version: 66.07
glider: 513
mission: 7
dive: 442
start: 9 11 111 20 57 12
data:
$ID,513
$MISSION,7
$DIVE,442
$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,-432151.19
$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,45
$R_STBD_OVSHOOT,69
$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,441
$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
$GPS1,110911,201706,1914.307,-15631.174,32,0.8,33,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.8
$GPS2,110911,205614,1913.881,-15630.814,14,1.0,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.045,0.235
$KALMAN_X,-107983.2,-1120.0,-247.3,149261.3,3781.9
$KALMAN_Y,-511399.7,1082.2,626.1,424818.2,-10338.7
$MHEAD_RNG_PITCHd_Wd,359.7,116480,-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,-136.7,0.0,0.0,0,136,0.00,0.00,-103.97,0.000,2,0.000,0.000,37,2154,3461,0,0,0,0,0,0
$GC,141,-0.80,-136.7,3.1,-4.8,16,163,9.75,0.00,-7.38,0.000,6,0.239,0.000,2329,2150,3862,0,0,0,0,0,0
$GC,426,-0.80,-136.7,98.1,-31.0,48,430,0.00,2.22,0.00,0.000,4,0.000,0.040,2329,697,3861,0,0,0,0,0,0
$GC,456,-0.80,-136.7,107.6,-32.7,50,460,0.00,2.12,0.00,0.000,6,0.000,0.044,2321,2062,3861,0,0,0,0,0,0
$GC,719,-0.80,-136.7,171.5,-19.8,74,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2065,3862,0,0,0,0,0,0
$GC,970,-0.80,-136.7,220.5,-18.3,93,973,0.00,2.05,0.00,0.000,4,0.000,0.041,2321,701,3861,0,0,0,0,0,0
$GC,980,-0.80,-136.7,223.0,-17.9,93,986,0.00,2.12,0.00,0.000,6,0.000,0.043,2311,2103,3862,0,0,0,0,0,0
$GC,1234,-0.80,-136.7,269.9,-18.0,106,1236,0.10,0.00,0.00,0.000,6,0.187,0.000,2335,2102,3862,0,0,0,0,0,0
$GC,1482,-0.80,-136.7,307.2,-14.7,117,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3861,0,0,0,0,0,0
$GC,1725,-0.80,-136.7,340.5,-13.6,123,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2102,3862,0,0,0,0,0,0
$GC,1968,-0.80,-136.7,376.2,-14.9,129,1972,0.00,2.20,0.00,0.000,4,0.000,0.052,2325,3520,3859,0,0,0,0,0,0
$GC,2002,-0.80,-136.7,381.4,-16.1,129,2007,0.00,2.15,0.00,0.000,6,0.000,0.031,2325,2089,3860,0,0,0,0,0,0
$GC,2252,-0.80,-136.7,418.0,-14.5,136,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2084,3856,0,0,0,0,0,0
$GC,2495,-0.80,-136.7,451.1,-13.4,142,2499,0.00,2.10,0.00,0.000,4,0.000,0.041,2325,686,3854,0,0,0,0,0,0
$GC,2523,-0.80,-136.7,455.1,-13.8,142,2527,0.00,2.15,0.00,0.000,6,0.000,0.041,2315,2104,3853,0,0,0,0,0,0
$GC,2780,-0.80,-136.7,489.4,-13.4,149,2783,0.00,2.12,0.00,0.000,4,0.000,0.038,2315,699,3850,0,0,0,0,0,0
$GC,2819,-0.80,-136.7,495.5,-14.9,150,2825,0.12,2.12,-0.08,0.000,6,0.171,0.040,2337,2100,3867,0,0,0,0,0,0
$GC,3103,-0.80,-136.7,533.0,-13.2,157,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2100,3864,0,0,0,0,0,0
$GC,3348,-0.80,-136.7,563.6,-12.2,163,3352,0.00,2.22,0.00,0.000,4,0.000,0.053,2328,3505,3861,0,0,0,0,0,0
$GC,3376,-0.80,-136.7,567.3,-12.8,163,3380,0.00,2.10,0.00,0.000,6,0.000,0.028,2331,2091,3861,0,0,0,0,0,0
$GC,3637,-0.80,-136.7,598.9,-12.2,170,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2087,3858,0,0,0,0,0,0
$GC,3881,-0.80,-136.7,627.8,-11.7,176,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2081,3853,0,0,0,0,0,0
