version: 66.07
glider: 513
mission: 7
dive: 468
start: 9 16 111 3 37 59
data:
$ID,513
$MISSION,7
$DIVE,468
$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,-432697.94
$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,43
$R_STBD_OVSHOOT,73
$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,467
$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
$GPS1,160911,032707,1931.711,-15620.259,54,1.0,54,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-80.2
$GPS2,160911,033702,1931.580,-15620.248,13,1.0,13,9.7
$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,-75379.9,-675.8,-297.5,134648.4,4929.8
$KALMAN_Y,-579666.7,1345.3,512.8,525712.5,-8892.1
$MHEAD_RNG_PITCHd_Wd,347.5,80929,-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,-51.10,0.000,2,0.000,0.000,42,2138,3529,0,0,0,0,0,0
$GC,86,-0.80,-136.7,3.1,-4.5,8,108,10.02,2.15,-5.97,0.000,4,0.246,0.063,2320,3478,3860,0,0,0,0,0,0
$GC,192,-0.80,-136.7,38.0,-27.2,24,197,0.00,2.12,0.00,0.000,6,0.000,0.034,2323,2100,3863,0,0,0,0,0,0
$GC,461,-0.80,-136.7,105.4,-26.0,49,465,0.00,2.10,0.00,0.000,4,0.000,0.038,2323,690,3868,0,0,0,0,0,0
$GC,481,-0.80,-136.7,109.8,-24.7,50,485,0.00,2.10,0.00,0.000,6,0.000,0.041,2313,2065,3865,0,0,0,0,0,0
$GC,746,-0.80,-136.7,171.6,-24.4,74,750,0.00,2.28,0.00,0.000,4,0.000,0.048,2301,3517,3866,0,0,0,0,0,0
$GC,809,-0.80,-136.7,186.2,-21.3,79,813,0.15,2.15,0.00,0.000,6,0.166,0.031,2340,2086,3866,0,0,0,0,0,0
$GC,1076,-0.80,-136.7,230.2,-16.0,95,1080,0.00,2.10,0.00,0.000,4,0.000,0.041,2340,694,3868,0,0,0,0,0,0
$GC,1115,-0.80,-136.7,236.4,-14.9,97,1119,0.00,2.15,0.00,0.000,6,0.000,0.043,2331,2106,3868,0,0,0,0,0,0
$GC,1381,-0.80,-136.7,281.7,-19.9,110,1385,0.00,2.20,0.00,0.000,4,0.000,0.050,2320,3508,3868,0,0,0,0,0,0
$GC,1459,-0.80,-136.7,296.4,-17.0,113,1464,0.00,2.10,0.00,0.000,6,0.000,0.029,2321,2091,3868,0,0,0,0,0,0
$GC,1729,-0.80,-136.7,342.7,-16.9,121,1733,0.00,2.05,0.00,0.000,4,0.000,0.039,2321,705,3869,0,0,0,0,0,0
$GC,1763,-0.80,-136.7,348.5,-17.2,121,1769,0.10,2.12,0.00,0.000,6,0.185,0.040,2334,2111,3870,0,0,0,0,0,0
$GC,2013,-0.80,-136.7,382.1,-12.7,128,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2111,3868,0,0,0,0,0,0
$GC,2256,-0.80,-136.7,411.1,-11.6,134,2260,0.00,2.22,0.00,0.000,4,0.000,0.050,2325,3517,3866,0,0,0,0,0,0
$GC,2342,-0.80,-136.7,421.1,-11.9,136,2346,0.00,2.12,0.00,0.000,6,0.000,0.031,2325,2100,3863,0,0,0,0,0,0
$GC,2632,-0.80,-136.7,459.0,-13.2,143,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2097,3864,0,0,0,0,0,0
$GC,2875,-0.80,-136.7,490.1,-13.1,149,2878,0.00,2.08,0.00,0.000,4,0.000,0.038,2325,701,3862,0,0,0,0,0,0
$GC,2914,-0.80,-136.7,495.4,-13.6,150,2918,0.00,2.12,0.00,0.000,6,0.000,0.038,2315,2111,3861,0,0,0,0,0,0
$GC,3199,-0.80,-136.7,535.5,-14.8,157,3203,0.00,2.20,0.00,0.000,4,0.000,0.049,2304,3506,3858,0,0,0,0,0,0
$GC,3266,-0.80,-136.7,545.9,-15.1,158,3271,0.12,2.10,0.00,0.000,6,0.166,0.028,2335,2101,3858,0,0,0,0,0,0
$GC,3521,-0.80,-136.7,578.9,-12.7,165,3525,0.00,2.12,0.00,0.000,4,0.000,0.038,2336,691,3855,0,0,0,0,0,0
$GC,3572,-0.80,-136.7,585.3,-12.6,166,3577,0.00,2.15,0.00,0.000,6,0.000,0.040,2328,2106,3855,0,0,0,0,0,0
