version: 66.07
glider: 513
mission: 7
dive: 430
start: 9 9 111 20 51 33
data:
$ID,513
$MISSION,7
$DIVE,430
$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,712.8302
$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,-431916.66
$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,53
$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,429
$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
$GPS1,090911,201226,1911.665,-15634.288,38,2.4,57,9.6
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.8
$GPS2,090911,205037,1911.347,-15634.207,39,1.5,53,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.011,0.239
$KALMAN_X,-122402.0,942.3,481.7,154937.6,-1917.9
$KALMAN_Y,-470258.7,1343.1,703.6,378638.5,-12621.6
$MHEAD_RNG_PITCHd_Wd,356.3,122519,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-0.80,-136.7,0.0,0.0,0,86,0.00,0.00,-51.15,0.000,2,0.000,0.000,35,2133,3549,0,0,0,0,0,0
$GC,90,-0.80,-136.7,3.3,-4.8,8,113,9.80,2.12,-5.32,0.000,4,0.241,0.058,2317,3491,3858,0,0,0,0,0,0
$GC,331,-0.80,-136.7,83.4,-29.8,35,338,0.00,2.15,0.00,0.000,6,0.000,0.041,2318,2116,3858,0,0,0,0,0,0
$GC,595,-0.80,-136.7,160.6,-24.7,60,599,0.00,2.15,0.00,0.000,4,0.000,0.041,2317,688,3861,0,0,0,0,0,0
$GC,648,-0.80,-136.7,172.5,-21.4,64,652,0.12,2.10,0.00,0.000,6,0.176,0.044,2342,2069,3862,0,0,0,0,0,0
$GC,907,-0.80,-136.7,218.3,-16.0,83,911,0.00,2.25,0.00,0.000,4,0.000,0.051,2328,3523,3863,0,0,0,0,0,0
$GC,935,-0.80,-136.7,223.3,-16.2,84,939,0.00,2.12,0.00,0.000,6,0.000,0.031,2328,2095,3863,0,0,0,0,0,0
$GC,1188,-0.80,-136.7,267.5,-16.7,96,1192,0.00,2.12,0.00,0.000,4,0.000,0.042,2329,686,3865,0,0,0,0,0,0
$GC,1251,-0.80,-136.7,278.4,-16.5,99,1255,0.00,2.15,0.00,0.000,6,0.000,0.045,2321,2106,3863,0,0,0,0,0,0
$GC,1515,-0.80,-136.7,323.9,-17.7,109,1519,0.00,2.17,0.00,0.000,4,0.000,0.049,2307,3505,3864,0,0,0,0,0,0
$GC,1582,-0.80,-136.7,335.0,-15.5,110,1586,0.12,2.10,0.00,0.000,6,0.163,0.031,2339,2085,3863,0,0,0,0,0,0
$GC,1838,-0.80,-136.7,370.7,-13.7,117,1842,0.00,2.05,0.00,0.000,4,0.000,0.040,2339,701,3863,0,0,0,0,0,0
$GC,1871,-0.80,-136.7,375.9,-14.8,117,1876,0.00,2.10,0.00,0.000,6,0.000,0.041,2328,2099,3863,0,0,0,0,0,0
$GC,2121,-0.80,-136.7,411.5,-14.2,124,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2104,3861,0,0,0,0,0,0
$GC,2364,-0.80,-136.7,445.4,-13.8,130,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2098,3859,0,0,0,0,0,0
$GC,2610,-0.80,-136.7,477.5,-13.0,136,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2095,3856,0,0,0,0,0,0
$GC,2852,-0.80,-136.7,506.1,-11.6,142,2856,0.00,2.22,0.00,0.000,4,0.000,0.052,2320,3505,3853,0,0,0,0,0,0
$GC,2879,-0.80,-136.7,509.3,-11.9,142,2883,0.00,2.12,0.00,0.000,6,0.000,0.031,2320,2097,3853,0,0,0,0,0,0
$GC,3140,-0.80,-136.7,538.8,-11.5,149,3144,0.00,2.10,0.00,0.000,4,0.000,0.038,2320,698,3854,0,0,0,0,0,0
$GC,3202,-0.80,-136.7,546.1,-12.0,150,3207,0.10,2.12,0.00,0.000,6,0.183,0.038,2335,2106,3849,0,0,0,0,0,0
$GC,3463,-0.80,-136.7,575.3,-11.3,157,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2106,3846,0,0,0,0,0,0
$GC,3707,-0.80,-136.7,604.1,-11.8,163,3711,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3512,3843,0,0,0,0,0,0
$GC,3747,-0.80,-136.7,609.0,-12.3,164,3751,0.00,2.10,0.00,0.000,6,0.000,0.030,2325,2108,3842,0,0,0,0,0,0