$GC,4126,-0.80,-136.7,654.4,-10.9,182,4130,0.00,2.10,0.00,0.000,4,0.000,0.040,2328,696,3852,0,0,0,0,0,0
$GC,4164,-0.80,-136.7,658.8,-11.5,182,4170,0.00,2.15,0.00,0.000,6,0.000,0.041,2317,2110,3852,0,0,0,0,0,0
$GC,4414,-0.80,-136.7,686.1,-11.1,189,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2109,3846,0,0,0,0,0,0
$GC,4658,-0.80,-136.7,712.2,-10.8,195,4662,0.00,2.20,0.00,0.000,4,0.000,0.054,2306,3507,3846,0,0,0,0,0,0
$GC,4699,-0.80,-136.7,716.7,-11.1,196,4703,0.12,2.10,0.00,0.000,6,0.167,0.030,2338,2103,3843,0,0,0,0,0,0
$GC,4982,-0.80,-136.7,742.5,-8.9,203,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2098,3844,0,0,0,0,0,0
$GC,5225,-0.80,-136.7,765.5,-9.6,209,5229,0.00,2.12,0.00,0.000,4,0.000,0.042,2338,699,3841,0,0,0,0,0,0
$GC,5288,-0.80,-136.7,771.7,-10.2,210,5292,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2105,3840,0,0,0,0,0,0
$GC,5548,-0.80,-136.7,799.3,-10.6,217,5552,0.00,2.20,0.00,0.000,4,0.000,0.051,2319,3511,3838,0,0,0,0,0,0
$GC,5570,-0.80,-136.7,802.0,-11.4,217,5574,0.00,2.15,0.00,0.000,6,0.000,0.029,2319,2107,3837,0,0,0,0,0,0
$GC,5833,-0.80,-136.7,832.5,-11.8,224,5837,0.00,2.17,0.00,0.000,4,0.000,0.042,2319,687,3833,0,0,0,0,0,0
$GC,5882,-0.80,-136.7,839.1,-12.0,225,5887,0.12,2.20,0.00,0.000,6,0.179,0.043,2335,2103,3836,0,0,0,0,0,0
$GC,6154,-0.80,-136.7,867.8,-10.5,232,6158,0.00,2.20,0.00,0.000,4,0.000,0.051,2330,3506,3833,0,0,0,0,0,0
$GC,6206,-0.80,-136.7,873.5,-11.6,233,6210,0.00,2.15,0.00,0.000,6,0.000,0.028,2330,2090,3833,0,0,0,0,0,0
$STATE,6476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6476,begin apogee
$GC,6482,-0.28,0.0,903.2,10.8,240,6600,0.55,0.00,112.05,1.077,6,0.141,0.000,2499,1918,3300,0,0,0,0,0,0
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6605,0.80,136.7,906.9,0.0,243,6731,1.08,0.00,122.25,1.044,6,0.093,0.000,2854,1922,2742,0,0,0,0,0,0
$GC,6963,0.80,136.7,852.1,18.9,252,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1918,2735,0,0,0,0,0,0
$GC,7206,0.80,136.7,806.9,18.6,258,7210,0.00,2.30,0.00,0.000,4,0.000,0.050,2854,3365,2731,0,0,0,0,0,0
$GC,7239,0.80,136.7,800.3,19.7,258,7245,0.00,2.12,0.00,0.000,6,0.000,0.029,2864,1984,2732,0,0,0,0,0,0
$GC,7490,0.80,136.7,752.4,19.0,265,7494,0.00,2.17,0.00,0.000,4,0.000,0.039,2875,560,2731,0,0,0,0,0,0
$GC,7522,0.80,136.7,745.6,19.8,265,7526,0.00,2.12,0.00,0.000,6,0.000,0.033,2874,1961,2726,0,0,0,0,0,0
$GC,7778,0.80,136.7,695.3,19.7,272,7782,0.00,2.22,0.00,0.000,4,0.000,0.052,2874,3370,2726,0,0,0,0,0,0
$GC,7845,0.80,136.7,681.2,20.6,273,7849,0.00,2.15,0.00,0.000,6,0.000,0.031,2883,1952,2726,0,0,0,0,0,0
$GC,8101,0.80,136.7,628.4,20.5,280,8105,0.00,2.12,0.00,0.000,4,0.000,0.038,2894,560,2725,0,0,0,0,0,0
$GC,8134,0.80,136.7,621.0,22.5,280,8140,0.15,2.12,0.00,0.000,6,0.192,0.033,2859,1964,2724,0,0,0,0,0,0
$GC,8386,0.80,136.7,575.2,17.9,287,8390,0.00,2.20,0.00,0.000,4,0.000,0.051,2856,3361,2723,0,0,0,0,0,0
$GC,8430,0.80,136.7,566.0,19.5,288,8434,0.00,2.12,0.00,0.000,6,0.000,0.029,2868,1950,2724,0,0,0,0,0,0
$GC,8714,0.80,136.7,514.6,17.9,295,8718,0.00,2.10,0.00,0.000,4,0.000,0.038,2878,563,2723,0,0,0,0,0,0
