version: 66.07
glider: 513
mission: 7
dive: 453
start: 9 13 111 16 23 53
data:
$ID,513
$MISSION,7
$DIVE,453
$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,-432341.12
$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,68
$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,452
$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
$GPS1,130911,161030,1921.208,-15625.996,40,1.6,40,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.6
$GPS2,130911,162256,1920.989,-15625.811,14,1.6,14,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.029,0.237
$KALMAN_X,-92558.2,-1216.1,-418.1,142796.5,5467.4
$KALMAN_Y,-539187.4,643.0,334.2,466509.2,-8484.7
$MHEAD_RNG_PITCHd_Wd,344.2,101776,-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,-51.75,0.000,2,0.000,0.000,41,2136,3547,0,0,0,0,0,0
$GC,88,-0.80,-136.7,3.1,-4.1,8,109,10.02,2.15,-5.43,0.000,4,0.246,0.060,2323,3488,3860,0,0,0,0,0,0
$GC,315,-0.80,-136.7,74.7,-26.4,34,319,0.00,2.10,0.00,0.000,6,0.000,0.035,2323,2112,3863,0,0,0,0,0,0
$GC,581,-0.80,-136.7,144.3,-26.5,58,585,0.00,2.12,0.00,0.000,4,0.000,0.039,2323,692,3865,0,0,0,0,0,0
$GC,644,-0.80,-136.7,159.2,-22.1,63,648,0.00,2.10,0.00,0.000,6,0.000,0.043,2313,2065,3865,0,0,0,0,0,0
$GC,905,-0.80,-136.7,212.4,-18.4,84,909,0.00,2.08,0.00,0.000,4,0.000,0.041,2313,688,3864,0,0,0,0,0,0
$GC,926,-0.80,-136.7,217.2,-19.2,85,931,0.12,2.17,0.00,0.000,6,0.176,0.044,2333,2106,3870,0,0,0,0,0,0
$GC,1185,-0.80,-136.7,258.4,-16.0,98,1189,0.00,2.10,0.00,0.000,4,0.000,0.037,2333,691,3867,0,0,0,0,0,0
$GC,1236,-0.80,-136.7,266.1,-14.7,100,1240,0.00,2.12,0.00,0.000,6,0.000,0.041,2325,2098,3869,0,0,0,0,0,0
$GC,1510,-0.80,-136.7,308.7,-16.4,112,1514,0.00,2.15,0.00,0.000,4,0.000,0.040,2325,683,3869,0,0,0,0,0,0
$GC,1538,-0.80,-136.7,313.4,-16.1,112,1542,0.00,2.15,0.00,0.000,6,0.000,0.044,2315,2096,3868,0,0,0,0,0,0
$GC,1800,-0.80,-136.7,357.1,-17.0,119,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2096,3868,0,0,0,0,0,0
$GC,2042,-0.80,-136.7,394.9,-15.5,125,2046,0.00,2.20,0.00,0.000,4,0.000,0.054,2305,3509,3866,0,0,0,0,0,0
$GC,2087,-0.80,-136.7,402.0,-15.1,126,2091,0.12,2.10,0.00,0.000,6,0.162,0.030,2335,2091,3867,0,0,0,0,0,0
$GC,2366,-0.80,-136.7,437.6,-12.8,133,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2085,3865,0,0,0,0,0,0
$GC,2608,-0.80,-136.7,468.5,-12.6,139,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2084,3864,0,0,0,0,0,0
$GC,2852,-0.80,-136.7,497.3,-11.8,145,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2085,3861,0,0,0,0,0,0
$GC,3095,-0.80,-136.7,525.1,-11.3,151,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2085,3859,0,0,0,0,0,0
$GC,3340,-0.80,-136.7,553.7,-11.8,157,3344,0.00,2.10,0.00,0.000,4,0.000,0.040,2336,692,3856,0,0,0,0,0,0
$GC,3413,-0.80,-136.7,562.5,-11.6,158,3416,0.00,2.15,0.00,0.000,6,0.000,0.042,2328,2106,3855,0,0,0,0,0,0
$GC,3668,-0.80,-136.7,591.7,-11.5,165,3672,0.00,2.20,0.00,0.000,4,0.000,0.055,2317,3507,3852,0,0,0,0,0,0
$GC,3725,-0.80,-136.7,598.4,-11.4,166,3729,0.00,2.10,0.00,0.000,6,0.000,0.030,2317,2112,3851,0,0,0,0,0,0
$GC,3991,-0.80,-136.7,631.2,-12.3,173,3995,0.00,2.15,0.00,0.000,4,0.000,0.041,2316,683,3850,0,0,0,0,0,0
$GC,4030,-0.80,-136.7,636.1,-12.3,174,4035,0.12,2.17,0.00,0.000,6,0.177,0.043,2337,2109,3850,0,0,0,0,0,0
