version: 66.07
glider: 513
mission: 7
dive: 463
start: 9 15 111 7 36 18
data:
$ID,513
$MISSION,7
$DIVE,463
$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,-432584.88
$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,51
$R_STBD_OVSHOOT,78
$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,462
$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
$GPS1,150911,072137,1928.248,-15621.872,41,1.0,41,9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-79.6
$GPS2,150911,073519,1928.063,-15621.733,10,1.2,15,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.019,0.238
$KALMAN_X,-84749.1,-291.5,-676.6,141395.1,3815.5
$KALMAN_Y,-567734.6,1139.3,359.8,507628.1,-10268.6
$MHEAD_RNG_PITCHd_Wd,341.2,87710,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.80,-136.7,0.0,0.0,0,81,0.00,0.00,-50.78,0.000,2,0.000,0.000,39,2153,3531,0,0,0,0,0,0
$GC,85,-0.80,-136.7,3.1,-4.4,8,107,10.02,2.25,-5.85,0.000,4,0.245,0.053,2333,703,3859,0,0,0,0,0,0
$GC,250,-0.80,-136.7,55.2,-23.3,28,257,0.00,2.15,0.00,0.000,6,0.000,0.050,2325,2051,3863,0,0,0,0,0,0
$GC,515,-0.80,-136.7,118.2,-22.3,53,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2051,3864,0,0,0,0,0,0
$GC,779,-0.80,-136.7,177.4,-21.0,78,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2051,3865,0,0,0,0,0,0
$GC,1036,-0.80,-136.7,228.5,-19.9,96,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2051,3867,0,0,0,0,0,0
$GC,1284,-0.80,-136.7,273.2,-16.3,108,1288,0.00,2.30,0.00,0.000,4,0.000,0.052,2313,3524,3867,0,0,0,0,0,0
$GC,1340,-0.80,-136.7,282.4,-15.2,110,1346,0.00,2.12,0.00,0.000,6,0.000,0.030,2313,2104,3868,0,0,0,0,0,0
$GC,1592,-0.80,-136.7,321.5,-15.4,120,1596,0.00,2.12,0.00,0.000,4,0.000,0.039,2313,698,3868,0,0,0,0,0,0
$GC,1653,-0.80,-136.7,331.3,-15.6,121,1657,0.12,2.15,0.00,0.000,6,0.172,0.041,2334,2123,3867,0,0,0,0,0,0
$GC,1920,-0.80,-136.7,367.3,-13.8,128,1923,0.00,2.15,0.00,0.000,4,0.000,0.050,2325,3511,3867,0,0,0,0,0,0
$GC,1964,-0.80,-136.7,374.0,-14.8,129,1967,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,2092,3870,0,0,0,0,0,0
$GC,2248,-0.80,-136.7,418.6,-15.7,136,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2085,3865,0,0,0,0,0,0
$GC,2493,-0.80,-136.7,453.3,-14.0,142,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2085,3863,0,0,0,0,0,0
$GC,2735,-0.80,-136.7,485.9,-13.7,148,2739,0.00,2.10,0.00,0.000,4,0.000,0.038,2324,696,3861,0,0,0,0,0,0
$GC,2775,-0.80,-136.7,491.9,-14.6,149,2779,0.00,2.12,0.00,0.000,6,0.000,0.041,2314,2099,3860,0,0,0,0,0,0
$GC,3060,-0.80,-136.7,534.5,-15.3,156,3064,0.00,2.20,0.00,0.000,4,0.000,0.051,2304,3505,3858,0,0,0,0,0,0
$GC,3092,-0.80,-136.7,540.0,-15.7,156,3099,0.12,2.10,0.00,0.000,6,0.164,0.030,2336,2110,3858,0,0,0,0,0,0
$GC,3342,-0.80,-136.7,573.0,-13.2,163,3346,0.00,2.12,0.00,0.000,4,0.000,0.039,2336,691,3855,0,0,0,0,0,0
$GC,3386,-0.80,-136.7,578.9,-12.5,164,3389,0.00,2.12,0.00,0.000,6,0.000,0.039,2328,2100,3854,0,0,0,0,0,0
$GC,3671,-0.80,-136.7,615.6,-13.0,171,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2100,3852,0,0,0,0,0,0
$GC,3913,-0.80,-136.7,644.9,-11.9,177,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3850,0,0,0,0,0,0