$GC,3845,-0.80,-136.7,620.3,-12.8,173,3849,0.00,2.20,0.00,0.000,4,0.000,0.051,2320,3505,3853,0,0,0,0,0,0
$GC,3900,-0.80,-136.7,627.6,-12.6,174,3904,0.00,2.10,0.00,0.000,6,0.000,0.030,2316,2098,3853,0,0,0,0,0,0
$GC,4174,-0.80,-136.7,662.5,-12.6,181,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2092,3850,0,0,0,0,0,0
$GC,4416,-0.80,-136.7,692.7,-12.4,187,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2092,3847,0,0,0,0,0,0
$GC,4660,-0.80,-136.7,723.2,-12.4,193,4663,0.00,2.10,0.00,0.000,4,0.000,0.040,2317,701,3845,0,0,0,0,0,0
$GC,4733,-0.80,-136.7,732.2,-12.0,194,4738,0.12,2.15,0.00,0.000,6,0.185,0.038,2336,2105,3845,0,0,0,0,0,0
$GC,4984,-0.80,-136.7,759.7,-11.0,200,4988,0.00,2.22,0.00,0.000,4,0.000,0.054,2327,3508,3843,0,0,0,0,0,0
$GC,5068,-0.80,-136.7,769.6,-11.1,202,5073,0.00,2.12,0.00,0.000,6,0.000,0.030,2327,2104,3842,0,0,0,0,0,0
$GC,5359,-0.80,-136.7,803.5,-11.6,209,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2100,3840,0,0,0,0,0,0
$GC,5601,-0.80,-136.7,832.0,-11.7,215,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2099,3838,0,0,0,0,0,0
$GC,5845,-0.80,-136.7,860.3,-11.7,221,5849,0.00,2.15,0.00,0.000,4,0.000,0.044,2327,699,3839,0,0,0,0,0,0
$GC,5902,-0.80,-136.7,867.0,-12.5,222,5906,0.00,2.15,0.00,0.000,6,0.000,0.040,2317,2107,3834,0,0,0,0,0,0
$STATE,6171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6172,begin apogee
$GC,6178,-0.28,0.0,900.4,12.4,229,6296,0.62,0.00,113.45,1.069,6,0.148,0.000,2499,1930,3300,0,0,0,0,0,0
$STATE,6298,end apogee,CONTROL_FINISHED_OK
$STATE,6298,begin climb
$GC,6301,0.80,136.7,904.8,0.0,232,6434,1.05,2.25,121.62,1.036,4,0.095,0.038,2859,590,2743,0,0,0,0,0,0
$GC,6479,0.80,136.7,884.3,17.8,236,6483,0.00,2.17,0.00,0.000,6,0.000,0.034,2859,1955,2737,0,0,0,0,0,0
$GC,6753,0.80,136.7,834.5,18.4,243,6757,0.00,2.30,0.00,0.000,4,0.000,0.054,2859,3375,2734,0,0,0,0,0,0
$GC,6786,0.80,136.7,827.5,20.3,243,6793,0.00,2.20,0.00,0.000,6,0.000,0.035,2866,1977,2735,0,0,0,0,0,0
$GC,7036,0.80,136.7,778.0,20.2,250,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1971,2733,0,0,0,0,0,0
$GC,7280,0.80,136.7,728.7,20.4,256,7284,0.00,2.25,0.00,0.000,4,0.000,0.048,2869,3379,2732,0,0,0,0,0,0
$GC,7309,0.80,136.7,722.4,21.8,256,7313,0.00,2.20,0.00,0.000,6,0.000,0.029,2879,1950,2732,0,0,0,0,0,0
$GC,7559,0.80,136.7,668.6,21.6,262,7563,0.00,2.12,0.00,0.000,4,0.000,0.038,2890,559,2728,0,0,0,0,0,0
$GC,7614,0.80,136.7,656.3,22.7,263,7619,0.15,2.15,0.00,0.000,6,0.196,0.032,2855,1972,2725,0,0,0,0,0,0
$GC,7887,0.80,136.7,605.9,17.8,270,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1976,2725,0,0,0,0,0,0
$GC,8130,0.80,136.7,564.2,17.2,276,8134,0.00,2.22,0.00,0.000,4,0.000,0.052,2854,3361,2723,0,0,0,0,0,0
$GC,8162,0.80,136.7,558.2,18.7,276,8168,0.00,2.12,0.00,0.000,6,0.000,0.031,2863,1957,2725,0,0,0,0,0,0
$GC,8413,0.80,136.7,515.8,16.9,283,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1955,2724,0,0,0,0,0,0
$GC,8656,0.80,136.7,476.4,16.5,289,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1956,2722,0,0,0,0,0,0
$GC,8900,0.80,136.7,438.8,15.3,295,8903,0.00,2.10,0.00,0.000,4,0.000,0.039,2874,563,2724,0,0,0,0,0,0
$GC,8955,0.80,136.7,429.7,16.1,296,8959,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,1965,2722,0,0,0,0,0,0