$GC,4031,-0.80,-136.7,646.9,-13.6,171,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2102,3840,0,0,0,0,0,0
$GC,4275,-0.80,-136.7,681.0,-14.0,177,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2103,3843,0,0,0,0,0,0
$GC,4520,-0.80,-136.7,714.6,-13.7,183,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2102,3835,0,0,0,0,0,0
$GC,4762,-0.80,-136.7,746.8,-13.2,189,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2102,3834,0,0,0,0,0,0
$GC,5006,-0.80,-136.7,778.1,-12.8,195,5010,0.00,2.15,0.00,0.000,4,0.000,0.044,2327,697,3830,0,0,0,0,0,0
$GC,5039,-0.80,-136.7,782.7,-13.1,195,5045,0.00,2.12,0.00,0.000,6,0.000,0.041,2315,2097,3829,0,0,0,0,0,0
$GC,5290,-0.80,-136.7,814.9,-12.8,202,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2093,3828,0,0,0,0,0,0
$GC,5533,-0.80,-136.7,844.6,-11.9,208,5537,0.00,2.22,0.00,0.000,4,0.000,0.054,2304,3505,3826,0,0,0,0,0,0
$GC,5560,-0.80,-136.7,848.0,-12.4,208,5565,0.12,2.12,0.00,0.000,6,0.165,0.031,2336,2098,3826,0,0,0,0,0,0
$GC,5816,-0.80,-136.7,872.1,-9.1,215,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2093,3825,0,0,0,0,0,0
$GC,6060,-0.80,-136.7,893.6,-8.7,221,6064,0.00,2.12,0.00,0.000,4,0.000,0.041,2336,687,3821,0,0,0,0,0,0
$GC,6087,-0.80,-136.7,896.2,-9.1,221,6091,0.00,2.15,0.00,0.000,6,0.000,0.041,2328,2103,3822,0,0,0,0,0,0
$STATE,6131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6131,begin apogee
$GC,6138,-0.28,0.0,900.5,9.2,222,6254,0.57,0.00,110.18,1.069,6,0.141,0.000,2498,1928,3301,0,0,0,0,0,0
$STATE,6256,end apogee,CONTROL_FINISHED_OK
$STATE,6256,begin climb
$GC,6260,0.80,136.7,902.0,0.0,225,6387,1.02,0.00,120.50,1.035,6,0.093,0.000,2845,1928,2743,0,0,0,0,0,0
$GC,6626,0.80,136.7,842.4,19.4,234,6630,0.00,2.33,0.00,0.000,4,0.000,0.051,2844,3362,2736,0,0,0,0,0,0
$GC,6648,0.80,136.7,838.0,20.1,234,6652,0.00,2.12,0.00,0.000,6,0.000,0.030,2853,1982,2736,0,0,0,0,0,0
$GC,6909,0.80,136.7,787.5,19.1,241,6913,0.00,2.17,0.00,0.000,4,0.000,0.040,2866,559,2734,0,0,0,0,0,0
$GC,6942,0.80,136.7,780.9,19.2,241,6948,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,1966,2729,0,0,0,0,0,0
$GC,7194,0.80,136.7,730.7,20.2,248,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1967,2728,0,0,0,0,0,0
$GC,7436,0.80,136.7,681.6,20.1,254,7440,0.00,2.22,0.00,0.000,4,0.000,0.051,2866,3364,2727,0,0,0,0,0,0
$GC,7485,0.80,136.7,671.2,20.3,255,7489,0.00,2.12,0.00,0.000,6,0.000,0.030,2877,1956,2727,0,0,0,0,0,0
$GC,7763,0.80,136.7,617.2,19.0,262,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1951,2726,0,0,0,0,0,0
$GC,8008,0.80,136.7,575.2,16.8,268,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1951,2726,0,0,0,0,0,0
$GC,8250,0.80,136.7,535.2,16.3,274,8254,0.00,2.10,0.00,0.000,4,0.000,0.038,2888,564,2725,0,0,0,0,0,0
$GC,8311,0.80,136.7,525.0,16.9,275,8315,0.12,2.10,0.00,0.000,6,0.197,0.034,2858,1964,2722,0,0,0,0,0,0
$GC,8573,0.80,136.7,486.5,14.4,282,8577,0.00,2.22,0.00,0.000,4,0.000,0.050,2857,3358,2722,0,0,0,0,0,0
$GC,8596,0.80,136.7,482.7,16.2,282,8600,0.00,2.10,0.00,0.000,6,0.000,0.028,2866,1962,2723,0,0,0,0,0,0
$GC,8851,0.80,136.7,444.4,15.3,289,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1958,2722,0,0,0,0,0,0
$GC,9095,0.80,136.7,406.7,15.8,295,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1958,2722,0,0,0,0,0,0