$GC,4157,-0.80,-136.7,673.7,-11.9,183,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2100,3848,0,0,0,0,0,0
$GC,4402,-0.80,-136.7,702.6,-11.9,189,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2100,3845,0,0,0,0,0,0
$GC,4644,-0.80,-136.7,730.4,-11.3,195,4648,0.00,2.25,0.00,0.000,4,0.000,0.053,2317,3510,3842,0,0,0,0,0,0
$GC,4677,-0.80,-136.7,734.4,-12.1,195,4681,0.00,2.12,0.00,0.000,6,0.000,0.031,2317,2090,3843,0,0,0,0,0,0
$GC,4933,-0.80,-136.7,765.5,-12.2,202,4937,0.00,2.10,0.00,0.000,4,0.000,0.039,2317,694,3841,0,0,0,0,0,0
$GC,4967,-0.80,-136.7,769.7,-12.1,202,4973,0.12,2.17,0.00,0.000,6,0.182,0.041,2337,2102,3841,0,0,0,0,0,0
$GC,5217,-0.80,-136.7,795.4,-10.0,209,5221,0.00,2.25,0.00,0.000,4,0.000,0.058,2328,3508,3839,0,0,0,0,0,0
$GC,5255,-0.80,-136.7,799.4,-10.0,209,5261,0.00,2.12,0.00,0.000,6,0.000,0.029,2328,2102,3838,0,0,0,0,0,0
$GC,5507,-0.80,-136.7,825.0,-10.2,216,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2096,3837,0,0,0,0,0,0
$GC,5749,-0.80,-136.7,850.1,-10.3,222,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2093,3835,0,0,0,0,0,0
$GC,5993,-0.80,-136.7,876.4,-10.8,228,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2096,3833,0,0,0,0,0,0
$STATE,6234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6234,begin apogee
$GC,6240,-0.28,0.0,902.3,10.6,234,6356,0.60,0.00,112.72,1.071,6,0.144,0.000,2504,1941,3300,0,0,0,0,0,0
$STATE,6359,end apogee,CONTROL_FINISHED_OK
$STATE,6359,begin climb
$GC,6363,0.80,136.7,905.8,0.0,237,6491,1.05,2.42,121.60,1.045,4,0.093,0.050,2850,3367,2741,0,0,0,0,0,0
$GC,6519,0.80,136.7,888.7,18.3,241,6523,0.00,2.22,0.00,0.000,6,0.000,0.030,2860,1969,2739,0,0,0,0,0,0
$GC,6799,0.80,136.7,836.4,18.8,248,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1972,2732,0,0,0,0,0,0
$GC,7041,0.80,136.7,790.6,18.9,254,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1964,2731,0,0,0,0,0,0
$GC,7285,0.80,136.7,744.9,18.9,260,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1964,2729,0,0,0,0,0,0
$GC,7528,0.80,136.7,698.9,19.0,266,7532,0.00,2.15,0.00,0.000,4,0.000,0.039,2872,556,2729,0,0,0,0,0,0
$GC,7552,0.80,136.7,694.5,19.3,266,7556,0.00,2.15,0.00,0.000,6,0.000,0.033,2871,1962,2726,0,0,0,0,0,0
$GC,7807,0.80,136.7,646.0,19.1,273,7811,0.00,2.20,0.00,0.000,4,0.000,0.051,2871,3361,2726,0,0,0,0,0,0
$GC,7858,0.80,136.7,636.0,20.0,274,7862,0.00,2.12,0.00,0.000,6,0.000,0.031,2880,1959,2726,0,0,0,0,0,0
$GC,8137,0.80,136.7,580.7,19.8,281,8140,0.00,2.12,0.00,0.000,4,0.000,0.040,2891,556,2725,0,0,0,0,0,0
$GC,8153,0.80,136.7,577.0,19.8,281,8157,0.17,2.15,0.00,0.000,6,0.194,0.032,2850,1966,2724,0,0,0,0,0,0
$GC,8414,0.80,136.7,533.3,16.9,288,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1969,2724,0,0,0,0,0,0
$GC,8657,0.80,136.7,492.6,16.8,294,8661,0.00,2.22,0.00,0.000,4,0.000,0.051,2849,3357,2723,0,0,0,0,0,0
$GC,8691,0.80,136.7,487.1,17.1,294,8696,0.00,2.12,0.00,0.000,6,0.000,0.030,2858,1947,2723,0,0,0,0,0,0
$GC,8941,0.80,136.7,446.3,16.2,301,8944,0.00,2.10,0.00,0.000,4,0.000,0.039,2869,555,2723,0,0,0,0,0,0
$GC,8962,0.80,136.7,442.7,15.5,301,8966,0.00,2.12,0.00,0.000,6,0.000,0.033,2869,1964,2722,0,0,0,0,0,0
