0,0
$GC,6905,0.80,136.7,784.6,19.8,239,6909,0.00,2.17,0.00,0.000,4,0.000,0.038,2871,552,2732,0,0,0,0,0,0
$GC,6941,0.80,136.7,777.6,21.2,239,6946,0.00,2.17,0.00,0.000,6,0.000,0.039,2865,1966,2730,0,0,0,0,0,0
$GC,7190,0.80,136.7,728.7,19.3,246,7194,0.00,2.25,0.00,0.000,4,0.000,0.052,2866,3366,2730,0,0,0,0,0,0
$GC,7212,0.80,136.7,724.1,19.8,246,7216,0.00,2.15,0.00,0.000,6,0.000,0.031,2874,1954,2730,0,0,0,0,0,0
$GC,7475,0.80,136.7,674.7,19.0,253,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1949,2728,0,0,0,0,0,0
$GC,7717,0.80,136.7,631.0,18.0,259,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1950,2727,0,0,0,0,0,0
$GC,7961,0.80,136.7,587.1,18.1,265,7965,0.00,2.28,0.00,0.000,4,0.000,0.054,2870,3361,2727,0,0,0,0,0,0
$GC,7989,0.80,136.7,581.7,19.4,265,7992,0.00,2.12,0.00,0.000,6,0.000,0.030,2879,1959,2724,0,0,0,0,0,0
$GC,8246,0.80,136.7,534.0,18.8,272,8250,0.00,2.12,0.00,0.000,4,0.000,0.038,2886,553,2725,0,0,0,0,0,0
$GC,8284,0.80,136.7,526.1,20.0,272,8291,0.15,2.15,0.00,0.000,6,0.193,0.033,2855,1970,2727,0,0,0,0,0,0
$GC,8534,0.80,136.7,481.3,17.7,279,8538,0.00,2.22,0.00,0.000,4,0.000,0.050,2855,3360,2724,0,0,0,0,0,0
$GC,8585,0.80,136.7,472.5,17.1,280,8589,0.00,2.12,0.00,0.000,6,0.000,0.028,2864,1955,2724,0,0,0,0,0,0
$GC,8857,0.80,136.7,428.5,15.8,287,8861,0.00,2.10,0.00,0.000,4,0.000,0.037,2878,558,2726,0,0,0,0,0,0
$GC,8896,0.80,136.7,422.3,15.7,288,8900,0.00,2.10,0.00,0.000,6,0.000,0.032,2875,1958,2722,0,0,0,0,0,0
$GC,9180,0.80,136.7,381.7,14.1,295,9184,0.00,2.25,0.00,0.000,4,0.000,0.051,2875,3361,2722,0,0,0,0,0,0
$GC,9297,0.80,136.7,364.6,14.7,297,9302,0.12,2.12,0.00,0.000,6,0.199,0.029,2856,1953,2723,0,0,0,0,0,0
$GC,9547,0.80,136.7,334.5,12.0,303,9551,0.00,2.10,0.00,0.000,4,0.000,0.038,2866,561,2722,0,0,0,0,0,0
$GC,9576,0.80,136.7,331.2,11.7,303,9580,0.00,2.10,0.00,0.000,6,0.000,0.031,2862,1962,2724,0,0,0,0,0,0
$GC,9831,0.80,136.7,298.2,13.3,310,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1962,2721,0,0,0,0,0,0
$GC,10078,0.80,136.7,267.9,11.5,322,10082,0.00,2.22,0.00,0.000,4,0.000,0.051,2862,3363,2721,0,0,0,0,0,0
$GC,10191,0.80,136.7,253.9,13.8,327,10195,0.00,2.12,0.00,0.000,6,0.000,0.029,2871,1959,2719,0,0,0,0,0,0
$GC,10456,0.80,136.7,223.1,10.6,340,10460,0.00,2.10,0.00,0.000,4,0.000,0.036,2882,560,2721,0,0,0,0,0,0
$GC,10634,0.80,136.7,204.2,11.2,348,10638,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,1964,2720,0,0,0,0,0,0
$GC,10898,0.80,136.7,178.8,8.7,370,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1965,2720,0,0,0,0,0,0
$GC,11163,0.85,177.7,157.6,6.8,395,11199,0.00,2.22,31.35,0.556,4,0.000,0.048,2881,3366,2576,0,0,0,0,0,0
$GC,11235,0.85,177.7,151.1,10.7,401,11240,0.00,2.15,0.00,0.000,6,0.000,0.028,2891,1947,2576,0,0,0,0,0,0
$GC,11504,0.85,177.7,123.8,9.5,425,11508,0.00,2.08,0.00,0.000,4,0.000,0.037,2901,562,2573,0,0,0,0,0,0
$GC,11755,0.85,177.7,101.7,9.3,447,11764,0.10,2.12,0.00,0.000,6,0.150,0.030,2871,1969,2573,0,0,0,0,0,0
$GC,12019,0.93,247.6,83.2,5.6,472,12083,0.00,2.20,58.03,0.485,4,0.000,0.037,2880,566,2289,0,0,0,0,0,0
$GC,12179,0.93,247.6,69.9,9.4,486,12183,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1957,2285,0,0,0,0,0,0
$GC,12444,0.93,247.6,43.2,10.3,510,12448,0.00,2.22,0.00,0.000,4,0.000,0.046,2880,3361,2284,0,0,0,0,0,0
$GC,12486,0.93,247.6,38.8,11.3,513,12490,0.00,2.12,0.00,0.000,6,0.000,0.028,2888,1961,2284,0,0,0,0,0,0
$GC,12753,0.93,247.6,8.2,12.3,554,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1959,2284,0,0,0,0,0,0
$STATE,12798,end climb,SURFACE_DEPTH_REACHED
$STATE,12798,begin surface coast
$FINISH,0.4,1.022730
$STATE,12821,end surface coast,CONTROL_FINISHED_OK
$STATE,12822,begin surface
$SM_CCo,12842,26.60,0.406,0,0,2077,300.24
$SM_GC,0.88,0.00,0.00,26.60,0.000,0.000,0.406,57,2118,2077,-7.94,0.51,300.24
$IRIDIUM_FIX,1906.95,-15638.19,030313,060654
$TT8_MAMPS,0.256178
$HUMID,1078856119
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.90
$XPDR_PINGS,91
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6255443968
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,15287582720
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.6,57.635
$10V_AH,9.8,51.994
$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,19.825,113.100,322.800,26.600,0.000,25.459,33.703,348.517,22.750,0.000,30.353,1203.099,9233.808,417.538,2222.883,456.026,33.357,1182.002,0.000,1823.762,0.000,0.542,0.000
$DEVICE_MAMPS,243.906,67.496,1074.567,405.743,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,386.319,0.000,959.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26899,566
$CAP_FILE_SIZE,117297,0
$CFSIZE,260165632,174895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,171.2,1
$GPS,080911,194337,1911.567,-15634.989,35,0.9,35,9.6