$GC,8753,0.80,136.7,507.5,17.9,296,8757,0.00,2.12,0.00,0.000,6,0.000,0.034,2878,1965,2720,0,0,0,0,0,0
$GC,9039,0.80,136.7,455.9,18.1,303,9043,0.00,2.15,0.00,0.000,4,0.000,0.038,2888,557,2719,0,0,0,0,0,0
$GC,9134,0.80,136.7,438.4,17.5,305,9138,0.12,2.12,0.00,0.000,6,0.192,0.033,2860,1960,2719,0,0,0,0,0,0
$GC,9407,0.80,136.7,397.6,14.8,312,9411,0.00,2.20,0.00,0.000,4,0.000,0.051,2859,3360,2723,0,0,0,0,0,0
$GC,9456,0.80,136.7,389.8,14.1,313,9460,0.00,2.10,0.00,0.000,6,0.000,0.028,2868,1956,2720,0,0,0,0,0,0
$GC,9734,0.80,136.7,353.6,12.8,320,9738,0.00,2.22,0.00,0.000,4,0.000,0.049,2869,3358,2720,0,0,0,0,0,0
$GC,9825,0.80,136.7,341.1,13.5,322,9829,0.00,2.12,0.00,0.000,6,0.000,0.030,2878,1955,2720,0,0,0,0,0,0
$GC,10102,0.80,136.7,305.4,13.5,329,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1948,2720,0,0,0,0,0,0
$GC,10349,0.80,136.7,269.3,15.2,340,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1948,2719,0,0,0,0,0,0
$GC,10598,0.80,136.7,234.9,14.3,352,10602,0.00,2.25,0.00,0.000,4,0.000,0.048,2878,3374,2719,0,0,0,0,0,0
$GC,10855,0.80,136.7,198.7,12.5,363,10861,0.12,2.12,0.00,0.000,6,0.192,0.027,2858,1949,2719,0,0,0,0,0,0
$GC,11120,0.80,136.7,174.7,10.8,388,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1947,2718,0,0,0,0,0,0
$GC,11385,0.82,160.4,150.4,7.6,413,11408,0.00,2.17,16.88,0.534,4,0.000,0.038,2868,560,2645,0,0,0,0,0,0
$GC,11629,0.97,275.6,132.3,3.7,435,11736,0.08,2.15,93.65,0.535,6,0.067,0.030,2910,1963,2176,0,0,0,0,0,0
$GC,11991,0.97,275.6,88.5,13.7,468,11994,0.00,2.15,0.00,0.000,4,0.000,0.037,2921,561,2169,0,0,0,0,0,0
$GC,12022,0.97,275.6,84.3,13.5,470,12026,0.00,2.12,0.00,0.000,6,0.000,0.030,2921,1961,2169,0,0,0,0,0,0
$GC,12288,0.97,275.6,45.8,14.0,494,12292,0.00,2.17,0.00,0.000,4,0.000,0.044,2921,3361,2169,0,0,0,0,0,0
$GC,12309,0.97,275.6,42.2,15.7,495,12313,0.00,2.12,0.00,0.000,6,0.000,0.030,2932,1954,2169,0,0,0,0,0,0
$STATE,12569,end climb,SURFACE_DEPTH_REACHED
$STATE,12569,begin surface coast
$FINISH,0.5,1.022520
$STATE,12587,end surface coast,CONTROL_FINISHED_OK
$STATE,12587,begin surface
$SM_CCo,12607,11.40,0.388,0,0,2073,300.24
$SM_GC,2.21,0.00,0.00,11.40,0.000,0.000,0.388,57,2127,2073,-7.94,0.79,300.24
$IRIDIUM_FIX,1904.66,-15631.91,060313,141402
$TT8_MAMPS,0.250042
$HUMID,1079027508
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,25.70
$XPDR_PINGS,96
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6254821376
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,12372770816
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.7,60.556
$10V_AH,9.8,55.144
$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,20.025,108.075,344.825,11.400,0.000,91.688,107.117,1770.230,24.000,0.000,16.475,1135.564,9253.859,448.510,3321.386,816.128,33.360,1205.489,0.000,1713.627,0.000,0.544,0.000
$DEVICE_MAMPS,238.537,63.661,1076.868,388.102,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,366.616,0.000,863.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,26909,538
$CAP_FILE_SIZE,140181,0
$CFSIZE,260165632,173436928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,170.9,1
$GPS,120911,003000,1914.606,-15630.397,83,1.7,88,9.6