$GC,4314,-0.80,-136.7,667.0,-10.8,181,4318,0.00,2.12,0.00,0.000,4,0.000,0.038,2335,693,3846,0,0,0,0,0,0
$GC,4331,-0.80,-136.7,669.2,-11.3,181,4334,0.00,2.15,0.00,0.000,6,0.000,0.042,2329,2100,3847,0,0,0,0,0,0
$GC,4598,-0.80,-136.7,699.1,-11.4,188,4602,0.00,2.22,0.00,0.000,4,0.000,0.055,2318,3505,3844,0,0,0,0,0,0
$GC,4650,-0.80,-136.7,704.9,-10.8,189,4654,0.00,2.15,0.00,0.000,6,0.000,0.031,2318,2089,3844,0,0,0,0,0,0
$GC,4929,-0.80,-136.7,738.4,-12.1,196,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2083,3842,0,0,0,0,0,0
$GC,5172,-0.80,-136.7,769.5,-12.8,202,5176,0.00,2.12,0.00,0.000,4,0.000,0.042,2317,681,3839,0,0,0,0,0,0
$GC,5228,-0.80,-136.7,776.9,-13.4,203,5233,0.12,2.20,0.00,0.000,6,0.179,0.050,2337,2098,3839,0,0,0,0,0,0
$GC,5494,-0.80,-136.7,807.1,-11.2,210,5498,0.00,2.22,0.00,0.000,4,0.000,0.054,2329,3508,3838,0,0,0,0,0,0
$GC,5522,-0.80,-136.7,810.3,-11.1,210,5526,0.00,2.17,0.00,0.000,6,0.000,0.031,2328,2089,3838,0,0,0,0,0,0
$GC,5777,-0.80,-136.7,839.6,-11.5,217,5781,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,695,3835,0,0,0,0,0,0
$GC,5806,-0.80,-136.7,843.2,-12.8,217,5810,0.00,2.20,0.00,0.000,6,0.000,0.042,2318,2103,3832,0,0,0,0,0,0
$GC,6061,-0.80,-136.7,873.3,-11.8,224,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2103,3833,0,0,0,0,0,0
$STATE,6302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6302,begin apogee
$GC,6309,-0.28,0.0,900.5,11.1,230,6425,0.60,0.00,112.82,1.069,6,0.146,0.000,2498,1919,3301,0,0,0,0,0,0
$STATE,6427,end apogee,CONTROL_FINISHED_OK
$STATE,6427,begin climb
$GC,6431,0.80,136.7,903.3,0.0,233,6559,1.05,0.00,121.03,1.042,6,0.096,0.000,2847,1919,2742,0,0,0,0,0,0
$GC,6798,0.80,136.7,848.4,17.8,242,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1916,2732,0,0,0,0,0,0
$GC,7041,0.80,136.7,805.1,17.6,248,7045,0.00,2.33,0.00,0.000,4,0.000,0.051,2847,3363,2731,0,0,0,0,0,0
$GC,7073,0.80,136.7,799.1,17.2,248,7079,0.00,2.12,0.00,0.000,6,0.000,0.032,2857,1971,2731,0,0,0,0,0,0
$GC,7323,0.80,136.7,754.1,18.2,255,7327,0.00,2.15,0.00,0.000,4,0.000,0.038,2868,566,2730,0,0,0,0,0,0
$GC,7391,0.80,136.7,741.4,18.8,256,7395,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,1967,2727,0,0,0,0,0,0
$GC,7652,0.80,136.7,692.8,18.3,263,7656,0.00,2.25,0.00,0.000,4,0.000,0.053,2868,3364,2726,0,0,0,0,0,0
$GC,7718,0.80,136.7,680.0,18.9,264,7722,0.00,2.12,0.00,0.000,6,0.000,0.031,2878,1962,2726,0,0,0,0,0,0
$GC,7981,0.80,136.7,632.4,18.3,271,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1961,2726,0,0,0,0,0,0
$GC,8223,0.80,136.7,588.6,17.6,277,8227,0.00,2.12,0.00,0.000,4,0.000,0.040,2889,563,2725,0,0,0,0,0,0
$GC,8267,0.80,136.7,580.8,17.4,278,8272,0.15,2.15,0.00,0.000,6,0.196,0.035,2854,1962,2723,0,0,0,0,0,0
$GC,8546,0.80,136.7,537.3,15.6,285,8550,0.00,2.22,0.00,0.000,4,0.000,0.051,2854,3374,2723,0,0,0,0,0,0
$GC,8624,0.80,136.7,522.6,19.0,286,8630,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1957,2724,0,0,0,0,0,0
$GC,8874,0.80,136.7,478.3,17.9,293,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1953,2723,0,0,0,0,0,0
$GC,9119,0.80,136.7,439.2,15.8,299,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1953,2722,0,0,0,0,0,0