$GC,9228,0.80,136.7,388.4,15.0,303,9232,0.00,2.22,0.00,0.000,4,0.000,0.049,2874,3359,2724,0,0,0,0,0,0
$GC,9329,0.80,136.7,371.2,18.8,305,9333,0.12,2.12,0.00,0.000,6,0.203,0.029,2851,1953,2722,0,0,0,0,0,0
$GC,9595,0.80,136.7,335.8,12.7,312,9599,0.00,2.10,0.00,0.000,4,0.000,0.037,2865,561,2721,0,0,0,0,0,0
$GC,9652,0.80,136.7,328.8,12.3,313,9656,0.00,2.10,0.00,0.000,6,0.000,0.030,2857,1965,2720,0,0,0,0,0,0
$GC,9919,0.80,136.7,291.9,13.4,321,9923,0.00,2.12,0.00,0.000,4,0.000,0.035,2870,562,2719,0,0,0,0,0,0
$GC,9964,0.80,136.7,285.3,15.4,323,9967,0.00,2.12,0.00,0.000,6,0.000,0.031,2867,1964,2719,0,0,0,0,0,0
$GC,10231,0.80,136.7,247.5,13.8,336,10235,0.00,2.22,0.00,0.000,4,0.000,0.048,2870,3357,2720,0,0,0,0,0,0
$GC,10367,0.80,136.7,228.8,14.4,342,10371,0.00,2.12,0.00,0.000,6,0.000,0.028,2880,1943,2720,0,0,0,0,0,0
$GC,10633,0.80,136.7,198.7,9.5,355,10637,0.00,2.10,0.00,0.000,4,0.000,0.037,2891,561,2720,0,0,0,0,0,0
$GC,10674,0.80,136.7,194.6,10.3,358,10679,0.15,2.10,0.00,0.000,6,0.181,0.030,2855,1962,2719,0,0,0,0,0,0
$GC,10937,0.80,136.7,169.7,9.8,382,10941,0.00,2.15,0.00,0.000,4,0.000,0.035,2863,562,2720,0,0,0,0,0,0
$GC,11177,0.80,144.1,149.5,8.3,403,11185,0.00,2.15,0.00,0.000,6,0.000,0.031,2864,1964,2721,0,0,0,0,0,0
$GC,11443,0.80,144.1,127.9,9.1,428,11447,0.00,2.22,0.00,0.000,4,0.000,0.048,2863,3369,2720,0,0,0,0,0,0
$GC,11702,0.80,144.1,101.9,9.6,451,11716,0.00,2.12,3.85,0.337,6,0.000,0.028,2874,1947,2713,0,0,0,0,0,0
$GC,11971,0.81,152.0,80.0,8.2,476,11985,0.00,2.30,8.73,0.433,4,0.000,0.046,2874,3367,2681,0,0,0,0,0,0
$GC,12233,0.81,152.0,56.1,9.9,499,12241,0.00,2.12,0.00,0.000,6,0.000,0.028,2882,1977,2682,0,0,0,0,0,0
$GC,12500,0.90,217.4,38.2,5.8,524,12560,0.00,2.20,54.30,0.451,4,0.000,0.043,2882,3365,2414,0,0,0,0,0,0
$GC,12805,0.90,217.4,6.5,11.9,570,12813,0.00,2.15,0.00,0.000,6,0.000,0.029,2890,1974,2412,0,0,0,0,0,0
$STATE,12835,end climb,SURFACE_DEPTH_REACHED
$STATE,12835,begin surface coast
$FINISH,0.4,1.022997
$STATE,12869,end surface coast,CONTROL_FINISHED_OK
$STATE,12869,begin surface
$SM_CCo,12902,42.22,0.416,0,0,2075,300.24
$SM_GC,1.99,0.00,0.00,42.22,0.000,0.000,0.416,62,2158,2075,-7.93,1.64,300.24
$IRIDIUM_FIX,1922.94,-15618.96,100313,171728
$TT8_MAMPS,0.311402
$HUMID,1078915474
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.10
$XPDR_PINGS,103
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6253969408
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,8352399360
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.5,63.868
$10V_AH,9.8,58.954
$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,20.325,125.300,301.950,42.225,0.000,27.544,32.788,295.944,25.750,0.000,15.392,1256.810,9036.138,405.952,2403.451,445.554,33.362,1243.330,0.000,2027.550,0.000,0.541,0.000
$DEVICE_MAMPS,246.207,65.195,1069.198,416.481,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,397.184,0.000,1028.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353688
$DATA_FILE_SIZE,30267,581
$CAP_FILE_SIZE,123325,0
$CFSIZE,260165632,171503616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,182.6,1
$GPS,160911,071536,1932.179,-15620.421,44,0.9,51,9.7