$GC,9225,0.80,136.7,401.5,15.7,308,9229,0.00,2.22,0.00,0.000,4,0.000,0.051,2869,3359,2722,0,0,0,0,0,0
$GC,9326,0.80,136.7,384.9,15.7,310,9330,0.00,2.10,0.00,0.000,6,0.000,0.029,2880,1961,2722,0,0,0,0,0,0
$GC,9598,0.80,136.7,346.2,14.2,317,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1960,2722,0,0,0,0,0,0
$GC,9843,0.80,136.7,310.3,15.0,323,9847,0.00,2.25,0.00,0.000,4,0.000,0.050,2879,3370,2719,0,0,0,0,0,0
$GC,10022,0.80,136.7,279.6,16.4,329,10027,0.15,2.12,0.00,0.000,6,0.200,0.031,2854,1956,2722,0,0,0,0,0,0
$GC,10283,0.80,136.7,245.8,12.0,342,10287,0.00,2.22,0.00,0.000,4,0.000,0.049,2854,3362,2722,0,0,0,0,0,0
$GC,10332,0.80,136.7,239.7,12.2,344,10336,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1956,2719,0,0,0,0,0,0
$GC,10592,0.80,136.7,214.9,9.3,357,10596,0.00,2.10,0.00,0.000,4,0.000,0.039,2874,566,2721,0,0,0,0,0,0
$GC,10693,0.80,136.7,204.5,10.2,361,10699,0.00,2.12,0.00,0.000,6,0.000,0.034,2873,1961,2720,0,0,0,0,0,0
$GC,10957,0.80,136.7,175.1,12.3,384,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1961,2719,0,0,0,0,0,0
$GC,11222,0.80,136.7,148.4,10.6,409,11226,0.00,2.20,0.00,0.000,4,0.000,0.048,2874,3357,2720,0,0,0,0,0,0
$GC,11474,0.80,136.7,120.6,10.5,431,11483,0.00,2.15,0.00,0.000,6,0.000,0.029,2883,1947,2721,0,0,0,0,0,0
$GC,11741,0.80,136.7,96.1,9.0,456,11745,0.00,2.22,0.00,0.000,4,0.000,0.046,2883,3369,2721,0,0,0,0,0,0
$GC,11929,0.83,164.7,82.2,7.4,473,11956,0.00,2.10,21.00,0.480,6,0.000,0.028,2892,1952,2630,0,0,0,0,0,0
$GC,12221,0.86,185.2,57.7,7.7,500,12245,0.00,2.10,18.60,0.452,4,0.000,0.036,2899,572,2547,0,0,0,0,0,0
$GC,12298,0.86,185.2,49.7,10.8,506,12306,0.08,2.15,0.00,0.000,6,0.153,0.031,2880,1973,2543,0,0,0,0,0,0
$GC,12562,0.87,200.1,27.0,7.9,534,12577,0.00,0.00,13.48,0.414,6,0.000,0.000,2880,1973,2489,0,0,0,0,0,0
$GC,12837,0.92,238.1,5.9,7.0,584,12878,0.00,2.20,31.58,0.418,4,0.000,0.040,2880,582,2328,0,0,0,0,0,0
$STATE,12884,end climb,SURFACE_DEPTH_REACHED
$STATE,12884,begin surface coast
$FINISH,0.2,1.013979
$STATE,12927,end surface coast,CONTROL_FINISHED_OK
$STATE,12927,begin surface
$SM_CCo,12950,31.95,0.410,0,0,2076,300.24
$SM_GC,1.26,0.00,0.00,31.95,0.000,0.000,0.410,62,2108,2076,-7.92,0.23,300.24
$IRIDIUM_FIX,1922.94,-15621.06,100313,010157
$TT8_MAMPS,0.306033
$HUMID,1078872893
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,25.80
$XPDR_PINGS,105
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6254133248
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,9128312832
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,63.226
$10V_AH,9.7,57.145
$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,20.150,104.225,318.975,31.950,0.000,55.411,63.763,394.122,26.250,0.000,17.542,1234.331,9280.093,427.445,2407.098,462.988,33.355,1193.551,0.000,1910.608,0.000,0.541,0.000
$DEVICE_MAMPS,245.440,67.496,1070.732,410.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,407.913,0.000,1064.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353624
$DATA_FILE_SIZE,30193,598
$CAP_FILE_SIZE,117843,0
$CFSIZE,260165632,171892736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,175.4,1
$GPS,150911,111407,1928.935,-15622.063,26,1.9,26,9.7