$GC,9362,0.80,136.7,402.1,15.4,305,9366,0.00,2.25,0.00,0.000,4,0.000,0.052,2863,3365,2723,0,0,0,0,0,0
$GC,9439,0.80,136.7,389.3,15.3,306,9445,0.00,2.12,0.00,0.000,6,0.000,0.030,2873,1960,2723,0,0,0,0,0,0
$GC,9689,0.80,136.7,353.5,14.2,313,9693,0.00,2.25,0.00,0.000,4,0.000,0.048,2871,3374,2724,0,0,0,0,0,0
$GC,9741,0.80,136.7,345.1,17.2,314,9745,0.12,2.15,0.00,0.000,6,0.211,0.030,2856,1963,2726,0,0,0,0,0,0
$GC,10012,0.80,136.7,308.5,13.3,321,10016,0.00,2.25,0.00,0.000,4,0.000,0.047,2849,3373,2724,0,0,0,0,0,0
$GC,10052,0.80,136.7,302.9,14.5,322,10056,0.00,2.15,0.00,0.000,6,0.000,0.029,2858,1955,2722,0,0,0,0,0,0
$GC,10319,0.80,136.7,271.4,11.8,334,10323,0.00,2.12,0.00,0.000,4,0.000,0.038,2869,554,2722,0,0,0,0,0,0
$GC,10375,0.80,136.7,264.7,11.2,336,10380,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,1972,2719,0,0,0,0,0,0
$GC,10630,0.80,136.7,239.7,9.5,349,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1974,2720,0,0,0,0,0,0
$GC,10876,0.80,136.7,212.3,10.9,361,10880,0.00,2.20,0.00,0.000,4,0.000,0.051,2870,3358,2723,0,0,0,0,0,0
$GC,11101,0.80,136.7,185.4,11.8,376,11106,0.00,2.10,0.00,0.000,6,0.000,0.028,2880,1947,2721,0,0,0,0,0,0
$GC,11367,0.80,137.7,159.1,8.5,400,11371,0.00,2.08,0.00,0.000,4,0.000,0.036,2890,560,2721,0,0,0,0,0,0
$GC,11593,0.80,137.7,139.8,8.7,420,11598,0.12,2.10,0.00,0.000,6,0.185,0.030,2865,1971,2720,0,0,0,0,0,0
$GC,11858,0.85,179.0,120.3,6.8,444,11896,0.00,2.17,32.35,0.514,4,0.000,0.037,2868,577,2570,0,0,0,0,0,0
$GC,11995,0.85,179.0,108.0,9.6,456,12003,0.00,2.12,0.00,0.000,6,0.000,0.032,2864,1947,2568,0,0,0,0,0,0
$GC,12262,0.87,199.6,86.6,7.7,481,12286,0.00,2.12,18.33,0.468,4,0.000,0.036,2878,563,2487,0,0,0,0,0,0
$GC,12509,0.92,240.0,65.5,6.9,503,12549,0.00,2.12,34.40,0.464,6,0.000,0.030,2878,1964,2320,0,0,0,0,0,0
$GC,12813,0.92,240.0,34.1,9.3,531,12816,0.00,2.15,0.00,0.000,4,0.000,0.038,2881,573,2317,0,0,0,0,0,0
$GC,12903,0.92,240.0,25.4,8.7,542,12911,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,1954,2316,0,0,0,0,0,0
$STATE,13126,end climb,SURFACE_DEPTH_REACHED
$STATE,13126,begin surface coast
$FINISH,0.3,1.022735
$STATE,13160,end surface coast,CONTROL_FINISHED_OK
$STATE,13160,begin surface
$SM_CCo,13181,32.20,0.410,0,0,2077,300.24
$SM_GC,1.46,0.00,0.00,32.20,0.000,0.000,0.410,55,2132,2077,-7.95,0.90,300.24
$IRIDIUM_FIX,1913.80,-15627.99,080313,060605
$TT8_MAMPS,0.259246
$HUMID,1078884506
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,26.60
$XPDR_PINGS,102
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6254460928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,10667032576
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,62.002
$10V_AH,9.8,56.196
$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,20.175,121.000,318.925,32.200,0.000,30.298,34.351,443.976,25.500,0.000,16.543,1264.680,9366.994,397.984,2406.477,529.939,33.355,1224.685,0.000,1981.374,0.000,0.542,0.000
$DEVICE_MAMPS,246.207,65.195,1069.198,410.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,402.459,0.000,1001.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354024
$DATA_FILE_SIZE,30269,589
$CAP_FILE_SIZE,124852,0
$CFSIZE,260165632,172621824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,151.7,1
$GPS,130911,200537,1921.960,-15625.621,30,1.4,30,9.6