$GC,9340,0.80,136.7,367.0,16.2,301,9344,0.00,2.20,0.00,0.000,4,0.000,0.048,2858,3359,2723,0,0,0,0,0,0
$GC,9361,0.80,136.7,363.2,15.7,301,9365,0.00,2.12,0.00,0.000,6,0.000,0.029,2867,1948,2722,0,0,0,0,0,0
$GC,9617,0.80,136.7,324.4,14.8,308,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1945,2722,0,0,0,0,0,0
$GC,9863,0.80,136.7,295.2,11.0,315,9867,0.00,2.08,0.00,0.000,4,0.000,0.038,2878,561,2722,0,0,0,0,0,0
$GC,9917,0.80,136.7,289.2,10.0,317,9923,0.00,2.10,0.00,0.000,6,0.000,0.032,2878,1966,2719,0,0,0,0,0,0
$GC,10171,0.80,136.7,261.0,12.3,330,10175,0.00,2.20,0.00,0.000,4,0.000,0.049,2879,3364,2719,0,0,0,0,0,0
$GC,10291,0.80,136.7,246.3,12.1,335,10295,0.12,2.10,0.00,0.000,6,0.198,0.028,2859,1952,2720,0,0,0,0,0,0
$GC,10545,0.80,136.7,220.4,10.5,347,10549,0.00,2.22,0.00,0.000,4,0.000,0.047,2857,3360,2718,0,0,0,0,0,0
$GC,10567,0.80,136.7,217.8,11.3,348,10571,0.00,2.12,0.00,0.000,6,0.000,0.027,2865,1951,2720,0,0,0,0,0,0
$GC,10832,0.80,136.7,185.8,9.9,366,10836,0.00,2.08,0.00,0.000,4,0.000,0.036,2877,559,2720,0,0,0,0,0,0
$GC,10884,0.80,136.7,180.7,10.2,370,10888,0.00,2.08,0.00,0.000,6,0.000,0.030,2877,1959,2719,0,0,0,0,0,0
$GC,11150,0.82,155.2,158.7,7.8,394,11168,0.00,2.22,13.18,0.522,4,0.000,0.048,2877,3372,2667,0,0,0,0,0,0
$GC,11416,0.82,155.2,132.0,10.0,417,11423,0.00,2.15,0.00,0.000,6,0.000,0.029,2887,1975,2668,0,0,0,0,0,0
$GC,11681,0.93,245.9,114.5,4.7,442,11760,0.00,2.25,73.82,0.515,4,0.000,0.044,2887,3361,2298,0,0,0,0,0,0
$GC,11818,0.93,245.9,102.8,10.6,454,11822,0.00,2.15,0.00,0.000,6,0.000,0.028,2898,1951,2297,0,0,0,0,0,0
$GC,12084,0.93,245.9,73.0,11.7,478,12088,0.00,2.10,0.00,0.000,4,0.000,0.037,2908,562,2293,0,0,0,0,0,0
$GC,12137,0.93,245.9,66.4,12.0,482,12141,0.00,2.10,0.00,0.000,6,0.000,0.029,2909,1972,2292,0,0,0,0,0,0
$GC,12407,0.93,245.9,31.0,12.5,507,12411,0.00,2.12,0.00,0.000,4,0.000,0.035,2920,560,2292,0,0,0,0,0,0
$GC,12481,0.93,245.9,21.7,12.5,519,12488,0.00,2.10,0.00,0.000,6,0.000,0.029,2919,1948,2292,0,0,0,0,0,0
$STATE,12620,end climb,SURFACE_DEPTH_REACHED
$STATE,12620,begin surface coast
$FINISH,0.5,1.022838
$STATE,12642,end surface coast,CONTROL_FINISHED_OK
$STATE,12643,begin surface
$SM_CCo,12663,269.12,0.413,0,0,392,712.83
$SM_GC,0.94,0.00,0.00,269.12,0.000,0.000,0.413,41,2159,392,-7.93,1.67,712.83
$IRIDIUM_FIX,1902.38,-15637.00,040313,151536
$TT8_MAMPS,0.059059
$HUMID,1078770958
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,26.40
$XPDR_PINGS,97
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6332088320
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,14161444864
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,58.831
$10V_AH,9.8,53.426
$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,19.800,111.925,317.675,269.125,0.000,145.051,195.752,1399.040,24.250,0.000,55.616,1164.845,9460.038,634.555,3134.668,831.773,33.363,1375.993,0.000,1718.856,0.000,0.543,0.000
$DEVICE_MAMPS,240.838,60.593,1069.198,412.646,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,374.954,0.000,893.127,0.000,0.000,0.000,0.000,46898.398,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,15.239,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,26951,549
$CAP_FILE_SIZE,137252,0
$CFSIZE,260165632,174325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,182.8,1
$GPS,100911,002837,1911.590,-15634.054,34,1.0,34,9.6